X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_telemetry.c;h=d909bea56178d47eb7ce45a5b86d6faa6dea0804;hb=636b7b368e67346b0796cd84fbfd71e10966d61f;hp=c2707e7d57effeb820743c23d4d362f4dff6b31d;hpb=1c344b760776cd5d8c0297d8db9bf02687381b4e;p=fw%2Faltos

diff --git a/src/core/ao_telemetry.c b/src/core/ao_telemetry.c
index c2707e7d..d909bea5 100644
--- a/src/core/ao_telemetry.c
+++ b/src/core/ao_telemetry.c
@@ -131,10 +131,10 @@ ao_send_configuration(void)
 		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));
@@ -150,7 +150,7 @@ ao_send_location(void)
 	{
 		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);
@@ -167,7 +167,7 @@ ao_send_satellite(void)
 		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);
@@ -187,7 +187,7 @@ ao_send_companion(void)
 		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);
@@ -240,8 +240,11 @@ ao_telemetry(void)
 #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();
 		}
@@ -287,7 +290,7 @@ ao_rdf_set(uint8_t rdf)
 	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;