ao-tools: Add TMv2 and Tgps log formats to cc.h

[fw/altos] / altoslib / AltosTelemetry.java

diff --git a/altoslib/AltosTelemetry.java b/altoslib/AltosTelemetry.java
index 8182ec6bb67fe9eaefa016b1337a6f9c9bba5d16..2f15cd896effa8be6ec36b1c809927da97ff168c 100644 (file)
--- a/altoslib/AltosTelemetry.java
+++ b/altoslib/AltosTelemetry.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_4;
+package org.altusmetrum.altoslib_5;
 
 import java.text.*;
 
@@ -114,6 +114,35 @@ public abstract class AltosTelemetry implements AltosStateUpdate {
                return telem;
        }
 
+       public static int extend_height(AltosState state, int height_16) {
+               double  compare_height;
+               int     height = height_16;
+
+               System.out.printf("state kalman height %g altitude %g ground_altitude %g gps_height %g\n",
+                                 state.kalman_height.value(), state.altitude(), state.ground_altitude(), state.gps_height());
+               if (state.gps != null && state.gps.alt != AltosLib.MISSING) {
+                       compare_height = state.gps_height();
+               } else {
+                       compare_height = state.height();
+               }
+
+               if (compare_height != AltosLib.MISSING) {
+                       int     high_bits = (int) Math.floor (compare_height / 65536.0);
+
+                       height = (high_bits << 16) | (height_16 & 0xffff);
+
+                       if (Math.abs(height + 65536 - compare_height) < Math.abs(height - compare_height))
+                               height += 65536;
+                       else if (Math.abs(height - 65536 - compare_height) < Math.abs(height - compare_height))
+                               height -= 65536;
+                       if (height != height_16) {
+                               System.out.printf("Height adjusted from %d to %d with %g\n",
+                                                 height_16, height, compare_height);
+                       }
+               }
+               return height;
+       }
+
        public static AltosTelemetry parse(String line) throws ParseException, AltosCRCException {
                String[] word = line.split("\\s+");
                int i =0;