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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)
  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                 ao_xmemcpy (telemetry.configuration.callsign,
 337                             ao_config.callsign,
 338                             AO_MAX_CALLSIGN);
 339                 ao_xmemcpy (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 void
 354 ao_send_location(void)
 355 {
 356         if (--ao_telemetry_loc_cur <= 0)
 357         {
 358                 telemetry.generic.type = AO_TELEMETRY_LOCATION;
 359                 ao_mutex_get(&ao_gps_mutex);
 360                 ao_xmemcpy(&telemetry.location.flags,
 361                        &ao_gps_data.flags,
 362                        27);
 363                 telemetry.location.tick = ao_gps_tick;
 364                 ao_mutex_put(&ao_gps_mutex);
 365                 ao_telemetry_loc_cur = ao_telemetry_gps_max;
 366                 ao_telemetry_send();
 367         }
 368 }
 369
 370 static void
 371 ao_send_satellite(void)
 372 {
 373         if (--ao_telemetry_sat_cur <= 0)
 374         {
 375                 telemetry.generic.type = AO_TELEMETRY_SATELLITE;
 376                 ao_mutex_get(&ao_gps_mutex);
 377                 telemetry.satellite.channels = ao_gps_tracking_data.channels;
 378                 ao_xmemcpy(&telemetry.satellite.sats,
 379                        &ao_gps_tracking_data.sats,
 380                        AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
 381                 ao_mutex_put(&ao_gps_mutex);
 382                 ao_telemetry_sat_cur = ao_telemetry_gps_max;
 383                 ao_telemetry_send();
 384         }
 385 }
 386 #endif
 387
 388 #if HAS_COMPANION
 389
 390 static int8_t ao_telemetry_companion_max;
 391 static int8_t ao_telemetry_companion_cur;
 392
 393 static void
 394 ao_send_companion(void)
 395 {
 396         if (--ao_telemetry_companion_cur <= 0) {
 397                 telemetry.generic.type = AO_TELEMETRY_COMPANION;
 398                 telemetry.companion.board_id = ao_companion_setup.board_id;
 399                 telemetry.companion.update_period = ao_companion_setup.update_period;
 400                 telemetry.companion.channels = ao_companion_setup.channels;
 401                 ao_mutex_get(&ao_companion_mutex);
 402                 ao_xmemcpy(&telemetry.companion.companion_data,
 403                        ao_companion_data,
 404                        ao_companion_setup.channels * 2);
 405                 ao_mutex_put(&ao_companion_mutex);
 406                 ao_telemetry_companion_cur = ao_telemetry_companion_max;
 407                 ao_telemetry_send();
 408         }
 409 }
 410 #endif
 411
 412 void
 413 ao_telemetry(void)
 414 {
 415         uint16_t        time;
 416         int16_t         delay;
 417
 418         ao_config_get();
 419         if (!ao_config.radio_enable)
 420                 ao_exit();
 421         while (!ao_flight_number)
 422                 ao_sleep(&ao_flight_number);
 423
 424         ao_telemetry_flight_number = ao_flight_number;
 425 #if HAS_LOG
 426         if (ao_log_full())
 427                 ao_telemetry_flight_number = 0;
 428 #endif
 429         telemetry.generic.serial = ao_serial_number;
 430         for (;;) {
 431                 while (ao_telemetry_interval == 0)
 432                         ao_sleep(&telemetry);
 433                 time = ao_time();
 434                 ao_telemetry_time = time;
 435 #if HAS_RDF
 436                 ao_rdf_time = time;
 437 #endif
 438 #if HAS_APRS
 439                 ao_aprs_time = time;
 440 #endif
 441                 while (ao_telemetry_interval) {
 442                         time = ao_time() + AO_SEC_TO_TICKS(100);
 443 #ifndef SIMPLIFY
 444                         if (!(ao_config.radio_enable & AO_RADIO_DISABLE_TELEMETRY))
 445 #endif
 446                         {
 447 #ifndef SIMPLIFY
 448                                 if ( (int16_t) (ao_time() - ao_telemetry_time) >= 0)
 449 #endif
 450                                 {
 451                                         ao_telemetry_time = ao_time() + ao_telemetry_interval;
 452 # ifdef AO_SEND_MEGA
 453                                         ao_send_mega_sensor();
 454                                         ao_send_mega_data();
 455 # endif
 456 # ifdef AO_SEND_METRUM
 457                                         ao_send_metrum_sensor();
 458                                         ao_send_metrum_data();
 459 # endif
 460 # ifdef AO_SEND_MINI
 461                                         ao_send_mini();
 462 # endif
 463 # ifdef AO_TELEMETRY_SENSOR
 464                                         ao_send_sensor();
 465 # endif
 466 #if HAS_COMPANION
 467                                         if (ao_companion_running)
 468                                                 ao_send_companion();
 469 #endif
 470 #if HAS_GPS
 471                                         ao_send_location();
 472                                         ao_send_satellite();
 473 #endif
 474                                         ao_send_configuration();
 475                                 }
 476 #ifndef SIMPLIFY
 477                                 time = ao_telemetry_time;
 478 #endif
 479                         }
 480 #if HAS_RDF
 481                         if (ao_rdf
 482 #ifndef SIMPLIFY
 483                             && !(ao_config.radio_enable & AO_RADIO_DISABLE_RDF)
 484 #endif
 485                                 )
 486                         {
 487                                 if ((int16_t) (ao_time() - ao_rdf_time) >= 0) {
 488 #if HAS_IGNITE_REPORT
 489                                         uint8_t c;
 490 #endif
 491                                         ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 492 #if HAS_IGNITE_REPORT
 493                                         if (ao_flight_state == ao_flight_pad && (c = ao_report_igniter()))
 494                                                 ao_radio_continuity(c);
 495                                         else
 496 #endif
 497                                                 ao_radio_rdf();
 498                                 }
 499 #ifndef SIMPLIFY
 500                                 if ((int16_t) (time - ao_rdf_time) > 0)
 501                                         time = ao_rdf_time;
 502 #endif
 503                         }
 504 #endif /* HAS_RDF */
 505 #if HAS_APRS
 506                         if (ao_config.aprs_interval != 0) {
 507                                 if ((int16_t) (ao_time() - ao_aprs_time) >= 0) {
 508                                         ao_aprs_time = ao_time() + AO_SEC_TO_TICKS(ao_config.aprs_interval);
 509                                         ao_aprs_send();
 510                                 }
 511                                 if ((int16_t) (time - ao_aprs_time) > 0)
 512                                         time = ao_aprs_time;
 513                         }
 514 #endif /* HAS_APRS */
 515                         delay = time - ao_time();
 516                         if (delay > 0) {
 517                                 ao_sleep_for(&telemetry, delay);
 518                         }
 519                 }
 520         }
 521 }
 522
 523 #if HAS_RADIO_RATE
 524 void
 525 ao_telemetry_reset_interval(void)
 526 {
 527         ao_telemetry_set_interval(ao_telemetry_desired_interval);
 528 }
 529 #endif
 530
 531 void
 532 ao_telemetry_set_interval(uint16_t interval)
 533 {
 534         int8_t  cur = 0;
 535
 536 #if HAS_RADIO_RATE
 537         /* Limit max telemetry rate based on available radio bandwidth.
 538          */
 539         static const uint16_t min_interval[] = {
 540                 /* [AO_RADIO_RATE_38400] = */ AO_MS_TO_TICKS(100),
 541                 /* [AO_RADIO_RATE_9600] = */ AO_MS_TO_TICKS(500),
 542                 /* [AO_RADIO_RATE_2400] = */ AO_MS_TO_TICKS(1000)
 543         };
 544
 545         ao_telemetry_desired_interval = interval;
 546         if (interval && interval < min_interval[ao_config.radio_rate])
 547                 interval = min_interval[ao_config.radio_rate];
 548 #endif
 549         ao_telemetry_interval = interval;
 550 #if AO_SEND_MEGA
 551         if (interval > 1)
 552                 ao_telemetry_mega_data_max = 1;
 553         else
 554                 ao_telemetry_mega_data_max = 2;
 555         if (ao_telemetry_mega_data_max > cur)
 556                 cur++;
 557         ao_telemetry_mega_data_cur = cur;
 558 #endif
 559 #if AO_SEND_METRUM
 560         ao_telemetry_metrum_data_max = AO_SEC_TO_TICKS(1) / interval;
 561         if (ao_telemetry_metrum_data_max > cur)
 562                 cur++;
 563         ao_telemetry_metrum_data_cur = cur;
 564 #endif
 565
 566 #if HAS_COMPANION
 567         if (!ao_companion_setup.update_period)
 568                 ao_companion_setup.update_period = AO_SEC_TO_TICKS(1);
 569         ao_telemetry_companion_max = ao_companion_setup.update_period / interval;
 570         if (ao_telemetry_companion_max > cur)
 571                 cur++;
 572         ao_telemetry_companion_cur = cur;
 573 #endif
 574
 575 #if HAS_GPS
 576         ao_telemetry_gps_max = AO_SEC_TO_TICKS(1) / interval;
 577         if (ao_telemetry_gps_max > cur)
 578                 cur++;
 579         ao_telemetry_loc_cur = cur;
 580         if (ao_telemetry_gps_max > cur)
 581                 cur++;
 582         ao_telemetry_sat_cur = cur;
 583 #endif
 584
 585         ao_telemetry_config_max = AO_SEC_TO_TICKS(5) / interval;
 586         if (ao_telemetry_config_max > cur)
 587                 cur++;
 588         ao_telemetry_config_cur = cur;
 589
 590 #ifndef SIMPLIFY
 591         ao_telemetry_time =
 592 #if HAS_RDF
 593                 ao_rdf_time =
 594 #endif
 595 #if HAS_APRS
 596                 ao_aprs_time =
 597 #endif
 598                 ao_time();
 599 #endif
 600         ao_wakeup(&telemetry);
 601 }
 602
 603 #if HAS_RDF
 604 void
 605 ao_rdf_set(uint8_t rdf)
 606 {
 607         ao_rdf = rdf;
 608         if (rdf == 0)
 609                 ao_radio_rdf_abort();
 610         else {
 611                 ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
 612         }
 613 }
 614 #endif
 615
 616 struct ao_task  ao_telemetry_task;
 617
 618 void
 619 ao_telemetry_init()
 620 {
 621         ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
 622 }