- if (ao_flight_state != ao_flight_idle && ao_flight_state != ao_flight_startup) {
- telemetry->addr = ao_serial_number;
- telemetry->flight_state = ao_flight_state;
- ao_radio_send(telemetry);
+ static __xdata struct ao_telemetry telemetry;
+
+ ao_config_get();
+ memcpy(telemetry.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
+ telemetry.addr = ao_serial_number;
+ ao_rdf_time = ao_time();
+ for (;;) {
+ while (ao_telemetry_interval == 0)
+ ao_sleep(&ao_telemetry_interval);
+ telemetry.flight_state = ao_flight_state;
+ ao_adc_get(&telemetry.adc);
+ ao_mutex_get(&ao_gps_mutex);
+ memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data));
+ ao_mutex_put(&ao_gps_mutex);
+ ao_radio_send(&telemetry);
+ ao_delay(ao_telemetry_interval);
+ if (ao_rdf &&
+ (int16_t) (ao_time() - ao_rdf_time) >= 0)
+ {
+ ao_rdf_time = ao_time() + AO_RDF_INTERVAL;
+ ao_radio_rdf();
+ ao_delay(ao_telemetry_interval);
+ }