telegps-v1.0: Provide one log and append to it

[fw/altos] / src / kernel / ao_telemetry.h

diff --git a/src/kernel/ao_telemetry.h b/src/kernel/ao_telemetry.h
index be7d0340745352d20505dc265a00e1f8390cf8da..83d432cf95f39db62dc9f602d8011c58a46f49ae 100644 (file)
--- a/src/kernel/ao_telemetry.h
+++ b/src/kernel/ao_telemetry.h
@@ -86,12 +86,9 @@ struct ao_telemetry_configuration {
 
 #define AO_TELEMETRY_LOCATION          0x05
 
-#define AO_GPS_MODE_NOT_VALID          'N'
-#define AO_GPS_MODE_AUTONOMOUS         'A'
-#define AO_GPS_MODE_DIFFERENTIAL       'D'
-#define AO_GPS_MODE_ESTIMATED          'E'
-#define AO_GPS_MODE_MANUAL             'M'
-#define AO_GPS_MODE_SIMULATED          'S'
+/* Mode bits */
+
+#define AO_GPS_MODE_ALTITUDE_24                (1 << 0)        /* reports 24-bits of altitude */
 
 struct ao_telemetry_location {
        uint16_t        serial;         /*  0 */
@@ -99,7 +96,7 @@ struct ao_telemetry_location {
        uint8_t         type;           /*  4 */
 
        uint8_t         flags;          /*  5 Number of sats and other flags */
-       int16_t         altitude;       /*  6 GPS reported altitude (m) */
+       uint16_t        altitude_low;   /*  6 GPS reported altitude (m) */
        int32_t         latitude;       /*  8 latitude (degrees * 10⁷) */
        int32_t         longitude;      /* 12 longitude (degrees * 10⁷) */
        uint8_t         year;           /* 16 (- 2000) */
@@ -115,10 +112,31 @@ struct ao_telemetry_location {
        uint16_t        ground_speed;   /* 26 cm/s */
        int16_t         climb_rate;     /* 28 cm/s */
        uint8_t         course;         /* 30 degrees / 2 */
-       uint8_t         unused;         /* 31 unused */
+       int8_t          altitude_high;  /* 31 high byte of altitude */
        /* 32 */
 };
 
+#if HAS_GPS
+
+#ifndef HAS_WIDE_GPS
+#define HAS_WIDE_GPS   1
+#endif
+
+#if HAS_WIDE_GPS
+typedef int32_t                gps_alt_t;
+#define AO_TELEMETRY_LOCATION_ALTITUDE(l)      (((gps_alt_t) (l)->altitude_high << 16) | ((l)->altitude_low))
+#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) (((l)->mode |= AO_GPS_MODE_ALTITUDE_24), \
+                                                ((l)->altitude_high = (a) >> 16), \
+                                                ((l)->altitude_low = (a)))
+#else
+typedef int16_t                gps_alt_t;
+#define AO_TELEMETRY_LOCATION_ALTITUDE(l)      ((gps_alt_t) (l)->altitude_low)
+#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a)        (((l)->mode = 0, \
+                                                 (l)->altitude_low = (a)))
+#endif /* HAS_WIDE_GPS */
+
+#endif /* HAS_GPS */
+
 #define AO_TELEMETRY_SATELLITE         0x06
 
 struct ao_telemetry_satellite_info {