#include "ao.h"
-/* XXX make serial numbers real */
-__xdata uint8_t ao_serial_number = 2;
-
__xdata uint16_t ao_telemetry_interval = 0;
-__xdata uint8_t ao_rdf = 0;
-__xdata uint16_t ao_rdf_time;
-
-#define AO_RDF_INTERVAL AO_SEC_TO_TICKS(3)
void
ao_telemetry(void)
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;
+ telemetry.flight_accel = ao_flight_accel;
+ telemetry.ground_accel = ao_ground_accel;
+ telemetry.flight_vel = ao_flight_vel;
+ telemetry.flight_pres = ao_flight_pres;
+ telemetry.ground_pres = ao_ground_pres;
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);
- }
}
}
ao_wakeup(&ao_telemetry_interval);
}
-void
-ao_rdf_set(uint8_t rdf)
-{
- ao_rdf = rdf;
- if (rdf == 0)
- ao_radio_rdf_abort();
-}
-
__xdata struct ao_task ao_telemetry_task;
void