/**
* $PWES1,DD,MM,S,AAA,F,V,LLL,BB*CS<CR><LF>
*/
static bool
PWES1(NMEAInputLine &line, NMEAInfo &info)
{
line.Skip(); /* device */
int i;
if (line.ReadChecked(i))
info.settings.ProvideMacCready(fixed(i) / 10, info.clock);
info.switch_state.flight_mode = SwitchState::FlightMode::UNKNOWN;
if (line.ReadChecked(i)) {
if (i == 0)
info.switch_state.flight_mode = SwitchState::FlightMode::CIRCLING;
else if (i == 1)
info.switch_state.flight_mode = SwitchState::FlightMode::CRUISE;
}
line.Skip(3);
if (line.ReadChecked(i))
info.settings.ProvideWingLoading(fixed(i) / 10, info.clock);
if (line.ReadChecked(i))
info.settings.ProvideBugs(fixed(100 - i) / 100, info.clock);
return true;
}
/**
* Parse the $PLXVS sentence (LXNav V7).
*
* $PLXVS,OAT,mode,voltage *CS<CR><LF>
*
* Example: $PLXVS,23.1,0,12.3,*CS<CR><LF>
*
* @see http://www.xcsoar.org/trac/raw-attachment/ticket/1666/V7%20dataport%20specification%201.97.pdf
*/
static bool
PLXVS(NMEAInputLine &line, NMEAInfo &info)
{
fixed temperature;
if (line.ReadChecked(temperature)) {
info.temperature = CelsiusToKelvin(temperature);
info.temperature_available = true;
}
int mode;
info.switch_state.flight_mode = SwitchState::FlightMode::UNKNOWN;
if (line.ReadChecked(mode)) {
if (mode == 0)
info.switch_state.flight_mode = SwitchState::FlightMode::CIRCLING;
else if (mode == 1)
info.switch_state.flight_mode = SwitchState::FlightMode::CRUISE;
}
fixed voltage;
if (line.ReadChecked(voltage)) {
info.voltage = voltage;
info.voltage_available.Update(info.clock);
}
return true;
}
static bool
PZAN3(NMEAInputLine &line, NMEAInfo &info)
{
// old: $PZAN3,+,026,V,321,035,A,321,035,V*cc
// new: $PZAN3,+,026,A,321,035,V[,A]*cc
line.Skip(3);
int direction, speed;
if (!line.ReadChecked(direction) || !line.ReadChecked(speed))
return false;
char okay = line.ReadFirstChar();
if (okay == 'V') {
okay = line.ReadFirstChar();
if (okay == 'V')
return true;
if (okay != 'A') {
line.Skip();
okay = line.ReadFirstChar();
}
}
if (okay == 'A') {
SpeedVector wind(Angle::Degrees(direction),
Units::ToSysUnit(fixed(speed), Unit::KILOMETER_PER_HOUR));
info.ProvideExternalWind(wind);
}
return true;
}
static bool
LXWP2(NMEAInputLine &line, NMEAInfo &info)
{
/*
* $LXWP2,
* maccready value, (m/s)
* ballast, (1.0 - 1.5)
* bugs, (0 - 100%)
* polar_a,
* polar_b,
* polar_c,
* audio volume
*/
fixed value;
// MacCready value
if (line.ReadChecked(value))
info.settings.ProvideMacCready(value, info.clock);
// Ballast
if (line.ReadChecked(value))
info.settings.ProvideBallastOverload(value, info.clock);
// Bugs
if (line.ReadChecked(value))
info.settings.ProvideBugs((fixed(100) - value) / 100, info.clock);
return true;
}
static bool
ParsePITV3(NMEAInputLine &line, NMEAInfo &info)
{
fixed value;
// bank angle [degrees, positive right]
if (line.ReadChecked(value)) {
info.attitude.bank_angle_available.Update(info.clock);
info.attitude.bank_angle = Angle::Degrees(value);
}
// pitch angle [degrees, positive up]
if (line.ReadChecked(value)) {
info.attitude.pitch_angle_available.Update(info.clock);
info.attitude.pitch_angle = Angle::Degrees(value);
}
// heading [degrees]
if (line.ReadChecked(value)) {
info.attitude.heading_available.Update(info.clock);
info.attitude.heading = Angle::Degrees(value);
}
// IAS [m/s]
if (line.ReadChecked(value)) {
info.ProvideIndicatedAirspeed(value);
}
// Load factor [g]
if (line.ReadChecked(value)) {
info.acceleration.ProvideGLoad(value, true);
}
return true;
}
/**
* $PWES1,DD,MM,S,AAA,F,V,LLL,BB*CS<CR><LF>
*/
static bool
PWES1(NMEAInputLine &line, NMEAInfo &info)
{
line.Skip(); /* device */
int i;
if (line.ReadChecked(i))
info.settings.ProvideMacCready(fixed(i) / 10, info.clock);
if (line.ReadChecked(i)) {
if (i == 0) {
info.switch_state.flight_mode = SwitchInfo::FlightMode::CIRCLING;
info.switch_state.speed_command = false;
info.switch_state_available = true;
} else if (i == 1) {
info.switch_state.flight_mode = SwitchInfo::FlightMode::CRUISE;
info.switch_state.speed_command = true;
info.switch_state_available = true;
}
}
line.Skip(3);
if (line.ReadChecked(i))
info.settings.ProvideWingLoading(fixed(i) / 10, info.clock);
if (line.ReadChecked(i))
info.settings.ProvideBugs(fixed(100 - i) / 100, info.clock);
return true;
}
static bool
PTFRS(NMEAInputLine &line, NMEAInfo &info)
{
// $PTFRS,1,0,0,0,0,0,0,0,5,1,10,0,3,1338313437,0,0,0,,,2*4E
//
// $PTFRS,<sealed>,<downloadmode>,<event>,<neartp>,<sealing>,<baromode>,
// <decllock>,<newrecavail>,<enl>,<rpm>,<interval>,<error>,<timbase>,
// <time>,<secpower>,<secpowerint>,<usup>,<ulit>,
// <chargerstate>,<antstate>*CS<CR><LF>
line.Skip(8);
unsigned enl;
if (line.ReadChecked(enl)) {
info.engine_noise_level = enl;
info.engine_noise_level_available.Update(info.clock);
}
line.Skip(7);
unsigned supply_voltage;
if (line.ReadChecked(supply_voltage) && supply_voltage != 0) {
info.voltage = fixed(supply_voltage) / 1000;
info.voltage_available.Update(info.clock);
}
return true;
}
static bool
ParseAPENV1(NMEAInputLine &line, NMEAInfo &info)
{
// $APENV1,IAS,Altitude,0,0,0,VerticalSpeed,
int ias;
if (!line.ReadChecked(ias)) return false;
int altitude;
if (!line.ReadChecked(altitude)) return false;
line.Skip();
line.Skip();
line.Skip();
// In ft/min, quality of this is limited, do not use for the time being
int vs;
if (!line.ReadChecked(vs)) return false;
auto sys_alt = Units::ToSysUnit(fixed(altitude), Unit::FEET);
info.ProvidePressureAltitude(sys_alt);
info.ProvideIndicatedAirspeedWithAltitude(Units::ToSysUnit(fixed(ias), Unit::KNOTS), sys_alt);
return true;
}
static bool
PDVVT(NMEAInputLine &line, NMEAInfo &info)
{
int value;
info.temperature_available = line.ReadChecked(value);
if (info.temperature_available)
info.temperature = fixed(value) / 10;
info.humidity_available = line.ReadChecked(info.humidity);
return true;
}
static bool
PZAN2(NMEAInputLine &line, NMEAInfo &info)
{
fixed vtas, wnet;
if (line.ReadChecked(vtas))
info.ProvideTrueAirspeed(Units::ToSysUnit(vtas, Unit::KILOMETER_PER_HOUR));
if (line.ReadChecked(wnet))
info.ProvideTotalEnergyVario((wnet - fixed(10000)) / 100);
return true;
}
static bool
PDSWC(NMEAInputLine &line, NMEAInfo &info, Vega::VolatileData &volatile_data)
{
unsigned value;
if (line.ReadChecked(value) &&
info.settings.ProvideMacCready(fixed(value) / 10, info.clock))
volatile_data.mc = value;
auto &switches = info.switch_state;
auto &vs = switches.vega;
vs.inputs = line.ReadHex(0);
vs.outputs = line.ReadHex(0);
if (vs.GetFlapLanding())
switches.flap_position = SwitchState::FlapPosition::LANDING;
else if (vs.GetFlapZero())
switches.flap_position = SwitchState::FlapPosition::NEUTRAL;
else if (vs.GetFlapNegative())
switches.flap_position = SwitchState::FlapPosition::NEGATIVE;
else if (vs.GetFlapPositive())
switches.flap_position = SwitchState::FlapPosition::POSITIVE;
else
switches.flap_position = SwitchState::FlapPosition::UNKNOWN;
if (vs.GetUserSwitchMiddle())
switches.user_switch = SwitchState::UserSwitch::MIDDLE;
else if (vs.GetUserSwitchUp())
switches.user_switch = SwitchState::UserSwitch::UP;
else if (vs.GetUserSwitchDown())
switches.user_switch = SwitchState::UserSwitch::DOWN;
else
switches.user_switch = SwitchState::UserSwitch::UNKNOWN;
if (vs.GetAirbrakeLocked())
switches.airbrake_state = SwitchState::AirbrakeState::LOCKED;
else if (vs.GetAirbrakeNotLocked())
switches.airbrake_state = SwitchState::AirbrakeState::NOT_LOCKED;
else
switches.airbrake_state = SwitchState::AirbrakeState::UNKNOWN;
switches.flight_mode = vs.GetCircling()
? SwitchState::FlightMode::CIRCLING
: SwitchState::FlightMode::CRUISE;
if (line.ReadChecked(value)) {
info.voltage = fixed(value) / 10;
info.voltage_available.Update(info.clock);
}
return true;
}
static bool
ReadSpeedVector(NMEAInputLine &line, SpeedVector &value_r)
{
double norm, bearing;
bool norm_valid = line.ReadChecked(norm);
bool bearing_valid = line.ReadChecked(bearing);
if (bearing_valid && norm_valid) {
value_r.norm = Units::ToSysUnit(norm, Unit::KILOMETER_PER_HOUR);
value_r.bearing = Angle::Degrees(bearing);
return true;
} else
return false;
}
static bool
LXWP3(NMEAInputLine &line, NMEAInfo &info)
{
/*
* $LXWP3,
* altioffset
* scmode
* variofil
* tefilter
* televel
* varioavg
* variorange
* sctab
* sclow
* scspeed
* SmartDiff
* glider name
* time offset
*/
fixed value;
// Altitude offset -> QNH
if (line.ReadChecked(value)) {
value = Units::ToSysUnit(-value, Unit::FEET);
auto qnh = AtmosphericPressure::PressureAltitudeToStaticPressure(value);
info.settings.ProvideQNH(qnh, info.clock);
}
return true;
}
bool
NMEAParser::ReadTime(NMEAInputLine &line, BrokenTime &broken_time,
fixed &time_of_day_s)
{
fixed value;
if (!line.ReadChecked(value))
return false;
// Calculate Hour
auto hours = value / 10000;
broken_time.hour = (int)hours;
// Calculate Minute
auto mins = value / 100;
mins = mins - fixed(broken_time.hour) * 100;
broken_time.minute = (int)mins;
// Calculate Second
auto secs = value - fixed(broken_time.hour * 10000 +
broken_time.minute * 100);
broken_time.second = (int)secs;
time_of_day_s = secs + fixed(broken_time.minute * 60 + broken_time.hour * 3600);
return true;
}
// $PDVDS,nx,nz,flap,stallratio,netto
static bool
PDVDS(NMEAInputLine &line, NMEAInfo &info)
{
fixed AccelX = line.Read(fixed_zero);
fixed AccelZ = line.Read(fixed_zero);
fixed mag = SmallHypot(AccelX, AccelZ);
info.acceleration.ProvideGLoad(fixed(mag) / 100, true);
/*
double flap = line.Read(0.0);
*/
line.Skip();
info.stall_ratio = line.Read(fixed_zero);
info.stall_ratio_available.Update(info.clock);
fixed value;
if (line.ReadChecked(value))
info.ProvideNettoVario(value / 10);
//hasVega = true;
return true;
}
static bool
ReadFixedAndChar(NMEAInputLine &line, fixed &d, char &ch)
{
bool success = line.ReadChecked(d);
ch = line.ReadFirstChar();
return success;
}
static bool
LXWP0(NMEAInputLine &line, NMEAInfo &info)
{
/*
$LXWP0,Y,222.3,1665.5,1.71,,,,,,239,174,10.1
0 loger_stored (Y/N)
1 IAS (kph) ----> Condor uses TAS!
2 baroaltitude (m)
3-8 vario (m/s) (last 6 measurements in last second)
9 heading of plane
10 windcourse (deg)
11 windspeed (kph)
*/
line.Skip();
fixed airspeed;
bool tas_available = line.ReadChecked(airspeed);
if (tas_available && (airspeed < fixed(-50) || airspeed > fixed(250)))
/* implausible */
return false;
fixed value;
if (line.ReadChecked(value))
/* a dump on a LX7007 has confirmed that the LX sends uncorrected
altitude above 1013.25hPa here */
info.ProvidePressureAltitude(value);
if (tas_available)
/*
* Call ProvideTrueAirspeed() after ProvidePressureAltitude() to use
* the provided altitude (if available)
*/
info.ProvideTrueAirspeed(Units::ToSysUnit(airspeed, Unit::KILOMETER_PER_HOUR));
if (line.ReadChecked(value))
info.ProvideTotalEnergyVario(value);
line.Skip(6);
SpeedVector wind;
if (ReadSpeedVector(line, wind))
info.ProvideExternalWind(wind);
return true;
}
/**
* Parse a "$D" sentence.
*
* Example: "$D,+0,100554,+25,18,+31,,0,-356,+25,+11,115,96*6A"
*/
static bool
LeonardoParseD(NMEAInputLine &line, NMEAInfo &info)
{
double value;
// 0 = vario [dm/s]
if (line.ReadChecked(value))
info.ProvideTotalEnergyVario(value / 10);
if (line.Rest().empty())
/* short "$D" sentence ends after vario */
return true;
// 1 = air pressure [Pa]
if (line.ReadChecked(value))
info.ProvideStaticPressure(AtmosphericPressure::Pascal(value));
// 2 = netto vario [dm/s]
if (line.ReadChecked(value))
info.ProvideNettoVario(value / 10);
// 3 = airspeed [km/h]
/* XXX is that TAS or IAS? */
if (line.ReadChecked(value))
info.ProvideTrueAirspeed(Units::ToSysUnit(value, Unit::KILOMETER_PER_HOUR));
// 4 = temperature [deg C]
double oat;
info.temperature_available = line.ReadChecked(oat);
if (info.temperature_available)
info.temperature = CelsiusToKelvin(oat);
// 5 = compass [degrees]
/* XXX unsupported by XCSoar */
// 6 = optimal speed [km/h]
/* XXX unsupported by XCSoar */
// 7 = equivalent MacCready [cm/s]
/* XXX unsupported by XCSoar */
// 8 = wind speed [km/h]
/* not used here, the "$C" record repeats it together with the
direction */
return true;
}
bool
OpenVarioDevice::POV(NMEAInputLine &line, NMEAInfo &info)
{
/*
* Type definitions:
*
* E: TE vario in m/s
* P: static pressure in hPa
* Q: dynamic pressure in Pa
* R: total pressure in hPa
* S: true airspeed in km/h
* T: temperature in deg C
*/
while (!line.IsEmpty()) {
char type = line.ReadOneChar();
if (type == '\0')
break;
fixed value;
if (!line.ReadChecked(value))
break;
switch (type) {
case 'E': {
info.ProvideTotalEnergyVario(value);
break;
}
case 'P': {
AtmosphericPressure pressure = AtmosphericPressure::HectoPascal(value);
info.ProvideStaticPressure(pressure);
break;
}
case 'Q': {
AtmosphericPressure pressure = AtmosphericPressure::Pascal(value);
info.ProvideDynamicPressure(pressure);
break;
}
case 'R': {
AtmosphericPressure pressure = AtmosphericPressure::HectoPascal(value);
info.ProvidePitotPressure(pressure);
break;
}
case 'S': {
value = Units::ToSysUnit(value, Unit::KILOMETER_PER_HOUR);
info.ProvideTrueAirspeed(value);
break;
}
case 'T': {
info.temperature = CelsiusToKelvin(value);
info.temperature_available = true;
break;
}
}
}
return true;
}
bool
NMEAParser::PTAS1(NMEAInputLine &line, NMEAInfo &info)
{
/*
* $PTAS1,xxx,yyy,zzzzz,aaa*CS<CR><LF>
*
* xxx
* CV or current vario. =vario*10+200 range 0-400(display +/-20.0 knots)
*
* yyy
* AV or average vario. =vario*10+200 range 0-400(display +/-20.0 knots)
*
* zzzzz
* Barometric altitude in feet +2000
*
* aaa
* TAS knots 0-200
*/
// Parse current vario data
fixed vario;
if (line.ReadChecked(vario)) {
// Properly convert to m/s
vario = Units::ToSysUnit((vario - fixed(200)) / 10, Unit::KNOTS);
info.ProvideTotalEnergyVario(vario);
}
// Skip average vario data
line.Skip();
// Parse barometric altitude
fixed baro_altitude;
if (line.ReadChecked(baro_altitude)) {
// Properly convert to meter
baro_altitude = Units::ToSysUnit(baro_altitude - fixed(2000), Unit::FEET);
info.ProvidePressureAltitude(baro_altitude);
}
// Parse true airspeed
fixed vtas;
if (line.ReadChecked(vtas))
info.ProvideTrueAirspeed(Units::ToSysUnit(vtas, Unit::KNOTS));
return true;
}
static bool
cLXWP0(NMEAInputLine &line, NMEAInfo &info)
{
/*
$LXWP0,Y,222.3,1665.5,1.71,,,,,,239,174,10.1
0 logger_stored (Y/N)
1 IAS (kph) ----> Condor uses TAS!
2 baroaltitude (m)
3 vario (m/s)
4-8 unknown
9 heading of plane
10 windcourse (deg)
11 windspeed (kph)
*/
fixed value;
line.Skip();
fixed airspeed;
bool tas_available = line.ReadChecked(airspeed);
fixed alt = line.Read(fixed_zero);
if (tas_available)
info.ProvideTrueAirspeedWithAltitude(Units::ToSysUnit(airspeed,
Unit::KILOMETER_PER_HOUR),
alt);
// ToDo check if QNH correction is needed!
info.ProvideBaroAltitudeTrue(alt);
if (line.ReadChecked(value))
info.ProvideTotalEnergyVario(value);
line.Skip(6);
SpeedVector wind;
if (ReadSpeedVector(line, wind))
info.ProvideExternalWind(wind);
return true;
}
static bool
ReadSpeedVector(NMEAInputLine &line, SpeedVector &value_r)
{
fixed bearing, norm;
bool bearing_valid = line.ReadChecked(bearing);
bool norm_valid = line.ReadChecked(norm);
if (bearing_valid && norm_valid) {
// Condor 1.1.4 outputs the direction that the wind is going to,
// _not_ the direction it is coming from !!
//
// This seems to differ from the output that the LX devices are giving !!
value_r.bearing = Angle::Degrees(bearing).Reciprocal();
value_r.norm = Units::ToSysUnit(norm, Unit::KILOMETER_PER_HOUR);
return true;
} else
return false;
}
/**
* Parse a "$C" sentence.
*
* Example: "$C,+2025,-7,+18,+25,+29,122,314,314,0,-356,+25,45,T*3D"
*/
static bool
LeonardoParseC(NMEAInputLine &line, NMEAInfo &info)
{
double value;
// 0 = altitude [m]
if (line.ReadChecked(value))
info.ProvideBaroAltitudeTrue(value);
// 1 = vario [cm/s]
if (line.ReadChecked(value))
info.ProvideTotalEnergyVario(value / 100);
// 2 = airspeed [km/h]
/* XXX is that TAS or IAS? */
if (line.ReadChecked(value))
info.ProvideTrueAirspeed(Units::ToSysUnit(value, Unit::KILOMETER_PER_HOUR));
if (line.Rest().empty())
/* short "$C" sentence ends after airspeed */
return true;
// 3 = netto vario [dm/s]
if (line.ReadChecked(value))
info.ProvideNettoVario(value / 10);
// 4 = temperature [deg C]
double oat;
info.temperature_available = line.ReadChecked(oat);
if (info.temperature_available)
info.temperature = CelsiusToKelvin(oat);
line.Skip(5);
// 10 = wind speed [km/h]
// 11 = wind direction [degrees]
SpeedVector wind;
if (ReadSpeedVector(line, wind))
info.ProvideExternalWind(wind);
return true;
}
static bool
ParsePITV4(NMEAInputLine &line, NMEAInfo &info)
{
fixed value;
// TE vario [m/s]
if (line.ReadChecked(value))
info.ProvideTotalEnergyVario(value);
return true;
}
static bool
PDVDV(NMEAInputLine &line, NMEAInfo &info)
{
fixed value;
if (line.ReadChecked(value))
info.ProvideTotalEnergyVario(value / 10);
bool ias_available = line.ReadChecked(value);
fixed tas_ratio = line.Read(fixed(1024)) / 1024;
if (ias_available)
info.ProvideBothAirspeeds(value / 10, value / 10 * tas_ratio);
//hasVega = true;
if (line.ReadChecked(value))
info.ProvidePressureAltitude(value);
return true;
}
static bool
PZAN4(NMEAInputLine &line, NMEAInfo &info)
{
// $PZAN4,1.5,+,20,39,45*cc
fixed mc;
if (line.ReadChecked(mc))
info.settings.ProvideMacCready(mc, info.clock);
return true;
}
static bool
GPWIN(NMEAInputLine &line, NMEAInfo &info)
{
line.Skip(2);
fixed value;
if (line.ReadChecked(value))
info.ProvidePressureAltitude(value / 10);
return false;
}
/**
* Parse a "$PDGFTL1" sentence.
*
* Example: "$PDGFTL1,2025,2000,250,-14,45,134,28,65,382,153*3D"
*/
static bool
PDGFTL1(NMEAInputLine &line, NMEAInfo &info)
{
fixed value;
// Baro Altitude QNE(1013.25) 2025 meter 2025 mt
if (line.ReadChecked(value))
info.ProvidePressureAltitude(value);
// Baro Altitude QNH 2000 meter 2000 mt
if (line.ReadChecked(value))
info.ProvideBaroAltitudeTrue(value);
// Vario 250 cm/sec +2,50 m/s
if (line.ReadChecked(value))
info.ProvideTotalEnergyVario(value / 100);
// Netto Vario -14 dm/sec -1,40 m/s
if (line.ReadChecked(value))
info.ProvideNettoVario(value / 10);
// Indicated Air Speed 45 km/h 45 km/h
// Ground Efficiency 134 ratio 13,4 : 1
line.Skip(2);
// Wind Speed 28 km/h 28 km/h
// Wind Direction 65 degree 65 degree
SpeedVector wind;
if (ReadSpeedVector(line, wind))
info.ProvideExternalWind(wind);
// Main Lithium Battery Voltage 382 0.01 volts 3,82 volts
if (line.ReadChecked(value)) {
info.voltage = value / 100;
info.voltage_available.Update(info.clock);
}
// Backup AA Battery Voltage 153 0.01 volts 1,53 volts
return true;
}
static bool
LXWP2(NMEAInputLine &line, NMEAInfo &info)
{
/*
* $LXWP2,
* maccready value, (m/s)
* ballast, (1.0 - 1.5)
* bugs, (0 - 100%)
* polar_a,
* polar_b,
* polar_c,
* audio volume
*/
fixed value;
// MacCready value
if (line.ReadChecked(value))
info.settings.ProvideMacCready(value, info.clock);
// Ballast
if (line.ReadChecked(value))
info.settings.ProvideBallastOverload(value, info.clock);
// Bugs
if (line.ReadChecked(value)) {
if (value <= fixed(1.5) && value >= fixed(1.0))
// LX160 (sw 3.04) reports bugs as 1.00, 1.05 or 1.10 (#2167)
info.settings.ProvideBugs(fixed(2) - value, info.clock);
else
// All other known LX devices report bugs as 0, 5, 10, 15, ...
info.settings.ProvideBugs((fixed(100) - value) / 100, info.clock);
}
line.Skip(3);
unsigned volume;
if (line.ReadChecked(volume))
info.settings.ProvideVolume(volume, info.clock);
return true;
}
static bool
PZAN1(NMEAInputLine &line, NMEAInfo &info)
{
fixed baro_altitude;
if (line.ReadChecked(baro_altitude))
/* the ZS1 documentation does not specify wheter the altitude is
STD or QNH, but Franz Poeschl confirmed via email that it is
the QNH altitude */
info.ProvideBaroAltitudeTrue(baro_altitude);
return true;
}