2 * Copyright © 2011 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
19 package org.altusmetrum.altoslib_11;
22 public class AltosTelemetryLocation extends AltosTelemetryStandard {
23 int flags() { return uint8(5); }
25 if ((mode() & AO_GPS_MODE_ALTITUDE_24) != 0)
26 return (int8(31) << 16) | uint16(6);
30 int latitude() { return uint32(8); }
31 int longitude() { return uint32(12); }
32 int year() { return uint8(16); }
33 int month() { return uint8(17); }
34 int day() { return uint8(18); }
35 int hour() { return uint8(19); }
36 int minute() { return uint8(20); }
37 int second() { return uint8(21); }
38 int pdop() { return uint8(22); }
39 int hdop() { return uint8(23); }
40 int vdop() { return uint8(24); }
41 int mode() { return uint8(25); }
42 int ground_speed() { return uint16(26); }
43 int climb_rate() { return int16(28); }
44 int course() { return uint8(30); }
46 public static final int AO_GPS_MODE_ALTITUDE_24 = (1 << 0); /* Reports 24-bits of altitude */
48 public AltosTelemetryLocation(int[] bytes) throws AltosCRCException {
52 public void update_state(AltosState state) {
53 super.update_state(state);
54 AltosGPS gps = state.make_temp_gps(false);
57 gps.nsat = flags & 0xf;
58 gps.locked = (flags & (1 << 4)) != 0;
59 gps.connected = (flags & (1 << 5)) != 0;
62 gps.lat = latitude() * 1.0e-7;
63 gps.lon = longitude() * 1.0e-7;
65 gps.year = 2000 + year();
69 gps.minute = minute();
70 gps.second = second();
71 gps.ground_speed = ground_speed() * 1.0e-2;
72 gps.course = course() * 2;
73 gps.climb_rate = climb_rate() * 1.0e-2;
74 gps.pdop = pdop() / 10.0;
75 gps.hdop = hdop() / 10.0;
76 gps.vdop = vdop() / 10.0;