mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-30 11:37:06 +08:00
Merge branch 'master' of github.com:paparazzi/paparazzi into hooperfly_updates
This commit is contained in:
Richard A Burton
@@ -35,7 +35,7 @@
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</target>
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<target name="test_adc" board="elle0_1.2"/>
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<target name="test_uart" board="elle0_1.2">
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<define name="USE_UART1"/>
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<define name="USE_UART2"/>
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<define name="UART2_BAUD" value="B57600"/>
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<define name="USE_UART3"/>
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<define name="UART3_BAUD" value="B57600"/>
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+54
-47
@@ -2,6 +2,7 @@
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* Extraction of .log and .data file from a .TLM airborne SD file
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*
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* Copyright (C) 2009 ENAC, Pascal Brisset
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* Copyright (C) 2015 Gautier Hattenberger <gautier.hattenberger@enac.fr>
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*
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* This file is part of paparazzi.
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*
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@@ -26,7 +27,7 @@ open Printf
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module U = Unix
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let (//) = Filename.concat
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let var_path = Env.paparazzi_home // "var"
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let logs_path = var_path // "logs"
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let default_logs_path = var_path // "logs"
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let conf_xml = Xml.parse_file (Env.paparazzi_home // "conf" // "conf.xml")
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@@ -51,7 +52,7 @@ let log_xml = fun ac_id ->
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ExtXml.child ~select conf_xml "aircraft"
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with
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Not_found ->
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failwith (sprintf "Error: A/C %d not found in conf.xml" ac_id)
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failwith (sprintf "Error: A/C %d not found in conf.xml" ac_id)
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in
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let expanded_conf_ac = Env.expand_ac_xml ~raise_exception:false conf_ac in
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let expanded_conf =
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@@ -82,15 +83,15 @@ let string_of_message = fun log_msg ->
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| x -> failwith (sprintf "Unexpected source:%d in log msg" x)
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let hex_of_array = function
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Pprz.Array array ->
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| Pprz.Array array ->
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let n = Array.length array in
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(* One integer -> 2 chars *)
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let s = String.create (2*n) in
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Array.iteri
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(fun i dec ->
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let hex = sprintf "%02x" (Pprz.int_of_value array.(i)) in
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String.blit hex 0 s (2*i) 2)
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array;
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(fun i dec ->
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let hex = sprintf "%02x" (Pprz.int_of_value array.(i)) in
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String.blit hex 0 s (2*i) 2)
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array;
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s
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| value ->
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failwith (sprintf "Error: expecting array, found %s" (Pprz.string_of_value value))
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@@ -110,16 +111,16 @@ let search_conf = fun md5 ->
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let rec loop = fun i ->
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if i < Array.length files then begin
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if String.length files.(i) > (md5_ofs + md5_len)
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&& String.sub files.(i) md5_ofs md5_len = md5 then
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dir // files.(i)
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&& String.sub files.(i) md5_ofs md5_len = md5 then
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dir // files.(i)
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else
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loop (i+1)
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loop (i+1)
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end else
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raise Not_found in
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loop 0
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let convert_file = fun file ->
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let convert_file = fun ?(output_dir=None) file ->
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let tmp_file = Filename.temp_file "tlm_from_sd" "data" in
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let f_in = open_in file
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@@ -129,6 +130,11 @@ let convert_file = fun file ->
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and md5 = ref ""
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and single_ac_id = ref (-1) in
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let logs_path = match output_dir with
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| None -> default_logs_path
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| Some x -> x
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in
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let use_payload = fun payload ->
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try
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let log_msg = Logpprz.parse payload in
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@@ -149,17 +155,17 @@ let convert_file = fun file ->
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(** Looking for a date from a GPS message and a md5 from an ALIVE *)
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if log_msg.Logpprz.source = 0 then
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match msg_descr.Pprz.name with
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"GPS" when !start_unix_time = None
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&& ( Pprz.int_assoc "mode" vs = 3
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|| Pprz.int_assoc "week" vs > 0) ->
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let itow = Pprz.int_assoc "itow" vs / 1000
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and week = Pprz.int_assoc "week" vs in
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let unix_time = Latlong.unix_time_of_tow ~week itow in
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start_unix_time := Some (unix_time -. timestamp)
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| "ALIVE" when !md5 = "" ->
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md5 := hex_of_array (Pprz.assoc "md5sum" vs)
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| _ -> ()
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match msg_descr.Pprz.name with
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"GPS" when !start_unix_time = None
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&& ( Pprz.int_assoc "mode" vs = 3
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|| Pprz.int_assoc "week" vs > 0) ->
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let itow = Pprz.int_assoc "itow" vs / 1000
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and week = Pprz.int_assoc "week" vs in
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let unix_time = Latlong.unix_time_of_tow ~week itow in
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start_unix_time := Some (unix_time -. timestamp)
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| "ALIVE" when !md5 = "" ->
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md5 := hex_of_array (Pprz.assoc "md5sum" vs)
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| _ -> ()
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with _ -> fprintf stderr "Parsing error, skipping message\n"
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in
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@@ -179,11 +185,11 @@ let convert_file = fun file ->
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(* Rename the file according to the GPS time *)
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let start_time, mark =
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match !start_unix_time with
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None ->
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fprintf stderr "Warning: not time found in GPS messages; using current date\n";
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U.gettimeofday (), "_no_GPS" (* Not found, use now *)
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| Some u -> u, "" in
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match !start_unix_time with
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| None ->
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fprintf stderr "Warning: not time found in GPS messages; using current date\n";
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U.gettimeofday (), "_no_GPS" (* Not found, use now *)
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| Some u -> u, "" in
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let d = U.localtime start_time in
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let basename = sprintf "%02d_%02d_%02d__%02d_%02d_%02d_SD%s" (d.U.tm_year mod 100) (d.U.tm_mon+1) (d.U.tm_mday) (d.U.tm_hour) (d.U.tm_min) (d.U.tm_sec) mark in
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@@ -199,29 +205,28 @@ let convert_file = fun file ->
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(** Save the corresponding .log file *)
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fprintf stderr "Looking for %s conf...\n%!" !md5;
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let configuration =
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try xml_parse_compressed_file (search_conf !md5) with
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Not_found ->
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fprintf stderr "Not found...\n%!";
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if !single_ac_id >= 0 then begin
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fprintf stderr "Try to rebuild it for A/C %d ...\n%!" !single_ac_id;
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try log_xml !single_ac_id with
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_ ->
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fprintf stderr "Failure: A/C %d not found\n%!" !single_ac_id;
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Xml.PCData ""
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end else
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Xml.PCData "" in
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try xml_parse_compressed_file (search_conf !md5) with
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Not_found ->
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fprintf stderr "Not found...\n%!";
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if !single_ac_id >= 0 then begin
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fprintf stderr "Try to rebuild it for A/C %d ...\n%!" !single_ac_id;
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try log_xml !single_ac_id with _ ->
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fprintf stderr "Failure: A/C %d not found\n%!" !single_ac_id;
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Xml.PCData ""
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end else
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Xml.PCData "" in
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if configuration <> Xml.PCData "" then
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let log =
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ExtXml.subst_attrib "time_of_day" (string_of_float start_time)
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(ExtXml.subst_attrib "data_file" data_name configuration) in
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let log =
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ExtXml.subst_attrib "time_of_day" (string_of_float start_time)
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(ExtXml.subst_attrib "data_file" data_name configuration) in
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let f = open_out (logs_path // log_name) in
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output_string f (Xml.to_string_fmt log);
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close_out f;
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fprintf stderr "%s file produced\n%!" log_name
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let f = open_out (logs_path // log_name) in
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output_string f (Xml.to_string_fmt log);
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close_out f;
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fprintf stderr "%s file produced\n%!" log_name
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else
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fprintf stderr "No .log produced\n";
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fprintf stderr "No .log produced\n";
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(** Save the original binary file *)
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let com = sprintf "cp %s %s" file (logs_path // tlm_name) in
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@@ -231,7 +236,9 @@ let convert_file = fun file ->
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let () =
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if Array.length Sys.argv = 2 then
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convert_file Sys.argv.(1)
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else if Array.length Sys.argv = 3 then
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convert_file ~output_dir:(Some Sys.argv.(2)) Sys.argv.(1)
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else begin
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fprintf stderr "Usage: %s <telemetry airborne file>\n" Sys.argv.(0);
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fprintf stderr "Usage: %s <telemetry airborne file> [<output directory (default in Paparazzi logs folder)>]\n" Sys.argv.(0);
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exit 1;
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end
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