From 5ba75e95c98d3e441a58d6f75d328d579e1997fe Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sat, 19 Mar 2011 23:41:44 -0700 Subject: [PATCH] altos: Make telemetry interval more consistent Instead of using a delay between telemetry packets, use a telemetry period and compute an appropriate delay each time. This requires changing the ascent telemetry from a 50ms delay to a 100ms interval, to provide a regular 10 packets-per-second rate. Before, we counted on the telemetry packet taking about 50ms to send so that we would receive about 10 per second. This also eliminates delays during descent for RDF tones -- those will get transmitted in the interval between telemetry packets without interrupting the spacing of those packets. Signed-off-by: Keith Packard --- src/ao.h | 2 +- src/ao_telemetry.c | 48 +++++++++++++++++++++++++++------------------- 2 files changed, 29 insertions(+), 21 deletions(-) diff --git a/src/ao.h b/src/ao.h index e076831d..075ec63a 100644 --- a/src/ao.h +++ b/src/ao.h @@ -937,7 +937,7 @@ struct ao_telemetry_recv { /* Set delay between telemetry reports (0 to disable) */ #define AO_TELEMETRY_INTERVAL_PAD AO_MS_TO_TICKS(1000) -#define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(50) +#define AO_TELEMETRY_INTERVAL_FLIGHT AO_MS_TO_TICKS(100) #define AO_TELEMETRY_INTERVAL_RECOVER AO_MS_TO_TICKS(1000) void diff --git a/src/ao_telemetry.c b/src/ao_telemetry.c index dd79f3fc..6556ce32 100644 --- a/src/ao_telemetry.c +++ b/src/ao_telemetry.c @@ -27,6 +27,8 @@ __xdata uint16_t ao_rdf_time; void ao_telemetry(void) { + uint16_t time; + int16_t delay; static __xdata struct ao_telemetry telemetry; ao_config_get(); @@ -37,35 +39,41 @@ 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; - ao_rdf_time = ao_time(); 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; #if HAS_ACCEL - telemetry.flight_accel = ao_flight_accel; - telemetry.ground_accel = ao_ground_accel; - telemetry.flight_vel = ao_flight_vel; + telemetry.flight_accel = ao_flight_accel; + telemetry.ground_accel = ao_ground_accel; + telemetry.flight_vel = ao_flight_vel; #endif - telemetry.flight_pres = ao_flight_pres; - telemetry.ground_pres = ao_ground_pres; + telemetry.flight_pres = ao_flight_pres; + telemetry.ground_pres = ao_ground_pres; #if HAS_ADC - ao_adc_get(&telemetry.adc); + ao_adc_get(&telemetry.adc); #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 - 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(); } } } -- 2.30.2