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@stoermerjp
Created May 21, 2012 15:56
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DroneMapper.com: GPX File Generation from UAV Flight Controller Logs
#!/usr/bin/php
<?php
/*
* Change date_default_timezone_set to your flight timezone, you will also
* need to add a -geosync offset for exiftool on the command line if the
* time (hour) field doesn't match.
*/
date_default_timezone_set('Europe/Berlin');
/*
* Input/Output files
*/
$incomingfile = "./MAVinci.csvm";
$outputfile = "./MAVinci.gpx";
function getGps($exifCoord, $hemi) {
$degrees = count($exifCoord) > 0 ? gps2Num($exifCoord[0]) : 0;
$minutes = count($exifCoord) > 1 ? gps2Num($exifCoord[1]) : 0;
$seconds = count($exifCoord) > 2 ? gps2Num($exifCoord[2]) : 0;
$flip = ($hemi == 'W' or $hemi == 'S') ? -1 : 1;
return $flip * ($degrees + $minutes / 60 + $seconds / 3600);
}
function gps2Num($coordPart) {
$parts = explode('/', $coordPart);
if (count($parts) <= 0)
return 0;
if (count($parts) == 1)
return $parts[0];
return floatval($parts[0]) / floatval($parts[1]);
}
/*
* Build GPX
*/
$mygpx = '';
$mygpx .= '<?xml version="1.0"?>';
$mygpx .= "\n";
$mygpx .= '<gpx creator="http://dronemapper.com" version="1.0" xmlns="http://www.topografix.com/GPX/1/0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.topografix.com/GPX/1/0 http://www.topografix.com/GPX/1/0/gpx.xsd">';
$mygpx .= "\n";
$mygpx .= '<trk>';
$mygpx .= "\n";
$mygpx .= "\t".'<number>1</number>';
$mygpx .= "\n";
$mygpx .= "\t".'<name>DroneMapper UAV</name>';
$mygpx .= "\n";
$mygpx .= "\t\t<trkseg>\n";
$row = '';
if (($handle = fopen($incomingfile, "r")) !== FALSE) {
/*
* Use fgetcsv with field delimited of " "
* You can change this to "," or "\t" for different formats.
*/
while (($data = fgetcsv($handle, 1000, " ")) !== FALSE) {
$num = count($data);
$row++;
/* Skip headers */
if(!preg_match("/JPG/i", $data[2])) {
continue;
}
/*
* You can change the $data[X] to obtain different log fields.
* This is useful if you are processing a UAV log from a different
* company or you generate your own.
*/
print "\tGPS Timestamp: " . $data[3] . "\n";
print "\tGPS Lat: " . $data[5] . "\n";
print "\tGPS Lon: " . $data[4] . "\n";
print "\tGPS Altitude: " . $data[13] . "\n";
$mygpx .= "\t\t\t<trkpt lat=\"".$data[5]."\" lon=\"".$data[4]."\">\n";
$mygpx .= "\t\t\t\t";
$mygpx .= '<ele>'.$data[13].'</ele>'."\n";
$mygpx .= "\t\t\t\t";
$mygpx .= '<time>'.date("Y-m-d\TH:i:s\Z", $data[22]).'</time>'."\n";
$mygpx .= "\t\t\t";
$mygpx .= '</trkpt>'."\n";
}
fclose($handle);
}
$mygpx .= "\n\t\t";
$mygpx .= '</trkseg>';
$mygpx .= "\n\t";
$mygpx .= '</trk>';
$mygpx .= "\n";
$mygpx .= '</gpx>';
/* Write GPX */
file_put_contents($outputfile, $mygpx);
?>
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