Make RDF beacon only run on pad and after landing.

[fw/altos] / src / ao_telemetry.c

diff --git a/src/ao_telemetry.c b/src/ao_telemetry.c
index 463bcd91137f571dde8590b1ecd0523f10e44dc4..d52e589c78a3ea245df37ef36a30bfa7d43973d2 100644 (file)
--- a/src/ao_telemetry.c
+++ b/src/ao_telemetry.c
@@ -18,6 +18,11 @@
 #include "ao.h"
 
 __xdata uint16_t ao_telemetry_interval = 0;
+__xdata uint8_t ao_rdf = 0;
+__xdata uint16_t ao_rdf_time;
+
+#define AO_RDF_INTERVAL_TICKS  AO_SEC_TO_TICKS(5)
+#define AO_RDF_LENGTH_MS       500
 
 void
 ao_telemetry(void)
@@ -27,6 +32,7 @@ ao_telemetry(void)
        ao_config_get();
        memcpy(telemetry.callsign, ao_config.callsign, AO_MAX_CALLSIGN);
        telemetry.addr = ao_serial_number;
+       ao_rdf_time = ao_time();
        for (;;) {
                while (ao_telemetry_interval == 0)
                        ao_sleep(&ao_telemetry_interval);
@@ -39,9 +45,17 @@ ao_telemetry(void)
                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);
                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);
+               }
        }
 }
 
@@ -52,6 +66,16 @@ ao_telemetry_set_interval(uint16_t interval)
        ao_wakeup(&ao_telemetry_interval);
 }
 
+void
+ao_rdf_set(uint8_t rdf)
+{
+       ao_rdf = rdf;
+       if (rdf == 0)
+               ao_radio_rdf_abort();
+       else
+               ao_rdf_time = ao_time();
+}
+
 __xdata struct ao_task ao_telemetry_task;
 
 void