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/*
* Copyright © 2011 Keith Packard <keithp@keithp.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; version 2 of the License.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
package org.altusmetrum.altoslib_8;
public class AltosTelemetryLocation extends AltosTelemetryStandard {
int flags;
int altitude;
int latitude;
int longitude;
int year;
int month;
int day;
int hour;
int minute;
int second;
int pdop;
int hdop;
int vdop;
int mode;
int ground_speed;
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);
latitude = uint32(8);
longitude = uint32(12);
year = uint8(16);
month = uint8(17);
day = uint8(18);
hour = uint8(19);
minute = uint8(20);
second = uint8(21);
pdop = uint8(22);
hdop = uint8(23);
vdop = uint8(24);
mode = uint8(25);
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) {
super.update_state(state);
AltosGPS gps = state.make_temp_gps(false);
gps.nsat = flags & 0xf;
gps.locked = (flags & (1 << 4)) != 0;
gps.connected = (flags & (1 << 5)) != 0;
if (gps.locked) {
gps.lat = latitude * 1.0e-7;
gps.lon = longitude * 1.0e-7;
gps.alt = altitude;
gps.year = 2000 + year;
gps.month = month;
gps.day = day;
gps.hour = hour;
gps.minute = minute;
gps.second = second;
gps.ground_speed = ground_speed * 1.0e-2;
gps.course = course * 2;
gps.climb_rate = climb_rate * 1.0e-2;
gps.pdop = pdop / 10.0;
gps.hdop = hdop / 10.0;
gps.vdop = vdop / 10.0;
}
state.set_temp_gps();
}
}
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