diff options
| author | Keith Packard <keithp@keithp.com> | 2014-07-10 17:10:49 -0700 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2014-07-10 17:35:44 -0700 |
| commit | ed2a08c50d6b8ebcc8c1d2f15e73c1f2a1e25041 (patch) | |
| tree | 201873b16557375d3204b2e9c79038ae899c3e7f /altoslib/AltosTelemetryLocation.java | |
| parent | 34d5be68ca23e8beb05db9a480faef63ecc911d0 (diff) | |
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>
Diffstat (limited to 'altoslib/AltosTelemetryLocation.java')
| -rw-r--r-- | altoslib/AltosTelemetryLocation.java | 8 |
1 files changed, 7 insertions, 1 deletions
diff --git a/altoslib/AltosTelemetryLocation.java b/altoslib/AltosTelemetryLocation.java index 9d50e2fa..427ae16e 100644 --- a/altoslib/AltosTelemetryLocation.java +++ b/altoslib/AltosTelemetryLocation.java @@ -37,11 +37,12 @@ public class AltosTelemetryLocation extends AltosTelemetryStandard { 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); - altitude = int16(6); 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); + + if ((mode & AO_GPS_MODE_ALTITUDE_24) != 0) { + altitude = (int8(31) << 16) | uint16(6); + } else + altitude = int16(6); } public void update_state(AltosState state) { |