X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_telemetry.c;h=99fc45348347410fd5c8835114122a0a8d0d147a;hb=HEAD;hp=9f98ea002187e03308f5346ab707a6ef9a579b1d;hpb=4ff9f3271f9d20603626c18ee16b20e50c579ddf;p=fw%2Faltos

diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index 9f98ea00..8586efd5 100644
--- a/src/kernel/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -58,7 +58,7 @@ static AO_TICK_TYPE ao_aprs_time;
 #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
 
@@ -142,6 +142,8 @@ ao_send_mega_sensor(void)
 #if AO_LOG_NORMALIZED
 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_5
 	telemetry.generic.type = AO_TELEMETRY_MEGA_NORM_MPU6000_MMC5983;
+#elif AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_6
+	telemetry.generic.type = AO_TELEMETRY_MEGA_NORM_BMI088_MMC5983;
 #else
 #error unknown normalized log type
 #endif
@@ -153,7 +155,7 @@ ao_send_mega_sensor(void)
 	telemetry.mega_norm.pres = ao_data_pres(packet);
 	telemetry.mega_norm.temp = ao_data_temp(packet);
 
-#if HAS_MPU6000
+#ifdef ao_data_along
 	telemetry.mega_norm.accel_along = ao_data_along(packet);
 	telemetry.mega_norm.accel_across = ao_data_across(packet);
 	telemetry.mega_norm.accel_through = ao_data_through(packet);
@@ -163,7 +165,7 @@ ao_send_mega_sensor(void)
 	telemetry.mega_norm.gyro_yaw = ao_data_yaw(packet);
 #endif
 
-#if HAS_MMC5983
+#ifdef ao_data_mag_along
 	telemetry.mega_norm.mag_along = ao_data_mag_along(packet);
 	telemetry.mega_norm.mag_across = ao_data_mag_across(packet);
 	telemetry.mega_norm.mag_through = ao_data_mag_through(packet);
@@ -639,45 +641,47 @@ ao_telemetry_set_interval(uint16_t 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 =