uint8_t ao_serial_number = 2;
-void
-ao_telemetry_send(__xdata struct ao_telemetry *telemetry) __reentrant
-{
- if (ao_flight_state != ao_flight_idle && ao_flight_state != ao_flight_startup) {
- telemetry->addr = ao_serial_number;
- telemetry->flight_state = ao_flight_state;
- ao_radio_send(telemetry);
- }
-}
-
void
ao_telemetry(void)
{
- static __xdata struct ao_radio_recv recv;
+ static __xdata struct ao_telemetry telemetry;
static uint8_t state;
while (ao_flight_state == ao_flight_startup || ao_flight_state == ao_flight_idle)
ao_sleep(DATA_TO_XDATA(&ao_flight_state));
- recv.telemetry.type = AO_TELEMETRY_SENSOR;
for (;;) {
- ao_adc_get(&recv.telemetry.u.adc);
- ao_telemetry_send(&recv.telemetry);
- ao_delay(AO_MS_TO_TICKS(1000));
+ telemetry.addr = ao_serial_number;
+ telemetry.flight_state = ao_flight_state;
+ ao_adc_get(&telemetry.adc);
+ ao_mutex_get(&ao_gps_mutex);
+ memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data));
+ ao_mutex_put(&ao_gps_mutex);
+ ao_radio_send(&telemetry);
+ ao_delay(AO_MS_TO_TICKS(100));
}
}