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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; either version 2 of the License, or
* (at your option) any later version.
*
* 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_12;
public class AltosTelemetryLocation extends AltosTelemetryStandard {
int flags() { return uint8(5); }
int altitude() {
if ((mode() & AO_GPS_MODE_ALTITUDE_24) != 0)
return (int8(31) << 16) | uint16(6);
else
return int16(6);
}
int latitude() { return uint32(8); }
int longitude() { return uint32(12); }
int year() { return uint8(16); }
int month() { return uint8(17); }
int day() { return uint8(18); }
int hour() { return uint8(19); }
int minute() { return uint8(20); }
int second() { return uint8(21); }
int pdop() { return uint8(22); }
int hdop() { return uint8(23); }
int vdop() { return uint8(24); }
int mode() { return uint8(25); }
int ground_speed() { return uint16(26); }
int climb_rate() { return int16(28); }
int course() { return uint8(30); }
public static final int AO_GPS_MODE_ALTITUDE_24 = (1 << 0); /* Reports 24-bits of altitude */
public AltosTelemetryLocation(int[] bytes) throws AltosCRCException {
super(bytes);
}
public void provide_data(AltosDataListener listener) {
super.provide_data(listener);
AltosCalData cal_data = listener.cal_data();
AltosGPS gps = cal_data.make_temp_gps(tick(), false);
int flags = flags();
gps.nsat = flags & 0xf;
gps.locked = (flags & (1 << 4)) != 0;
gps.connected = (flags & (1 << 5)) != 0;
gps.pdop = pdop() / 10.0;
gps.hdop = hdop() / 10.0;
gps.vdop = vdop() / 10.0;
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;
if (gps.nsat >= 4)
cal_data.set_gps(gps);
}
listener.set_gps(gps);
cal_data.set_gps(gps);
cal_data.reset_temp_gps();
}
}
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