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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 dd79f3fc716825ce6a600dfd7bcb0bc77ec589a5..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)
{
void
ao_telemetry(void)
{
+ uint16_t time;
+ int16_t delay;
static __xdata struct ao_telemetry telemetry;
ao_config_get();
static __xdata struct ao_telemetry telemetry;
ao_config_get();
@@
-37,35
+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;
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);
for (;;) {
while (ao_telemetry_interval == 0)
ao_sleep(&ao_telemetry_interval);
- telemetry.flight_state = ao_flight_state;
+ 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
#if HAS_ACCEL
- telemetry.flight_accel = ao_flight_accel;
- telemetry.ground_accel = ao_ground_accel;
- telemetry.flight_vel = ao_flight_vel;
+ telemetry.ground_accel = ao_ground_accel;
#endif
#endif
- telemetry.flight_pres = ao_flight_pres;
- telemetry.ground_pres = ao_ground_pres;
+ telemetry.ground_pres = ao_ground_pres;
#if HAS_ADC
#if HAS_ADC
- ao_adc_get(&telemetry.adc);
+
ao_adc_get(&telemetry.adc);
#endif
#if HAS_GPS
#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);
+
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
#endif
- 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);
+ 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();
}
}
}
}
}
}