mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-01 09:24:10 +01:00
280 lines
7.0 KiB
Matlab
280 lines
7.0 KiB
Matlab
function openpilot2kml(matfile)
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if ~exist('ge_colorbar', 'file')
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msg=['Google Earth Toolbox must be present and included in the Matlab path. For example:'...
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10 ' path(path, ''/Users/ponthy/googleearth'''];
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error(msg)
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end
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if nargin==0
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[FileName,PathName] = uigetfile('*.mat');
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matfile = strcat(PathName,FileName);
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end
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if ~exist(matfile, 'file')
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error('Not a valid matlab file')
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end
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load(matfile);
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%%
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t=PositionActual.timestamp/1000;
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NED=[PositionActual.North', PositionActual.East', PositionActual.Down'];
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BaseECEF = LLA2ECEF([HomeLocation.Latitude*1e-7, HomeLocation.Longitude*1e-7, HomeLocation.Altitude]');
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Rne = RneFromLLA([HomeLocation.Latitude*1e-7, HomeLocation.Longitude*1e-7, HomeLocation.Altitude]');
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LLA=Base2LLA(NED',BaseECEF,Rne);
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gpsPath=LLA(1:2,:)';
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gpsAlt=LLA(3,:)';
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gpsSpeed=interp1(BaroAirspeed.timestamp/1000, BaroAirspeed.Airspeed, t);
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%%
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[pathstr, opName] = fileparts(matfile);
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kmlFileName=[opName '.kml'];
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kmlFolderName=pathstr;
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line_seg={}; %#ok<NASGU> %Clear line_seg
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gpsTime=t;
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maxSpeed=200/3.6;
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midSpeed=100/3.6;
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%Define colormap
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M=jet(round(maxSpeed));
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line_seg=cell(round(length(gpsTime)*2),1);
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%Create style for waypoints
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line_seg{1}= ['<Style id="track"> <IconStyle> <scale>1.2</scale> <Icon> <href>http://earth.google.com/images/kml-icons/track-directional/track-none.png</href> </Icon> </IconStyle> </Style>' 10];
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line_seg{2} = ge_colorbar(gpsPath(1,2), gpsPath(1,1), maxSpeed*(1-exp(log(1/2)/midSpeed*(0:maxSpeed))),...
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'cBarBorderWidth',1,...
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'cBarFormatStr','%+3.0f',...
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'altitudeMode', 'clampToGround',...
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'numUnits',10,...
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'name','Speed colorbar');
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%Add start and stop points
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line_seg{3}=ge_point(gpsPath(1,2), gpsPath(1,1), gpsAlt(1), 'altitudeMode', 'clampToGround', 'name', 'Start');
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line_seg{4}=ge_point(gpsPath(end,2), gpsPath(end,1), gpsAlt(end), 'altitudeMode', 'clampToGround', 'name', 'Stop');
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k=4; m=0; n=0;
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%Add text progress output
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fprintf('\n\n\n');
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str2=sprintf('Completed %3.0f%%', 0);
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fprintf([str2 '\n'])
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%Create line segments and color based on speed
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for i=1:length(gpsTime)-1
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m=m+1;
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Y=gpsPath(i:i+1,1);
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X=gpsPath(i:i+1,2);
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Z=[gpsAlt(i) gpsAlt(i)];
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logSpeed=maxSpeed*(1-exp(log(1/2)/midSpeed*gpsSpeed(i)));
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red=round(M(floor(min(logSpeed+1, length(M))),1)*255);
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green=round(M(floor(min(logSpeed+1, length(M))),2)*255);
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blue=round(M(floor(min(logSpeed+1, length(M))),3)*255);
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tmpHour=floor(t(i)/3600);
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tmpMinute=floor((t(i)-tmpHour*3600)/60);
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tmpSec=t(i)-tmpHour*3600-tmpMinute*60;
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tGPS=[2012 06 23 tmpHour tmpMinute tmpSec];
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tStart = datestr( tGPS, 'yyyy-mm-ddTHH:MM:SSZ');
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tStop = datestr( tGPS+[0 0 0 0 0 2], 'yyyy-mm-ddTHH:MM:SSZ'); %Visible for two seconds
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[line_seg{i+k}]= ge_plot3(X,Y,Z,...
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'altitudeMode', 'absolute',...
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'timeSpanStart',tStart,...
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'timeSpanStop',tStop,...
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'lineWidth', 6, ...
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'lineColor', [ 'ff' dec2hex(red, 2) dec2hex(green, 2) dec2hex(blue, 2)], ...
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'forceAsLine', false, ...
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'msgToScreen', false);
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if mod(i,10) == 0
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%%
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k=k+1;
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n=n+1;
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descriptionCell={'North coords., in [m]', num2str(NED(i,1), '%10.2f');
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'East coords., in [m]', num2str(NED(i,2), '%10.2f');
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'Height AGL, in [m]', num2str(Z(1), '%10.2f') ;
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'Airspeed, in [km/hr]', num2str(gpsSpeed(i)*3.6, '%3.1f')};
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[line_seg{i+k}]=ge_point(X(1), Y(1), gpsAlt(i),...
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'altitudeMode', 'absolute',...
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'extrude', 1, ...
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'name', num2str(t(i)-t(1)),...
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'timeSpanStart',tStart,...
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'timeSpanStop',tStop,...
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'styleURL', '#track',...
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'iconURL', 'http://earth.google.com/images/kml-icons/track-directional/track-none.png',...
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'pointDataCell', descriptionCell);
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%%
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str1=[];
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for j=1:length(str2)+1;
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str1=[str1 sprintf('\b')]; %#ok<AGROW>
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end
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str2=['Completed ' num2str(i/length(t)*100, '%3.0f')];
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fprintf([str1 str2 '%%']);
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end
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end
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%Pare down line_seg
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%%
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line_seg=line_seg(1:i+k);
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if 0
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%Properly formats XML part of kml file. IS TOO SLOW!
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Pref=[]; %#ok<UNRCH>
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Pref.StructItem = false;
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Pref.XmlEngine = 'String'; %Forces xml_write to use Apache XML engine instead of Matlab XML.
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[a,r]=xml_write([], plot_xml, 'b', Pref);
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indexFirst=find(r==10, 2);
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indexLast=find(r==10, 1, 'last');
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r=r(indexFirst(2)+1:indexLast);
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[a,s]=xml_write([], point_xml, 'b', Pref);
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indexFirst=find(s==10, 2);
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indexLast=find(s==10, 1, 'last');
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s=s(indexFirst(2)+1:indexLast);
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ge_output(kmlFileName, [line_seg{1} r s], 'name', kmlFolderName, 'msgToScreen', true)
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else
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%%
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%Output segments to kml files
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ge_output(fullfile(kmlFolderName, kmlFileName), cat(2,line_seg{:}), 'name', opName, 'msgToScreen', true);
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end
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end
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% ===========================
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function NED = LLA2Base(LLA,BaseECEF,Rne)
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n = size(LLA,2);
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ECEF = LLA2ECEF(LLA);
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diff = ECEF - repmat(BaseECEF,1,n);
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NED = Rne*diff;
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end
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function LLA = Base2LLA(NED,BaseECEF,Rne)
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n = size(NED,2);
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diff=Rne'*NED;
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ECEF=diff + repmat(BaseECEF,1,n) ;
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LLA=zeros(size(NED));
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for i=1:n
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LLA(:,i)=ECEF2LLA(ECEF(:,i))';
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end
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end
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% ****** convert ECEF to Lat,Lon,Alt (ITERATIVE!) *********
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function LLA=ECEF2LLA(ECEF, Alt)
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% Altitude parameter is used to prime the iteration.
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% A position within 1 meter of the specified LLA
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% will be calculated within at most 3 iterations.
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% If unknown: Call with any valid altitude
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% will compute within at most 5 iterations.
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% Suggestion: 0
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%
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if nargin==1
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Alt=0;
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end
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a = 6378137.0; % Equatorial Radius
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e = 8.1819190842622e-2; % Eccentricity
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x = ECEF(1);
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y = ECEF(2);
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z = ECEF(3);
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MAX_ITER =10; % should not take more than 5 for valid coordinates
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ACCURACY= 1.0e-11; % used to be e-14, but we don't need sub micrometer exact calculations
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RAD2DEG=180/pi;
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DEG2RAD=1/RAD2DEG;
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LLA(2) = RAD2DEG * atan2(y, x);
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Lat = DEG2RAD * LLA(1);
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esLat = e * sin(Lat);
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N = a / sqrt(1 - esLat * esLat);
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NplusH = N+Alt;
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delta = 1;
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iter = 0;
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while (((delta > ACCURACY) || (delta < -ACCURACY)) && (iter < MAX_ITER))
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delta = Lat - atan(z / (sqrt(x * x + y * y) * (1 - (N * e * e / NplusH))));
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Lat = Lat - delta;
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esLat = e * sin(Lat);
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N = a / sqrt(1 - esLat * esLat);
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NplusH = sqrt(x * x + y * y) / cos(Lat);
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iter = iter+1;
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end
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LLA(1) = RAD2DEG * Lat;
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LLA(3) = NplusH - N;
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end
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function ECEF = LLA2ECEF(LLA)
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a = 6378137.0; % Equatorial Radius
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e = 8.1819190842622e-2; % Eccentricity
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n = size(LLA,2);
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ECEF = zeros(3,n);
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for i=1:n
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sinLat = sin(pi*LLA(1,i)/180);
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sinLon = sin(pi*LLA(2,i)/180);
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cosLat = cos(pi*LLA(1,i)/180);
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cosLon = cos(pi*LLA(2,i)/180);
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N = a / sqrt(1.0 - e * e * sinLat * sinLat); %prime vertical radius of curvature
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ECEF(1,i) = (N + LLA(3,i)) * cosLat * cosLon;
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ECEF(2,i) = (N + LLA(3,i)) * cosLat * sinLon;
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ECEF(3,i) = ((1 - e * e) * N + LLA(3,i)) * sinLat;
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end
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end
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% ****** find ECEF to NED rotation matrix ********
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function Rne=RneFromLLA(LLA)
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RAD2DEG=180/pi;
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DEG2RAD=1/RAD2DEG;
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sinLat = sin(DEG2RAD * LLA(1));
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sinLon = sin(DEG2RAD * LLA(2));
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cosLat = cos(DEG2RAD * LLA(1));
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cosLon = cos(DEG2RAD * LLA(2));
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Rne(1,1) = -sinLat * cosLon;
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Rne(1,2) = -sinLat * sinLon;
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Rne(1,3) = cosLat;
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Rne(2,1) = -sinLon;
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Rne(2,2) = cosLon;
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Rne(2,3) = 0;
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Rne(3,1) = -cosLat * cosLon;
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Rne(3,2) = -cosLat * sinLon;
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Rne(3,3) = -sinLat;
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end
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