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>

5 files changed, 24 insertions, 8 deletions

diff --git a/src/test/ao_aprs_test.c b/src/test/ao_aprs_test.c
index 573b5cb2..ae505dea 100644
--- a/src/test/ao_aprs_test.c
+++ b/src/test/ao_aprs_test.c
@@ -21,6 +21,8 @@
 #include <stdint.h>
 #include <stdarg.h>
 
+#define HAS_GPS	1
+
 #include <ao_telemetry.h>
 
 #define AO_GPS_NUM_SAT_MASK	(0xf << 0)
@@ -100,14 +102,11 @@ audio_gap(int secs)
 // This is where we go after reset.
 int main(int argc, char **argv)
 {
-	int	e, x;
-	int	a;
-
     audio_gap(1);
 
     ao_gps_data.latitude = (45.0 + 28.25 / 60.0) * 10000000;
     ao_gps_data.longitude = (-(122 + 44.2649 / 60.0)) * 10000000;
-    ao_gps_data.altitude = 84;
+    AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_data, 84);
     ao_gps_data.flags = (AO_GPS_VALID|AO_GPS_RUNNING);
 
     /* Transmit one packet */
diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index 1ab22e5b..314998c1 100644
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -175,7 +175,7 @@ ao_gps_angle(void)
 			ao_gps_static.latitude / 1e7,
 			ao_gps_static.longitude / 1e7,
 			&dist, &bearing);
-	height = ao_gps_static.altitude - ao_gps_prev.altitude;
+	height = AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_static) - AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_prev);
 
 	angle = atan2(dist, height);
 	return angle * 180/M_PI;
@@ -756,7 +756,10 @@ ao_sleep(void *wchan)
 					ao_gps_static.tick = tick;
 					ao_gps_static.latitude = int32(bytes, 0);
 					ao_gps_static.longitude = int32(bytes, 4);
-					ao_gps_static.altitude = int32(bytes, 8);
+					{
+						int32_t	altitude = int32(bytes, 8);
+						AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_static, altitude);
+					}
 					ao_gps_static.flags = bytes[13];
 					if (!ao_gps_count)
 						ao_gps_first = ao_gps_static;
diff --git a/src/test/ao_gps_test.c b/src/test/ao_gps_test.c
index e799ab0f..543bbcc3 100644
--- a/src/test/ao_gps_test.c
+++ b/src/test/ao_gps_test.c
@@ -53,6 +53,9 @@ struct ao_gps_orig {
 	uint16_t		v_error;	/* m */
 };
 
+#define AO_TELEMETRY_LOCATION_ALTITUDE(l) 	((l)->altitude)
+#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) ((l)->altitude = (a))
+
 #define SIRF_SAT_STATE_ACQUIRED			(1 << 0)
 #define SIRF_SAT_STATE_CARRIER_PHASE_VALID	(1 << 1)
 #define SIRF_SAT_BIT_SYNC_COMPLETE		(1 << 2)
@@ -433,7 +436,7 @@ ao_dump_state(void *wchan)
 
 	if (wchan != &ao_gps_new)
 		return;
-	
+
 	if (ao_gps_new & AO_GPS_NEW_DATA) {
 		ao_gps_print(&ao_gps_data);
 		putchar('\n');
diff --git a/src/test/ao_gps_test_skytraq.c b/src/test/ao_gps_test_skytraq.c
index 1b590d5e..5eb7118d 100644
--- a/src/test/ao_gps_test_skytraq.c
+++ b/src/test/ao_gps_test_skytraq.c
@@ -16,6 +16,7 @@
  */
 
 #define AO_GPS_TEST
+#define HAS_GPS 1
 #include "ao_host.h"
 #include <termios.h>
 #include <errno.h>
@@ -53,6 +54,9 @@ struct ao_gps_orig {
 	uint16_t		v_error;	/* m */
 };
 
+#define AO_TELEMETRY_LOCATION_ALTITUDE(l) 	((l)->altitude)
+#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) ((l)->altitude = (a))
+
 #define SIRF_SAT_STATE_ACQUIRED			(1 << 0)
 #define SIRF_SAT_STATE_CARRIER_PHASE_VALID	(1 << 1)
 #define SIRF_SAT_BIT_SYNC_COMPLETE		(1 << 2)
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)