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-rw-r--r--altoslib/AltosEepromGPS.java17
-rw-r--r--altoslib/AltosEepromMega.java17
-rw-r--r--altoslib/AltosEepromMetrum2.java2
-rw-r--r--altoslib/AltosGPS.java36
-rw-r--r--altoslib/AltosLib.java25
-rw-r--r--altoslib/AltosState.java6
-rw-r--r--altoslib/AltosTelemetryLegacy.java2
-rw-r--r--altoslib/AltosTelemetryLocation.java5
-rw-r--r--altoslib/AltosWriter.java2
9 files changed, 93 insertions, 19 deletions
diff --git a/altoslib/AltosEepromGPS.java b/altoslib/AltosEepromGPS.java
index 2514b4fc..46a2173d 100644
--- a/altoslib/AltosEepromGPS.java
+++ b/altoslib/AltosEepromGPS.java
@@ -118,8 +118,21 @@ public class AltosEepromGPS extends AltosEeprom {
gps.ground_speed = ground_speed() * 1.0e-2;
gps.course = course() * 2;
gps.climb_rate = climb_rate() * 1.0e-2;
- gps.hdop = hdop();
- gps.vdop = vdop();
+ if (state.compare_version("1.4.9") >= 0) {
+ gps.pdop = pdop() / 10.0;
+ gps.hdop = hdop() / 10.0;
+ gps.vdop = vdop() / 10.0;
+ } else {
+ gps.pdop = pdop() / 100.0;
+ if (gps.pdop < 0.8)
+ gps.pdop += 2.56;
+ gps.hdop = hdop() / 100.0;
+ if (gps.hdop < 0.8)
+ gps.hdop += 2.56;
+ gps.vdop = vdop() / 100.0;
+ if (gps.vdop < 0.8)
+ gps.vdop += 2.56;
+ }
break;
}
}
diff --git a/altoslib/AltosEepromMega.java b/altoslib/AltosEepromMega.java
index 5d5f3fef..1616de77 100644
--- a/altoslib/AltosEepromMega.java
+++ b/altoslib/AltosEepromMega.java
@@ -187,8 +187,21 @@ public class AltosEepromMega extends AltosEeprom {
gps.ground_speed = ground_speed() * 1.0e-2;
gps.course = course() * 2;
gps.climb_rate = climb_rate() * 1.0e-2;
- gps.hdop = hdop();
- gps.vdop = vdop();
+ if (state.compare_version("1.4.9") >= 0) {
+ gps.pdop = pdop() / 10.0;
+ gps.hdop = hdop() / 10.0;
+ gps.vdop = vdop() / 10.0;
+ } else {
+ gps.pdop = pdop() / 100.0;
+ if (gps.pdop < 0.8)
+ gps.pdop += 2.56;
+ gps.hdop = hdop() / 100.0;
+ if (gps.hdop < 0.8)
+ gps.hdop += 2.56;
+ gps.vdop = vdop() / 100.0;
+ if (gps.vdop < 0.8)
+ gps.vdop += 2.56;
+ }
break;
case AltosLib.AO_LOG_GPS_SAT:
state.set_tick(tick);
diff --git a/altoslib/AltosEepromMetrum2.java b/altoslib/AltosEepromMetrum2.java
index 24277118..2f43879e 100644
--- a/altoslib/AltosEepromMetrum2.java
+++ b/altoslib/AltosEepromMetrum2.java
@@ -59,6 +59,7 @@ public class AltosEepromMetrum2 extends AltosEeprom {
public int year() { return data8(4); }
public int month() { return data8(5); }
public int day() { return data8(6); }
+ public int pdop() { return data8(7); }
/* AO_LOG_GPS_SAT elements */
public int nsat() { return data8(0); }
@@ -136,6 +137,7 @@ public class AltosEepromMetrum2 extends AltosEeprom {
gps.year = 2000 + year();
gps.month = month();
gps.day = day();
+ gps.pdop = pdop() / 10.0;
break;
case AltosLib.AO_LOG_GPS_SAT:
gps = state.make_temp_gps(true);
diff --git a/altoslib/AltosGPS.java b/altoslib/AltosGPS.java
index aabcfc5b..0154e95d 100644
--- a/altoslib/AltosGPS.java
+++ b/altoslib/AltosGPS.java
@@ -40,10 +40,11 @@ public class AltosGPS implements Cloneable {
public double ground_speed; /* m/s */
public int course; /* degrees */
public double climb_rate; /* m/s */
+ public double pdop; /* unitless */
public double hdop; /* unitless */
public double vdop; /* unitless */
- public int h_error; /* m */
- public int v_error; /* m */
+ public double h_error; /* m */
+ public double v_error; /* m */
public AltosGPSSat[] cc_gps_sat; /* tracking data */
@@ -95,6 +96,7 @@ public class AltosGPS implements Cloneable {
AltosLib.MISSING, 1/100.0);
course = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_COURSE,
AltosLib.MISSING);
+ pdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_PDOP, MISSING, 1.0);
hdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_HDOP, MISSING, 1.0);
vdop = map.get_double(AltosTelemetryLegacy.AO_TELEM_GPS_VDOP, MISSING, 1.0);
h_error = map.get_int(AltosTelemetryLegacy.AO_TELEM_GPS_HERROR, MISSING);
@@ -268,14 +270,26 @@ public class AltosGPS implements Cloneable {
cc_gps_sat[cc_gps_sat.length - 1] = sat;
}
- public AltosGPS() {
+ private void init() {
lat = AltosLib.MISSING;
lon = AltosLib.MISSING;
alt = AltosLib.MISSING;
+ ground_speed = AltosLib.MISSING;
+ course = AltosLib.MISSING;
+ climb_rate = AltosLib.MISSING;
+ pdop = AltosLib.MISSING;
+ hdop = AltosLib.MISSING;
+ vdop = AltosLib.MISSING;
+ h_error = AltosLib.MISSING;
+ v_error = AltosLib.MISSING;
ClearGPSTime();
cc_gps_sat = null;
}
+ public AltosGPS() {
+ init();
+ }
+
public AltosGPS clone() {
AltosGPS g = new AltosGPS();
@@ -295,7 +309,9 @@ public class AltosGPS implements Cloneable {
g.ground_speed = ground_speed; /* m/s */
g.course = course; /* degrees */
g.climb_rate = climb_rate; /* m/s */
- g.hdop = hdop; /* unitless? */
+ g.pdop = pdop; /* unitless */
+ g.hdop = hdop; /* unitless */
+ g.vdop = vdop; /* unitless */
g.h_error = h_error; /* m */
g.v_error = v_error; /* m */
@@ -327,9 +343,11 @@ public class AltosGPS implements Cloneable {
ground_speed = old.ground_speed; /* m/s */
course = old.course; /* degrees */
climb_rate = old.climb_rate; /* m/s */
+ pdop = old.pdop; /* unitless? */
hdop = old.hdop; /* unitless? */
- h_error = old.h_error; /* m */
- v_error = old.v_error; /* m */
+ vdop = old.vdop; /* unitless? */
+ h_error = old.h_error; /* m */
+ v_error = old.v_error; /* m */
if (old.cc_gps_sat != null) {
cc_gps_sat = new AltosGPSSat[old.cc_gps_sat.length];
@@ -340,11 +358,7 @@ public class AltosGPS implements Cloneable {
}
}
} else {
- lat = AltosLib.MISSING;
- lon = AltosLib.MISSING;
- alt = AltosLib.MISSING;
- ClearGPSTime();
- cc_gps_sat = null;
+ init();
}
}
diff --git a/altoslib/AltosLib.java b/altoslib/AltosLib.java
index c2ec0e3b..eb188d6b 100644
--- a/altoslib/AltosLib.java
+++ b/altoslib/AltosLib.java
@@ -215,6 +215,31 @@ public class AltosLib {
telemetry));
}
+ private static int[] split_version(String version) {
+ String[] tokens = version.split("\\.");
+ int[] ret = new int[tokens.length];
+ for (int i = 0; i < tokens.length; i++)
+ ret[i] = Integer.parseInt(tokens[i]);
+ return ret;
+ }
+
+ public static int compare_version(String version_a, String version_b) {
+ int[] a = split_version(version_a);
+ int[] b = split_version(version_b);
+
+ for (int i = 0; i < Math.min(a.length, b.length); i++) {
+ if (a[i] < b[i])
+ return -1;
+ if (a[i] > b[i])
+ return 1;
+ }
+ if (a.length < b.length)
+ return -1;
+ if (a.length > b.length)
+ return 1;
+ return 0;
+ }
+
private static String[] state_to_string = {
"startup",
"idle",
diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index 5e7908af..2fc13b44 100644
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -1024,6 +1024,12 @@ public class AltosState implements Cloneable {
firmware_version = version;
}
+ public int compare_version(String other_version) {
+ if (firmware_version == null)
+ return AltosLib.MISSING;
+ return AltosLib.compare_version(firmware_version, other_version);
+ }
+
private void re_init() {
int bt = boost_tick;
int rs = receiver_serial;
diff --git a/altoslib/AltosTelemetryLegacy.java b/altoslib/AltosTelemetryLegacy.java
index b7aae3c4..72a8bc4a 100644
--- a/altoslib/AltosTelemetryLegacy.java
+++ b/altoslib/AltosTelemetryLegacy.java
@@ -186,6 +186,7 @@ public class AltosTelemetryLegacy extends AltosTelemetry {
* g_v GPS vertical speed (integer, cm/sec)
* g_s GPS horizontal speed (integer, cm/sec)
* g_c GPS course (integer, 0-359)
+ * g_pd GPS pdop (integer * 10)
* g_hd GPS hdop (integer * 10)
* g_vd GPS vdop (integer * 10)
* g_he GPS h error (integer)
@@ -209,6 +210,7 @@ public class AltosTelemetryLegacy extends AltosTelemetry {
final static String AO_TELEM_GPS_VERTICAL_SPEED = "g_v";
final static String AO_TELEM_GPS_HORIZONTAL_SPEED = "g_g";
final static String AO_TELEM_GPS_COURSE = "g_c";
+ final static String AO_TELEM_GPS_PDOP = "g_pd";
final static String AO_TELEM_GPS_HDOP = "g_hd";
final static String AO_TELEM_GPS_VDOP = "g_vd";
final static String AO_TELEM_GPS_HERROR = "g_he";
diff --git a/altoslib/AltosTelemetryLocation.java b/altoslib/AltosTelemetryLocation.java
index 32ca7608..9d50e2fa 100644
--- a/altoslib/AltosTelemetryLocation.java
+++ b/altoslib/AltosTelemetryLocation.java
@@ -80,8 +80,9 @@ public class AltosTelemetryLocation extends AltosTelemetryStandard {
gps.ground_speed = ground_speed * 1.0e-2;
gps.course = course * 2;
gps.climb_rate = climb_rate * 1.0e-2;
- gps.hdop = hdop;
- gps.vdop = vdop;
+ gps.pdop = pdop / 10.0;
+ gps.hdop = hdop / 10.0;
+ gps.vdop = vdop / 10.0;
}
state.set_temp_gps();
}
diff --git a/altoslib/AltosWriter.java b/altoslib/AltosWriter.java
index 9df52250..fb208b02 100644
--- a/altoslib/AltosWriter.java
+++ b/altoslib/AltosWriter.java
@@ -19,8 +19,6 @@ package org.altusmetrum.altoslib_5;
public interface AltosWriter {
- public void write(AltosState state);
-
public void write(AltosStateIterable states);
public void close();
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-31 00:56:51 +0000