Add outputTipAltitude to menu

Author: nseidle

Firmware/RTK_Everywhere/Tilt.ino

@@ -72,7 +72,7 @@ void tiltUpdate()
         {
             lastTiltCheck = millis();
 
-            if (settings.antennaHeight_mm < 0.5)
+            if (settings.antennaHeight_mm < 500)
                 systemPrintf("Warning: Short pole length detected: %0.3f\r\n", settings.antennaHeight_mm);
 
             if (settings.enableImuDebug == true)
@@ -109,7 +109,7 @@ void tiltUpdate()
         {
             lastTiltCheck = millis();
 
-            if (settings.antennaHeight_mm < 0.5)
+            if (settings.antennaHeight_mm < 500)
                 systemPrintf("Warning: Short pole length detected: %0.3f\r\n", settings.antennaHeight_mm);
 
             if (settings.enableImuDebug == true)

Firmware/RTK_Everywhere/menuSystem.ino

@@ -1357,18 +1357,20 @@ void menuInstrument()
     {
         systemPrintln();
         systemPrintln("Menu: Instrument Setup");
-        systemPrintln();
 
         // Print the combined APC
         systemPrintf("Combined Height of Instrument: %0.3fm\r\n",  ((settings.antennaHeight_mm + settings.antennaPhaseCenter_mm) / 1000.0));
 
-        systemPrintf("1) Set Antenna Height (aka Pole Length): %dmm\r\n", settings.antennaHeight_mm);
+        systemPrintf("1) Set Antenna Height (aka Pole Length): %0.3fm\r\n", settings.antennaHeight_mm / 1000.0);
 
         systemPrintf("2) Set Antenna Phase Center (aka ARP): %0.1fmm\r\n", settings.antennaPhaseCenter_mm);
 
+        systemPrint("3) Report Tip Altitude: ");
+        systemPrintf("%s\r\n", settings.outputTipAltitude ? "Enabled" : "Disabled");
+
         if(present.imu_im19)
         {
-            systemPrint("3) Tilt Compensation: ");
+            systemPrint("4) Tilt Compensation: ");
             systemPrintf("%s\r\n", settings.enableTiltCompensation ? "Enabled" : "Disabled");
         }
 
@@ -1378,16 +1380,23 @@ void menuInstrument()
 
         if (incoming == 1)
         {
-            getNewSetting("Enter the antenna height (a.k.a. pole length) in millimeters", -15000, 15000,
-                          &settings.antennaHeight_mm);
+            float antennaHeight = 0;
+
+            if(getNewSetting("Enter the antenna height (a.k.a. pole length) in meters", -15.0, 15.0,
+                          &antennaHeight) == INPUT_RESPONSE_VALID)
+                settings.antennaHeight_mm = antennaHeight * 1000.0;
         }
         else if (incoming == 2)
         {
             getNewSetting("Enter the antenna phase center (a.k.a. ARP) in millimeters. Common antennas "
                           "Torch=116mm",
                           -200.0, 200.0, &settings.antennaPhaseCenter_mm);
         }
-        else if (incoming == 3 && present.imu_im19)
+        else if (incoming == 3)
+        {
+            settings.outputTipAltitude ^= 1;
+        }
+        else if (incoming == 4 && present.imu_im19)
         {
             settings.enableTiltCompensation ^= 1;
         }

Firmware/RTK_Everywhere/settings.h

@@ -1362,7 +1362,7 @@ struct Settings
     };
     uint32_t wifiConnectTimeoutMs = 20000; // Wait this long for a WiFiMulti connection
 
-    bool outputTipAltitude = false; // If enabled, subtract the pole length and ARP from the GNSS receiver's reported altitude
+    bool outputTipAltitude = false; // If enabled, subtract the pole length and APC from the GNSS receiver's reported altitude
 
     // Add new settings to appropriate group above or create new group
     // Then also add to the same group in rtkSettingsEntries below