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https://github.com/paparazzi/paparazzi.git
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Fabien-B
78 lines
2.6 KiB
Python
Executable File
78 lines
2.6 KiB
Python
Executable File
#!/usr/bin/env python3
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import sys
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from collections import namedtuple
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from pyproj import CRS, Proj
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import re
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from os.path import basename
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LEAP_SECONDS = 18
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Point = namedtuple("Point", ["time", "lat", "lon", "alt"])
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def time_from_tow(tow):
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utc_s = (tow/1000 - LEAP_SECONDS) % (3600*24)
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h = int(utc_s // 3600)
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m = int((utc_s//60) % 60)
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s = round(utc_s % 60)
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utc_time=f"{h:02d}:{m:02d}:{s:.3f}"
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return utc_time
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def date_from_filename(logfile):
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m = re.match("^(?:.*/)?(\d+)_(\d+)_(\d+)__(\d+)_(\d+)_(\d+)(?:_SD)?.data$", logfile)
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if m is not None:
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year, month ,day, h,m,s = m.groups()
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date = f"20{year}-{month}-{day}"
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#time = f"{h}:{m}:{s}"
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return date
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def main(logfile):
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"""
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extract position data from log. Use GPS time of week.
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"""
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with open(logfile, 'r') as log:
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data = {}
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projs = {}
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start_tow = None
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for line in log.readlines():
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args = line.strip().split()
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ac_id = args[1]
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if args[2] == "INS_REF":
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lat = float(args[6]) / 1e7
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lon = float(args[7]) / 1e7
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crs = CRS(f"+proj=ortho +lat_0={lat} +lon_0={lon}")
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projs[ac_id] = Proj.from_crs(crs, "EPSG:4326")
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if args[2] == "GPS_INT":
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tow = int(args[15])
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t = float(args[0])
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start_tow = tow - t
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if args[2] == "ROTORCRAFT_FP" and ac_id in projs and start_tow is not None:
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east = int(args[3])*0.0039063
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north = int(args[4])*0.0039063
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up = int(args[5])*0.0039063
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lat, lon = projs[ac_id].transform(east, north)
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tow = float(args[0]) + start_tow
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utc_time = time_from_tow(tow)
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p = Point(utc_time, lat, lon, up)
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data.setdefault(ac_id, []).append(p)
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for ac_id, points in data.items():
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prefix = f"{sys.argv[2]}_" if len(sys.argv) > 2 else f"{basename(logfile).strip('.data')}__"
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filename = f"{prefix}{ac_id}.csv"
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with open(filename, 'w') as out:
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print(f"created {filename}")
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out.write("time,latitude,longitude,altitude\n")
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date = date_from_filename(logfile)
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for p in points:
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line = f"{date}T{p.time},{p.lat:.07f},{p.lon:.07f},{p.alt:.01f}\n"
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out.write(line)
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if __name__ == "__main__":
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if len(sys.argv) < 2:
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print("Usage: ./log_extract.py the_log.data [prefix out]")
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exit(1)
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main(sys.argv[1])
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