From: Keith Packard <keithp@keithp.com>
Date: Sun, 9 Oct 2011 16:21:56 +0000 (-0600)
Subject: altos: Respond to telemetry rate changes immediately
X-Git-Tag: 1.0.9.2~2
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=636b7b368e67346b0796cd84fbfd71e10966d61f;hp=ca036c5616c3e745c0b878ed90618d4ff710c0e5

altos: Respond to telemetry rate changes immediately

Instead of waiting for the previous telemetry interval to expire,
immediately switch to the new telemetry rate. This will provide
more telemetry data early in the boost.

Signed-off-by: Keith Packard <keithp@keithp.com>
---

diff --git a/src/core/ao_telemetry.c b/src/core/ao_telemetry.c
index 95e53917..d909bea5 100644
--- a/src/core/ao_telemetry.c
+++ b/src/core/ao_telemetry.c
@@ -240,8 +240,11 @@ ao_telemetry(void)
 #endif
 			time += ao_telemetry_interval;
 			delay = time - ao_time();
-			if (delay > 0)
-				ao_delay(delay);
+			if (delay > 0) {
+				ao_alarm(delay);
+				ao_sleep(&telemetry);
+				ao_clear_alarm();
+			}
 			else
 				time = ao_time();
 		}