altoslib: Handle wide GPS altitude values in eeprom and telemetry

[fw/altos] / altoslib / AltosTelemetryLocation.java

diff --git a/altoslib/AltosTelemetryLocation.java b/altoslib/AltosTelemetryLocation.java
index 9d50e2fa4570f56ccd2a26ade60839ad48cd7250..427ae16ebed3552459ebf5487854201320a568c2 100644 (file)
--- a/altoslib/AltosTelemetryLocation.java
+++ b/altoslib/AltosTelemetryLocation.java
@@ -37,11 +37,12 @@ public class AltosTelemetryLocation extends AltosTelemetryStandard {
        int     climb_rate;
        int     course;
 
+       public static final int AO_GPS_MODE_ALTITUDE_24 = (1 << 0);     /* Reports 24-bits of altitude */
+
        public AltosTelemetryLocation(int[] bytes) {
                super(bytes);
 
                flags          = uint8(5);
-               altitude       = int16(6);
                latitude       = uint32(8);
                longitude      = uint32(12);
                year           = uint8(16);
@@ -57,6 +58,11 @@ public class AltosTelemetryLocation extends AltosTelemetryStandard {
                ground_speed   = uint16(26);
                climb_rate     = int16(28);
                course         = uint8(30);
+
+               if ((mode & AO_GPS_MODE_ALTITUDE_24) != 0) {
+                       altitude = (int8(31) << 16) | uint16(6);
+               } else
+                       altitude = int16(6);
        }
 
        public void update_state(AltosState state) {