diff options
| -rw-r--r-- | altoslib/AltosEepromGPS.java | 8 | ||||
| -rw-r--r-- | altoslib/AltosEepromMega.java | 9 | ||||
| -rw-r--r-- | altoslib/AltosEepromMetrum2.java | 8 | ||||
| -rw-r--r-- | altoslib/AltosTelemetryLocation.java | 8 |
4 files changed, 26 insertions, 7 deletions
diff --git a/altoslib/AltosEepromGPS.java b/altoslib/AltosEepromGPS.java index 46a2173d..482f0b5f 100644 --- a/altoslib/AltosEepromGPS.java +++ b/altoslib/AltosEepromGPS.java @@ -37,7 +37,7 @@ public class AltosEepromGPS extends AltosEeprom { /* AO_LOG_GPS_TIME elements */ public int latitude() { return data32(0); } public int longitude() { return data32(4); } - public int altitude() { return data16(8); } + public int altitude_low() { return data16(8); } public int hour() { return data8(10); } public int minute() { return data8(11); } public int second() { return data8(12); } @@ -52,6 +52,7 @@ public class AltosEepromGPS extends AltosEeprom { public int hdop() { return data8(23); } public int vdop() { return data8(24); } public int mode() { return data8(25); } + public int altitude_high() { return data16(26); } public boolean has_seconds() { return cmd == AltosLib.AO_LOG_GPS_TIME; } @@ -99,7 +100,10 @@ public class AltosEepromGPS extends AltosEeprom { gps = state.make_temp_gps(false); gps.lat = latitude() / 1e7; gps.lon = longitude() / 1e7; - gps.alt = altitude(); + if (state.altitude_32()) + gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16); + else + gps.alt = altitude_low(); gps.hour = hour(); gps.minute = minute(); diff --git a/altoslib/AltosEepromMega.java b/altoslib/AltosEepromMega.java index 1616de77..adaa7f31 100644 --- a/altoslib/AltosEepromMega.java +++ b/altoslib/AltosEepromMega.java @@ -67,7 +67,7 @@ public class AltosEepromMega extends AltosEeprom { /* AO_LOG_GPS_TIME elements */ public int latitude() { return data32(0); } public int longitude() { return data32(4); } - public int altitude() { return data16(8); } + public int altitude_low() { return data16(8); } public int hour() { return data8(10); } public int minute() { return data8(11); } public int second() { return data8(12); } @@ -82,6 +82,7 @@ public class AltosEepromMega extends AltosEeprom { public int hdop() { return data8(23); } public int vdop() { return data8(24); } public int mode() { return data8(25); } + public int altitude_high() { return data16(26); } /* AO_LOG_GPS_SAT elements */ public int nsat() { return data16(0); } @@ -168,7 +169,11 @@ public class AltosEepromMega extends AltosEeprom { gps = state.make_temp_gps(false); gps.lat = latitude() / 1e7; gps.lon = longitude() / 1e7; - gps.alt = altitude(); + + if (state.altitude_32()) + gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16); + else + gps.alt = altitude_low(); gps.hour = hour(); gps.minute = minute(); diff --git a/altoslib/AltosEepromMetrum2.java b/altoslib/AltosEepromMetrum2.java index 2f43879e..d9a65989 100644 --- a/altoslib/AltosEepromMetrum2.java +++ b/altoslib/AltosEepromMetrum2.java @@ -49,7 +49,8 @@ public class AltosEepromMetrum2 extends AltosEeprom { /* AO_LOG_GPS_POS elements */ public int latitude() { return data32(0); } public int longitude() { return data32(4); } - public int altitude() { return data16(8); } + public int altitude_low() { return data16(8); } + public int altitude_high() { return data16(10); } /* AO_LOG_GPS_TIME elements */ public int hour() { return data8(0); } @@ -118,7 +119,10 @@ public class AltosEepromMetrum2 extends AltosEeprom { gps = state.make_temp_gps(false); gps.lat = latitude() / 1e7; gps.lon = longitude() / 1e7; - gps.alt = altitude(); + if (state.altitude_32()) + gps.alt = (altitude_low() & 0xffff) | (altitude_high() << 16); + else + gps.alt = altitude_low(); break; case AltosLib.AO_LOG_GPS_TIME: gps = state.make_temp_gps(false); 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) { |