X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_telemetry.c;h=854ac898dcbc646613caf036050e7ce205c6e2a0;hb=9c75faf1ec51eb2f9a8dc9402653490143a784d9;hp=868b3260a52ae9f7fd4362a4a49264dfdcff007d;hpb=4d51570ed8776461d084726149923c5be43d622e;p=fw%2Faltos

diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index 868b3260..854ac898 100644
--- a/src/kernel/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -133,7 +133,9 @@ ao_send_mega_sensor(void)
 	telemetry.generic.tick = packet->tick;
 	telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR;
 
+#if HAS_MPU6000
 	telemetry.mega_sensor.orient = ao_sample_orient;
+#endif
 	telemetry.mega_sensor.accel = ao_data_accel(packet);
 	telemetry.mega_sensor.pres = ao_data_pres(packet);
 	telemetry.mega_sensor.temp = ao_data_temp(packet);
@@ -484,9 +486,7 @@ ao_telemetry(void)
 #endif /* HAS_APRS */
 			delay = time - ao_time();
 			if (delay > 0) {
-				ao_alarm(delay);
-				ao_sleep(&telemetry);
-				ao_clear_alarm();
+				ao_sleep_for(&telemetry, delay);
 			}
 		}
 	}