altos: minor type in comment about accel correction

[fw/altos] / src / ao_packet_slave.c

diff --git a/src/ao_packet_slave.c b/src/ao_packet_slave.c
index ba5ad1c1d13e6f0ca2cb4069454cb5fdf66d721e..9f14052af406c9293b3fbeeb7a73b92c3fff438c 100644 (file)
--- a/src/ao_packet_slave.c
+++ b/src/ao_packet_slave.c
@@ -20,12 +20,16 @@
 void
 ao_packet_slave(void)
 {
-       ao_radio_set_packet();
        ao_tx_packet.addr = ao_serial_number;
        ao_tx_packet.len = AO_PACKET_SYN;
        while (ao_packet_enable) {
-               ao_packet_recv();
-               ao_packet_send();
+               if (ao_packet_recv()) {
+                       memcpy(&ao_tx_packet.callsign, &ao_rx_packet.packet.callsign, AO_MAX_CALLSIGN);
+#if HAS_FLIGHT
+                       ao_flight_force_idle = TRUE;
+#endif
+                       ao_packet_send();
+               }
        }
        ao_exit();
 }
@@ -40,19 +44,21 @@ ao_packet_slave_start(void)
 void
 ao_packet_slave_stop(void)
 {
-       ao_packet_enable = 0;
-       ao_radio_abort();
-       while (ao_packet_task.wchan) {
-               ao_wake_task(&ao_packet_task);
-               ao_yield();
+       if (ao_packet_enable) {
+               ao_packet_enable = 0;
+               while (ao_packet_task.wchan) {
+                       ao_radio_recv_abort();
+                       ao_delay(AO_MS_TO_TICKS(10));
+               }
        }
-       ao_radio_set_telemetry();
 }
 
 void
-ao_packet_slave_init(void)
+ao_packet_slave_init(uint8_t enable)
 {
        ao_add_stdio(ao_packet_pollchar,
                     ao_packet_putchar,
-                    ao_packet_flush);
+                    NULL);
+       if (enable)
+               ao_packet_slave_start();
 }