X-Git-Url: https://git.gag.com/?a=blobdiff_plain;ds=sidebyside;f=src%2Ftest%2Fao_gps_test_ublox.c;h=83efbb4fcf01ce650d9317c9f552800e81495333;hb=9102183b40f0b32d4fb6d24502b79a6431184310;hp=a0e04cb6a8659b802c81b6e149731020ca9df868;hpb=a4e4eec827d61a05fda52ddb68b55f17b6028d5e;p=fw%2Faltos

diff --git a/src/test/ao_gps_test_ublox.c b/src/test/ao_gps_test_ublox.c
index a0e04cb6..83efbb4f 100644
--- a/src/test/ao_gps_test_ublox.c
+++ b/src/test/ao_gps_test_ublox.c
@@ -16,6 +16,7 @@
  */
 
 #define AO_GPS_TEST
+#define HAS_GPS	1
 #include "ao_host.h"
 #include <termios.h>
 #include <errno.h>
@@ -26,6 +27,9 @@
 #define AO_GPS_NUM_SAT_MASK	(0xf << 0)
 #define AO_GPS_NUM_SAT_SHIFT	(0)
 
+#define AO_GPS_NEW_DATA		1
+#define AO_GPS_NEW_TRACKING	2
+
 #define AO_GPS_VALID		(1 << 4)
 #define AO_GPS_RUNNING		(1 << 5)
 #define AO_GPS_DATE_VALID	(1 << 6)
@@ -41,7 +45,7 @@ struct ao_telemetry_location {
 	uint8_t			flags;
 	int32_t			latitude;	/* degrees * 10⁷ */
 	int32_t			longitude;	/* degrees * 10⁷ */
-	int16_t			altitude;	/* m */
+	int16_t			altitude_low;	/* m */
 	uint16_t		ground_speed;	/* cm/s */
 	uint8_t			course;		/* degrees / 2 */
 	uint8_t			pdop;		/* * 5 */
@@ -50,8 +54,15 @@ struct ao_telemetry_location {
 	int16_t			climb_rate;	/* cm/s */
 	uint16_t		h_error;	/* m */
 	uint16_t		v_error;	/* m */
+	int16_t			altitude_high;	/* m */
 };
 
+typedef int32_t		gps_alt_t;
+#define AO_TELEMETRY_LOCATION_ALTITUDE(l) 	(((gps_alt_t) (l)->altitude_high << 16) | ((l)->altitude_low))
+#define AO_GPS_ORIG_ALTITUDE(l)			AO_TELEMETRY_LOCATION_ALTITUDE(l)
+#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) (((l)->altitude_high = (a) >> 16), \
+						 ((l)->altitude_low = (a)))
+
 #define UBLOX_SAT_STATE_ACQUIRED		(1 << 0)
 #define UBLOX_SAT_STATE_CARRIER_PHASE_VALID	(1 << 1)
 #define UBLOX_SAT_BIT_SYNC_COMPLETE		(1 << 2)
@@ -347,7 +358,7 @@ check_ublox_message(char *which, uint8_t *msg)
 void
 ao_dump_state(void *wchan)
 {
-	if (wchan == &ao_gps_data)
+	if (wchan == &ao_gps_new)
 		ao_gps_show();
 	return;
 }