X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_gps_skytraq.c;h=3ecae435bfe52e7ed2cb4fd1a8e402fe4b7ac27f;hp=d789974d1c8bd3adf722307bdfe517c942d4792b;hb=6023ff81f1bbd240169b9548209133d3b02d475f;hpb=db6003d34595fbd103d5b131912b6a797254f1c5

diff --git a/src/drivers/ao_gps_skytraq.c b/src/drivers/ao_gps_skytraq.c
index d789974d..3ecae435 100644
--- a/src/drivers/ao_gps_skytraq.c
+++ b/src/drivers/ao_gps_skytraq.c
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -259,9 +260,6 @@ ao_nmea_gga(void)
 	ao_gps_next.minute = ao_gps_decimal(2);
 	ao_gps_next.second = ao_gps_decimal(2);
 	ao_gps_skip_field();	/* skip seconds fraction */
-#if HAS_FLIGHT || HAS_TRACKER
-				ao_gps_data.state = ao_flight_state;
-#endif
 
 	ao_gps_next.latitude = ao_gps_parse_pos(2);
 	if (ao_gps_parse_flag('N', 'S'))
@@ -281,16 +279,17 @@ ao_nmea_gga(void)
 
 	ao_gps_lexchar();
 	i = ao_gps_decimal(0xff);
-	if (i <= 50) {
-		i = (uint8_t) 5 * i;
+	if (i <= 25) {
+		i = (uint8_t) 10 * i;
 		if (ao_gps_char == '.')
-			i = (i + ((uint8_t) ao_gps_decimal(1) >> 1));
+			i = (i + ((uint8_t) ao_gps_decimal(1)));
 	} else
 		i = 255;
 	ao_gps_next.hdop = i;
 	ao_gps_skip_field();
 
-	ao_gps_next.altitude = ao_gps_decimal(0xff);
+	AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_next, ao_gps_decimal(0xff));
+
 	ao_gps_skip_field();	/* skip any fractional portion */
 
 	ao_nmea_finish();
@@ -299,7 +298,7 @@ ao_nmea_gga(void)
 		ao_mutex_get(&ao_gps_mutex);
 		ao_gps_new |= AO_GPS_NEW_DATA;
 		ao_gps_tick = ao_gps_next_tick;
-		ao_xmemcpy(&ao_gps_data, PDATA_TO_XDATA(&ao_gps_next), sizeof (ao_gps_data));
+		ao_xmemcpy(&ao_gps_data, &ao_gps_next, sizeof (ao_gps_data));
 		ao_mutex_put(&ao_gps_mutex);
 		ao_wakeup(&ao_gps_new);
 	}
@@ -358,7 +357,7 @@ ao_nmea_gsv(void)
 	else if (done) {
 		ao_mutex_get(&ao_gps_mutex);
 		ao_gps_new |= AO_GPS_NEW_TRACKING;
-		ao_xmemcpy(&ao_gps_tracking_data, PDATA_TO_XDATA(&ao_gps_tracking_next), sizeof(ao_gps_tracking_data));
+		ao_xmemcpy(&ao_gps_tracking_data, &ao_gps_tracking_next, sizeof(ao_gps_tracking_data));
 		ao_mutex_put(&ao_gps_mutex);
 		ao_wakeup(&ao_gps_new);
 	}