- __critical while (!ao_monitoring)
- ao_sleep(&ao_monitoring);
- ao_radio_recv(&recv);
- state = recv.telemetry.flight_state;
- memcpy(callsign, recv.telemetry.callsign, AO_MAX_CALLSIGN);
- if (state > ao_flight_invalid)
- state = ao_flight_invalid;
- if (recv.status & PKT_APPEND_STATUS_1_CRC_OK) {
- printf ("CALL %s SERIAL %3d RSSI %4d STATUS %02x STATE %7s ",
- callsign,
- recv.telemetry.addr,
- (int) recv.rssi - 74, recv.status,
- ao_state_names[state]);
- printf("%5u a: %5d p: %5d t: %5d v: %5d d: %5d m: %5d fa: %5d ga: %d fv: %7ld fp: %5d gp: %5d ",
- recv.telemetry.adc.tick,
- recv.telemetry.adc.accel,
- recv.telemetry.adc.pres,
- recv.telemetry.adc.temp,
- recv.telemetry.adc.v_batt,
- recv.telemetry.adc.sense_d,
- recv.telemetry.adc.sense_m,
- recv.telemetry.flight_accel,
- recv.telemetry.ground_accel,
- recv.telemetry.flight_vel,
- recv.telemetry.flight_pres,
- recv.telemetry.ground_pres);
- ao_gps_print(&recv.telemetry.gps);
- putchar(' ');
- ao_gps_tracking_print(&recv.telemetry.gps_tracking);
- putchar('\n');
- ao_rssi_set((int) recv.rssi - 74);
- } else {
- printf("CRC INVALID RSSI %3d\n", (int) recv.rssi - 74);
+ while (ao_monitor_tail == ao_monitor_head)
+ ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
+ m = &ao_monitor_ring[ao_monitor_tail];
+ ao_monitor_tail = ao_monitor_ring_next(ao_monitor_tail);
+ switch (ao_monitoring) {
+ case AO_MONITORING_ORIG:
+ state = recv_orig.telemetry_orig.flight_state;
+
+ /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
+ rssi = (int16_t) (recv_orig.rssi >> 1) - 74;
+ memcpy(callsign, recv_orig.telemetry_orig.callsign, AO_MAX_CALLSIGN);
+ if (state > ao_flight_invalid)
+ state = ao_flight_invalid;
+ if (recv_orig.status & PKT_APPEND_STATUS_1_CRC_OK) {
+
+ /* General header fields */
+ printf(AO_TELEM_VERSION " %d "
+ AO_TELEM_CALL " %s "
+ AO_TELEM_SERIAL " %d "
+ AO_TELEM_FLIGHT " %d "
+ AO_TELEM_RSSI " %d "
+ AO_TELEM_STATE " %s "
+ AO_TELEM_TICK " %d ",
+ AO_TELEMETRY_VERSION,
+ callsign,
+ recv_orig.telemetry_orig.serial,
+ recv_orig.telemetry_orig.flight,
+ rssi,
+ ao_state_names[state],
+ recv_orig.telemetry_orig.adc.tick);
+
+ /* Raw sensor values */
+ printf(AO_TELEM_RAW_ACCEL " %d "
+ AO_TELEM_RAW_BARO " %d "
+ AO_TELEM_RAW_THERMO " %d "
+ AO_TELEM_RAW_BATT " %d "
+ AO_TELEM_RAW_DROGUE " %d "
+ AO_TELEM_RAW_MAIN " %d ",
+ recv_orig.telemetry_orig.adc.accel,
+ recv_orig.telemetry_orig.adc.pres,
+ recv_orig.telemetry_orig.adc.temp,
+ recv_orig.telemetry_orig.adc.v_batt,
+ recv_orig.telemetry_orig.adc.sense_d,
+ recv_orig.telemetry_orig.adc.sense_m);
+
+ /* Sensor calibration values */
+ printf(AO_TELEM_CAL_ACCEL_GROUND " %d "
+ AO_TELEM_CAL_BARO_GROUND " %d "
+ AO_TELEM_CAL_ACCEL_PLUS " %d "
+ AO_TELEM_CAL_ACCEL_MINUS " %d ",
+ recv_orig.telemetry_orig.ground_accel,
+ recv_orig.telemetry_orig.ground_pres,
+ recv_orig.telemetry_orig.accel_plus_g,
+ recv_orig.telemetry_orig.accel_minus_g);
+
+ if (recv_orig.telemetry_orig.u.k.unused == 0x8000) {
+ /* Kalman state values */
+ printf(AO_TELEM_KALMAN_HEIGHT " %d "
+ AO_TELEM_KALMAN_SPEED " %d "
+ AO_TELEM_KALMAN_ACCEL " %d ",
+ recv_orig.telemetry_orig.height,
+ recv_orig.telemetry_orig.u.k.speed,
+ recv_orig.telemetry_orig.accel);
+ } else {
+ /* Ad-hoc flight values */
+ printf(AO_TELEM_ADHOC_ACCEL " %d "
+ AO_TELEM_ADHOC_SPEED " %ld "
+ AO_TELEM_ADHOC_BARO " %d ",
+ recv_orig.telemetry_orig.accel,
+ recv_orig.telemetry_orig.u.flight_vel,
+ recv_orig.telemetry_orig.height);
+ }
+ ao_gps_print(&recv_orig.telemetry_orig.gps);
+ ao_gps_tracking_print(&recv_orig.telemetry_orig.gps_tracking);
+ putchar('\n');
+ ao_rssi_set(rssi);
+ } else {
+ printf("CRC INVALID RSSI %3d\n", rssi);
+ }
+ break;
+ case AO_MONITORING_TINY:
+ state = recv_tiny.telemetry_tiny.flight_state;
+
+ /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
+ rssi = (int16_t) (recv_tiny.rssi >> 1) - 74;
+ memcpy(callsign, recv_tiny.telemetry_tiny.callsign, AO_MAX_CALLSIGN);
+ if (state > ao_flight_invalid)
+ state = ao_flight_invalid;
+ if (recv_tiny.status & PKT_APPEND_STATUS_1_CRC_OK) {
+ /* General header fields */
+ printf(AO_TELEM_VERSION " %d "
+ AO_TELEM_CALL " %s "
+ AO_TELEM_SERIAL " %d "
+ AO_TELEM_FLIGHT " %d "
+ AO_TELEM_RSSI " %d "
+ AO_TELEM_STATE " %s "
+ AO_TELEM_TICK " %d ",
+ AO_TELEMETRY_VERSION,
+ callsign,
+ recv_tiny.telemetry_tiny.serial,
+ recv_tiny.telemetry_tiny.flight,
+ rssi,
+ ao_state_names[state],
+ recv_tiny.telemetry_tiny.adc.tick);
+
+ /* Raw sensor values */
+ printf(AO_TELEM_RAW_BARO " %d "
+ AO_TELEM_RAW_THERMO " %d "
+ AO_TELEM_RAW_BATT " %d "
+ AO_TELEM_RAW_DROGUE " %d "
+ AO_TELEM_RAW_MAIN " %d ",
+ recv_tiny.telemetry_tiny.adc.pres,
+ recv_tiny.telemetry_tiny.adc.temp,
+ recv_tiny.telemetry_tiny.adc.v_batt,
+ recv_tiny.telemetry_tiny.adc.sense_d,
+ recv_tiny.telemetry_tiny.adc.sense_m);
+
+ /* Sensor calibration values */
+ printf(AO_TELEM_CAL_BARO_GROUND " %d ",
+ recv_tiny.telemetry_tiny.ground_pres);
+
+#if 1
+ /* Kalman state values */
+ printf(AO_TELEM_KALMAN_HEIGHT " %d "
+ AO_TELEM_KALMAN_SPEED " %d "
+ AO_TELEM_KALMAN_ACCEL " %d\n",
+ recv_tiny.telemetry_tiny.height,
+ recv_tiny.telemetry_tiny.speed,
+ recv_tiny.telemetry_tiny.accel);
+#else
+ /* Ad-hoc flight values */
+ printf(AO_TELEM_ADHOC_ACCEL " %d "
+ AO_TELEM_ADHOC_SPEED " %ld "
+ AO_TELEM_ADHOC_BARO " %d\n",
+ recv_tiny.telemetry_tiny.flight_accel,
+ recv_tiny.telemetry_tiny.flight_vel,
+ recv_tiny.telemetry_tiny.flight_pres);
+#endif
+ ao_rssi_set(rssi);
+ } else {
+ printf("CRC INVALID RSSI %3d\n", rssi);
+ }
+ break;
+ default:
+ printf ("TELEM %02x", ao_monitoring + 2);
+ sum = 0x5a;
+ for (state = 0; state < ao_monitoring + 2; state++) {
+ byte = recv_raw.packet[state];
+ sum += byte;
+ printf("%02x", byte);
+ }
+ printf("%02x\n", sum);
+ break;