altos: Provide for a pre-filter on commands

[fw/altos] / src / ao_telemetry.c

diff --git a/src/ao_telemetry.c b/src/ao_telemetry.c
index 7aad929fb8706e7a247cc855a19b164c5bf8ec3d..9a86882f45f9ff5b63fcfd224ea137f1eb860d59 100644 (file)
--- a/src/ao_telemetry.c
+++ b/src/ao_telemetry.c
@@ -27,6 +27,8 @@ __xdata uint16_t ao_rdf_time;
 void
 ao_telemetry(void)
 {
+       uint16_t        time;
+       int16_t         delay;
        static __xdata struct ao_telemetry telemetry;
 
        ao_config_get();
@@ -37,29 +39,42 @@ ao_telemetry(void)
        telemetry.flight = ao_log_full() ? 0 : ao_flight_number;
        telemetry.accel_plus_g = ao_config.accel_plus_g;
        telemetry.accel_minus_g = ao_config.accel_minus_g;
-       ao_rdf_time = ao_time();
        for (;;) {
                while (ao_telemetry_interval == 0)
                        ao_sleep(&ao_telemetry_interval);
-               telemetry.flight_state = ao_flight_state;
-               telemetry.flight_accel = ao_flight_accel;
-               telemetry.ground_accel = ao_ground_accel;
-               telemetry.flight_vel = ao_flight_vel;
-               telemetry.flight_pres = ao_flight_pres;
-               telemetry.ground_pres = ao_ground_pres;
-               ao_adc_get(&telemetry.adc);
-               ao_mutex_get(&ao_gps_mutex);
-               memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data));
-               memcpy(&telemetry.gps_tracking, &ao_gps_tracking_data, sizeof (struct ao_gps_tracking_data));
-               ao_mutex_put(&ao_gps_mutex);
-               ao_radio_send(&telemetry, sizeof (telemetry));
-               ao_delay(ao_telemetry_interval);
-               if (ao_rdf &&
-                   (int16_t) (ao_time() - ao_rdf_time) >= 0)
-               {
-                       ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
-                       ao_radio_rdf(AO_RDF_LENGTH_MS);
-                       ao_delay(ao_telemetry_interval);
+               time = ao_rdf_time = ao_time();
+               while (ao_telemetry_interval) {
+                       telemetry.flight_state = ao_flight_state;
+                       telemetry.height = ao_height;
+                       telemetry.u.k.speed = ao_speed;
+                       telemetry.accel = ao_accel;
+                       telemetry.u.k.unused = 0x8000;
+#if HAS_ACCEL
+                       telemetry.ground_accel = ao_ground_accel;
+#endif
+                       telemetry.ground_pres = ao_ground_pres;
+#if HAS_ADC
+                       ao_adc_get(&telemetry.adc);
+#endif
+#if HAS_GPS
+                       ao_mutex_get(&ao_gps_mutex);
+                       memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data));
+                       memcpy(&telemetry.gps_tracking, &ao_gps_tracking_data, sizeof (struct ao_gps_tracking_data));
+                       ao_mutex_put(&ao_gps_mutex);
+#endif
+                       ao_radio_send(&telemetry, sizeof (telemetry));
+                       if (ao_rdf &&
+                           (int16_t) (ao_time() - ao_rdf_time) >= 0)
+                       {
+                               ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
+                               ao_radio_rdf(AO_RDF_LENGTH_MS);
+                       }
+                       time += ao_telemetry_interval;
+                       delay = time - ao_time();
+                       if (delay > 0)
+                               ao_delay(delay);
+                       else
+                               time = ao_time();
                }
        }
 }