diff options
| author | Keith Packard <keithp@keithp.com> | 2014-07-10 17:07:48 -0700 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2014-07-10 17:35:44 -0700 |
| commit | 34d5be68ca23e8beb05db9a480faef63ecc911d0 (patch) | |
| tree | bcf27108a1680f6c081f583f25b831fc192ac256 /src/test/ao_gps_test_ublox.c | |
| parent | 0d044af0c5025a63026d05adcab68f265f179668 (diff) | |
altos: Extend GPS altitudes to at least 24 bits everywhere
Telemetry gets a special 'mode' flag indicating that 24-bit data is
present; log files get new data and log readers are expected to detect
that via the firmware version number.
Signed-off-by: Keith Packard <keithp@keithp.com>
Diffstat (limited to 'src/test/ao_gps_test_ublox.c')
| -rw-r--r-- | src/test/ao_gps_test_ublox.c | 9 |
1 files changed, 8 insertions, 1 deletions
diff --git a/src/test/ao_gps_test_ublox.c b/src/test/ao_gps_test_ublox.c index 4eb4b837..5ea205d6 100644 --- a/src/test/ao_gps_test_ublox.c +++ b/src/test/ao_gps_test_ublox.c @@ -16,6 +16,7 @@ */ #define AO_GPS_TEST +#define HAS_GPS 1 #include "ao_host.h" #include <termios.h> #include <errno.h> @@ -44,7 +45,7 @@ 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 +54,14 @@ 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_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) |