X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=ao-tools%2Flib%2Fcc-telemetry.h;h=25576fca59252488384a12ecc8c70caacd669829;hb=95d39febfa9b6c6f2696fb1b47cf72aa808ec7c9;hp=35cca13b3283742efa5668329cb7465d5a216d94;hpb=428d09294ba0395fedd71346ad00fd90a4cdde97;p=fw%2Faltos

diff --git a/ao-tools/lib/cc-telemetry.h b/ao-tools/lib/cc-telemetry.h
index 35cca13b..25576fca 100644
--- a/ao-tools/lib/cc-telemetry.h
+++ b/ao-tools/lib/cc-telemetry.h
@@ -3,7 +3,8 @@
  *
  * 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
@@ -90,7 +91,7 @@ struct ao_telemetry_configuration {
 #define AO_GPS_MODE_MANUAL		'M'
 #define AO_GPS_MODE_SIMULATED		'S'
 
-#define AO_GPS_STATE_VALID		0x80
+#define AO_GPS_MODE_ALTITUDE_24		(1 << 0)	/* reports 24-bits of altitude */
 
 struct ao_telemetry_location {
 	uint16_t	serial;		/*  0 */
@@ -98,7 +99,7 @@ struct ao_telemetry_location {
 	uint8_t		type;		/*  4 */
 
 	uint8_t         flags;		/*  5 Number of sats and other flags */
-	int16_t         altitude;	/*  6 GPS reported altitude (m) */
+	int16_t         altitude_low;	/*  6 GPS reported altitude (m) */
 	int32_t         latitude;	/*  8 latitude (degrees * 10⁷) */
 	int32_t         longitude;	/* 12 longitude (degrees * 10⁷) */
 	uint8_t         year;		/* 16 (- 2000) */
@@ -114,10 +115,15 @@ struct ao_telemetry_location {
 	uint16_t	ground_speed;	/* 26 cm/s */
 	int16_t		climb_rate;	/* 28 cm/s */
 	uint8_t		course;		/* 30 degrees / 2 */
-	uint8_t		state;		/* 31 */
+	int8_t		altitude_high;	/* 31 */
 	/* 32 */
 };
 
+typedef int32_t gps_alt_t;
+#define AO_TELEMETRY_LOCATION_ALTITUDE(l) \
+	((l)->altitude_low | (((l)->mode & AO_GPS_MODE_ALTITUDE_24) ? \
+			      ((gps_alt_t) (l)->altitude_high << 16) : 0))
+
 #define AO_TELEMETRY_SATELLITE		0x06
 
 struct ao_telemetry_satellite_info {
@@ -125,13 +131,16 @@ struct ao_telemetry_satellite_info {
 	uint8_t		c_n_1;
 };
 
+#define AO_TELEMETRY_SATELLITE_MAX_SAT	12
+
+
 struct ao_telemetry_satellite {
 	uint16_t				serial;		/*  0 */
 	uint16_t				tick;		/*  2 */
 	uint8_t					type;		/*  4 */
 	uint8_t					channels;	/*  5 number of reported sats */
 
-	struct ao_telemetry_satellite_info	sats[12];	/* 6 */
+	struct ao_telemetry_satellite_info	sats[AO_TELEMETRY_SATELLITE_MAX_SAT];	/* 6 */
 	uint8_t					unused[2];	/* 30 */
 	/* 32 */
 };
@@ -151,8 +160,9 @@ struct ao_telemetry_companion {
 	uint16_t				companion_data[AO_COMPANION_MAX_CHANNELS];	/*  8 */
 	/* 32 */
 };
-	
-#define AO_TELEMETRY_MEGA_SENSOR	0x08
+
+#define AO_TELEMETRY_MEGA_SENSOR_MPU		0x08	/* Invensense IMU */
+#define AO_TELEMETRY_MEGA_SENSOR_BMX160		0x12	/* BMX160 IMU */
 
 struct ao_telemetry_mega_sensor {
 	uint16_t	serial;		/*  0 */
@@ -174,8 +184,8 @@ struct ao_telemetry_mega_sensor {
 	int16_t		gyro_z;		/* 24 */
 
 	int16_t		mag_x;		/* 26 */
-	int16_t		mag_y;		/* 28 */
 	int16_t		mag_z;		/* 30 */
+	int16_t		mag_y;		/* 28 */
 	/* 32 */
 };
 	
@@ -234,17 +244,19 @@ struct ao_telemetry_metrum_data {
 	uint16_t	serial;		/*  0 */
 	uint16_t	tick;		/*  2 */
 	uint8_t		type;		/*  4 */
+	uint8_t		pad5[3];	/*  5 */
 
 	int32_t		ground_pres;	/* 8 average pres on pad */
 	int16_t		ground_accel;	/* 12 average accel on pad */
 	int16_t		accel_plus_g;	/* 14 accel calibration at +1g */
 	int16_t		accel_minus_g;	/* 16 accel calibration at -1g */
 
-	uint8_t		pad[14];	/* 18 */
+	uint8_t		pad18[14];	/* 18 */
 	/* 32 */
 };
 
 #define AO_TELEMETRY_MINI		0x10
+#define AO_TELEMETRY_MINI3		0x11
 
 struct ao_telemetry_mini {
 	uint16_t	serial;		/*  0 */