diff options
Diffstat (limited to 'src/core')
| -rw-r--r-- | src/core/ao_data.h | 10 | ||||
| -rw-r--r-- | src/core/ao_telemetry.c | 6 |
2 files changed, 13 insertions, 3 deletions
diff --git a/src/core/ao_data.h b/src/core/ao_data.h index fdc49ca2..3944edac 100644 --- a/src/core/ao_data.h +++ b/src/core/ao_data.h @@ -91,9 +91,13 @@ typedef int16_t alt_t; typedef int16_t accel_t; /* MPU6000 is hooked up so that positive y is positive acceleration */ -#define ao_data_accel(packet) ((packet)->mpu6000.accel_y) -#define ao_data_accel_cook(packet) (-(packet)->mpu6000.accel_y) -#define ao_data_set_accel(packet, accel) ((packet)->mpu6000.accel_y = (accel)) +#ifndef ao_accel_axis +#define ao_accel_axis accel_y +#endif + +#define ao_data_accel(packet) ((packet)->mpu6000.ao_accel_axis) +#define ao_data_accel_cook(packet) (-(packet)->mpu6000.ao_accel_axis) +#define ao_data_set_accel(packet, accel) ((packet)->mpu6000.ao_accel_axis = (accel)) #define ao_data_accel_invert(a) (-(a)) #else /* HAS_MPU6000 && !HAS_HIGHG_ACCEL */ diff --git a/src/core/ao_telemetry.c b/src/core/ao_telemetry.c index 52ac9489..5a1b3d1d 100644 --- a/src/core/ao_telemetry.c +++ b/src/core/ao_telemetry.c @@ -283,6 +283,12 @@ ao_telemetry(void) while (!ao_flight_number) ao_sleep(&ao_flight_number); +#if RADIO_DELAY_AFTER_BOOST + while (ao_flight_state < ao_flight_boost) + ao_sleep(&ao_flight_state); + ao_delay(AO_SEC_TO_TICKS(RADIO_DELAY_AFTER_BOOST)); +#endif + telemetry.generic.serial = ao_serial_number; for (;;) { while (ao_telemetry_interval == 0) |