- public static int extend_height(AltosState state, int height_16) {
- double compare_height;
- int height = height_16;
-
- System.out.printf("state kalman height %g altitude %g ground_altitude %g gps_height %g\n",
- state.kalman_height.value(), state.altitude(), state.ground_altitude(), state.gps_height());
- if (state.gps != null && state.gps.alt != AltosLib.MISSING) {
- compare_height = state.gps_height();
- } else {
- compare_height = state.height();
- }
-
- if (compare_height != AltosLib.MISSING) {
- int high_bits = (int) Math.floor (compare_height / 65536.0);
-
- height = (high_bits << 16) | (height_16 & 0xffff);