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Compensate 10x altitude resolution before transferring via MSP

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GPS_RESCUE and subsequent changes increased gpsSol.llh.alt from 0.1m per lsb UNIT16 to 0.01m per lsb INT32.
The transfer of altitude data via MSP had to be corrected by factor 10 rescalings to be backwards compatible.
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AirBreak69 2018-06-14 01:31:24 +02:00 • committed by GitHub
parent 719d50e8fb
commit ecc89d1ba1
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1 changed files with 2 additions and 2 deletions
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4
src/main/interface/msp.c
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@ -1033,7 +1033,7 @@ 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, MIN(gpsSol.llh.alt,65535));
sbufWriteU16(dst, MIN(gpsSol.llh.alt / 10, 65535));
sbufWriteU16(dst, gpsSol.groundSpeed);
sbufWriteU16(dst, gpsSol.groundCourse);
sbufWriteU32(dst, gpsSol.llh.alt);
@ -1900,7 +1900,7 @@ 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 = sbufReadU16(src) * 10;
gpsSol.groundSpeed = sbufReadU16(src);
if (sbufBytesRemaining(src) >= 4) {
gpsSol.llh.alt = sbufReadU32(src);