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GPS altitude: cleanup all occurancies to assume source is in cm per lsb resolution

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Harmonized (and partly corrected) all occurancies of gpsSol.llh.alt and getEstimatedAltitude() to handle altiude sourced in cm resolution.
This was introduced by GSP_RESCUE/RTH.
Introduced a naming convention that include the unit into the variable/function names:
gpsSol.llh.alt -> gpsSol.llh.alt_cm
getEstimatedAltitude() -> getEstimatedAltitude_cm()
This commit is contained in:
AirBreak69 2018-06-24 12:52:22 +02:00 • committed by mikeller
parent bbdd717505
commit 0e52e21524
23 changed files with 105 additions and 105 deletions
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6
src/main/interface/msp.c
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@ -920,7 +920,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
case MSP_ALTITUDE:
#if defined(USE_BARO) || defined(USE_RANGEFINDER)
sbufWriteU32(dst, getEstimatedAltitude());
sbufWriteU32(dst, getEstimatedAltitudeCm());
#else
sbufWriteU32(dst, 0);
#endif
@ -1045,7 +1045,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, gpsSol.numSat);
sbufWriteU32(dst, gpsSol.llh.lat);
sbufWriteU32(dst, gpsSol.llh.lon);
sbufWriteU16(dst, (uint16_t)constrain(gpsSol.llh.alt / 100, 0, UINT16_MAX)); // alt changed from 1m to 0.01m per lsb since MSP API 1.39 by RTH. To maintain backwards compatibility compensate to 1m per lsb in MSP again.
sbufWriteU16(dst, (uint16_t)constrain(gpsSol.llh.altCm / 100, 0, UINT16_MAX)); // alt changed from 1m to 0.01m per lsb since MSP API 1.39 by RTH. To maintain backwards compatibility compensate to 1m per lsb in MSP again.
sbufWriteU16(dst, gpsSol.groundSpeed);
sbufWriteU16(dst, gpsSol.groundCourse);
break;
@ -2109,7 +2109,7 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
gpsSol.numSat = sbufReadU8(src);
gpsSol.llh.lat = sbufReadU32(src);
gpsSol.llh.lon = sbufReadU32(src);
gpsSol.llh.alt = sbufReadU16(src) * 100; // alt changed from 1m to 0.01m per lsb since MSP API 1.39 by RTH. Received MSP altitudes in 1m per lsb have to upscaled.
gpsSol.llh.altCm = sbufReadU16(src) * 100; // alt changed from 1m to 0.01m per lsb since MSP API 1.39 by RTH. Received MSP altitudes in 1m per lsb have to upscaled.
gpsSol.groundSpeed = sbufReadU16(src);
GPS_update |= 2; // New data signalisation to GPS functions // FIXME Magic Numbers
break;