#define AO_SEND_MEGA 1
#endif
-#if defined (TELEMETRUM_V_2_0) || defined (TELEMETRUM_V_3_0)
+#if defined (TELEMETRUM_V_2_0) || defined (TELEMETRUM_V_3_0) || defined (TELEMETRUM_V_4_0)
#define AO_SEND_METRUM 1
#endif
{
struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
- telemetry.generic.tick = packet->tick;
+ telemetry.generic.tick = (uint16_t) packet->tick;
#if AO_LOG_NORMALIZED
#if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_5
telemetry.generic.type = AO_TELEMETRY_MEGA_NORM_MPU6000_MMC5983;
#endif
#if HAS_GYRO
- telemetry.mega_norm.orient = ao_sample_orient;
+ telemetry.mega_norm.orient = (uint8_t) ao_sample_orient;
#endif
telemetry.mega_norm.accel = ao_data_accel(packet);
telemetry.mega_norm.pres = ao_data_pres(packet);
#endif
#if HAS_GYRO
- telemetry.mega_sensor.orient = ao_sample_orient;
+ telemetry.mega_sensor.orient = (uint8_t) ao_sample_orient;
#endif
telemetry.mega_sensor.accel = ao_data_accel(packet);
telemetry.mega_sensor.pres = ao_data_pres(packet);
ao_send_mega_data(void)
{
if (--ao_telemetry_mega_data_cur <= 0) {
- struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+ struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
uint8_t i;
- telemetry.generic.tick = packet->tick;
+ telemetry.generic.tick = (uint16_t) packet->tick;
telemetry.generic.type = AO_TELEMETRY_MEGA_DATA;
telemetry.mega_data.state = ao_flight_state;
/* ADC range is 0-4095, so shift by four to save the high 8 bits */
for (i = 0; i < AO_ADC_NUM_SENSE; i++)
- telemetry.mega_data.sense[i] = packet->adc.sense[i] >> 4;
+ telemetry.mega_data.sense[i] = (int8_t) (packet->adc.sense[i] >> 4);
telemetry.mega_data.ground_pres = ao_ground_pres;
telemetry.mega_data.ground_accel = ao_ground_accel;
telemetry.mega_data.accel_plus_g = ao_config.accel_plus_g;
telemetry.mega_data.accel_minus_g = ao_config.accel_minus_g;
- telemetry.mega_data.acceleration = ao_accel;
- telemetry.mega_data.speed = ao_speed;
- telemetry.mega_data.height = ao_height;
+ telemetry.mega_data.acceleration = (int16_t) ao_accel;
+ telemetry.mega_data.speed = (int16_t) ao_speed;
+ telemetry.mega_data.height = (int16_t) ao_height;
ao_telemetry_mega_data_cur = ao_telemetry_mega_data_max;
ao_telemetry_send();
static void
ao_send_metrum_sensor(void)
{
- struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+ struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
- telemetry.generic.tick = packet->tick;
+ telemetry.generic.tick = (uint16_t) packet->tick;
telemetry.generic.type = AO_TELEMETRY_METRUM_SENSOR;
telemetry.metrum_sensor.state = ao_flight_state;
telemetry.metrum_sensor.pres = ao_data_pres(packet);
telemetry.metrum_sensor.temp = ao_data_temp(packet);
- telemetry.metrum_sensor.acceleration = ao_accel;
- telemetry.metrum_sensor.speed = ao_speed;
- telemetry.metrum_sensor.height = ao_height;
+ telemetry.metrum_sensor.acceleration = (int16_t) ao_accel;
+ telemetry.metrum_sensor.speed = (int16_t) ao_speed;
+ telemetry.metrum_sensor.height = (int16_t) ao_height;
telemetry.metrum_sensor.v_batt = packet->adc.v_batt;
telemetry.metrum_sensor.sense_a = packet->adc.sense_a;
ao_send_metrum_data(void)
{
if (--ao_telemetry_metrum_data_cur <= 0) {
- struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+ struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
- telemetry.generic.tick = packet->tick;
+ telemetry.generic.tick = (uint16_t) packet->tick;
telemetry.generic.type = AO_TELEMETRY_METRUM_DATA;
telemetry.metrum_data.ground_pres = ao_ground_pres;
static void
ao_send_mini(void)
{
- struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+ struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
- telemetry.generic.tick = packet->tick;
+ telemetry.generic.tick = (uint16_t) packet->tick;
telemetry.generic.type = AO_SEND_MINI;
telemetry.mini.state = ao_flight_state;
telemetry.mini.pres = ao_data_pres(packet);
telemetry.mini.temp = ao_data_temp(packet);
- telemetry.mini.acceleration = ao_accel;
- telemetry.mini.speed = ao_speed;
- telemetry.mini.height = ao_height;
+ telemetry.mini.acceleration = (int16_t) ao_accel;
+ telemetry.mini.speed = (int16_t) ao_speed;
+ telemetry.mini.height = (int16_t) ao_height;
telemetry.mini.ground_pres = ao_ground_pres;
telemetry.configuration.config_minor = AO_CONFIG_MINOR;
#if AO_idProduct_NUMBER == 0x25 && HAS_ADC
/* TeleGPS gets battery voltage instead of apogee delay */
- telemetry.configuration.apogee_delay = ao_telemetry_battery_convert(ao_data_ring[ao_data_ring_prev(ao_data_head)].adc.v_batt);
+ telemetry.configuration.apogee_delay = (uint16_t) ao_telemetry_battery_convert(ao_data_ring[ao_data_ring_prev(ao_data_head)].adc.v_batt);
#else
telemetry.configuration.apogee_delay = ao_config.apogee_delay;
telemetry.configuration.main_deploy = ao_config.main_deploy;
#endif
- telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
+ telemetry.configuration.flight_log_max = (uint16_t) (ao_config.flight_log_max >> 10);
memcpy (telemetry.configuration.callsign,
ao_config.callsign,
AO_MAX_CALLSIGN);
return ((uint8_t *) l) + offsetof(struct ao_telemetry_location, flags);
}
-static inline int
+static inline size_t
telemetry_size(void)
{
return sizeof(struct ao_telemetry_location) - offsetof(struct ao_telemetry_location, flags);
memcpy(telemetry_bits(&telemetry.location),
telemetry_bits(&ao_gps_data),
telemetry_size());
- telemetry.location.tick = ao_gps_tick;
+ telemetry.location.tick = (uint16_t) ao_gps_tick;
ao_mutex_put(&ao_gps_mutex);
ao_telemetry_loc_cur = ao_telemetry_gps_max;
ao_telemetry_send();
{
if (--ao_telemetry_companion_cur <= 0) {
telemetry.generic.type = AO_TELEMETRY_COMPANION;
- telemetry.companion.board_id = ao_companion_setup.board_id;
+ telemetry.companion.board_id = (uint8_t) ao_companion_setup.board_id;
telemetry.companion.update_period = ao_companion_setup.update_period;
telemetry.companion.channels = ao_companion_setup.channels;
ao_mutex_get(&ao_companion_mutex);
} else {
delta = second - ao_gps_data.second;
}
- ao_aprs_time = ao_gps_tick + AO_SEC_TO_TICKS(delta);
+ if (delta < (interval >> 1))
+ delta += interval;
+
+ ao_aprs_time = ao_gps_utc_tick + AO_SEC_TO_TICKS(delta);
} else {
ao_aprs_time += AO_SEC_TO_TICKS(ao_config.aprs_interval);
}
interval = min_interval[ao_config.radio_rate];
#endif
ao_telemetry_interval = interval;
+ if (interval) {
#if AO_SEND_MEGA
- if (interval > 1)
- ao_telemetry_mega_data_max = 1;
- else
- ao_telemetry_mega_data_max = 2;
- if (ao_telemetry_mega_data_max > cur)
- cur++;
- ao_telemetry_mega_data_cur = cur;
+ if (interval > 1)
+ ao_telemetry_mega_data_max = 1;
+ else
+ ao_telemetry_mega_data_max = 2;
+ if (ao_telemetry_mega_data_max > cur)
+ cur++;
+ ao_telemetry_mega_data_cur = cur;
#endif
#if AO_SEND_METRUM
- ao_telemetry_metrum_data_max = (int16_t) (AO_SEC_TO_TICKS(1) / interval);
- if (ao_telemetry_metrum_data_max > cur)
- cur++;
- ao_telemetry_metrum_data_cur = cur;
+ ao_telemetry_metrum_data_max = (int16_t) (AO_SEC_TO_TICKS(1) / interval);
+ if (ao_telemetry_metrum_data_max > cur)
+ cur++;
+ ao_telemetry_metrum_data_cur = cur;
#endif
#if HAS_COMPANION
- if (!ao_companion_setup.update_period)
- ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
- ao_telemetry_companion_max = (int16_t) (ao_companion_setup.update_period / interval);
- if (ao_telemetry_companion_max > cur)
- cur++;
- ao_telemetry_companion_cur = cur;
+ if (!ao_companion_setup.update_period)
+ ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
+ ao_telemetry_companion_max = (int16_t) (ao_companion_setup.update_period / interval);
+ if (ao_telemetry_companion_max > cur)
+ cur++;
+ ao_telemetry_companion_cur = cur;
#endif
#if HAS_GPS
- ao_telemetry_gps_max = (int16_t) (AO_SEC_TO_TICKS(1) / interval);
- if (ao_telemetry_gps_max > cur)
- cur++;
- ao_telemetry_loc_cur = cur;
- if (ao_telemetry_gps_max > cur)
- cur++;
- ao_telemetry_sat_cur = cur;
-#endif
-
- ao_telemetry_config_max = (int16_t) (AO_SEC_TO_TICKS(5) / interval);
- if (ao_telemetry_config_max > cur)
- cur++;
- ao_telemetry_config_cur = cur;
+ ao_telemetry_gps_max = (int16_t) (AO_SEC_TO_TICKS(1) / interval);
+ if (ao_telemetry_gps_max > cur)
+ cur++;
+ ao_telemetry_loc_cur = cur;
+ if (ao_telemetry_gps_max > cur)
+ cur++;
+ ao_telemetry_sat_cur = cur;
+#endif
+
+ ao_telemetry_config_max = (int16_t) (AO_SEC_TO_TICKS(5) / interval);
+ if (ao_telemetry_config_max > cur)
+ cur++;
+ ao_telemetry_config_cur = cur;
+ }
#ifndef SIMPLIFY
ao_telemetry_time =