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   1 /*
   2  * Copyright © 2011 Keth Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 #include "ao.h"
  20 #include "ao_log.h"
  21 #include "ao_product.h"
  22
  23 static uint16_t ao_telemetry_interval;
  24
  25 #if HAS_RADIO_RATE
  26 static uint16_t ao_telemetry_desired_interval;
  27 #endif
  28
  29 /* TeleMetrum v1.0 just doesn't have enough space to
  30  * manage the more complicated telemetry scheduling, so
  31  * it loses the ability to disable telem/rdf separately
  32  */
  33
  34 #if defined(TELEMETRUM_V_1_0)
  35 #define SIMPLIFY
  36 #endif
  37
  38 #ifdef SIMPLIFY
  39 #define ao_telemetry_time time
  40 #define RDF_SPACE
  41 #else
  42 #define RDF_SPACE
  43 static uint16_t ao_telemetry_time;
  44 #endif
  45
  46 #if HAS_RDF
  47 static RDF_SPACE uint8_t ao_rdf = 0;
  48 static RDF_SPACE uint16_t ao_rdf_time;
  49 #endif
  50
  51 #if HAS_APRS
  52 static uint16_t ao_aprs_time;
  53
  54 #include <ao_aprs.h>
  55 #endif
  56
  57 #if defined(TELEMEGA)
  58 #define AO_SEND_MEGA    1
  59 #endif
  60
  61 #if defined (TELEMETRUM_V_2_0) || defined (TELEMETRUM_V_3_0)
  62 #define AO_SEND_METRUM  1
  63 #endif
  64
  65 #if defined(TELEMETRUM_V_0_1) || defined(TELEMETRUM_V_0_2) || defined(TELEMETRUM_V_1_0) || defined(TELEMETRUM_V_1_1) || defined(TELEBALLOON_V_1_1) || defined(TELEMETRUM_V_1_2)
  66 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELEMETRUM
  67 #endif
  68
  69 #if defined(TELEMINI_V_1_0)
  70 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELEMINI
  71 #endif
  72
  73 #if defined(TELENANO_V_0_1)
  74 #define AO_TELEMETRY_SENSOR     AO_TELEMETRY_SENSOR_TELENANO
  75 #endif
  76
  77 static union ao_telemetry_all   telemetry;
  78
  79 static void
  80 ao_telemetry_send(void)
  81 {
  82         ao_radio_send(&telemetry, sizeof (telemetry));
  83         ao_delay(1);
  84 }
  85
  86 #if defined AO_TELEMETRY_SENSOR
  87 /* Send sensor packet */
  88 static void
  89 ao_send_sensor(void)
  90 {
  91                 struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
  92
  93         telemetry.generic.tick = packet->tick;
  94         telemetry.generic.type = AO_TELEMETRY_SENSOR;
  95
  96         telemetry.sensor.state = ao_flight_state;
  97 #if HAS_ACCEL
  98         telemetry.sensor.accel = packet->adc.accel;
  99 #else
 100         telemetry.sensor.accel = 0;
 101 #endif
 102         telemetry.sensor.pres = ao_data_pres(packet);
 103         telemetry.sensor.temp = packet->adc.temp;
 104         telemetry.sensor.v_batt = packet->adc.v_batt;
 105 #if HAS_IGNITE
 106         telemetry.sensor.sense_d = packet->adc.sense_d;
 107         telemetry.sensor.sense_m = packet->adc.sense_m;
 108 #else
 109         telemetry.sensor.sense_d = 0;
 110         telemetry.sensor.sense_m = 0;
 111 #endif
 112
 113         telemetry.sensor.acceleration = ao_accel;
 114         telemetry.sensor.speed = ao_speed;
 115         telemetry.sensor.height = ao_height;
 116
 117         telemetry.sensor.ground_pres = ao_ground_pres;
 118 #if HAS_ACCEL
 119         telemetry.sensor.ground_accel = ao_ground_accel;
 120         telemetry.sensor.accel_plus_g = ao_config.accel_plus_g;
 121         telemetry.sensor.accel_minus_g = ao_config.accel_minus_g;
 122 #else
 123         telemetry.sensor.ground_accel = 0;
 124         telemetry.sensor.accel_plus_g = 0;
 125         telemetry.sensor.accel_minus_g = 0;
 126 #endif
 127
 128         ao_telemetry_send();
 129 }
 130 #endif
 131
 132
 133 #ifdef AO_SEND_MEGA
 134
 135 /* Send mega sensor packet */
 136 static void
 137 ao_send_mega_sensor(void)
 138 {
 139                 struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 140
 141         telemetry.generic.tick = packet->tick;
 142         telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR;
 143
 144 #if HAS_MPU6000 || HAS_MPU9250
 145         telemetry.mega_sensor.orient = ao_sample_orient;
 146 #endif
 147         telemetry.mega_sensor.accel = ao_data_accel(packet);
 148         telemetry.mega_sensor.pres = ao_data_pres(packet);
 149         telemetry.mega_sensor.temp = ao_data_temp(packet);
 150
 151 #if HAS_MPU6000
 152         telemetry.mega_sensor.accel_x = packet->mpu6000.accel_x;
 153         telemetry.mega_sensor.accel_y = packet->mpu6000.accel_y;
 154         telemetry.mega_sensor.accel_z = packet->mpu6000.accel_z;
 155
 156         telemetry.mega_sensor.gyro_x = packet->mpu6000.gyro_x;
 157         telemetry.mega_sensor.gyro_y = packet->mpu6000.gyro_y;
 158         telemetry.mega_sensor.gyro_z = packet->mpu6000.gyro_z;
 159 #endif
 160
 161 #if HAS_HMC5883
 162         telemetry.mega_sensor.mag_x = packet->hmc5883.x;
 163         telemetry.mega_sensor.mag_z = packet->hmc5883.z;
 164         telemetry.mega_sensor.mag_y = packet->hmc5883.y;
 165 #endif
 166
 167 #if HAS_MPU9250
 168         telemetry.mega_sensor.accel_x = packet->mpu9250.accel_x;
 169         telemetry.mega_sensor.accel_y = packet->mpu9250.accel_y;
 170         telemetry.mega_sensor.accel_z = packet->mpu9250.accel_z;
 171
 172         telemetry.mega_sensor.gyro_x = packet->mpu9250.gyro_x;
 173         telemetry.mega_sensor.gyro_y = packet->mpu9250.gyro_y;
 174         telemetry.mega_sensor.gyro_z = packet->mpu9250.gyro_z;
 175
 176         telemetry.mega_sensor.mag_x = packet->mpu9250.mag_x;
 177         telemetry.mega_sensor.mag_z = packet->mpu9250.mag_z;
 178         telemetry.mega_sensor.mag_y = packet->mpu9250.mag_y;
 179 #endif
 180
 181         ao_telemetry_send();
 182 }
 183
 184 static int8_t ao_telemetry_mega_data_max;
 185 static int8_t ao_telemetry_mega_data_cur;
 186
 187 /* Send mega data packet */
 188 static void
 189 ao_send_mega_data(void)
 190 {
 191         if (--ao_telemetry_mega_data_cur <= 0) {
 192                         struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 193                 uint8_t i;
 194
 195                 telemetry.generic.tick = packet->tick;
 196                 telemetry.generic.type = AO_TELEMETRY_MEGA_DATA;
 197
 198                 telemetry.mega_data.state = ao_flight_state;
 199                 telemetry.mega_data.v_batt = packet->adc.v_batt;
 200                 telemetry.mega_data.v_pyro = packet->adc.v_pbatt;
 201
 202                 /* ADC range is 0-4095, so shift by four to save the high 8 bits */
 203                 for (i = 0; i < AO_ADC_NUM_SENSE; i++)
 204                         telemetry.mega_data.sense[i] = packet->adc.sense[i] >> 4;
 205
 206                 telemetry.mega_data.ground_pres = ao_ground_pres;
 207                 telemetry.mega_data.ground_accel = ao_ground_accel;
 208                 telemetry.mega_data.accel_plus_g = ao_config.accel_plus_g;
 209                 telemetry.mega_data.accel_minus_g = ao_config.accel_minus_g;
 210
 211                 telemetry.mega_data.acceleration = ao_accel;
 212                 telemetry.mega_data.speed = ao_speed;
 213                 telemetry.mega_data.height = ao_height;
 214
 215                 ao_telemetry_mega_data_cur = ao_telemetry_mega_data_max;
 216                 ao_telemetry_send();
 217         }
 218 }
 219 #endif /* AO_SEND_MEGA */
 220
 221 #ifdef AO_SEND_METRUM
 222 /* Send telemetrum sensor packet */
 223 static void
 224 ao_send_metrum_sensor(void)
 225 {
 226                 struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 227
 228         telemetry.generic.tick = packet->tick;
 229         telemetry.generic.type = AO_TELEMETRY_METRUM_SENSOR;
 230
 231         telemetry.metrum_sensor.state = ao_flight_state;
 232 #if HAS_ACCEL
 233         telemetry.metrum_sensor.accel = ao_data_accel(packet);
 234 #endif
 235         telemetry.metrum_sensor.pres = ao_data_pres(packet);
 236         telemetry.metrum_sensor.temp = ao_data_temp(packet);
 237
 238         telemetry.metrum_sensor.acceleration = ao_accel;
 239         telemetry.metrum_sensor.speed = ao_speed;
 240         telemetry.metrum_sensor.height = ao_height;
 241
 242         telemetry.metrum_sensor.v_batt = packet->adc.v_batt;
 243         telemetry.metrum_sensor.sense_a = packet->adc.sense_a;
 244         telemetry.metrum_sensor.sense_m = packet->adc.sense_m;
 245
 246         ao_telemetry_send();
 247 }
 248
 249 static int8_t ao_telemetry_metrum_data_max;
 250 static int8_t ao_telemetry_metrum_data_cur;
 251
 252 /* Send telemetrum data packet */
 253 static void
 254 ao_send_metrum_data(void)
 255 {
 256         if (--ao_telemetry_metrum_data_cur <= 0) {
 257                         struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 258
 259                 telemetry.generic.tick = packet->tick;
 260                 telemetry.generic.type = AO_TELEMETRY_METRUM_DATA;
 261
 262                 telemetry.metrum_data.ground_pres = ao_ground_pres;
 263 #if HAS_ACCEL
 264                 telemetry.metrum_data.ground_accel = ao_ground_accel;
 265                 telemetry.metrum_data.accel_plus_g = ao_config.accel_plus_g;
 266                 telemetry.metrum_data.accel_minus_g = ao_config.accel_minus_g;
 267 #else
 268                 telemetry.metrum_data.ground_accel = 1;
 269                 telemetry.metrum_data.accel_plus_g = 0;
 270                 telemetry.metrum_data.accel_minus_g = 2;
 271 #endif
 272
 273                 ao_telemetry_metrum_data_cur = ao_telemetry_metrum_data_max;
 274                 ao_telemetry_send();
 275         }
 276 }
 277 #endif /* AO_SEND_METRUM */
 278
 279 #ifdef AO_SEND_MINI
 280
 281 static void
 282 ao_send_mini(void)
 283 {
 284                 struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 285
 286         telemetry.generic.tick = packet->tick;
 287         telemetry.generic.type = AO_SEND_MINI;
 288
 289         telemetry.mini.state = ao_flight_state;
 290
 291         telemetry.mini.v_batt = packet->adc.v_batt;
 292         telemetry.mini.sense_a = packet->adc.sense_a;
 293         telemetry.mini.sense_m = packet->adc.sense_m;
 294
 295         telemetry.mini.pres = ao_data_pres(packet);
 296         telemetry.mini.temp = ao_data_temp(packet);
 297
 298         telemetry.mini.acceleration = ao_accel;
 299         telemetry.mini.speed = ao_speed;
 300         telemetry.mini.height = ao_height;
 301
 302         telemetry.mini.ground_pres = ao_ground_pres;
 303
 304         ao_telemetry_send();
 305 }
 306
 307 #endif /* AO_SEND_MINI */
 308
 309 static int8_t ao_telemetry_config_max;
 310 static int8_t ao_telemetry_config_cur;
 311 static uint16_t ao_telemetry_flight_number;
 312
 313 #ifndef ao_telemetry_battery_convert
 314 #define ao_telemetry_battery_convert(a) (a)
 315 #endif
 316
 317 static void
 318 ao_send_configuration(void)
 319 {
 320         if (--ao_telemetry_config_cur <= 0)
 321         {
 322                 telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
 323                 telemetry.configuration.device = AO_idProduct_NUMBER;
 324                 telemetry.configuration.flight = ao_telemetry_flight_number;
 325                 telemetry.configuration.config_major = AO_CONFIG_MAJOR;
 326                 telemetry.configuration.config_minor = AO_CONFIG_MINOR;
 327 #if AO_idProduct_NUMBER == 0x25 && HAS_ADC
 328                 /* TeleGPS gets battery voltage instead of apogee delay */
 329                 telemetry.configuration.apogee_delay = ao_telemetry_battery_convert(ao_data_ring[ao_data_ring_prev(ao_data_head)].adc.v_batt);
 330 #else
 331                 telemetry.configuration.apogee_delay = ao_config.apogee_delay;
 332                 telemetry.configuration.main_deploy = ao_config.main_deploy;
 333 #endif
 334
 335                 telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
 336                 memcpy (telemetry.configuration.callsign,
 337                         ao_config.callsign,
 338                         AO_MAX_CALLSIGN);
 339                 memcpy (telemetry.configuration.version,
 340                         ao_version,
 341                         AO_MAX_VERSION);
 342                 ao_telemetry_config_cur = ao_telemetry_config_max;
 343                 ao_telemetry_send();
 344         }
 345 }
 346
 347 #if HAS_GPS
 348
 349 static int8_t ao_telemetry_gps_max;
 350 static int8_t ao_telemetry_loc_cur;
 351 static int8_t ao_telemetry_sat_cur;
 352
 353 static inline void *
 354 telemetry_bits(struct ao_telemetry_location *l)
 355 {
 356         return ((uint8_t *) l) + offsetof(struct ao_telemetry_location, flags);
 357 }
 358
 359 static inline int
 360 telemetry_size(void)
 361 {
 362         return sizeof(struct ao_telemetry_location) - offsetof(struct ao_telemetry_location, flags);
 363 }
 364
 365 static void
 366 ao_send_location(void)
 367 {
 368         if (--ao_telemetry_loc_cur <= 0)
 369         {
 370                 telemetry.generic.type = AO_TELEMETRY_LOCATION;
 371                 ao_mutex_get(&ao_gps_mutex);
 372                 memcpy(telemetry_bits(&telemetry.location),
 373                        telemetry_bits(&ao_gps_data),
 374                        telemetry_size());
 375                 telemetry.location.tick = ao_gps_tick;
 376                 ao_mutex_put(&ao_gps_mutex);
 377                 ao_telemetry_loc_cur = ao_telemetry_gps_max;
 378                 ao_telemetry_send();
 379         }
 380 }
 381
 382 static void
 383 ao_send_satellite(void)
 384 {
 385         if (--ao_telemetry_sat_cur <= 0)
 386         {
 387                 telemetry.generic.type = AO_TELEMETRY_SATELLITE;
 388                 ao_mutex_get(&ao_gps_mutex);
 389                 telemetry.satellite.channels = ao_gps_tracking_data.channels;
 390                 memcpy(&telemetry.satellite.sats,
 391                        &ao_gps_tracking_data.sats,
 392                        AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
 393                 ao_mutex_put(&ao_gps_mutex);
 394                 ao_telemetry_sat_cur = ao_telemetry_gps_max;
 395                 ao_telemetry_send();
 396         }
 397 }
 398 #endif
 399
 400 #if HAS_COMPANION
 401
 402 static int8_t ao_telemetry_companion_max;
 403 static int8_t ao_telemetry_companion_cur;
 404
 405 static void
 406 ao_send_companion(void)
 407 {
 408         if (--ao_telemetry_companion_cur <= 0) {
 409                 telemetry.generic.type = AO_TELEMETRY_COMPANION;
 410                 telemetry.companion.board_id = ao_companion_setup.board_id;
 411                 telemetry.companion.update_period = ao_companion_setup.update_period;
 412                 telemetry.companion.channels = ao_companion_setup.channels;
 413                 ao_mutex_get(&ao_companion_mutex);
 414                 memcpy(&telemetry.companion.companion_data,
 415                        ao_companion_data,
 416                        ao_companion_setup.channels * 2);
 417                 ao_mutex_put(&ao_companion_mutex);
 418                 ao_telemetry_companion_cur = ao_telemetry_companion_max;
 419                 ao_telemetry_send();
 420         }
 421 }
 422 #endif
 423
 424 static void
 425 ao_telemetry(void)
 426 {
 427         uint16_t        time;
 428         int16_t         delay;
 429
 430         ao_config_get();
 431         if (!ao_config.radio_enable)
 432                 ao_exit();
 433         while (!ao_flight_number)
 434                 ao_sleep(&ao_flight_number);
 435
 436         ao_telemetry_flight_number = ao_flight_number;
 437 #if HAS_LOG
 438         if (ao_log_full())
 439                 ao_telemetry_flight_number = 0;
 440 #endif
 441         telemetry.generic.serial = ao_serial_number;
 442         for (;;) {
 443                 while (ao_telemetry_interval == 0)
 444                         ao_sleep(&telemetry);
 445                 time = ao_time();
 446                 ao_telemetry_time = time;
 447 #if HAS_RDF
 448                 ao_rdf_time = time;
 449 #endif
 450 #if HAS_APRS
 451                 ao_aprs_time = time;
 452 #endif
 453                 while (ao_telemetry_interval) {
 454                         time = ao_time() + AO_SEC_TO_TICKS(100);
 455 #ifndef SIMPLIFY
 456                         if (!(ao_config.radio_enable & AO_RADIO_DISABLE_TELEMETRY))
 457 #endif
 458                         {
 459 #ifndef SIMPLIFY
 460                                 if ( (int16_t) (ao_time() - ao_telemetry_time) >= 0)
 461 #endif
 462                                 {
 463                                         ao_telemetry_time = ao_time() + ao_telemetry_interval;
 464 # ifdef AO_SEND_MEGA
 465                                         ao_send_mega_sensor();
 466                                         ao_send_mega_data();
 467 # endif
 468 # ifdef AO_SEND_METRUM
 469                                         ao_send_metrum_sensor();
 470                                         ao_send_metrum_data();
 471 # endif
 472 # ifdef AO_SEND_MINI
 473                                         ao_send_mini();
 474 # endif
 475 # ifdef AO_TELEMETRY_SENSOR
 476                                         ao_send_sensor();
 477 # endif
 478 #if HAS_COMPANION
 479                                         if (ao_companion_running)
 480                                                 ao_send_companion();
 481 #endif
 482 #if HAS_GPS
 483                                         ao_send_location();
 484                                         ao_send_satellite();
 485 #endif
 486                                         ao_send_configuration();
 487                                 }
 488 #ifndef SIMPLIFY
 489                                 time = ao_telemetry_time;
 490 #endif
 491                         }
 492 #if HAS_RDF
 493                         if (ao_rdf
 494 #ifndef SIMPLIFY
 495                             && !(ao_config.radio_enable & AO_RADIO_DISABLE_RDF)
 496 #endif
 497                                 )
 498                         {
 499                                 if ((int16_t) (ao_time() - ao_rdf_time) >= 0) {
 500 #if HAS_IGNITE_REPORT
 501                                         uint8_t c;
 502 #endif
 503                                         ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 504 #if HAS_IGNITE_REPORT
 505                                         if (ao_flight_state == ao_flight_pad && (c = ao_report_igniter()))
 506                                                 ao_radio_continuity(c);
 507                                         else
 508 #endif
 509                                                 ao_radio_rdf();
 510                                 }
 511 #ifndef SIMPLIFY
 512                                 if ((int16_t) (time - ao_rdf_time) > 0)
 513                                         time = ao_rdf_time;
 514 #endif
 515                         }
 516 #endif /* HAS_RDF */
 517 #if HAS_APRS
 518                         if (ao_config.aprs_interval != 0) {
 519                                 if ((int16_t) (ao_time() - ao_aprs_time) >= 0) {
 520                                         ao_aprs_time = ao_time() + AO_SEC_TO_TICKS(ao_config.aprs_interval);
 521                                         ao_aprs_send();
 522                                 }
 523                                 if ((int16_t) (time - ao_aprs_time) > 0)
 524                                         time = ao_aprs_time;
 525                         }
 526 #endif /* HAS_APRS */
 527                         delay = time - ao_time();
 528                         if (delay > 0) {
 529                                 ao_sleep_for(&telemetry, delay);
 530                         }
 531                 }
 532         }
 533 }
 534
 535 #if HAS_RADIO_RATE
 536 void
 537 ao_telemetry_reset_interval(void)
 538 {
 539         ao_telemetry_set_interval(ao_telemetry_desired_interval);
 540 }
 541 #endif
 542
 543 void
 544 ao_telemetry_set_interval(uint16_t interval)
 545 {
 546         int8_t  cur = 0;
 547
 548 #if HAS_RADIO_RATE
 549         /* Limit max telemetry rate based on available radio bandwidth.
 550          */
 551         static const uint16_t min_interval[] = {
 552                 /* [AO_RADIO_RATE_38400] = */ AO_MS_TO_TICKS(100),
 553                 /* [AO_RADIO_RATE_9600] = */ AO_MS_TO_TICKS(500),
 554                 /* [AO_RADIO_RATE_2400] = */ AO_MS_TO_TICKS(1000)
 555         };
 556
 557         ao_telemetry_desired_interval = interval;
 558         if (interval && interval < min_interval[ao_config.radio_rate])
 559                 interval = min_interval[ao_config.radio_rate];
 560 #endif
 561         ao_telemetry_interval = interval;
 562 #if AO_SEND_MEGA
 563         if (interval > 1)
 564                 ao_telemetry_mega_data_max = 1;
 565         else
 566                 ao_telemetry_mega_data_max = 2;
 567         if (ao_telemetry_mega_data_max > cur)
 568                 cur++;
 569         ao_telemetry_mega_data_cur = cur;
 570 #endif
 571 #if AO_SEND_METRUM
 572         ao_telemetry_metrum_data_max = AO_SEC_TO_TICKS(1) / interval;
 573         if (ao_telemetry_metrum_data_max > cur)
 574                 cur++;
 575         ao_telemetry_metrum_data_cur = cur;
 576 #endif
 577
 578 #if HAS_COMPANION
 579         if (!ao_companion_setup.update_period)
 580                 ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
 581         ao_telemetry_companion_max = ao_companion_setup.update_period / interval;
 582         if (ao_telemetry_companion_max > cur)
 583                 cur++;
 584         ao_telemetry_companion_cur = cur;
 585 #endif
 586
 587 #if HAS_GPS
 588         ao_telemetry_gps_max = AO_SEC_TO_TICKS(1) / interval;
 589         if (ao_telemetry_gps_max > cur)
 590                 cur++;
 591         ao_telemetry_loc_cur = cur;
 592         if (ao_telemetry_gps_max > cur)
 593                 cur++;
 594         ao_telemetry_sat_cur = cur;
 595 #endif
 596
 597         ao_telemetry_config_max = AO_SEC_TO_TICKS(5) / interval;
 598         if (ao_telemetry_config_max > cur)
 599                 cur++;
 600         ao_telemetry_config_cur = cur;
 601
 602 #ifndef SIMPLIFY
 603         ao_telemetry_time =
 604 #if HAS_RDF
 605                 ao_rdf_time =
 606 #endif
 607 #if HAS_APRS
 608                 ao_aprs_time =
 609 #endif
 610                 ao_time();
 611 #endif
 612         ao_wakeup(&telemetry);
 613 }
 614
 615 #if HAS_RDF
 616 void
 617 ao_rdf_set(uint8_t rdf)
 618 {
 619         ao_rdf = rdf;
 620         if (rdf == 0)
 621                 ao_radio_rdf_abort();
 622         else {
 623                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 624         }
 625 }
 626 #endif
 627
 628 struct ao_task  ao_telemetry_task;
 629
 630 void
 631 ao_telemetry_init()
 632 {
 633         ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
 634 }