altoslib: Extend telemetry heights from 16 to 32 bits

[fw/altos] / altoslib / AltosState.java

diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index 2fc13b446882c56511450a92da9ee530f30b4e00..5fce15c43865e63b43447db93f59faf725f838f7 100644 (file)
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -271,6 +271,7 @@ public class AltosState implements Cloneable {
        public int      state;
        public int      flight;
        public int      serial;
+       public int      altitude_32;
        public int      receiver_serial;
        public boolean  landed;
        public boolean  ascent; /* going up? */
@@ -472,15 +473,23 @@ public class AltosState implements Cloneable {
                pressure.set(p, time);
        }
 
+       public double baro_height() {
+               double a = altitude();
+               double g = ground_altitude();
+               if (a != AltosLib.MISSING && g != AltosLib.MISSING)
+                       return a - g;
+               return AltosLib.MISSING;
+       }
+
        public double height() {
                double k = kalman_height.value();
                if (k != AltosLib.MISSING)
                        return k;
 
-               double a = altitude();
-               double g = ground_altitude();
-               if (a != AltosLib.MISSING && g != AltosLib.MISSING)
-                       return a - g;
+               double b = baro_height();
+               if (b != AltosLib.MISSING)
+                       return b;
+
                return gps_height();
        }
 
@@ -762,6 +771,7 @@ public class AltosState implements Cloneable {
                product = null;
                serial = AltosLib.MISSING;
                receiver_serial = AltosLib.MISSING;
+               altitude_32 = AltosLib.MISSING;
 
                baro = null;
                companion = null;
@@ -899,6 +909,7 @@ public class AltosState implements Cloneable {
                product = old.product;
                serial = old.serial;
                receiver_serial = old.receiver_serial;
+               altitude_32 = old.altitude_32;
 
                baro = old.baro;
                companion = old.companion;
@@ -1066,6 +1077,15 @@ public class AltosState implements Cloneable {
                        receiver_serial = serial;
        }
 
+       public boolean altitude_32() {
+               return altitude_32 == 1;
+       }
+
+       public void set_altitude_32(int altitude_32) {
+               if (altitude_32 != AltosLib.MISSING)
+                       this.altitude_32 = altitude_32;
+       }
+
        public int rssi() {
                if (rssi == AltosLib.MISSING)
                        return 0;