From ed2a08c50d6b8ebcc8c1d2f15e73c1f2a1e25041 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Thu, 10 Jul 2014 17:10:49 -0700 Subject: altoslib: Handle wide GPS altitude values in eeprom and telemetry Detect when the wider data is present and handle it correctly Signed-off-by: Keith Packard --- altoslib/AltosEepromGPS.java | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) (limited to 'altoslib/AltosEepromGPS.java') 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(); -- cgit v1.2.3