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Fix course calculation and improve error handling in allocAtakPli

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This commit is contained in:
Ben Meadors
2026-04-08 14:02:56 -05:00
parent 17dbc2f3fa
commit 10b9030199
1 changed files with 15 additions and 2 deletions
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src/modules/PositionModule.cpp
+15 -2
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@@ -319,7 +319,13 @@ meshtastic_MeshPacket *PositionModule::allocAtakPli()
takPacket.longitude_i = localPosition.longitude_i;
takPacket.altitude = localPosition.altitude_hae;
takPacket.speed = localPosition.ground_speed;
takPacket.course = static_cast<uint16_t>(localPosition.ground_track);
// ground_track is stored as degrees * 1e5, course field expects degrees * 100
int32_t course = localPosition.ground_track / 1000;
if (course < 0)
course = 0;
else if (course > 36000)
course = 36000;
takPacket.course = static_cast<uint16_t>(course);
takPacket.battery = powerStatus->getBatteryChargePercent();
takPacket.geo_src = meshtastic_GeoPointSource_GeoPointSource_GPS;
takPacket.alt_src = meshtastic_GeoPointSource_GeoPointSource_GPS;
@@ -334,13 +340,20 @@ meshtastic_MeshPacket *PositionModule::allocAtakPli()
uint8_t protobuf_bytes[sizeof(mp->decoded.payload.bytes) - 1];
size_t proto_size = pb_encode_to_bytes(protobuf_bytes, sizeof(protobuf_bytes), &meshtastic_TAKPacketV2_msg, &takPacket);
if (proto_size == 0) {
LOG_ERROR("Failed to encode TAK V2 PLI packet");
packetPool.release(mp);
return nullptr;
}
// Wire format: [flags byte][protobuf bytes]
// Flags byte 0xFF = uncompressed raw protobuf (no zstd dictionary)
// This is a special value checked before dict ID masking per WIRE_FORMAT.md spec
mp->decoded.payload.bytes[0] = 0xFF;
memcpy(mp->decoded.payload.bytes + 1, protobuf_bytes, proto_size);
mp->decoded.payload.size = proto_size + 1;
LOG_DEBUG("TAK V2 PLI payload: %d bytes (1 flags + %d protobuf)", mp->decoded.payload.size, proto_size);
LOG_DEBUG("TAK V2 PLI payload: %zu bytes (1 flags + %zu protobuf)", mp->decoded.payload.size, proto_size);
return mp;
}