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✨ feat: add altitude support to environment sensor node telemetry

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- Include actual node altitude in GPS telemetry instead of hardcoded 0.0f
- Extract altitude data from both ublox_GNSS and serial GPS sources
- Update debug logging to display altitude alongside lat/lon coordinates
This commit is contained in:
csrutil 2025-09-09 19:20:39 +08:00
parent 5344f04d89
commit cf93109cd5
1 changed files with 7 additions and 1 deletions
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8
src/helpers/sensors/EnvironmentSensorManager.cpp
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@ -252,7 +252,7 @@ bool EnvironmentSensorManager::querySensors(uint8_t requester_permissions, Cayen
next_available_channel = TELEM_CHANNEL_SELF + 1;
if (requester_permissions & TELEM_PERM_LOCATION && gps_active) {
telemetry.addGPS(TELEM_CHANNEL_SELF, node_lat, node_lon, 0.0f); // allow lat/lon via telemetry even if no GPS is detected
telemetry.addGPS(TELEM_CHANNEL_SELF, node_lat, node_lon, node_altitude); // allow lat/lon via telemetry even if no GPS is detected
}
if (requester_permissions & TELEM_PERM_ENVIRONMENT) {
@ -577,17 +577,23 @@ void EnvironmentSensorManager::loop() {
node_lat = ((double)ublox_GNSS.getLatitude())/10000000.;
node_lon = ((double)ublox_GNSS.getLongitude())/10000000.;
MESH_DEBUG_PRINTLN("lat %f lon %f", node_lat, node_lon);
node_altitude = ((double)ublox_GNSS.getAltitude()) / 1000.0;
MESH_DEBUG_PRINTLN("lat %f lon %f alt %f", node_lat, node_lon, node_altitude);
}
else if (serialGPSFlag && _location->isValid()) {
node_lat = ((double)_location->getLatitude())/1000000.;
node_lon = ((double)_location->getLongitude())/1000000.;
MESH_DEBUG_PRINTLN("lat %f lon %f", node_lat, node_lon);
node_altitude = ((double)_location->getAltitude()) / 1000.0;
MESH_DEBUG_PRINTLN("lat %f lon %f alt %f", node_lat, node_lon, node_altitude);
}
#else
if (_location->isValid()) {
node_lat = ((double)_location->getLatitude())/1000000.;
node_lon = ((double)_location->getLongitude())/1000000.;
MESH_DEBUG_PRINTLN("lat %f lon %f", node_lat, node_lon);
node_altitude = ((double)_location->getAltitude()) / 1000.0;
MESH_DEBUG_PRINTLN("lat %f lon %f alt %f", node_lat, node_lon, node_altitude);
}
#endif
}