ao-telem: Show all 24 bits of GPS altitude data
authorKeith Packard <keithp@keithp.com>
Tue, 26 Nov 2019 02:38:14 +0000 (18:38 -0800)
committerKeith Packard <keithp@keithp.com>
Tue, 26 Nov 2019 02:38:14 +0000 (18:38 -0800)
Need to mix in the upper 8 bits from devices which include them.

Signed-off-by: Keith Packard <keithp@keithp.com>
ao-tools/ao-telem/ao-telem.c
ao-tools/lib/cc-telemetry.h

index ee60712..02d53ff 100644 (file)
@@ -115,7 +115,7 @@ main (int argc, char **argv)
                                                (telem.location.flags & (1 << 6)) ? ",date" : "",
                                                (telem.location.flags & (1 << 7)) ? ",course" : "");
                                        printf (" alt %5d lat %12.7f lon %12.7f",
-                                               telem.location.altitude,
+                                               AO_TELEMETRY_LOCATION_ALTITUDE(&telem.location),
                                                telem.location.latitude / 1e7,
                                                telem.location.longitude / 1e7);
                                        if ((telem.location.flags & (1 << 6)) != 0) {
index 500de96..256af3a 100644 (file)
@@ -91,13 +91,15 @@ struct ao_telemetry_configuration {
 #define AO_GPS_MODE_MANUAL             'M'
 #define AO_GPS_MODE_SIMULATED          'S'
 
+#define AO_GPS_MODE_ALTITUDE_24                (1 << 0)        /* reports 24-bits of altitude */
+
 struct ao_telemetry_location {
        uint16_t        serial;         /*  0 */
        uint16_t        tick;           /*  2 */
        uint8_t         type;           /*  4 */
 
        uint8_t         flags;          /*  5 Number of sats and other flags */
-       int16_t         altitude;       /*  6 GPS reported altitude (m) */
+       int16_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) */
@@ -113,10 +115,15 @@ 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[1];      /* 31 */
+       int8_t          altitude_high;  /* 31 */
        /* 32 */
 };
 
+typedef int32_t gps_alt_t;
+#define AO_TELEMETRY_LOCATION_ALTITUDE(l) \
+       ((l)->altitude_low | (((l)->mode & AO_GPS_MODE_ALTITUDE_24) ? \
+                             ((gps_alt_t) (l)->altitude_high << 16) : 0))
+
 #define AO_TELEMETRY_SATELLITE         0x06
 
 struct ao_telemetry_satellite_info {
@@ -124,13 +131,16 @@ struct ao_telemetry_satellite_info {
        uint8_t         c_n_1;
 };
 
+#define AO_TELEMETRY_SATELLITE_MAX_SAT 12
+
+
 struct ao_telemetry_satellite {
        uint16_t                                serial;         /*  0 */
        uint16_t                                tick;           /*  2 */
        uint8_t                                 type;           /*  4 */
        uint8_t                                 channels;       /*  5 number of reported sats */
 
-       struct ao_telemetry_satellite_info      sats[12];       /* 6 */
+       struct ao_telemetry_satellite_info      sats[AO_TELEMETRY_SATELLITE_MAX_SAT];   /* 6 */
        uint8_t                                 unused[2];      /* 30 */
        /* 32 */
 };
@@ -173,8 +183,8 @@ struct ao_telemetry_mega_sensor {
        int16_t         gyro_z;         /* 24 */
 
        int16_t         mag_x;          /* 26 */
-       int16_t         mag_y;          /* 28 */
        int16_t         mag_z;          /* 30 */
+       int16_t         mag_y;          /* 28 */
        /* 32 */
 };
        
@@ -233,17 +243,19 @@ struct ao_telemetry_metrum_data {
        uint16_t        serial;         /*  0 */
        uint16_t        tick;           /*  2 */
        uint8_t         type;           /*  4 */
+       uint8_t         pad5[3];        /*  5 */
 
        int32_t         ground_pres;    /* 8 average pres on pad */
        int16_t         ground_accel;   /* 12 average accel on pad */
        int16_t         accel_plus_g;   /* 14 accel calibration at +1g */
        int16_t         accel_minus_g;  /* 16 accel calibration at -1g */
 
-       uint8_t         pad[14];        /* 18 */
+       uint8_t         pad18[14];      /* 18 */
        /* 32 */
 };
 
 #define AO_TELEMETRY_MINI              0x10
+#define AO_TELEMETRY_MINI3             0x11
 
 struct ao_telemetry_mini {
        uint16_t        serial;         /*  0 */