X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_telemetry.c;h=8385c6d038c9f48dc9862af73f299e8cf64a438b;hb=pwmin;hp=b3ce8ba9325a3573ed93c3b641a6f7c317d5249d;hpb=1ae69a1c2ce7e45db9d9c175bc63867eff68ebe5;p=fw%2Faltos

diff --git a/src/core/ao_telemetry.c b/src/core/ao_telemetry.c
index b3ce8ba9..8385c6d0 100644
--- a/src/core/ao_telemetry.c
+++ b/src/core/ao_telemetry.c
@@ -22,9 +22,6 @@ static __pdata uint16_t ao_telemetry_interval;
 static __pdata uint8_t ao_rdf = 0;
 static __pdata uint16_t ao_rdf_time;
 
-#define AO_RDF_INTERVAL_TICKS	AO_SEC_TO_TICKS(5)
-#define AO_RDF_LENGTH_MS	500
-
 #if defined(MEGAMETRUM)
 #define AO_SEND_MEGA	1
 #endif
@@ -104,6 +101,7 @@ ao_send_mega_sensor(void)
 	telemetry.mega_sensor.pres = ao_data_pres(packet);
 	telemetry.mega_sensor.temp = ao_data_temp(packet);
 
+#if HAS_MPU6000
 	telemetry.mega_sensor.accel_x = packet->mpu6000.accel_x;
 	telemetry.mega_sensor.accel_y = packet->mpu6000.accel_y;
 	telemetry.mega_sensor.accel_z = packet->mpu6000.accel_z;
@@ -111,10 +109,13 @@ ao_send_mega_sensor(void)
 	telemetry.mega_sensor.gyro_x = packet->mpu6000.gyro_x;
 	telemetry.mega_sensor.gyro_y = packet->mpu6000.gyro_y;
 	telemetry.mega_sensor.gyro_z = packet->mpu6000.gyro_z;
+#endif
 
+#if HAS_HMC5883
 	telemetry.mega_sensor.mag_x = packet->hmc5883.x;
 	telemetry.mega_sensor.mag_y = packet->hmc5883.y;
 	telemetry.mega_sensor.mag_z = packet->hmc5883.z;
+#endif
 
 	ao_radio_send(&telemetry, sizeof (telemetry));
 }
@@ -137,9 +138,9 @@ ao_send_mega_data(void)
 		telemetry.mega_data.v_batt = packet->adc.v_batt;
 		telemetry.mega_data.v_pyro = packet->adc.v_pbatt;
 
-		/* XXX figure out right shift value; 4 might suffice */
+		/* ADC range is 0-4095, so shift by four to save the high 8 bits */
 		for (i = 0; i < AO_ADC_NUM_SENSE; i++)
-			telemetry.mega_data.sense[i] = packet->adc.sense[i] >> 8;
+			telemetry.mega_data.sense[i] = packet->adc.sense[i] >> 4;
 
 		telemetry.mega_data.ground_pres = ao_ground_pres;
 		telemetry.mega_data.ground_accel = ao_ground_accel;
@@ -282,6 +283,12 @@ ao_telemetry(void)
 	while (!ao_flight_number)
 		ao_sleep(&ao_flight_number);
 
+#if RADIO_DELAY_AFTER_BOOST
+	while (ao_flight_state < ao_flight_boost)
+		ao_sleep(DATA_TO_XDATA(&ao_flight_state));
+	ao_delay(AO_SEC_TO_TICKS(RADIO_DELAY_AFTER_BOOST));
+#endif
+
 	telemetry.generic.serial = ao_serial_number;
 	for (;;) {
 		while (ao_telemetry_interval == 0)
@@ -313,8 +320,16 @@ ao_telemetry(void)
 			if (ao_rdf &&
 			    (int16_t) (ao_time() - ao_rdf_time) >= 0)
 			{
+#if HAS_IGNITE_REPORT
+				uint8_t	c;
+#endif
 				ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
-				ao_radio_rdf(AO_MS_TO_RDF_LEN(AO_RDF_LENGTH_MS));
+#if HAS_IGNITE_REPORT
+				if (ao_flight_state == ao_flight_pad && (c = ao_report_igniter()))
+					ao_radio_continuity(c);
+				else
+#endif
+					ao_radio_rdf();
 			}
 #endif
 			time += ao_telemetry_interval;
@@ -326,6 +341,7 @@ ao_telemetry(void)
 			}
 			else
 				time = ao_time();
+		bottom:	;
 		}
 	}
 }