altos: Configure packet size from send/recv parameters.

[fw/altos] / src / ao.h

diff --git a/src/ao.h b/src/ao.h
index fd8c6034bd2cdb7384a5ce7bfd50d0832f6a4e60..e076831d98ef8fff3f057590d820b8f9c15464b8 100644 (file)
--- a/src/ao.h
+++ b/src/ao.h
@@ -706,6 +706,13 @@ extern __pdata int16_t                     ao_ground_accel;
 extern __pdata int16_t                 ao_min_pres;
 extern __pdata uint16_t                        ao_launch_time;
 extern __xdata uint8_t                 ao_flight_force_idle;
+#ifdef USE_KALMAN
+extern __pdata int16_t                 ao_ground_height;
+extern __pdata int32_t                 ao_k_max_height;
+extern __pdata int32_t                 ao_k_height;
+extern __pdata int32_t                 ao_k_speed;
+extern __pdata int32_t                 ao_k_accel;
+#endif
 
 /* Flight thread */
 void
@@ -955,18 +962,12 @@ void
 ao_radio_general_isr(void) __interrupt 16;
 
 void
-ao_radio_get(void);
+ao_radio_get(uint8_t len);
 
 #define ao_radio_put() ao_mutex_put(&ao_radio_mutex)
 
 void
-ao_radio_set_fixed_pkt(size_t size);
-
-#define ao_radio_set_telemetry() \
-        ao_radio_set_fixed_pkt(sizeof (struct ao_telemetry))
-
-#define ao_radio_set_packet() \
-        ao_radio_set_fixed_pkt(sizeof (struct ao_packet))
+ao_radio_set_packet(void);
 
 void
 ao_radio_send(__xdata void *data, uint8_t size) __reentrant;
@@ -1190,6 +1191,6 @@ void
 ao_packet_slave_stop(void);
 
 void
-ao_packet_slave_init(void);
+ao_packet_slave_init(uint8_t enable);
 
 #endif /* _AO_H_ */