Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

[fw/altos] / altoslib / AltosTelemetryMegaData.java

diff --git a/altoslib/AltosTelemetryMegaData.java b/altoslib/AltosTelemetryMegaData.java
index fac5695f27fbf6048a5f5d7b994f1e0ffe3ea529..2af8d931d857f873b39fde3c972d4a880acbdc98 100644 (file)
--- a/altoslib/AltosTelemetryMegaData.java
+++ b/altoslib/AltosTelemetryMegaData.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_4;
+package org.altusmetrum.altoslib_8;
 
 public class AltosTelemetryMegaData extends AltosTelemetryStandard {
        int     state;
@@ -31,12 +31,12 @@ public class AltosTelemetryMegaData extends AltosTelemetryStandard {
 
        int     acceleration;
        int     speed;
-       int     height;
+       int     height_16;
 
        public AltosTelemetryMegaData(int[] bytes) {
                super(bytes);
 
-               state = int8(5);
+               state = uint8(5);
 
                v_batt = int16(6);
                v_pyro = int16(8);
@@ -44,7 +44,7 @@ public class AltosTelemetryMegaData extends AltosTelemetryStandard {
                sense = new int[6];
 
                for (int i = 0; i < 6; i++) {
-                       sense[i] = int8(10 + i) << 4;
+                       sense[i] = uint8(10 + i) << 4;
                        sense[i] |= sense[i] >> 8;
                }
 
@@ -55,7 +55,8 @@ public class AltosTelemetryMegaData extends AltosTelemetryStandard {
 
                acceleration = int16(26);
                speed = int16(28);
-               height = int16(30);
+
+               height_16 = int16(30);
        }
 
        public void update_state(AltosState state) {
@@ -79,7 +80,13 @@ public class AltosTelemetryMegaData extends AltosTelemetryStandard {
                state.set_ground_pressure(ground_pres);
                state.set_accel_g(accel_plus_g, accel_minus_g);
 
-               state.set_kalman(height, speed/16.0, acceleration / 16.0);
+               /* Fill in the high bits of height from recent GPS
+                * data if available, otherwise guess using the
+                * previous kalman height
+                */
+
+               state.set_kalman(extend_height(state, height_16),
+                                speed/16.0, acceleration / 16.0);
        }
 }