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Fix #13452 Write gps altitude to blackbox as signed value (was unsigned) (#13453)

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Write gps altitude to blackbox as signed value (was unsigned)
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tbolin 2024-03-20 00:10:28 +01:00 • committed by GitHub
parent d3a4ea6d9a
commit b9b4b77e3b
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1 changed files with 2 additions and 2 deletions
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src/main/blackbox/blackbox.c
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@ -277,7 +277,7 @@ static const blackboxConditionalFieldDefinition_t blackboxGpsGFields[] = {
{"GPS_numSat", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)},
{"GPS_coord", 0, SIGNED, PREDICT(HOME_COORD), ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"GPS_coord", 1, SIGNED, PREDICT(HOME_COORD), ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"GPS_altitude", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)},
{"GPS_altitude", -1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"GPS_speed", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)},
{"GPS_ground_course", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)}
};
@ -1110,7 +1110,7 @@ static void writeGPSFrame(timeUs_t currentTimeUs)
blackboxWriteUnsignedVB(gpsSol.numSat);
blackboxWriteSignedVB(gpsSol.llh.lat - gpsHistory.GPS_home[GPS_LATITUDE]);
blackboxWriteSignedVB(gpsSol.llh.lon - gpsHistory.GPS_home[GPS_LONGITUDE]);
blackboxWriteUnsignedVB(gpsSol.llh.altCm / 10); // was originally designed to transport meters in int16, but +-3276.7m is a good compromise
blackboxWriteSignedVB(gpsSol.llh.altCm / 10); // log altitude in increments of 0.1m
blackboxWriteUnsignedVB(gpsSol.groundSpeed);
blackboxWriteUnsignedVB(gpsSol.groundCourse);