impload is a cross-platform command line application to upload missions in a number of formats to an INAV flight controller. "Alien" formats may also be converted to MW-XML. Supported formats include:
- MW XML mission files (as used by mwp, inav configurator, ezgui, mission planner for inav)
- apmplanner / qgroundcontrol mission files (qgc plan mission and survey at least (QPC or JSON).
- GPX files (tracks, routes, waypoints)
- KML, KMZ files
- Plain, simple CSV files
- mwp JSON mission files]
- inav cli
wpstanzas
Serial devices and TCP are supported for upload / download to / from flight controllers.
Please see the user guide for more information.
$ impload --help
Usage of impload [options] command [files ...]
Options:
-a int
Default altitude (m) (default 20)
-b int
Baud rate (default 115200)
-d string
Serial Device
-fmt string
Output format (xml, json, md, cli, xml-ugly) (default "xml")
-force-land
Adds RTH / Land for 'external' formats
-force-rth
Adds RTH for 'external' formats
-rebase string
rebase 1st WP to location (as lat,lon[,wpidx,segidx])
-s float
Default speed (m/s)
-v Shows version
-verbose
Verbose
command:
Action required (upload|download|store|restore|convert|test|clear|erase|multi[=n])
impload supports the mwp device naming scheme:
serial_device[@baudrate]tcp:https://host:portudp:https://remotehost:remote_portudp:https://local_host:local_port/remote_host:remote_portxx:xx:xx:xx:xx:xx(raw BT socket, Linux only)
The baud rate given as an extended device name is preferred to -b
For ESP8288 transparent serial over UDP (the recommended mode for ESP8266), the latter form is needed.
/dev/ttyUSB0@57600
/dev/ttyACM0
COM17@115200
tcp:https://esp8266:23
udp:https://:14014/esp-air:14014
# both sides use port 14014, remote (FC) is esp-air, blank local name is understood as INADDR_ANY.
30:14:12:02:16:64
- Plan missions in apmplanner2 (QGC WPL 110 text files), upload (& save) to INAV
- Plan missions in qgroundcontrol (JSON plan files), upload (& save) to INAV
- Plan missions an any GPX creating GIS tool
- Plan mission in Google Earth, save as KML path, upload to the FC
- Convert "alien" formats to MW-XML.
- Move a mission to a new location
Binaries in the Release area (FreeBSD, Linux, MacOS, Win32) if you don't want it build it locally.
- upload : upload mission to FC volatile memory
- store : upload mission to FC volatile memory and stores in EEPROM
- download : downloads mission from FC volatile memory
- restore : restores mission from EEPROM to FC volatile memory and downloads the mission
- convert : converts alien formats to MW-XML (default), or the format defined by the
-fmtoption. - test : tests communications with FC
- clear : clear mission in volatile RAM (specifically, uploads a mission with just a single RTH WP, which is always safe).
- erase : erases mission in EEPROM and clears mission in volatile RAM (specifically, uploads and stores a mission with just a single RTH WP, which is always safe).
- multi, multi=n : inav 4.0+; gets / sets the
nav_wp_multi_mission_indexvalue.
# Linux, detect serial device, test communications
# Linux tries /dev/ttyACM0 and /dev/ttyUSB0 (in that order)
$ ./impload test
2018/05/24 18:08:11 Using device /dev/ttyUSB0 115200
INAV v2.0.0 SPRACINGF3 (e7ca7944) API 2.2 "vtail"
Waypoints: 0 of 60, valid 0
# Linux, detect serial device and upload a apmplanner2 mission file
$ ./impload upload samples/qpc_0.txt
2018/05/24 18:09:10 Using device /dev/ttyUSB0 115200
INAV v2.0.0 SPRACINGF3 (e7ca7944) API 2.2 "vtail"
Waypoints: 0 of 60, valid 0
upload 12, save false
Waypoints: 12 of 60, valid 1
#
# Upload / store a GPX file
$ ./impload store samples/qpc_1_trk.gpx
2018/05/24 18:34:49 Using device /dev/ttyUSB0 115200
INAV v2.0.0 SPRACINGF3 (e7ca7944) API 2.2 "vtail"
Waypoints: 11 of 60, valid 1
upload 11, save true
Saved mission
Waypoints: 11 of 60, valid 1
# TCP ...
#
$ impload -d tcp:https://localhost:4321 upload samples/qpc_1.mission
2018/09/18 18:57:08 Using device localhost 4321
INAV v2.1.0 SPRACINGF3 (a29bfbd1) API 2.2
Waypoints: 0 of 60, valid 0
upload 12, save false
Waypoints: 12 of 60, valid 1
$ impload -d tcp:https://localhost:4321 download /tmp/m.mission
2018/09/18 19:08:30 Using device localhost 4321
INAV v2.1.0 SPRACINGF3 (a29bfbd1) API 2.2
Waypoints: 12 of 60, valid 1
# UDP ....
#
$ impload -d udp:https://:14014/esp-air:14014 test
2018/09/19 21:11:34 Using device udp:https://:14014/esp-air:14014
INAV v2.1.0 SPRACINGF3 (a29bfbd1) API 2.2
Waypoints: 12 of 60, valid 1
$ impload -d udp:https://:14014/esp-air:14014 download /tmp/m.mission
2018/09/19 21:11:46 Using device udp:https://:14014/esp-air:14014
INAV v2.1.0 SPRACINGF3 (a29bfbd1) API 2.2
Waypoints: 12 of 60, valid 1
> REM Windows, needs a named device to be given
> impload -d COM17 upload samples/google-earth-mission.kml
# Conversion
$ impload convert g-earth.kmz example.mission
# Convert and relocate
impload -rebase 35.761000,140.378945 convert WP_test.mission /tmp/wp-test-jp.mission
go get github.com/stronnag/impload, binaries endup in go/bin, source in go/src/github.com/stronnag/impload. Requires go and git.
git clone https://github.com/stronnag/impload
Files sources where ever you wish.
- Simplest:
make(ormake install) - Windows (native):
make nocgo(probably). You can also use thenocgotarget on POSIX to generate a dynamically linked executable (vice the default static executable).
Note that you can cross-compile for any OS / architecture supported by Go using the GOOS and GOARCH environment variables, e.g for Win32 on Linux riscvs64:
$ uname -a
Linux jagular 5.15.2-cwt13 #2 SMP PREEMPT Thu Jun 1 14:42:43 +07 2023 riscv64 GNU/Linux
GOOS=windows GOARCH=386 make clean nocgo
rm -f impload
CGO_ENABLED=0 go build -trimpath -ldflags "-s -w -X \"main.GitCommit=0fa31fb / 2023-06-11\" -X \"main.GitTag=v5.161.652\""
$ file impload.exe
impload.exe: PE32 executable (console) Intel 80386 (stripped to external PDB), for MS Windows, 6 sections
The author knows how to spell "implode".