X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fao_telemetry.c;h=9c923984cb200f08bb728ade6b25149bdbe352e3;hb=036400a2db303f3db3be7cc0426f88359c6bd2b1;hp=463bcd91137f571dde8590b1ecd0523f10e44dc4;hpb=17d2432a8b9c15963cd3b821f025ad33972ef477;p=fw%2Faltos

diff --git a/src/ao_telemetry.c b/src/ao_telemetry.c
index 463bcd91..9c923984 100644
--- a/src/ao_telemetry.c
+++ b/src/ao_telemetry.c
@@ -18,6 +18,11 @@
 #include "ao.h"
 
 __xdata uint16_t ao_telemetry_interval = 0;
+__xdata uint8_t ao_rdf = 0;
+__xdata uint16_t ao_rdf_time;
+
+#define AO_RDF_INTERVAL_TICKS	AO_SEC_TO_TICKS(5)
+#define AO_RDF_LENGTH_MS	500
 
 void
 ao_telemetry(void)
@@ -27,6 +32,9 @@ ao_telemetry(void)
 	ao_config_get();
 	memcpy(telemetry.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
 	telemetry.addr = ao_serial_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);
@@ -39,9 +47,17 @@ ao_telemetry(void)
 		ao_adc_get(&telemetry.adc);
 		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);
 		ao_delay(ao_telemetry_interval);
+		if (ao_rdf &&
+		    (int16_t) (ao_time() - ao_rdf_time) >= 0)
+		{
+			ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
+			ao_radio_rdf(AO_RDF_LENGTH_MS);
+			ao_delay(ao_telemetry_interval);
+		}
 	}
 }
 
@@ -52,6 +68,16 @@ ao_telemetry_set_interval(uint16_t interval)
 	ao_wakeup(&ao_telemetry_interval);
 }
 
+void
+ao_rdf_set(uint8_t rdf)
+{
+	ao_rdf = rdf;
+	if (rdf == 0)
+		ao_radio_rdf_abort();
+	else
+		ao_rdf_time = ao_time();
+}
+
 __xdata struct ao_task	ao_telemetry_task;
 
 void