*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_3;
+package org.altusmetrum.altoslib_11;
public class AltosTelemetryMegaData extends AltosTelemetryStandard {
int state;
-
+
int v_batt;
int v_pyro;
int sense[];
int acceleration;
int speed;
- int height;
+ int height_16;
public AltosTelemetryMegaData(int[] bytes) {
super(bytes);
- state = int8(5);
+ state = uint8(5);
v_batt = int16(6);
v_pyro = int16(8);
- sense = new int[6];
+ sense = new int[6];
for (int i = 0; i < 6; i++) {
- sense[i] = int8(10 + i) << 4;
+ sense[i] = uint8(10 + i) << 4;
sense[i] |= sense[i] >> 8;
}
acceleration = int16(26);
speed = int16(28);
- height = int16(30);
+
+ height_16 = int16(30);
}
public void update_state(AltosState state) {
super.update_state(state);
state.set_state(this.state);
-
+
state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt));
state.set_pyro_voltage(AltosConvert.mega_pyro_voltage(v_pyro));
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);
}
}