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[modules][messages] send pos as LLA in DC_SHOT and DC_INFO

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This commit is contained in:
Felix Ruess
2014-11-24 18:40:46 +01:00
parent 22f29ab63b
commit 9be27ad2de
5 changed files with 58 additions and 42 deletions
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sw/tools/process_exif/process_exif.py
+27 -12
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@@ -119,20 +119,35 @@ for line in f:
# 618.710 1 DC_SHOT 212 29133350 -89510400 8.5 25 -9 29 0 0 385051650
splitted = line.split( ' ' )
if len(splitted) < 12:
continue
try:
photonr = int(splitted[ 3 ])
utm_east = ( float(int(splitted[ 4 ])) / 100. )
utm_north = ( float(int(splitted[ 5 ])) / 100. )
alt = float(splitted[ 6 ])
utm_zone = int(splitted[ 7 ])
phi = int(splitted[ 8 ])
theta = int(splitted[ 9 ])
course = int(splitted[ 10 ])
speed = int(splitted[ 11 ])
# old DC_SHOT message has 10 data fields with pos in UTM:
# photo_nr, utm_east, utm_north, z, utm_zone, phi, theta, course, speed, itow
if len(splitted) == 13:
photonr = int(splitted[ 3 ])
utm_east = ( float(int(splitted[ 4 ])) / 100. )
utm_north = ( float(int(splitted[ 5 ])) / 100. )
alt = float(splitted[ 6 ])
utm_zone = int(splitted[ 7 ])
phi = int(splitted[ 8 ])
theta = int(splitted[ 9 ])
course = int(splitted[ 10 ])
speed = int(splitted[ 11 ])
lon, lat = UTMtoLL( utm_north, utm_east, utm_zone )
lon, lat = UTMtoLL( utm_north, utm_east, utm_zone )
# current DC_SHOT messages has 9 data fields with pos in LLA:
# photo_nr, latitude, longitude, altitude, phi, theta, course, speed, itow
else if len(splitted) == 12:
photonr = int(splitted[ 3 ])
lat = RadOfDeg(int(splitted[ 4 ]) * 0.0000001) # to radians
lon = RadOfDeg(int(splitted[ 5 ]) * 0.0000001) # to radians
alt = int(splitted[ 6 ]) * 0.001 # to meters
phi = int(splitted[ 7 ])
theta = int(splitted[ 8 ])
course = int(splitted[ 9 ])
speed = int(splitted[ 10 ])
else:
continue
# Check that there as many photos and pick the indicated one.
# (this assumes the photos were taken correctly without a hiccup)