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