/* * Copyright © 2011 Keith Packard * * 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; 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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * General Public License for more details. * * You should have received a copy of the GNU General Public License along * with this program; if not, write to the Free Software Foundation, Inc., * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ package org.altusmetrum.altoslib_13; public class AltosTelemetryLocation extends AltosTelemetryStandard { int flags() { return uint8(5); } int altitude() { if ((mode() & AO_GPS_MODE_ALTITUDE_24) != 0) return (int8(31) << 16) | uint16(6); else return int16(6); } int latitude() { return uint32(8); } int longitude() { return uint32(12); } int year() { return uint8(16); } int month() { return uint8(17); } int day() { return uint8(18); } int hour() { return uint8(19); } int minute() { return uint8(20); } int second() { return uint8(21); } int pdop() { return uint8(22); } int hdop() { return uint8(23); } int vdop() { return uint8(24); } int mode() { return uint8(25); } int ground_speed() { return uint16(26); } int climb_rate() { return int16(28); } int course() { return uint8(30); } public static final int AO_GPS_MODE_ALTITUDE_24 = (1 << 0); /* Reports 24-bits of altitude */ public AltosTelemetryLocation(int[] bytes) throws AltosCRCException { super(bytes); } public void provide_data(AltosDataListener listener) { super.provide_data(listener); AltosCalData cal_data = listener.cal_data(); AltosGPS gps = listener.make_temp_gps(false); int flags = flags(); gps.nsat = flags & 0xf; gps.locked = (flags & (1 << 4)) != 0; gps.connected = (flags & (1 << 5)) != 0; gps.pdop = pdop() / 10.0; gps.hdop = hdop() / 10.0; gps.vdop = vdop() / 10.0; if (gps.locked) { gps.lat = latitude() * 1.0e-7; gps.lon = longitude() * 1.0e-7; gps.alt = altitude(); gps.year = 2000 + year(); gps.month = month(); gps.day = day(); gps.hour = hour(); gps.minute = minute(); gps.second = second(); gps.ground_speed = ground_speed() * 1.0e-2; gps.course = course() * 2; gps.climb_rate = climb_rate() * 1.0e-2; } listener.set_gps(gps); } }