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Track HAE altitude separately to baro altitude where possible.

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This commit is contained in:
Oliver Jowett 2016-01-01 13:42:30 +00:00
parent c4a2a5c9fb
commit efd6b94310
4 changed files with 64 additions and 6 deletions
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31
track.c
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@ -522,9 +522,34 @@ struct aircraft *trackUpdateFromMessage(struct modesMessage *mm)
a->altitude = mm->altitude;
a->modeC = (mm->altitude + 49) / 100;
a->seenAltitude = now;
// reporting of HAE and baro altitudes is mutually exclusive
// so if we see a baro altitude, assume the HAE altitude is invalid
// we will recalculate it from baro + HAE delta below, where possible
a->bFlags &= ~MODES_ACFLAGS_ALTITUDE_HAE_VALID;
}
}
// If a (new) HAE altitude has been received, copy it to the aircraft structure
if (mm->bFlags & MODES_ACFLAGS_ALTITUDE_HAE_VALID) {
a->altitude_hae = mm->altitude_hae;
// reporting of HAE and baro altitudes is mutually exclusive
// if you have both, you're meant to report baro and a HAE delta,
// so if we see explicit HAE then assume the delta is invalid too
a->bFlags &= ~(MODES_ACFLAGS_ALTITUDE_VALID | MODES_ACFLAGS_HAE_DELTA_VALID);
}
// If a (new) HAE/barometric difference has been received, copy it to the aircraft structure
if (mm->bFlags & MODES_ACFLAGS_HAE_DELTA_VALID) {
a->hae_delta = mm->hae_delta;
// reporting of HAE and baro altitudes is mutually exclusive
// if you have both, you're meant to report baro and a HAE delta,
// so if we see a HAE delta then assume the HAE altitude is invalid
a->bFlags &= ~MODES_ACFLAGS_ALTITUDE_HAE_VALID;
}
// If a (new) SQUAWK has been received, copy it to the aircraft structure
if (mm->bFlags & MODES_ACFLAGS_SQUAWK_VALID) {
if (a->modeA != mm->modeA) {
@ -559,6 +584,12 @@ struct aircraft *trackUpdateFromMessage(struct modesMessage *mm)
// Update the aircrafts a->bFlags to reflect the newly received mm->bFlags;
a->bFlags |= mm->bFlags;
// If we have a baro altitude and a HAE delta from baro, calculate the HAE altitude
if ((a->bFlags & MODES_ACFLAGS_ALTITUDE_VALID) && (a->bFlags & MODES_ACFLAGS_HAE_DELTA_VALID)) {
a->altitude_hae = a->altitude + a->hae_delta;
a->bFlags |= MODES_ACFLAGS_ALTITUDE_HAE_VALID;
}
// Update mlat flags. The mlat flags indicate which bits in bFlags
// were last set based on a mlat-derived message.
if (mm->bFlags & MODES_ACFLAGS_FROM_MLAT)