X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_telemetry.c;h=c2b2eb5a1bad0569d909481c21caf20773269457;hb=f10009b07b651f69014ac5608f3ca29bce874c24;hp=2aceaf283c893fa49b10a4c2228ada1eb229c626;hpb=4a47071b7f23874ca3d889ba18cd218d6445df29;p=fw%2Faltos

diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index 2aceaf28..c2b2eb5a 100644
--- a/src/kernel/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -139,9 +139,17 @@ ao_send_mega_sensor(void)
 		struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 
 	telemetry.generic.tick = packet->tick;
-	telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR;
-
+#if HAS_BMX160
+	telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR_BMX160;
+#else
 #if HAS_MPU6000 || HAS_MPU9250
+	telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR_MPU;
+#else
+#error unknown IMU
+#endif
+#endif
+
+#if HAS_GYRO
 	telemetry.mega_sensor.orient = ao_sample_orient;
 #endif
 	telemetry.mega_sensor.accel = ao_data_accel(packet);
@@ -178,6 +186,20 @@ ao_send_mega_sensor(void)
 	telemetry.mega_sensor.mag_y = packet->mpu9250.mag_y;
 #endif
 
+#if HAS_BMX160
+	telemetry.mega_sensor.accel_x = packet->bmx160.acc_x;
+	telemetry.mega_sensor.accel_y = packet->bmx160.acc_y;
+	telemetry.mega_sensor.accel_z = packet->bmx160.acc_z;
+
+	telemetry.mega_sensor.gyro_x = packet->bmx160.gyr_x;
+	telemetry.mega_sensor.gyro_y = packet->bmx160.gyr_y;
+	telemetry.mega_sensor.gyro_z = packet->bmx160.gyr_z;
+
+	telemetry.mega_sensor.mag_x = packet->bmx160.mag_x;
+	telemetry.mega_sensor.mag_z = packet->bmx160.mag_z;
+	telemetry.mega_sensor.mag_y = packet->bmx160.mag_y;
+#endif
+
 	ao_telemetry_send();
 }
 
@@ -421,6 +443,28 @@ ao_send_companion(void)
 }
 #endif
 
+#if HAS_APRS
+static void
+ao_set_aprs_time(void)
+{
+	uint16_t interval = ao_config.aprs_interval;
+
+	if ((ao_gps_data.flags & AO_GPS_DATE_VALID) && interval != 0) {
+		int second = (ao_gps_data.second / interval + 1) * interval + ao_config.aprs_offset;
+		int delta;
+		if (second >= 60) {
+			second = ao_config.aprs_offset;
+			delta = second + 60 - ao_gps_data.second;
+		} else {
+			delta = second - ao_gps_data.second;
+		}
+		ao_aprs_time = ao_gps_tick + AO_SEC_TO_TICKS(delta);
+	} else {
+		ao_aprs_time += AO_SEC_TO_TICKS(ao_config.aprs_interval);
+	}
+}
+#endif
+
 static void
 ao_telemetry(void)
 {
@@ -449,6 +493,7 @@ ao_telemetry(void)
 #endif
 #if HAS_APRS
 		ao_aprs_time = time;
+		ao_set_aprs_time();
 #endif
 		while (ao_telemetry_interval) {
 			time = ao_time() + AO_SEC_TO_TICKS(100);
@@ -517,7 +562,7 @@ ao_telemetry(void)
 #if HAS_APRS
 			if (ao_config.aprs_interval != 0) {
 				if ((int16_t) (ao_time() - ao_aprs_time) >= 0) {
-					ao_aprs_time = ao_time() + AO_SEC_TO_TICKS(ao_config.aprs_interval);
+					ao_set_aprs_time();
 					ao_aprs_send();
 				}
 				if ((int16_t) (time - ao_aprs_time) > 0)