From e88eba1009f995c4b2c73f7b977eba079252d95e Mon Sep 17 00:00:00 2001
From: mikeller <github@ike.ch>
Date: Wed, 7 Dec 2016 00:03:28 +1300
Subject: [PATCH 1/2] Added speed / altitude readings from vario / baro to
 HoTT, in case of no GPS fix.

---
 src/main/telemetry/hott.c                | 19 ++++++++++++++++---
 src/test/unit/telemetry_hott_unittest.cc |  4 ++++
 2 files changed, 20 insertions(+), 3 deletions(-)

diff --git a/src/main/telemetry/hott.c b/src/main/telemetry/hott.c
index c918edae6a..2401276994 100644
--- a/src/main/telemetry/hott.c
+++ b/src/main/telemetry/hott.c
@@ -64,6 +64,7 @@
 #include "build/debug.h"
 
 #include "common/axis.h"
+#include "common/time.h"
 
 #include "drivers/system.h"
 
@@ -73,9 +74,11 @@
 
 #include "sensors/sensors.h"
 #include "sensors/battery.h"
+#include "sensors/barometer.h"
 
 #include "flight/pid.h"
 #include "flight/navigation.h"
+#include "flight/altitudehold.h"
 #include "io/gps.h"
 
 #include "telemetry/telemetry.h"
@@ -193,15 +196,25 @@ void hottPrepareGPSResponse(HOTT_GPS_MSG_t *hottGPSMessage)
 
     addGPSCoordinates(hottGPSMessage, GPS_coord[LAT], GPS_coord[LON]);
 
-    // GPS Speed is returned in cm/s (from io/gps.c) and must be sent in km/h (Hott requirement)
-    const uint16_t speed = (GPS_speed * 36) / 1000;
+    uint16_t speed = GPS_speed;
+    if (!STATE(GPS_FIX)) {
+        speed = vario;
+    }
+
+    // Speed is returned in cm/s and must be sent in km/h (Hott requirement)
+    speed = (speed * 36) / 1000;
     hottGPSMessage->gps_speed_L = speed & 0x00FF;
     hottGPSMessage->gps_speed_H = speed >> 8;
 
     hottGPSMessage->home_distance_L = GPS_distanceToHome & 0x00FF;
     hottGPSMessage->home_distance_H = GPS_distanceToHome >> 8;
 
-    const uint16_t hottGpsAltitude = (GPS_altitude) + HOTT_GPS_ALTITUDE_OFFSET; // GPS_altitude in m ; offset = 500 -> O m
+    uint16_t altitude = GPS_altitude;
+    if (!STATE(GPS_FIX)) {
+        altitude = baro.BaroAlt / 100;
+    }
+
+    const uint16_t hottGpsAltitude = (altitude) + HOTT_GPS_ALTITUDE_OFFSET; // GPS_altitude in m ; offset = 500 -> O m
 
     hottGPSMessage->altitude_L = hottGpsAltitude & 0x00FF;
     hottGPSMessage->altitude_H = hottGpsAltitude >> 8;
diff --git a/src/test/unit/telemetry_hott_unittest.cc b/src/test/unit/telemetry_hott_unittest.cc
index 68505e9722..d2ca60521d 100644
--- a/src/test/unit/telemetry_hott_unittest.cc
+++ b/src/test/unit/telemetry_hott_unittest.cc
@@ -33,6 +33,7 @@ extern "C" {
 
     #include "sensors/sensors.h"
     #include "sensors/battery.h"
+    #include "sensors/barometer.h"
 
     #include "io/serial.h"
     #include "io/gps.h"
@@ -172,6 +173,9 @@ int32_t mAhDrawn;
 
 uint32_t fixedMillis = 0;
 
+baro_t baro;
+uint16_t vario;
+
 uint32_t millis(void) {
     return fixedMillis;
 }

From ccb155fc8e26ccceac4398d32cb357944f429d93 Mon Sep 17 00:00:00 2001
From: Michael Keller <github@ike.ch>
Date: Thu, 8 Dec 2016 16:37:57 +1300
Subject: [PATCH 2/2] Reverted change to speed reporting.

---
 src/main/telemetry/hott.c                | 10 ++--------
 src/test/unit/telemetry_hott_unittest.cc |  1 -
 2 files changed, 2 insertions(+), 9 deletions(-)

diff --git a/src/main/telemetry/hott.c b/src/main/telemetry/hott.c
index 2401276994..4e600b3676 100644
--- a/src/main/telemetry/hott.c
+++ b/src/main/telemetry/hott.c
@@ -78,7 +78,6 @@
 
 #include "flight/pid.h"
 #include "flight/navigation.h"
-#include "flight/altitudehold.h"
 #include "io/gps.h"
 
 #include "telemetry/telemetry.h"
@@ -196,13 +195,8 @@ void hottPrepareGPSResponse(HOTT_GPS_MSG_t *hottGPSMessage)
 
     addGPSCoordinates(hottGPSMessage, GPS_coord[LAT], GPS_coord[LON]);
 
-    uint16_t speed = GPS_speed;
-    if (!STATE(GPS_FIX)) {
-        speed = vario;
-    }
-
-    // Speed is returned in cm/s and must be sent in km/h (Hott requirement)
-    speed = (speed * 36) / 1000;
+    // GPS Speed is returned in cm/s (from io/gps.c) and must be sent in km/h (Hott requirement)
+    const uint16_t speed = (GPS_speed * 36) / 1000;
     hottGPSMessage->gps_speed_L = speed & 0x00FF;
     hottGPSMessage->gps_speed_H = speed >> 8;
 
diff --git a/src/test/unit/telemetry_hott_unittest.cc b/src/test/unit/telemetry_hott_unittest.cc
index d2ca60521d..62d4be0b10 100644
--- a/src/test/unit/telemetry_hott_unittest.cc
+++ b/src/test/unit/telemetry_hott_unittest.cc
@@ -174,7 +174,6 @@ int32_t mAhDrawn;
 uint32_t fixedMillis = 0;
 
 baro_t baro;
-uint16_t vario;
 
 uint32_t millis(void) {
     return fixedMillis;