X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=ao_telemetry.c;h=90cf2e4ef254aec2a61a055910953255c46831fb;hp=092918d4b5ee32801f246479a6c6be5ef0a4800f;hb=d87e9c25947d7cc2eba8894a524977f2c55a089a;hpb=43c8f7012102cdb591ace899420c10e4a78385ad

diff --git a/ao_telemetry.c b/ao_telemetry.c
index 092918d4..90cf2e4e 100644
--- a/ao_telemetry.c
+++ b/ao_telemetry.c
@@ -21,29 +21,23 @@
 
 uint8_t	ao_serial_number = 2;
 
-void
-ao_telemetry_send(__xdata struct ao_telemetry *telemetry) __reentrant
-{
-	if (ao_flight_state != ao_flight_idle && ao_flight_state != ao_flight_startup) {
-		telemetry->addr = ao_serial_number;
-		telemetry->flight_state = ao_flight_state;
-		ao_radio_send(telemetry);
-	}
-}
-
 void
 ao_telemetry(void)
 {
-	static __xdata struct ao_radio_recv recv;
+	static __xdata struct ao_telemetry telemetry;
 	static uint8_t state;
 
 	while (ao_flight_state == ao_flight_startup || ao_flight_state == ao_flight_idle)
 		ao_sleep(DATA_TO_XDATA(&ao_flight_state));
 
-	recv.telemetry.type = AO_TELEMETRY_SENSOR;
 	for (;;) {
-		ao_adc_get(&recv.telemetry.u.adc);
-		ao_telemetry_send(&recv.telemetry);
+		telemetry.addr = ao_serial_number;
+		telemetry.flight_state = ao_flight_state;
+		ao_adc_get(&telemetry.adc);
+		ao_mutex_get(&ao_gps_mutex);
+		memcpy(&telemetry.gps, &ao_gps_data, sizeof (struct ao_gps_data));
+		ao_mutex_put(&ao_gps_mutex);
+		ao_radio_send(&telemetry);
 		ao_delay(AO_MS_TO_TICKS(1000));
 	}
 }