altoslib: Handle wide GPS altitude values in eeprom and telemetry

[fw/altos] / altoslib / AltosEepromMetrum2.java

diff --git a/altoslib/AltosEepromMetrum2.java b/altoslib/AltosEepromMetrum2.java
index 2f43879ec978a902a6adaf82f4ce42210a38c32f..d9a65989d8f19bd4e833506d50d97424cbf541b9 100644 (file)
--- a/altoslib/AltosEepromMetrum2.java
+++ b/altoslib/AltosEepromMetrum2.java
@@ -49,7 +49,8 @@ public class AltosEepromMetrum2 extends AltosEeprom {
        /* AO_LOG_GPS_POS elements */
        public int latitude() { return data32(0); }
        public int longitude() { return data32(4); }
        /* AO_LOG_GPS_POS elements */
        public int latitude() { return data32(0); }
        public int longitude() { return data32(4); }

-       public int altitude() { return data16(8); }
+       public int altitude_low() { return data16(8); }
+       public int altitude_high() { return data16(10); }

 
        /* AO_LOG_GPS_TIME elements */
        public int hour() { return data8(0); }
 
        /* AO_LOG_GPS_TIME elements */
        public int hour() { return data8(0); }


@@ -118,7 +119,10 @@ public class AltosEepromMetrum2 extends AltosEeprom {
                        gps = state.make_temp_gps(false);
                        gps.lat = latitude() / 1e7;
                        gps.lon = longitude() / 1e7;
                        gps = state.make_temp_gps(false);
                        gps.lat = latitude() / 1e7;
                        gps.lon = longitude() / 1e7;

-                       gps.alt = altitude();
+                       if (state.altitude_32())
+                               gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
+                       else
+                               gps.alt = altitude_low();

                        break;
                case AltosLib.AO_LOG_GPS_TIME:
                        gps = state.make_temp_gps(false);
                        break;
                case AltosLib.AO_LOG_GPS_TIME:
                        gps = state.make_temp_gps(false);