Automatic Docking telemetry update

telemetry.clj

(defn poll
  "Poll telemetry and update the state."
  [driv]
  (if true                                        
    (do
      (Thread/sleep poll-interval)
      (let [t (System/currentTimeMillis)
            dt (* (+ poll-interval (- t (@telem :t))) 0.001)
            x (get-x driv)
            y (get-y driv)
            z (get-z driv)

            dx (- x (@telem :x))
            dy (- y (@telem :y))
            dz (- z (@telem :z))

            vx (calc/get-vx dt dx)
            vy (calc/get-vy dt dy)
            vz (calc/get-vz dt dz)]

        (swap! telem assoc
               :roll (get-roll-delta driv)
               :pitch (get-pitch-delta driv)
               :yaw (get-yaw-delta driv)

               :roll-rate (get-roll-rate driv)
               :pitch-rate (get-pitch-rate driv)
               :yaw-rate (get-yaw-rate driv)

               :range (get-range driv)

               :x x
               :y y
               :z z

               :vx vx
               :vy vy
               :vz vz

               :t (System/currentTimeMillis)))

      (recur driv))))