Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

[fw/altos] / src / kernel / ao_telemetry.c

diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index 868b3260a52ae9f7fd4362a4a49264dfdcff007d..854ac898dcbc646613caf036050e7ce205c6e2a0 100644 (file)
--- a/src/kernel/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -133,7 +133,9 @@ ao_send_mega_sensor(void)
        telemetry.generic.tick = packet->tick;
        telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR;
 
+#if HAS_MPU6000
        telemetry.mega_sensor.orient = ao_sample_orient;
+#endif
        telemetry.mega_sensor.accel = ao_data_accel(packet);
        telemetry.mega_sensor.pres = ao_data_pres(packet);
        telemetry.mega_sensor.temp = ao_data_temp(packet);
@@ -484,9 +486,7 @@ ao_telemetry(void)
 #endif /* HAS_APRS */
                        delay = time - ao_time();
                        if (delay > 0) {
-                               ao_alarm(delay);
-                               ao_sleep(&telemetry);
-                               ao_clear_alarm();
+                               ao_sleep_for(&telemetry, delay);
                        }
                }
        }