X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Ftest%2Fao_gps_test_ublox.c;h=0833e4f60a3c158b5dabb61768991b60893bed80;hp=4eb4b837d6db7951b947041720f2cba742c62a7f;hb=eaf2ee0f498b519d64e1664a2b8c66c52ac1497c;hpb=ba99630f33440b993c69830856d2a7741ffdef71

diff --git a/src/test/ao_gps_test_ublox.c b/src/test/ao_gps_test_ublox.c
index 4eb4b837..0833e4f6 100644
--- a/src/test/ao_gps_test_ublox.c
+++ b/src/test/ao_gps_test_ublox.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
@@ -16,6 +17,7 @@
  */
 
 #define AO_GPS_TEST
+#define HAS_GPS	1
 #include "ao_host.h"
 #include <termios.h>
 #include <errno.h>
@@ -44,7 +46,7 @@ struct ao_telemetry_location {
 	uint8_t			flags;
 	int32_t			latitude;	/* degrees * 10⁷ */
 	int32_t			longitude;	/* degrees * 10⁷ */
-	int16_t			altitude;	/* m */
+	int16_t			altitude_low;	/* m */
 	uint16_t		ground_speed;	/* cm/s */
 	uint8_t			course;		/* degrees / 2 */
 	uint8_t			pdop;		/* * 5 */
@@ -53,8 +55,15 @@ struct ao_telemetry_location {
 	int16_t			climb_rate;	/* cm/s */
 	uint16_t		h_error;	/* m */
 	uint16_t		v_error;	/* m */
+	int16_t			altitude_high;	/* m */
 };
 
+typedef int32_t		gps_alt_t;
+#define AO_TELEMETRY_LOCATION_ALTITUDE(l) 	(((gps_alt_t) (l)->altitude_high << 16) | ((l)->altitude_low))
+#define AO_GPS_ORIG_ALTITUDE(l)			AO_TELEMETRY_LOCATION_ALTITUDE(l)
+#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) (((l)->altitude_high = (a) >> 16), \
+						 ((l)->altitude_low = (a)))
+
 #define UBLOX_SAT_STATE_ACQUIRED		(1 << 0)
 #define UBLOX_SAT_STATE_CARRIER_PHASE_VALID	(1 << 1)
 #define UBLOX_SAT_BIT_SYNC_COMPLETE		(1 << 2)
@@ -80,8 +89,8 @@ struct ao_telemetry_satellite {
 #define ao_gps_tracking_orig ao_telemetry_satellite
 #define ao_gps_sat_orig ao_telemetry_satellite_info
 
-extern __xdata struct ao_telemetry_location	ao_gps_data;
-extern __xdata struct ao_telemetry_satellite	ao_gps_tracking_data;
+extern struct ao_telemetry_location	ao_gps_data;
+extern struct ao_telemetry_satellite	ao_gps_tracking_data;
 
 uint8_t ao_gps_mutex;