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 fa3c24d03a192cc96508d32bb1b70ebe84c6feca..427ae16ebed3552459ebf5487854201320a568c2 100644 (file)
--- a/altoslib/AltosTelemetryLocation.java
+++ b/altoslib/AltosTelemetryLocation.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;
 
 
 public class AltosTelemetryLocation extends AltosTelemetryStandard {
@@ -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);
@@ -57,11 +58,16 @@ 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) {
                super.update_state(state);
-               AltosGPS        gps = state.make_temp_gps();
+               AltosGPS        gps = state.make_temp_gps(false);
 
                gps.nsat = flags & 0xf;
                gps.locked = (flags & (1 << 4)) != 0;
@@ -80,8 +86,9 @@ public class AltosTelemetryLocation extends AltosTelemetryStandard {
                        gps.ground_speed = ground_speed * 1.0e-2;
                        gps.course = course * 2;
                        gps.climb_rate = climb_rate * 1.0e-2;
-                       gps.hdop = hdop;
-                       gps.vdop = vdop;
+                       gps.pdop = pdop / 10.0;
+                       gps.hdop = hdop / 10.0;
+                       gps.vdop = vdop / 10.0;
                }
                state.set_temp_gps();
        }