diff options
| author | Keith Packard <keithp@keithp.com> | 2014-07-10 17:27:43 -0700 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2014-07-10 17:35:44 -0700 |
| commit | 59702e5ff8d0522b0aa9dcca863309eaafbcda09 (patch) | |
| tree | c55a101785c8529f81cdb8463b738883a5b0e470 /altoslib/AltosTelemetryMetrumSensor.java | |
| parent | 6dc58c63d202e918f16d5fbe9b188d422edcdd9c (diff) | |
altoslib: Extend telemetry heights from 16 to 32 bits
Uses the GPS data and/or previous kalman data to compute the upper 16
bits of the truncated telemetry altitude value.
Signed-off-by: Keith Packard <keithp@keithp.com>
Diffstat (limited to 'altoslib/AltosTelemetryMetrumSensor.java')
| -rw-r--r-- | altoslib/AltosTelemetryMetrumSensor.java | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/altoslib/AltosTelemetryMetrumSensor.java b/altoslib/AltosTelemetryMetrumSensor.java index 3e0abedc..beab6da9 100644 --- a/altoslib/AltosTelemetryMetrumSensor.java +++ b/altoslib/AltosTelemetryMetrumSensor.java @@ -27,7 +27,7 @@ public class AltosTelemetryMetrumSensor extends AltosTelemetryStandard { int acceleration; int speed; - int height; + int height_16; int v_batt; int sense_a; @@ -43,7 +43,7 @@ public class AltosTelemetryMetrumSensor extends AltosTelemetryStandard { acceleration = int16(14); speed = int16(16); - height = int16(18); + height_16 = int16(18); v_batt = int16(20); sense_a = int16(22); @@ -59,7 +59,8 @@ public class AltosTelemetryMetrumSensor extends AltosTelemetryStandard { state.set_pressure(pres); state.set_temperature(temp/100.0); - state.set_kalman(height, speed/16.0, acceleration/16.0); + state.set_kalman(extend_height(state, height_16), + speed/16.0, acceleration/16.0); state.set_battery_voltage(AltosConvert.mega_battery_voltage(v_batt)); |