int acceleration;
int speed;
- int height;
+ int height_16;
public AltosTelemetryMegaData(int[] bytes) {
super(bytes);
acceleration = int16(26);
speed = int16(28);
- height = int16(30);
+
+ height_16 = int16(30);
}
public void update_state(AltosState state) {
state.set_ground_pressure(ground_pres);
state.set_accel_g(accel_plus_g, accel_minus_g);
- state.set_kalman(height, speed/16.0, acceleration / 16.0);
+ /* Fill in the high bits of height from recent GPS
+ * data if available, otherwise guess using the
+ * previous kalman height
+ */
+
+ state.set_kalman(extend_height(state, height_16),
+ speed/16.0, acceleration / 16.0);
}
}