altoslib: Handle wide GPS altitude values in eeprom and telemetry

Detect when the wider data is present and handle it correctly

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/altoslib/AltosEepromGPS.java b/altoslib/AltosEepromGPS.java
index 46a2173de6063c08211789598df215241c1178f2..482f0b5fa118348122cd814d011da7d12bea3ffa 100644 (file)
--- a/altoslib/AltosEepromGPS.java
+++ b/altoslib/AltosEepromGPS.java
@@ -37,7 +37,7 @@ public class AltosEepromGPS extends AltosEeprom {
        /* AO_LOG_GPS_TIME elements */
        public int latitude() { return data32(0); }
        public int longitude() { return data32(4); }
        /* AO_LOG_GPS_TIME elements */
        public int latitude() { return data32(0); }
        public int longitude() { return data32(4); }

-       public int altitude() { return data16(8); }
+       public int altitude_low() { return data16(8); }

        public int hour() { return data8(10); }
        public int minute() { return data8(11); }
        public int second() { return data8(12); }
        public int hour() { return data8(10); }
        public int minute() { return data8(11); }
        public int second() { return data8(12); }


@@ -52,6 +52,7 @@ public class AltosEepromGPS extends AltosEeprom {
        public int hdop() { return data8(23); }
        public int vdop() { return data8(24); }
        public int mode() { return data8(25); }
        public int hdop() { return data8(23); }
        public int vdop() { return data8(24); }
        public int mode() { return data8(25); }

+       public int altitude_high() { return data16(26); }

 
        public boolean has_seconds() { return cmd == AltosLib.AO_LOG_GPS_TIME; }
 
 
        public boolean has_seconds() { return cmd == AltosLib.AO_LOG_GPS_TIME; }
 


@@ -99,7 +100,10 @@ public class AltosEepromGPS extends AltosEeprom {
                        gps = state.make_temp_gps(false);
                        gps.lat = latitude() / 1e7;
                        gps.lon = longitude() / 1e7;
                        gps = state.make_temp_gps(false);
                        gps.lat = latitude() / 1e7;
                        gps.lon = longitude() / 1e7;

-                       gps.alt = altitude();
+                       if (state.altitude_32())
+                               gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
+                       else
+                               gps.alt = altitude_low();

 
                        gps.hour = hour();
                        gps.minute = minute();
 
                        gps.hour = hour();
                        gps.minute = minute();

diff --git a/altoslib/AltosEepromMega.java b/altoslib/AltosEepromMega.java
index 1616de771ef2cdbdcea4b6607a2f88549968ffbf..adaa7f3197f84a1a0d1a5a9b99518fed9bcfa53d 100644 (file)
--- a/altoslib/AltosEepromMega.java
+++ b/altoslib/AltosEepromMega.java
@@ -67,7 +67,7 @@ public class AltosEepromMega extends AltosEeprom {
        /* AO_LOG_GPS_TIME elements */
        public int latitude() { return data32(0); }
        public int longitude() { return data32(4); }
        /* AO_LOG_GPS_TIME elements */
        public int latitude() { return data32(0); }
        public int longitude() { return data32(4); }

-       public int altitude() { return data16(8); }
+       public int altitude_low() { return data16(8); }

        public int hour() { return data8(10); }
        public int minute() { return data8(11); }
        public int second() { return data8(12); }
        public int hour() { return data8(10); }
        public int minute() { return data8(11); }
        public int second() { return data8(12); }


@@ -82,6 +82,7 @@ public class AltosEepromMega extends AltosEeprom {
        public int hdop() { return data8(23); }
        public int vdop() { return data8(24); }
        public int mode() { return data8(25); }
        public int hdop() { return data8(23); }
        public int vdop() { return data8(24); }
        public int mode() { return data8(25); }

+       public int altitude_high() { return data16(26); }

 
        /* AO_LOG_GPS_SAT elements */
        public int nsat() { return data16(0); }
 
        /* AO_LOG_GPS_SAT elements */
        public int nsat() { return data16(0); }


@@ -168,7 +169,11 @@ public class AltosEepromMega extends AltosEeprom {
                        gps = state.make_temp_gps(false);
                        gps.lat = latitude() / 1e7;
                        gps.lon = longitude() / 1e7;
                        gps = state.make_temp_gps(false);
                        gps.lat = latitude() / 1e7;
                        gps.lon = longitude() / 1e7;

-                       gps.alt = altitude();
+
+                       if (state.altitude_32())
+                               gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
+                       else
+                               gps.alt = altitude_low();

 
                        gps.hour = hour();
                        gps.minute = minute();
 
                        gps.hour = hour();
                        gps.minute = minute();

diff --git a/altoslib/AltosEepromMetrum2.java b/altoslib/AltosEepromMetrum2.java
index 2f43879ec978a902a6adaf82f4ce42210a38c32f..d9a65989d8f19bd4e833506d50d97424cbf541b9 100644 (file)
--- a/altoslib/AltosEepromMetrum2.java
+++ b/altoslib/AltosEepromMetrum2.java
@@ -49,7 +49,8 @@ public class AltosEepromMetrum2 extends AltosEeprom {
        /* AO_LOG_GPS_POS elements */
        public int latitude() { return data32(0); }
        public int longitude() { return data32(4); }
        /* AO_LOG_GPS_POS elements */
        public int latitude() { return data32(0); }
        public int longitude() { return data32(4); }

-       public int altitude() { return data16(8); }
+       public int altitude_low() { return data16(8); }
+       public int altitude_high() { return data16(10); }

 
        /* AO_LOG_GPS_TIME elements */
        public int hour() { return data8(0); }
 
        /* AO_LOG_GPS_TIME elements */
        public int hour() { return data8(0); }


@@ -118,7 +119,10 @@ public class AltosEepromMetrum2 extends AltosEeprom {
                        gps = state.make_temp_gps(false);
                        gps.lat = latitude() / 1e7;
                        gps.lon = longitude() / 1e7;
                        gps = state.make_temp_gps(false);
                        gps.lat = latitude() / 1e7;
                        gps.lon = longitude() / 1e7;

-                       gps.alt = altitude();
+                       if (state.altitude_32())
+                               gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16);
+                       else
+                               gps.alt = altitude_low();

                        break;
                case AltosLib.AO_LOG_GPS_TIME:
                        gps = state.make_temp_gps(false);
                        break;
                case AltosLib.AO_LOG_GPS_TIME:
                        gps = state.make_temp_gps(false);

diff --git a/altoslib/AltosTelemetryLocation.java b/altoslib/AltosTelemetryLocation.java
index 9d50e2fa4570f56ccd2a26ade60839ad48cd7250..427ae16ebed3552459ebf5487854201320a568c2 100644 (file)
--- a/altoslib/AltosTelemetryLocation.java
+++ b/altoslib/AltosTelemetryLocation.java
@@ -37,11 +37,12 @@ public class AltosTelemetryLocation extends AltosTelemetryStandard {
        int     climb_rate;
        int     course;
 
        int     climb_rate;
        int     course;
 

+       public static final int AO_GPS_MODE_ALTITUDE_24 = (1 << 0);     /* Reports 24-bits of altitude */
+

        public AltosTelemetryLocation(int[] bytes) {
                super(bytes);
 
                flags          = uint8(5);
        public AltosTelemetryLocation(int[] bytes) {
                super(bytes);
 
                flags          = uint8(5);

-               altitude       = int16(6);

                latitude       = uint32(8);
                longitude      = uint32(12);
                year           = uint8(16);
                latitude       = uint32(8);
                longitude      = uint32(12);
                year           = uint8(16);


@@ -57,6 +58,11 @@ public class AltosTelemetryLocation extends AltosTelemetryStandard {
                ground_speed   = uint16(26);
                climb_rate     = int16(28);
                course         = uint8(30);
                ground_speed   = uint16(26);
                climb_rate     = int16(28);
                course         = uint8(30);

+
+               if ((mode & AO_GPS_MODE_ALTITUDE_24) != 0) {
+                       altitude = (int8(31) << 16) | uint16(6);
+               } else
+                       altitude = int16(6);

        }
 
        public void update_state(AltosState state) {
        }
 
        public void update_state(AltosState state) {