86 lines
2.6 KiB
Java
86 lines
2.6 KiB
Java
/*
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* Copyright © 2011 Keith Packard <keithp@keithp.com>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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*/
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package org.altusmetrum.altoslib_14;
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public class AltosTelemetryLocation extends AltosTelemetryStandard {
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int flags() { return uint8(5); }
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int altitude() {
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if ((mode() & AO_GPS_MODE_ALTITUDE_24) != 0)
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return (int8(31) << 16) | uint16(6);
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else
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return int16(6);
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}
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int latitude() { return uint32(8); }
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int longitude() { return uint32(12); }
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int year() { return uint8(16); }
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int month() { return uint8(17); }
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int day() { return uint8(18); }
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int hour() { return uint8(19); }
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int minute() { return uint8(20); }
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int second() { return uint8(21); }
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int pdop() { return uint8(22); }
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int hdop() { return uint8(23); }
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int vdop() { return uint8(24); }
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int mode() { return uint8(25); }
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int ground_speed() { return uint16(26); }
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int climb_rate() { return int16(28); }
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int course() { return uint8(30); }
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public static final int AO_GPS_MODE_ALTITUDE_24 = (1 << 0); /* Reports 24-bits of altitude */
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public AltosTelemetryLocation(int[] bytes) throws AltosCRCException {
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super(bytes);
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}
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public void provide_data(AltosDataListener listener) {
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AltosCalData cal_data = listener.cal_data();
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AltosGPS gps = listener.make_temp_gps(false);
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int flags = flags();
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gps.nsat = flags & 0xf;
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gps.locked = (flags & (1 << 4)) != 0;
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gps.connected = (flags & (1 << 5)) != 0;
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gps.pdop = pdop() / 10.0;
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gps.hdop = hdop() / 10.0;
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gps.vdop = vdop() / 10.0;
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if (gps.connected)
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super.provide_data(listener);
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if (gps.locked) {
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gps.lat = latitude() * 1.0e-7;
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gps.lon = longitude() * 1.0e-7;
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gps.alt = altitude();
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gps.year = 2000 + year();
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gps.month = month();
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gps.day = day();
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gps.hour = hour();
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gps.minute = minute();
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gps.second = second();
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gps.ground_speed = ground_speed() * 1.0e-2;
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gps.course = course() * 2;
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gps.climb_rate = climb_rate() * 1.0e-2;
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}
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if (gps.connected)
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listener.set_gps(gps, true, false);
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}
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}
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