- 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);
+ if (ao_monitoring == AO_MONITORING_FULL) {
+ if (!ao_radio_recv(&recv, sizeof (struct ao_telemetry_recv)))
+ continue;
+
+ state = recv.telemetry.flight_state;
+
+ /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
+ rssi = (int16_t) (recv.rssi >> 1) - 74;
+ 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) {
+
+ /* 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.telemetry.serial,
+ recv.telemetry.flight,
+ rssi,
+ ao_state_names[state],
+ recv.telemetry.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.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);
+
+ /* 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.telemetry.ground_accel,
+ recv.telemetry.ground_pres,
+ recv.telemetry.accel_plus_g,
+ recv.telemetry.accel_minus_g);
+
+ if (recv.telemetry.u.k.unused == 0x8000) {
+ /* Kalman state values */
+ printf(AO_TELEM_KALMAN_HEIGHT " %d "
+ AO_TELEM_KALMAN_SPEED " %d "
+ AO_TELEM_KALMAN_ACCEL " %d ",
+ recv.telemetry.height,
+ recv.telemetry.u.k.speed,
+ recv.telemetry.accel);
+ } else {
+ /* Ad-hoc flight values */
+ printf(AO_TELEM_ADHOC_ACCEL " %d "
+ AO_TELEM_ADHOC_SPEED " %ld "
+ AO_TELEM_ADHOC_BARO " %d ",
+ recv.telemetry.accel,
+ recv.telemetry.u.flight_vel,
+ recv.telemetry.height);
+ }
+ ao_gps_print(&recv.telemetry.gps);
+ ao_gps_tracking_print(&recv.telemetry.gps_tracking);
+ putchar('\n');
+ ao_rssi_set(rssi);
+ } else {
+ printf("CRC INVALID RSSI %3d\n", rssi);
+ }