__xdata uint8_t ao_rdf = 0;
__xdata uint16_t ao_rdf_time;
-#define AO_RDF_INTERVAL AO_SEC_TO_TICKS(3)
+#define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
+#define AO_RDF_LENGTH_MS 500
void
ao_telemetry(void)
static __xdata struct ao_telemetry telemetry;
ao_config_get();
+ while (!ao_flight_number)
+ ao_sleep(&ao_flight_number);
memcpy(telemetry.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
- telemetry.addr = ao_serial_number;
+ telemetry.serial = ao_serial_number;
+ telemetry.flight = ao_log_full() ? 0 : ao_flight_number;
+ telemetry.accel_plus_g = ao_config.accel_plus_g;
+ telemetry.accel_minus_g = ao_config.accel_minus_g;
ao_rdf_time = ao_time();
for (;;) {
while (ao_telemetry_interval == 0)
ao_sleep(&ao_telemetry_interval);
telemetry.flight_state = ao_flight_state;
+#if HAS_ACCEL
telemetry.flight_accel = ao_flight_accel;
telemetry.ground_accel = ao_ground_accel;
telemetry.flight_vel = ao_flight_vel;
+#endif
telemetry.flight_pres = ao_flight_pres;
telemetry.ground_pres = ao_ground_pres;
+#if HAS_ADC
ao_adc_get(&telemetry.adc);
+#endif
+#if HAS_GPS
ao_mutex_get(&ao_gps_mutex);
memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data));
memcpy(&telemetry.gps_tracking, &ao_gps_tracking_data, sizeof (struct ao_gps_tracking_data));
ao_mutex_put(&ao_gps_mutex);
- ao_radio_send(&telemetry);
+#endif
+ ao_radio_send(&telemetry, sizeof (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_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
+ ao_radio_rdf(AO_RDF_LENGTH_MS);
ao_delay(ao_telemetry_interval);
}
}
ao_rdf = rdf;
if (rdf == 0)
ao_radio_rdf_abort();
+ else
+ ao_rdf_time = ao_time();
}
__xdata struct ao_task ao_telemetry_task;