altosui: Add support for telemetry version 4

[fw/altos] / altosui / AltosState.java

diff --git a/altosui/AltosState.java b/altosui/AltosState.java
index ec499d5acf2110e776e2096decf83e8b088a69e8..4e165f8093550ea4ea0fe74fb552d3d3073084a4 100644 (file)
--- a/altosui/AltosState.java
+++ b/altosui/AltosState.java
@@ -79,7 +79,8 @@ public class AltosState {
                data = cur;
 
                ground_altitude = data.ground_altitude();
-               height = data.filtered_altitude() - ground_altitude;
+               height = data.filtered_height();
+               System.out.printf("height %g\n", height);
 
                report_time = System.currentTimeMillis();
 
@@ -114,10 +115,14 @@ public class AltosState {
                        /* compute barometric speed */
 
                        double height_change = height - prev_state.height;
-                       if (time_change > 0)
-                               baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0;
-                       else
-                               baro_speed = prev_state.baro_speed;
+                       if (data.speed != AltosRecord.MISSING)
+                               baro_speed = data.speed;
+                       else {
+                               if (time_change > 0)
+                                       baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0;
+                               else
+                                       baro_speed = prev_state.baro_speed;
+                       }
                } else {
                        npad = 0;
                        ngps = 0;