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fix batch B parsing #1

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fix batch B parsing #1

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11 changes: 8 additions & 3 deletions pyNCOM/NCOMmsg.py
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
from collections import OrderedDict
from bitstring import BitArray
import math

ACC_FACTOR = 1e-4
ANG_FACTOR = 1e-5
Expand All @@ -14,7 +15,8 @@ def __init__(self, ncom_byte):
self._names = ('Sync', 'Time',
'AccX', 'AccY', 'AccZ',
'AngX', 'AngY', 'AngZ',
'NavStat', 'Lat', 'Long', 'Alti',
'NavStat', 'Checksum1',
'Lat', 'Long', 'Alti',
'Vel_North', 'Vel_East', 'Vel_Down',
'Heading', 'Pitch', 'Roll')
self._navstat = {
Expand All @@ -39,7 +41,8 @@ def _get_value(self, ncom_byte):
self._data = b.unpack(('uintle:8, uintle:16,' # Sync, Time
'intle:24, intle:24, intle:24,' # AccX, AccY, AccZ
'intle:24, intle:24, intle:24,' # AngX, AngY, AngZ
'uintle:8, uintle:64, uintle:64, uintle:32,' # NavStat, Lat, Long, Alti
'uintle:8, uintle:8,' # NavStat, Checksum1
'floatle:64, floatle:64, floatle:32,' # Lat, Long, Alti
'uintle:24, uintle:24, uintle:24,' # Vel North, Vel East, Vel Down
'uintle:24, uintle:24, uintle:24' # Heading, Pitch, Roll
))
Expand All @@ -51,10 +54,12 @@ def _get_value(self, ncom_byte):
self.d['AngX'] *= ANG_FACTOR
self.d['AngY'] *= ANG_FACTOR
self.d['AngZ'] *= ANG_FACTOR
self.d['NavStat'] = self._navstat.get(self.d['NavStat'], 'Reserved')
self.d['Lat'] = math.degrees(self.d['Lat'])
self.d['Long'] = math.degrees(self.d['Long'])
self.d['Vel_North'] *= VEL_FACTOR
self.d['Vel_East'] *= VEL_FACTOR
self.d['Vel_Down'] *= VEL_FACTOR
self.d['Heading'] *= IMU_FACTOR
self.d['Pitch'] *= IMU_FACTOR
self.d['Roll'] *= IMU_FACTOR
self.d['NavStat'] = self._navstat.get(self.d['NavStat'], 'Reserved')