X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_telemetry.h;h=83d432cf95f39db62dc9f602d8011c58a46f49ae;hb=4828be0ca5252ac9cd6061209385dcd6c4c57965;hp=237a35aba2a15401dc1c93695b1ae65aa1d7f47c;hpb=24167015705ae831692b95735968b04a876f935e;p=fw%2Faltos

diff --git a/src/kernel/ao_telemetry.h b/src/kernel/ao_telemetry.h
index 237a35ab..83d432cf 100644
--- a/src/kernel/ao_telemetry.h
+++ b/src/kernel/ao_telemetry.h
@@ -86,12 +86,9 @@ struct ao_telemetry_configuration {
 
 #define AO_TELEMETRY_LOCATION		0x05
 
-#define AO_GPS_MODE_NOT_VALID		'N'
-#define AO_GPS_MODE_AUTONOMOUS		'A'
-#define AO_GPS_MODE_DIFFERENTIAL	'D'
-#define AO_GPS_MODE_ESTIMATED		'E'
-#define AO_GPS_MODE_MANUAL		'M'
-#define AO_GPS_MODE_SIMULATED		'S'
+/* Mode bits */
+
+#define AO_GPS_MODE_ALTITUDE_24		(1 << 0)	/* reports 24-bits of altitude */
 
 struct ao_telemetry_location {
 	uint16_t	serial;		/*  0 */
@@ -99,7 +96,7 @@ 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) */
+	uint16_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) */
@@ -115,10 +112,31 @@ 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		unused[1];	/* 31 */
+	int8_t		altitude_high;	/* 31 high byte of altitude */
 	/* 32 */
 };
 
+#if HAS_GPS
+
+#ifndef HAS_WIDE_GPS
+#define HAS_WIDE_GPS	1
+#endif
+
+#if HAS_WIDE_GPS
+typedef int32_t		gps_alt_t;
+#define AO_TELEMETRY_LOCATION_ALTITUDE(l) 	(((gps_alt_t) (l)->altitude_high << 16) | ((l)->altitude_low))
+#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) (((l)->mode |= AO_GPS_MODE_ALTITUDE_24), \
+						 ((l)->altitude_high = (a) >> 16), \
+						 ((l)->altitude_low = (a)))
+#else
+typedef int16_t		gps_alt_t;
+#define AO_TELEMETRY_LOCATION_ALTITUDE(l)	((gps_alt_t) (l)->altitude_low)
+#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a)	(((l)->mode = 0, \
+						  (l)->altitude_low = (a)))
+#endif /* HAS_WIDE_GPS */
+
+#endif /* HAS_GPS */
+
 #define AO_TELEMETRY_SATELLITE		0x06
 
 struct ao_telemetry_satellite_info {
@@ -154,7 +172,7 @@ struct ao_telemetry_companion {
 	uint16_t				companion_data[AO_COMPANION_MAX_CHANNELS];	/*  8 */
 	/* 32 */
 };
-	
+
 #define AO_TELEMETRY_MEGA_SENSOR	0x08
 
 struct ao_telemetry_mega_sensor {
@@ -181,7 +199,7 @@ struct ao_telemetry_mega_sensor {
 	int16_t		mag_z;		/* 30 */
 	/* 32 */
 };
-	
+
 #define AO_TELEMETRY_MEGA_DATA		0x09
 
 struct ao_telemetry_mega_data {
@@ -231,7 +249,7 @@ struct ao_telemetry_metrum_sensor {
 	uint8_t		pad[6];		/* 26 */
 	/* 32 */
 };
-	
+
 #define AO_TELEMETRY_METRUM_DATA	0x0B
 
 struct ao_telemetry_metrum_data {