Telem fixes (#48)

* Make gps positions a little more accurate * removed comments * added newline --------- Co-authored-by: Zyun Lam <[email protected]> Co-authored-by: Aidan Costello <[email protected]>
ISSUIUC · Apr 26, 2024 · 9c11fda · 9c11fda
1 parent 5909915
commit 9c11fda
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Showing 3 changed files with 5 additions and 3 deletions.
diff --git a/MIDAS/src/hardware/Barometer.cpp b/MIDAS/src/hardware/Barometer.cpp
@@ -25,6 +25,6 @@ Barometer BarometerSensor::read() {
     float pressure = static_cast<float>(MS.getPressure() * 0.01 + 26.03);
     float temperature = static_cast<float>(MS.getTemperature() * 0.01);
     float altitude = static_cast<float>(-log(pressure * 0.000987) * (temperature + 273.15) * 29.254);
-
+    
     return Barometer(temperature, pressure, altitude);
 }
diff --git a/MIDAS/src/hardware/GPSSensor.cpp b/MIDAS/src/hardware/GPSSensor.cpp
@@ -17,6 +17,7 @@ ErrorCode GPSSensor::init() {
     return ErrorCode::NoError;
 }
 
+// GPS Coordinates are ddmm.mmmm, so please convert with some code
 GPS GPSSensor::read() {
     teseo.update();
     GPGGA_Info_t gpgga_message = teseo.getGPGGAData();

diff --git a/MIDAS/src/telemetry.cpp b/MIDAS/src/telemetry.cpp
@@ -56,8 +56,9 @@ TelemetryPacket Telemetry::makePacket(RocketData& data) {
 
     packet.lat = gps.latitude;
     packet.lon = gps.longitude;
-    packet.alt = uint16_t(gps.altitude);
-    packet.baro_alt = uint16_t(barometer.altitude);
+    packet.alt = (int16_t) gps.altitude;
+    // Convert range of value so that we can also account for negative altitudes
+    packet.baro_alt = inv_convert_range<int16_t>(barometer.altitude, 1 << 17);
     auto [ax,ay,az] = pack_highg_tilt(highg, 33);
     packet.highg_ax = ax;
     packet.highg_ay = ay;