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GPS: handle negative and high altitudes; safer macros in maths.h

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Fixes underflows at negative altitude (below MSL) and overflows at altitude higher than 655.35m
Corrected parenthesis in maths.h avoid incorrect equations if arguments contain expressions.
This commit is contained in:
AirBreak69 2018-06-12 00:02:29 +02:00
parent a5ba01666b
commit 536ad399e6
4 changed files with 11 additions and 8 deletions
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2
src/main/interface/msp.c
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@ -1899,7 +1899,7 @@ 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);
gpsSol.llh.alt = sbufReadU32(src);
gpsSol.groundSpeed = sbufReadU16(src);
GPS_update |= 2; // New data signalisation to GPS functions // FIXME Magic Numbers
break;