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 5a616e6cd835aeff3cf781f2569a2d64deb7410b..d9a65989d8f19bd4e833506d50d97424cbf541b9 100644 (file)
--- a/altoslib/AltosEepromMetrum2.java
+++ b/altoslib/AltosEepromMetrum2.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_5;
 
 import java.io.*;
 import java.util.*;
@@ -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); }
-       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); }
@@ -59,7 +60,8 @@ public class AltosEepromMetrum2 extends AltosEeprom {
        public int year() { return data8(4); }
        public int month() { return data8(5); }
        public int day() { return data8(6); }
-       
+       public int pdop() { return data8(7); }
+
        /* AO_LOG_GPS_SAT elements */
        public int nsat() { return data8(0); }
        public int more() { return data8(1); }
@@ -71,6 +73,8 @@ public class AltosEepromMetrum2 extends AltosEeprom {
        }
 
        public void update_state(AltosState state) {
+               super.update_state(state);
+
                AltosGPS        gps;
 
                /* Flush any pending GPS changes */
@@ -89,11 +93,8 @@ public class AltosEepromMetrum2 extends AltosEeprom {
                        }
                }
 
-               if (cmd != AltosLib.AO_LOG_FLIGHT)
-                       state.set_tick(tick);
                switch (cmd) {
                case AltosLib.AO_LOG_FLIGHT:
-                       state.set_boost_tick(tick);
                        state.set_flight(flight());
                        state.set_ground_accel(ground_accel());
                        state.set_ground_pressure(ground_pres());
@@ -115,13 +116,16 @@ public class AltosEepromMetrum2 extends AltosEeprom {
 
                        break;
                case AltosLib.AO_LOG_GPS_POS:
-                       gps = state.make_temp_gps();
+                       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();
+                       gps = state.make_temp_gps(false);
 
                        gps.hour = hour();
                        gps.minute = minute();
@@ -134,13 +138,13 @@ public class AltosEepromMetrum2 extends AltosEeprom {
                        gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
                                AltosLib.AO_GPS_NUM_SAT_SHIFT;
 
-                       gps.year = year();
+                       gps.year = 2000 + year();
                        gps.month = month();
                        gps.day = day();
+                       gps.pdop = pdop() / 10.0;
                        break;
                case AltosLib.AO_LOG_GPS_SAT:
-                       state.set_tick(tick);
-                       gps = state.make_temp_gps();
+                       gps = state.make_temp_gps(true);
 
                        int n = nsat();
                        for (int i = 0; i < n; i++)
@@ -154,7 +158,7 @@ public class AltosEepromMetrum2 extends AltosEeprom {
        }
 
        static public LinkedList<AltosEeprom> read(FileInputStream input) {
-               LinkedList<AltosEeprom> megas = new LinkedList<AltosEeprom>();
+               LinkedList<AltosEeprom> metrums = new LinkedList<AltosEeprom>();
 
                for (;;) {
                        try {
@@ -162,9 +166,10 @@ public class AltosEepromMetrum2 extends AltosEeprom {
                                if (line == null)
                                        break;
                                try {
-                                       AltosEepromMetrum2 mega = new AltosEepromMetrum2(line);
-                                       if (mega.cmd != AltosLib.AO_LOG_INVALID)
-                                               megas.add(mega);
+                                       AltosEepromMetrum2 metrum = new AltosEepromMetrum2(line);
+
+                                       if (metrum.cmd != AltosLib.AO_LOG_INVALID)
+                                               metrums.add(metrum);
                                } catch (Exception e) {
                                        System.out.printf ("exception\n");
                                }
@@ -173,6 +178,6 @@ public class AltosEepromMetrum2 extends AltosEeprom {
                        }
                }
 
-               return megas;
+               return metrums;
        }
 }