Fix incorrect cast for atmospheric pressure. Fix Horus not supporting negative altitudes. Attempt to filter out invalid GPS data by improving fix detection.

src/codecs/horus/horus_packet_v1.c

@@ -29,7 +29,7 @@ size_t horus_packet_v1_create(uint8_t *payload, size_t length, telemetry_data *d
     horus_packet.Seconds = gps_data->seconds;
     horus_packet.Latitude = float_lat;
     horus_packet.Longitude = float_lon;
-    horus_packet.Altitude = (uint16_t)(gps_data->altitude_mm / 1000);
+    horus_packet.Altitude = (uint16_t)((gps_data->altitude_mm > 0 ? gps_data->altitude_mm : 0) / 1000);
     horus_packet.Speed = (uint8_t)((float) gps_data->ground_speed_cm_per_second * 0.036);
 
     // Temporary pDOP info, to determine suitable pDOP limits.

src/codecs/horus/horus_packet_v2.c

@@ -29,7 +29,7 @@ size_t horus_packet_v2_create(uint8_t *payload, size_t length, telemetry_data *d
     horus_packet.Seconds = gps_data->seconds;
     horus_packet.Latitude = float_lat;
     horus_packet.Longitude = float_lon;
-    horus_packet.Altitude = (uint16_t)(gps_data->altitude_mm / 1000);
+    horus_packet.Altitude = (uint16_t)((gps_data->altitude_mm > 0 ? gps_data->altitude_mm : 0) / 1000);
     horus_packet.Speed = (uint8_t)((float) gps_data->ground_speed_cm_per_second * 0.036);
 
     horus_packet.BattVoltage = volts_scaled;
@@ -62,7 +62,7 @@ size_t horus_packet_v2_create(uint8_t *payload, size_t length, telemetry_data *d
     custom_data_pointer += sizeof(ext_humidity_percentage);
 
     // Unit: mbar * 10
-    uint16_t ext_pressure_mbar = (uint8_t) (data->pressure_mbar_100 / 10.0f);
+    uint16_t ext_pressure_mbar = (uint16_t) (data->pressure_mbar_100 / 10.0f);
     memcpy(custom_data_pointer, &ext_pressure_mbar, sizeof(ext_pressure_mbar));
     // custom_data_pointer += sizeof(ext_pressure_mbar);
 

src/telemetry.c

@@ -20,7 +20,7 @@ void telemetry_collect(telemetry_data *data)
 
     // Zero out position data if we don't have a valid GPS fix.
     // This is done to avoid transmitting invalid position information.
-    if (!(data->gps.fix_ok) || data->gps.fix == 0) {
+    if (!data->gps.fix_ok) {
         data->gps.latitude_degrees_1000000 = 0;
         data->gps.longitude_degrees_1000000 = 0;
         data->gps.altitude_mm = 0;