diff options
Diffstat (limited to 'src/kernel/ao_telemetry.h')
| -rw-r--r-- | src/kernel/ao_telemetry.h | 34 |
1 files changed, 26 insertions, 8 deletions
diff --git a/src/kernel/ao_telemetry.h b/src/kernel/ao_telemetry.h index be7d0340..83d432cf 100644 --- a/src/kernel/ao_telemetry.h +++ b/src/kernel/ao_telemetry.h @@ -86,12 +86,9 @@ struct ao_telemetry_configuration { #define AO_TELEMETRY_LOCATION 0x05 -#define AO_GPS_MODE_NOT_VALID 'N' -#define AO_GPS_MODE_AUTONOMOUS 'A' -#define AO_GPS_MODE_DIFFERENTIAL 'D' -#define AO_GPS_MODE_ESTIMATED 'E' -#define AO_GPS_MODE_MANUAL 'M' -#define AO_GPS_MODE_SIMULATED 'S' +/* Mode bits */ + +#define AO_GPS_MODE_ALTITUDE_24 (1 << 0) /* reports 24-bits of altitude */ struct ao_telemetry_location { uint16_t serial; /* 0 */ @@ -99,7 +96,7 @@ struct ao_telemetry_location { uint8_t type; /* 4 */ uint8_t flags; /* 5 Number of sats and other flags */ - int16_t altitude; /* 6 GPS reported altitude (m) */ + uint16_t altitude_low; /* 6 GPS reported altitude (m) */ int32_t latitude; /* 8 latitude (degrees * 10⁷) */ int32_t longitude; /* 12 longitude (degrees * 10⁷) */ uint8_t year; /* 16 (- 2000) */ @@ -115,10 +112,31 @@ struct ao_telemetry_location { uint16_t ground_speed; /* 26 cm/s */ int16_t climb_rate; /* 28 cm/s */ uint8_t course; /* 30 degrees / 2 */ - uint8_t unused; /* 31 unused */ + int8_t altitude_high; /* 31 high byte of altitude */ /* 32 */ }; +#if HAS_GPS + +#ifndef HAS_WIDE_GPS +#define HAS_WIDE_GPS 1 +#endif + +#if HAS_WIDE_GPS +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)->mode |= AO_GPS_MODE_ALTITUDE_24), \ + ((l)->altitude_high = (a) >> 16), \ + ((l)->altitude_low = (a))) +#else +typedef int16_t gps_alt_t; +#define AO_TELEMETRY_LOCATION_ALTITUDE(l) ((gps_alt_t) (l)->altitude_low) +#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) (((l)->mode = 0, \ + (l)->altitude_low = (a))) +#endif /* HAS_WIDE_GPS */ + +#endif /* HAS_GPS */ + #define AO_TELEMETRY_SATELLITE 0x06 struct ao_telemetry_satellite_info { |