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59 lines
3.1 KiB
59 lines
3.1 KiB
#!/usr/bin/env python |
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"""Convert binary log generated by sdlog to CSV format |
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Usage: python logconv.py <log.bin>""" |
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__author__ = "Anton Babushkin" |
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__version__ = "0.1" |
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import struct, sys |
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def _unpack_packet(data): |
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s = "" |
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s += "Q" #.timestamp = buf.raw.timestamp, |
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s += "fff" #.gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]}, |
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s += "fff" #.accel = {buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1], buf.raw.accelerometer_m_s2[2]}, |
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s += "fff" #.mag = {buf.raw.magnetometer_ga[0], buf.raw.magnetometer_ga[1], buf.raw.magnetometer_ga[2]}, |
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s += "f" #.baro = buf.raw.baro_pres_mbar, |
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s += "f" #.baro_alt = buf.raw.baro_alt_meter, |
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s += "f" #.baro_temp = buf.raw.baro_temp_celcius, |
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s += "ffff" #.control = {buf.act_controls.control[0], buf.act_controls.control[1], buf.act_controls.control[2], buf.act_controls.control[3]}, |
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s += "ffffffff" #.actuators = {buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3], buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7]}, |
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s += "f" #.vbat = buf.batt.voltage_v, |
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s += "f" #.bat_current = buf.batt.current_a, |
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s += "f" #.bat_discharged = buf.batt.discharged_mah, |
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s += "ffff" #.adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2], buf.raw.adc_voltage_v[3]}, |
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s += "fff" #.local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z}, |
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s += "iii" #.gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt}, |
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s += "fff" #.attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw}, |
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s += "fffffffff" #.rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]}, |
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s += "fff" #.vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw}, |
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s += "ffff" #.control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]}, |
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s += "ffffff" #.flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality}, |
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s += "f" #.diff_pressure = buf.diff_pres.differential_pressure_pa, |
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s += "f" #.ind_airspeed = buf.airspeed.indicated_airspeed_m_s, |
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s += "f" #.true_airspeed = buf.airspeed.true_airspeed_m_s |
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s += "iii" # to align to 280 |
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d = struct.unpack(s, data) |
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return d |
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def _main(): |
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if len(sys.argv) < 2: |
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print "Usage:\npython logconv.py <log.bin>" |
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return |
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fn = sys.argv[1] |
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sysvector_size = 280 |
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f = open(fn, "r") |
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while True: |
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data = f.read(sysvector_size) |
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if len(data) < sysvector_size: |
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break |
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a = [] |
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for i in _unpack_packet(data): |
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a.append(str(i)) |
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print ";".join(a) |
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f.close() |
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if __name__ == "__main__": |
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_main()
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