telemetry.configuration.apogee_delay = ao_config.apogee_delay;
telemetry.configuration.main_deploy = ao_config.main_deploy;
telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
- memcpy (telemetry.configuration.callsign,
+ ao_xmemcpy (telemetry.configuration.callsign,
ao_config.callsign,
AO_MAX_CALLSIGN);
- memcpy (telemetry.configuration.version,
+ ao_xmemcpy (telemetry.configuration.version,
ao_version,
AO_MAX_VERSION);
ao_radio_send(&telemetry, sizeof (telemetry));
{
telemetry.generic.type = AO_TELEMETRY_LOCATION;
ao_mutex_get(&ao_gps_mutex);
- memcpy(&telemetry.location.flags,
+ ao_xmemcpy(&telemetry.location.flags,
&ao_gps_data.flags,
26);
ao_mutex_put(&ao_gps_mutex);
telemetry.generic.type = AO_TELEMETRY_SATELLITE;
ao_mutex_get(&ao_gps_mutex);
telemetry.satellite.channels = ao_gps_tracking_data.channels;
- memcpy(&telemetry.satellite.sats,
+ ao_xmemcpy(&telemetry.satellite.sats,
&ao_gps_tracking_data.sats,
AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
ao_mutex_put(&ao_gps_mutex);
telemetry.companion.update_period = ao_companion_setup.update_period;
telemetry.companion.channels = ao_companion_setup.channels;
ao_mutex_get(&ao_companion_mutex);
- memcpy(&telemetry.companion.companion_data,
+ ao_xmemcpy(&telemetry.companion.companion_data,
ao_companion_data,
ao_companion_setup.channels * 2);
ao_mutex_put(&ao_companion_mutex);
#endif
time += ao_telemetry_interval;
delay = time - ao_time();
- if (delay > 0)
- ao_delay(delay);
+ if (delay > 0) {
+ ao_alarm(delay);
+ ao_sleep(&telemetry);
+ ao_clear_alarm();
+ }
else
time = ao_time();
}
if (rdf == 0)
ao_radio_rdf_abort();
else
- ao_rdf_time = ao_time();
+ ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
}
__xdata struct ao_task ao_telemetry_task;