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Code Issues Releases Activity

OP-1289 Revise naming of the two channels of data and associated functions

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The code now uses a "local" prefix to refer to the telemetry channel
associated with a port on the FC and a "radio" prefix to refer to the
telemetry channel associated with the OPLink/USB.

+review OPReview-985
This commit is contained in:
Steve Evans 2015-03-15 23:11:42 +00:00
parent 12d3bdbe8a
commit 45005a167f
1 changed files with 111 additions and 107 deletions
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218
flight/modules/Telemetry/telemetry.c
View File

@ -35,11 +35,15 @@
* radio connection, called "RadioTx" and "Radio Rx", the latter being
* overridden by USB if connected.
*
* The telemetry port to use is defined by PIOS_COM_TELEM_RF in
* The following code uses a "local" prefix to refer to the telemetry channel
* associated with a port on the FC and a "radio" prefix to refer to the
* telemetry channel associated with the OPLink/USB.
*
* The "local" telemetry port to use is defined by PIOS_COM_TELEM_RF in
* PIOS_Board_Init().
*
* A UAVTalk connection instance, telemUavTalkCon, is associated with the main
* telemetry channel and another, radioUavTalkCon, with the radio channel.
* A UAVTalk connection instance, telemUavTalkCon, is associated with the
* "local" channel and another, radioUavTalkCon, with the "radio" channel.
* Associated with each instance is a transmit routine which will send data
* to the appropriate port.
*
@ -51,7 +55,7 @@
* the normal queue, passing each event to processObjEvent() which ultimately
* passes each event to the UAVTalk library which results in the appropriate
* transmit routine being called to send the data back to the recipient on
* the telemetry or radio link.
* the "local" or "radio" link.
*/
#include <openpilot.h>
@ -94,7 +98,7 @@
// Private types
typedef struct {
// Determine port on which to communicate telemetry information
uint32_t (*telemetryPort)();
uint32_t (*getPort)();
// Main telemetry queue
xQueueHandle mainQueue;
#ifdef PIOS_TELEM_PRIORITY_QUEUE
@ -102,20 +106,20 @@ typedef struct {
xQueueHandle priorityQueue;
#endif /* PIOS_TELEM_PRIORITY_QUEUE */
// Transmit/receive task handles
xTaskHandle telemetryTxTaskHandle;
xTaskHandle telemetryRxTaskHandle;
xTaskHandle txTaskHandle;
xTaskHandle rxTaskHandle;
// Telemetry stream
UAVTalkConnection uavTalkCon;
} telemetryContext;
} channelContext;
// Main telemetry channel
static telemetryContext telemHandle;
static int32_t transmitData(uint8_t *data, int32_t length);
static void registerTelemObject(UAVObjHandle obj);
static uint32_t telemPort();
static channelContext localChannel;
static int32_t transmitLocalData(uint8_t *data, int32_t length);
static void registerLocalObject(UAVObjHandle obj);
static uint32_t localPort();
// OPLink telemetry channel
static telemetryContext radioHandle;
static channelContext radioChannel;
static int32_t transmitRadioData(uint8_t *data, int32_t length);
static void registerRadioObject(UAVObjHandle obj);
static uint32_t radioPort();
@ -128,23 +132,23 @@ static uint32_t timeOfLastObjectUpdate;
static void telemetryTxTask(void *parameters);
static void telemetryRxTask(void *parameters);
static void updateObject(
telemetryContext *telemetryHandle,
channelContext *channel,
UAVObjHandle obj,
int32_t eventType);
static void processObjEvent(
telemetryContext *telemetryHandle,
channelContext *channel,
UAVObjEvent *ev);
static int32_t setUpdatePeriod(
telemetryContext *telemetryHandle,
channelContext *channel,
UAVObjHandle obj,
int32_t updatePeriodMs);
static int32_t setLoggingPeriod(
telemetryContext *telemetryHandle,
channelContext *channel,
UAVObjHandle obj,
int32_t updatePeriodMs);
static void updateTelemetryStats();
static void gcsTelemetryStatsUpdated();
static void updateSettings(telemetryContext *telemetryHandle);
static void updateSettings(channelContext *channel);
/**
* Initialise the telemetry module
@ -153,52 +157,52 @@ static void updateSettings(telemetryContext *telemetryHandle);
*/
int32_t TelemetryStart(void)
{
UAVObjIterate(&registerTelemObject);
UAVObjIterate(&registerLocalObject);
UAVObjIterate(&registerRadioObject);
// Listen to objects of interest
#ifdef PIOS_TELEM_PRIORITY_QUEUE
GCSTelemetryStatsConnectQueue(telemHandle.priorityQueue);
GCSTelemetryStatsConnectQueue(radioHandle.priorityQueue);
GCSTelemetryStatsConnectQueue(localChannel.priorityQueue);
GCSTelemetryStatsConnectQueue(radioChannel.priorityQueue);
#else /* PIOS_TELEM_PRIORITY_QUEUE */
GCSTelemetryStatsConnectQueue(telemHandle.mainQueue);
GCSTelemetryStatsConnectQueue(radioHandle.mainQueue);
GCSTelemetryStatsConnectQueue(localChannel.mainQueue);
GCSTelemetryStatsConnectQueue(radioChannel.mainQueue);
#endif /* PIOS_TELEM_PRIORITY_QUEUE */
// Start telemetry tasks
xTaskCreate(telemetryTxTask,
"TelTx",
STACK_SIZE_TX_BYTES / 4,
&telemHandle,
&localChannel,
TASK_PRIORITY_TX,
&telemHandle.telemetryTxTaskHandle);
&localChannel.txTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_TELEMETRYTX,
telemHandle.telemetryTxTaskHandle);
localChannel.txTaskHandle);
xTaskCreate(telemetryRxTask,
"TelRx",
STACK_SIZE_RX_BYTES / 4,
&telemHandle,
&localChannel,
TASK_PRIORITY_RX,
&telemHandle.telemetryRxTaskHandle);
&localChannel.rxTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_TELEMETRYRX,
telemHandle.telemetryRxTaskHandle);
localChannel.rxTaskHandle);
xTaskCreate(telemetryTxTask,
"RadioTx",
STACK_SIZE_RADIO_TX_BYTES / 4,
&radioHandle,
&radioChannel,
TASK_PRIORITY_RADTX,
&radioHandle.telemetryTxTaskHandle);
&radioChannel.txTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_TELEMETRYTX,
radioHandle.telemetryTxTaskHandle);
radioChannel.txTaskHandle);
xTaskCreate(telemetryRxTask,
"RadioRx",
STACK_SIZE_RADIO_RX_BYTES / 4,
&radioHandle,
&radioChannel,
TASK_PRIORITY_RADRX,
&radioHandle.telemetryRxTaskHandle);
&radioChannel.rxTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_RADIORX,
radioHandle.telemetryRxTaskHandle);
radioChannel.rxTaskHandle);
return 0;
}
@ -214,30 +218,30 @@ int32_t TelemetryInitialize(void)
GCSTelemetryStatsInitialize();
// Initialize vars
timeOfLastObjectUpdate = 0;
timeOfLastObjectUpdate = 0;
// Create object queues
telemHandle.mainQueue = xQueueCreate(MAX_QUEUE_SIZE,
sizeof(UAVObjEvent));
radioHandle.mainQueue = xQueueCreate(MAX_QUEUE_SIZE,
sizeof(UAVObjEvent));
localChannel.mainQueue = xQueueCreate(MAX_QUEUE_SIZE,
sizeof(UAVObjEvent));
radioChannel.mainQueue = xQueueCreate(MAX_QUEUE_SIZE,
sizeof(UAVObjEvent));
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
telemHandle.priorityQueue = xQueueCreate(MAX_QUEUE_SIZE,
sizeof(UAVObjEvent));
radioHandle.priorityQueue = xQueueCreate(MAX_QUEUE_SIZE,
sizeof(UAVObjEvent));
localChannel.priorityQueue = xQueueCreate(MAX_QUEUE_SIZE,
sizeof(UAVObjEvent));
radioChannel.priorityQueue = xQueueCreate(MAX_QUEUE_SIZE,
sizeof(UAVObjEvent));
#endif /* PIOS_TELEM_PRIORITY_QUEUE */
// Set channel port handlers
telemHandle.telemetryPort = telemPort;
radioHandle.telemetryPort = radioPort;
localChannel.getPort = localPort;
radioChannel.getPort = radioPort;
HwSettingsInitialize();
updateSettings(&telemHandle);
updateSettings(&localChannel);
// Initialise UAVTalk
telemHandle.uavTalkCon = UAVTalkInitialize(&transmitData);
radioHandle.uavTalkCon = UAVTalkInitialize(&transmitRadioData);
localChannel.uavTalkCon = UAVTalkInitialize(&transmitLocalData);
radioChannel.uavTalkCon = UAVTalkInitialize(&transmitRadioData);
// Create periodic event that will be used to update the telemetry stats
// FIXME STATS_UPDATE_PERIOD_MS is 4000ms while FlighTelemetryStats update period is 5000ms...
@ -248,17 +252,17 @@ int32_t TelemetryInitialize(void)
#ifdef PIOS_TELEM_PRIORITY_QUEUE
EventPeriodicQueueCreate(&ev,
telemHandle.priorityQueue,
localChannel.priorityQueue,
STATS_UPDATE_PERIOD_MS);
EventPeriodicQueueCreate(&ev,
radioHandle.priorityQueue,
radioChannel.priorityQueue,
STATS_UPDATE_PERIOD_MS);
#else /* PIOS_TELEM_PRIORITY_QUEUE */
EventPeriodicQueueCreate(&ev,
telemHandle.mainQueue,
localChannel.mainQueue,
STATS_UPDATE_PERIOD_MS);
EventPeriodicQueueCreate(&ev,
radioHandle.mainQueue,
radioChannel.mainQueue,
STATS_UPDATE_PERIOD_MS);
#endif /* PIOS_TELEM_PRIORITY_QUEUE */
@ -272,19 +276,19 @@ MODULE_INITCALL(TelemetryInitialize, TelemetryStart);
* telemetry settings.
* \param[in] obj Object to connect
*/
static void registerTelemObject(UAVObjHandle obj)
static void registerLocalObject(UAVObjHandle obj)
{
if (UAVObjIsMetaobject(obj)) {
// Only connect change notifications for meta objects. No periodic updates
#ifdef PIOS_TELEM_PRIORITY_QUEUE
UAVObjConnectQueue(obj, telemHandle.priorityQueue, EV_MASK_ALL_UPDATES);
UAVObjConnectQueue(obj, localChannel.priorityQueue, EV_MASK_ALL_UPDATES);
#else /* PIOS_TELEM_PRIORITY_QUEUE */
UAVObjConnectQueue(obj, telemHandle.mainQueue, EV_MASK_ALL_UPDATES);
UAVObjConnectQueue(obj, localChannel.mainQueue, EV_MASK_ALL_UPDATES);
#endif /* PIOS_TELEM_PRIORITY_QUEUE */
} else {
// Setup object for periodic updates
updateObject(
&telemHandle,
&localChannel,
obj,
EV_NONE);
}
@ -295,14 +299,14 @@ static void registerRadioObject(UAVObjHandle obj)
if (UAVObjIsMetaobject(obj)) {
// Only connect change notifications for meta objects. No periodic updates
#ifdef PIOS_TELEM_PRIORITY_QUEUE
UAVObjConnectQueue(obj, radioHandle.priorityQueue, EV_MASK_ALL_UPDATES);
UAVObjConnectQueue(obj, radioChannel.priorityQueue, EV_MASK_ALL_UPDATES);
#else /* PIOS_TELEM_PRIORITY_QUEUE */
UAVObjConnectQueue(obj, radioHandle.mainQueue, EV_MASK_ALL_UPDATES);
UAVObjConnectQueue(obj, radioChannel.mainQueue, EV_MASK_ALL_UPDATES);
#endif /* PIOS_TELEM_PRIORITY_QUEUE */
} else {
// Setup object for periodic updates
updateObject(
&radioHandle,
&radioChannel,
obj,
EV_NONE);
}
@ -314,7 +318,7 @@ static void registerRadioObject(UAVObjHandle obj)
* \param[in] obj Object to updates
*/
static void updateObject(
telemetryContext *telemetryHandle,
channelContext *channel,
UAVObjHandle obj,
int32_t eventType)
{
@ -339,7 +343,7 @@ static void updateObject(
switch (updateMode) {
case UPDATEMODE_PERIODIC:
// Set update period
setUpdatePeriod(telemetryHandle,
setUpdatePeriod(channel,
obj,
metadata.telemetryUpdatePeriod);
// Connect queue
@ -347,7 +351,7 @@ static void updateObject(
break;
case UPDATEMODE_ONCHANGE:
// Set update period
setUpdatePeriod(telemetryHandle, obj, 0);
setUpdatePeriod(channel, obj, 0);
// Connect queue
eventMask |= EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
break;
@ -357,7 +361,7 @@ static void updateObject(
eventMask |= EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
// Set update period on initialization and metadata change
if (eventType == EV_NONE) {
setUpdatePeriod(telemetryHandle,
setUpdatePeriod(channel,
obj,
metadata.telemetryUpdatePeriod);
}
@ -368,7 +372,7 @@ static void updateObject(
break;
case UPDATEMODE_MANUAL:
// Set update period
setUpdatePeriod(telemetryHandle, obj, 0);
setUpdatePeriod(channel, obj, 0);
// Connect queue
eventMask |= EV_UPDATED_MANUAL | EV_UPDATE_REQ;
break;
@ -376,13 +380,13 @@ static void updateObject(
switch (loggingMode) {
case UPDATEMODE_PERIODIC:
// Set update period
setLoggingPeriod(telemetryHandle, obj, metadata.loggingUpdatePeriod);
setLoggingPeriod(channel, obj, metadata.loggingUpdatePeriod);
// Connect queue
eventMask |= EV_LOGGING_PERIODIC | EV_LOGGING_MANUAL;
break;
case UPDATEMODE_ONCHANGE:
// Set update period
setLoggingPeriod(telemetryHandle, obj, 0);
setLoggingPeriod(channel, obj, 0);
// Connect queue
eventMask |= EV_UPDATED | EV_LOGGING_MANUAL;
break;
@ -392,7 +396,7 @@ static void updateObject(
eventMask |= EV_UPDATED | EV_LOGGING_MANUAL;
// Set update period on initialization and metadata change
if (eventType == EV_NONE) {
setLoggingPeriod(telemetryHandle,
setLoggingPeriod(channel,
obj,
metadata.loggingUpdatePeriod);
}
@ -403,7 +407,7 @@ static void updateObject(
break;
case UPDATEMODE_MANUAL:
// Set update period
setLoggingPeriod(telemetryHandle, obj, 0);
setLoggingPeriod(channel, obj, 0);
// Connect queue
eventMask |= EV_LOGGING_MANUAL;
break;
@ -412,10 +416,10 @@ static void updateObject(
// note that all setting objects have implicitly IsPriority=true
#ifdef PIOS_TELEM_PRIORITY_QUEUE
if (UAVObjIsPriority(obj)) {
UAVObjConnectQueue(obj, telemetryHandle->priorityQueue, eventMask);
UAVObjConnectQueue(obj, channel->priorityQueue, eventMask);
} else
#endif /* PIOS_TELEM_PRIORITY_QUEUE */
UAVObjConnectQueue(obj, telemetryHandle->mainQueue, eventMask);
UAVObjConnectQueue(obj, channel->mainQueue, eventMask);
}
@ -423,7 +427,7 @@ static void updateObject(
* Processes queue events
*/
static void processObjEvent(
telemetryContext *telemetryHandle,
channelContext *channel,
UAVObjEvent *ev)
{
UAVObjMetadata metadata;
@ -449,7 +453,7 @@ static void processObjEvent(
// Send update to GCS (with retries)
while (retries < MAX_RETRIES && success == -1) {
// call blocks until ack is received or timeout
success = UAVTalkSendObject(telemetryHandle->uavTalkCon,
success = UAVTalkSendObject(channel->uavTalkCon,
ev->obj,
ev->instId,
UAVObjGetTelemetryAcked(&metadata), REQ_TIMEOUT_MS);
@ -466,7 +470,7 @@ static void processObjEvent(
// Request object update from GCS (with retries)
while (retries < MAX_RETRIES && success == -1) {
// call blocks until update is received or timeout
success = UAVTalkSendObjectRequest(telemetryHandle->uavTalkCon,
success = UAVTalkSendObjectRequest(channel->uavTalkCon,
ev->obj,
ev->instId,
REQ_TIMEOUT_MS);
@ -484,14 +488,14 @@ static void processObjEvent(
if (UAVObjIsMetaobject(ev->obj)) {
// linked object will be the actual object the metadata are for
updateObject(
telemetryHandle,
channel,
UAVObjGetLinkedObj(ev->obj),
EV_NONE);
} else {
if (updateMode == UPDATEMODE_THROTTLED) {
// If this is UPDATEMODE_THROTTLED, the event mask changes on every event.
updateObject(
telemetryHandle,
channel,
ev->obj,
ev->event);
}
@ -515,7 +519,7 @@ static void processObjEvent(
if (updateMode == UPDATEMODE_THROTTLED) {
// If this is UPDATEMODE_THROTTLED, the event mask changes on every event.
updateObject(
telemetryHandle,
channel,
ev->obj,
ev->event);
}
@ -527,11 +531,11 @@ static void processObjEvent(
*/
static void telemetryTxTask(void *parameters)
{
telemetryContext *telemetryHandle = (telemetryContext *)parameters;
channelContext *channel = (channelContext *)parameters;
UAVObjEvent ev;
/* Check for a bad context */
if (!telemetryHandle) {
if (!channel) {
return;
}
@ -542,24 +546,24 @@ static void telemetryTxTask(void *parameters)
*/
#ifdef PIOS_TELEM_PRIORITY_QUEUE
// empty priority queue, non-blocking
while (xQueueReceive(telemetryHandle->priorityQueue, &ev, 0) == pdTRUE) {
while (xQueueReceive(channel->priorityQueue, &ev, 0) == pdTRUE) {
// Process event
processObjEvent(telemetryHandle, &ev);
processObjEvent(channel, &ev);
}
// check regular queue and process update - non-blocking
if (xQueueReceive(telemetryHandle->mainQueue, &ev, 0) == pdTRUE) {
if (xQueueReceive(channel->mainQueue, &ev, 0) == pdTRUE) {
// Process event
processObjEvent(telemetryHandle, &ev);
processObjEvent(channel, &ev);
// if both queues are empty, wait on priority queue for updates (1 tick) then repeat cycle
} else if (xQueueReceive(telemetryHandle->priorityQueue, &ev, 1) == pdTRUE) {
} else if (xQueueReceive(channel->priorityQueue, &ev, 1) == pdTRUE) {
// Process event
processObjEvent(telemetryHandle, &ev);
processObjEvent(channel, &ev);
}
#else
// wait on queue for updates (1 tick) then repeat cycle
if (xQueueReceive(telemetryHandle->mainQueue, &ev, 1) == pdTRUE) {
if (xQueueReceive(channel->mainQueue, &ev, 1) == pdTRUE) {
// Process event
processObjEvent(telemetryHandle, &ev);
processObjEvent(channel, &ev);
}
#endif /* PIOS_TELEM_PRIORITY_QUEUE */
}
@ -571,16 +575,16 @@ static void telemetryTxTask(void *parameters)
*/
static void telemetryRxTask(void *parameters)
{
telemetryContext *telemetryHandle = (telemetryContext *)parameters;
channelContext *channel = (channelContext *)parameters;
/* Check for a bad context */
if (!telemetryHandle) {
if (!channel) {
return;
}
// Task loop
while (1) {
uint32_t inputPort = telemetryHandle->telemetryPort();
uint32_t inputPort = channel->getPort();
if (inputPort) {
// Block until data are available
@ -590,7 +594,7 @@ static void telemetryRxTask(void *parameters)
bytes_to_process = PIOS_COM_ReceiveBuffer(inputPort, serial_data, sizeof(serial_data), 500);
if (bytes_to_process > 0) {
for (uint8_t i = 0; i < bytes_to_process; i++) {
UAVTalkProcessInputStream(telemetryHandle->uavTalkCon, serial_data[i]);
UAVTalkProcessInputStream(channel->uavTalkCon, serial_data[i]);
}
}
} else {
@ -604,7 +608,7 @@ static void telemetryRxTask(void *parameters)
* Determine the port to be used for communication on the telemetry channel
* \return com port number
*/
static uint32_t telemPort()
static uint32_t localPort()
{
return PIOS_COM_TELEM_RF;
}
@ -639,9 +643,9 @@ static uint32_t radioPort()
* \return -1 on failure
* \return number of bytes transmitted on success
*/
static int32_t transmitData(uint8_t *data, int32_t length)
static int32_t transmitLocalData(uint8_t *data, int32_t length)
{
uint32_t outputPort = telemHandle.telemetryPort();
uint32_t outputPort = localChannel.getPort();
if (outputPort) {
return PIOS_COM_SendBuffer(outputPort, data, length);
@ -660,7 +664,7 @@ static int32_t transmitData(uint8_t *data, int32_t length)
*/
static int32_t transmitRadioData(uint8_t *data, int32_t length)
{
uint32_t outputPort = radioHandle.telemetryPort();
uint32_t outputPort = radioChannel.getPort();
if (outputPort) {
return PIOS_COM_SendBuffer(outputPort, data, length);
@ -678,7 +682,7 @@ static int32_t transmitRadioData(uint8_t *data, int32_t length)
* \return -1 Failure
*/
static int32_t setUpdatePeriod(
telemetryContext *telemetryHandle,
channelContext *channel,
UAVObjHandle obj,
int32_t updatePeriodMs)
{
@ -692,10 +696,10 @@ static int32_t setUpdatePeriod(
ev.lowPriority = true;
#ifdef PIOS_TELEM_PRIORITY_QUEUE
xQueueHandle targetQueue = UAVObjIsPriority(obj) ? telemetryHandle->priorityQueue :
telemetryHandle->mainQueue;
xQueueHandle targetQueue = UAVObjIsPriority(obj) ? channel->priorityQueue :
channel->mainQueue;
#else /* PIOS_TELEM_PRIORITY_QUEUE */
xQueueHandle targetQueue = telemetryHandle->mainQueue;
xQueueHandle targetQueue = channel->mainQueue;
#endif /* PIOS_TELEM_PRIORITY_QUEUE */
ret = EventPeriodicQueueUpdate(&ev, targetQueue, updatePeriodMs);
@ -714,7 +718,7 @@ static int32_t setUpdatePeriod(
* \return -1 Failure
*/
static int32_t setLoggingPeriod(
telemetryContext *telemetryHandle,
channelContext *channel,
UAVObjHandle obj,
int32_t updatePeriodMs)
{
@ -728,10 +732,10 @@ static int32_t setLoggingPeriod(
ev.lowPriority = true;
#ifdef PIOS_TELEM_PRIORITY_QUEUE
xQueueHandle targetQueue = UAVObjIsPriority(obj) ? telemetryHandle->priorityQueue :
telemetryHandle->mainQueue;
xQueueHandle targetQueue = UAVObjIsPriority(obj) ? channel->priorityQueue :
channel->mainQueue;
#else /* PIOS_TELEM_PRIORITY_QUEUE */
xQueueHandle targetQueue = telemetryHandle->mainQueue;
xQueueHandle targetQueue = channel->mainQueue;
#endif /* PIOS_TELEM_PRIORITY_QUEUE */
ret = EventPeriodicQueueUpdate(&ev, targetQueue, updatePeriodMs);
@ -771,8 +775,8 @@ static void updateTelemetryStats()
uint32_t timeNow;
// Get stats
UAVTalkGetStats(telemHandle.uavTalkCon, &utalkStats, true);
UAVTalkAddStats(radioHandle.uavTalkCon, &utalkStats, true);
UAVTalkGetStats(localChannel.uavTalkCon, &utalkStats, true);
UAVTalkAddStats(radioChannel.uavTalkCon, &utalkStats, true);
// Get object data
FlightTelemetryStatsGet(&flightStats);
@ -862,9 +866,9 @@ static void updateTelemetryStats()
* settings, etc. Thus the HwSettings object which contains the
* telemetry port speed is used for now.
*/
static void updateSettings(telemetryContext *telemetryHandle)
static void updateSettings(channelContext *channel)
{
uint32_t port = telemetryHandle->telemetryPort();
uint32_t port = channel->getPort();
if (port) {
// Retrieve settings