SYS_COMPANION: deprecate this param

Replaced with the more generic serial config params.

rc.mavlink contains automatic transition support that can be removed after
the next release.

ROMFS/px4fmu_common/init.d/13013_deltaquad

@@ -125,7 +125,12 @@ then
 	param set PWM_RATE 400
 
 	param set SENS_BOARD_ROT 18
-	param set SYS_COMPANION 57600
+
+	# TELEM2 config
+	param set MAV_1_CONFIG 2
+	param set MAV_1_RATE 5000
+	param set MAV_1_FORWARD 1
+	param set SER_TEL2_BAUD 57600
 
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4

ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha

@@ -53,8 +53,6 @@ then
 	param set PWM_DISARMED 0
 	param set PWM_MIN 900
 	param set PWM_MAX 2100
-
-	param set SYS_COMPANION 157600
 fi
 
 set MIXER caipi

ROMFS/px4fmu_common/init.d/4030_3dr_solo

@@ -84,6 +84,11 @@ then
 	param set RC5_MIN           1000
 	param set RC5_REV           1
 	param set RC5_TRIM          1500
+
+	# enable high-speed link on telem 1
+	param set MAV_0_RATE 80000
+	param set MAV_0_MODE 2
+	param set SER_TEL1_BAUD 921600
 fi
 
 set MIXER quad_x
@@ -91,5 +96,3 @@ set MIXER quad_x
 set PWM_OUT 1234
 set MIXER_AUX none
 
-# enable high-speed link on telem 1
-set MAVLINK_F "-d /dev/ttyS1 -b 921600 -r 80000 -m onboard -x"

ROMFS/px4fmu_common/init.d/4070_aerofc

@@ -64,7 +64,11 @@ then
 	param set MPC_Z_VEL_MAX_UP 5.0000
 	param set MPC_Z_VEL_P 0.8000
 
-	param set SYS_COMPANION 921600
+	# TELEM2 config
+	param set MAV_1_CONFIG 2
+	param set MAV_1_RATE 80000
+	param set MAV_1_FORWARD 1
+	param set SER_TEL2_BAUD 921600
 fi
 
 if param compare SYS_HITL 0
@@ -78,4 +82,3 @@ fi
 set MIXER quad_x
 set USE_IO no
 
-set MAVLINK_COMPANION_DEVICE /dev/ttyS1

ROMFS/px4fmu_common/init.d/4900_crazyflie

@@ -65,8 +65,9 @@ then
 	param set PWM_RATE 3921
 
 	param set SDLOG_PROFILE 1
+
 	param set SENS_FLOW_MINRNG 0.05
-	param set SYS_COMPANION 20
+
 	param set SYS_FMU_TASK 1
 
 fi
@@ -74,3 +75,7 @@ fi
 set PWM_DISARMED none
 set PWM_MAX none
 set PWM_MIN none
+
+syslink start
+mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
+

ROMFS/px4fmu_common/init.d/rc.mavlink

@@ -1,231 +1,145 @@
 #!nsh
 #
-# MAVLINK stream startup script.
+# MAVLink startup script.
 #
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
-# NOTE: Normal mode uses baud rate of 57600 (default) and data rate of 1000 bytes/s.
-#
-
-###############################################################################
-#               Begin Setup for board specific configurations.                #
-###############################################################################
 
 if ! ver hwcmp AEROFC_V1
 then
-	# Start MAVLink
+	# Start MAVLink on the USB port
 	mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
 fi
 
-if ver hwcmp NXPHLITE_V3
+if ver hwcmp PX4FMU_V4
 then
-	set MAVLINK_COMPANION_DEVICE none
+	# Pixracer: start MAVLink on Wifi (ESP8266 port)
-	set MAVLINK_F "-r 1200 -d /dev/ttyS4"
+	mavlink start -r 20000 -b 921600 -d /dev/ttyS0
 fi
 
-if ver hwcmp OMNIBUS_F4SD
-then
-	set MAVLINK_COMPANION_DEVICE /dev/ttyS1
-fi
-
-###############################################################################
-#                 End Setup for board specific configurations.                #
-###############################################################################
-
-if [ "x${MAVLINK_F}" == xdefault ]
-then
-	# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
-	set MAVLINK_F "-r 1200 -f"
-
-	if ver hwcmp AEROFC_V1
-	then
-		set MAVLINK_F "-r 1200 -d /dev/ttyS3"
-
-		# Only start mavlink if the Benewake TFMini or LeddarOne isn't being used
-		if param greater SENS_EN_TFMINI 0
-		then
-			set MAVLINK_F none
-		fi
-		if param greater SENS_EN_LEDDAR1 0
-		then
-			set MAVLINK_F none
-		fi
-	fi
-
-	# Use ttyS1 for MAVLink on FMUv4 in addition to ttyS0 (debug)
-	if ver hwcmp PX4FMU_V4
-	then
-		set MAVLINK_F "-r 1200 -d /dev/ttyS1"
-		# Start MAVLink on Wifi (ESP8266 port)
-		mavlink start -r 20000 -b 921600 -d /dev/ttyS0
-	fi
-
-	# Use ttyS3 (TELEM4) for MAVLink on FMUv5 in addition to ttyS1 (TELEM1) and ttyS2 (TELEM2)
-	if ver hwcmp PX4FMU_V5
-	then
-		mavlink start -r 2000 -b 57600 -d /dev/ttyS3
-	fi
-
-	if ver hwcmp CRAZYFLIE OMNIBUS_F4SD
-	then
-		# Avoid using either of the two available serials
-		set MAVLINK_F none
-	fi
-fi
-
-if [ "x${MAVLINK_F}" != xnone ]
-then
-	mavlink start ${MAVLINK_F}
-fi
 
 #
-# MAVLink onboard / TELEM2
+# SYS_COMPANION transition support. Can be removed after the next release (currently at 1.8.0)
 #
-# XXX We need a better way for runtime eval of shell variables,
+if param compare SYS_COMPANION 319200
-# but this works for now
-#----------------------------------------------------------------
-#
-# Sys companion setups not dependant on MAVLINK_COMPANION_DEVICE
-#
-
-if ! param compare SYS_COMPANION 10
 then
-	if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2
+	param set MAV_1_CONFIG 2
-	then
+	param set MAV_1_RATE 1000
-		# This is TELEM4 on Pixhawk 3 Pro
+	param set SER_TEL2_BAUD 19200
-		frsky_telemetry start -d /dev/ttyS6 -t 15
+	param set SYS_COMPANION 0
-	fi
+fi
+if param compare SYS_COMPANION 519200
+then
+	param set MAV_1_CONFIG 2
+	param set MAV_1_MODE 7
+	param set MAV_1_RATE 1000
+	param set SER_TEL2_BAUD 19200
+	param set SYS_COMPANION 0
+fi
+if param compare SYS_COMPANION 338400
+then
+	param set MAV_1_CONFIG 2
+	param set MAV_1_RATE 1000
+	param set SER_TEL2_BAUD 38400
+	param set SYS_COMPANION 0
+fi
+if param compare SYS_COMPANION 538400
+then
+	param set MAV_1_CONFIG 2
+	param set MAV_1_MODE 7
+	param set MAV_1_RATE 1000
+	param set SER_TEL2_BAUD 38400
+	param set SYS_COMPANION 0
+fi
+if param compare SYS_COMPANION 57600
+then
+	param set MAV_1_CONFIG 2
+	param set MAV_1_MODE 2
+	param set MAV_1_RATE 5000
+	param set SER_TEL2_BAUD 57600
+	param set SYS_COMPANION 0
+fi
+if param compare SYS_COMPANION 157600
+then
+	param set MAV_1_CONFIG 2
+	param set MAV_1_MODE 3
+	param set MAV_1_RATE 1000
+	param set SER_TEL2_BAUD 57600
+	param set SYS_COMPANION 0
+fi
+if param compare SYS_COMPANION 257600
+then
+	param set MAV_1_CONFIG 2
+	param set MAV_1_MODE 4
+	param set MAV_1_RATE 5000
+	param set SER_TEL2_BAUD 57600
+	param set SYS_COMPANION 0
+fi
+if param compare SYS_COMPANION 357600
+then
+	param set MAV_1_CONFIG 2
+	param set MAV_1_RATE 1000
+	param set SER_TEL2_BAUD 57600
+	param set SYS_COMPANION 0
+fi
+if param compare SYS_COMPANION 557600
+then
+	param set MAV_1_CONFIG 2
+	param set MAV_1_RATE 1000
+	param set MAV_1_MODE 7
+	param set SER_TEL2_BAUD 57600
+	param set SYS_COMPANION 0
+fi
+if param compare SYS_COMPANION 3115200
+then
+	param set MAV_1_CONFIG 2
+	param set MAV_1_RATE 1000
+	param set SER_TEL2_BAUD 115200
+	param set SYS_COMPANION 0
+fi
+if param compare SYS_COMPANION 4115200
+then
+	# Iridium
+	param set ISBD_CONFIG 2
+	param set SYS_COMPANION 0
+fi
+if param compare SYS_COMPANION 5115200
+then
+	param set MAV_1_CONFIG 2
+	param set MAV_1_RATE 1000
+	param set MAV_1_MODE 7
+	param set SER_TEL2_BAUD 115200
+	param set SYS_COMPANION 0
+fi
+if param compare SYS_COMPANION 460800
+then
+	param set MAV_1_CONFIG 2
+	param set MAV_1_RATE 5000
+	param set MAV_1_MODE 2
+	param set SER_TEL2_BAUD 460800
+	param set SYS_COMPANION 0
+fi
+if param compare SYS_COMPANION 921600
+then
+	param set MAV_1_CONFIG 2
+	param set MAV_1_RATE 80000
+	param set MAV_1_MODE 2
+	param set SER_TEL2_BAUD 921600
+	param set SYS_COMPANION 0
+fi
+if param compare SYS_COMPANION 1921600
+then
+	param set MAV_1_CONFIG 2
+	param set MAV_1_RATE 20000
+	param set SER_TEL2_BAUD 921600
+	param set SYS_COMPANION 0
+fi
+if param compare SYS_COMPANION 1500000
+then
+	param set MAV_1_CONFIG 2
+	param set MAV_1_RATE 140000
+	param set MAV_1_MODE 2
+	param set SER_TEL2_BAUD 1500000
+	param set SYS_COMPANION 0
 fi
 
-if param compare SYS_COMPANION 20
-then
-	syslink start
-	mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
-fi
-
-if param compare SYS_COMPANION 6460800
-then
-	micrortps_client start -t UART -d /dev/ttyS2 -b 460800
-fi
-
-#----------------------------------------------------------------
-#
-# Sys companion setups dependant on MAVLINK_COMPANION_DEVICE
-#
-
-if [ "x${MAVLINK_COMPANION_DEVICE}" != xnone ]
-then
-	if param compare SYS_COMPANION 10
-	then
-		frsky_telemetry start -d ${MAVLINK_COMPANION_DEVICE}
-	fi
-
-	#
-	# 19200 Baud Rate.
-	#
-	if param compare SYS_COMPANION 319200
-	then
-		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 19200 -r 1000 -f
-	fi
-	if param compare SYS_COMPANION 519200
-	then
-		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 19200 -m minimal -r 1000
-	fi
-
-	#
-	# 38400 Baud Rate.
-	#
-	if param compare SYS_COMPANION 338400
-	then
-		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 38400 -r 1000 -f
-	fi
-	if param compare SYS_COMPANION 538400
-	then
-		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 38400 -m minimal -r 1000
-	fi
-
-	#
-	# 57600 Baud Rate.
-	#
-	if param compare SYS_COMPANION 57600
-	then
-		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m onboard -r 5000 -x -f
-	fi
-	if param compare SYS_COMPANION 157600
-	then
-		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m osd -r 1000
-	fi
-	if param compare SYS_COMPANION 257600
-	then
-		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m magic -r 5000 -x -f
-	fi
-	if param compare SYS_COMPANION 357600
-	then
-		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -r 1000 -f
-	fi
-	if param compare SYS_COMPANION 557600
-	then
-		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m minimal -r 1000
-	fi
-
-	#
-	# 115200 Baud Rate.
-	#
-	if param compare SYS_COMPANION 3115200
-	then
-		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 115200 -r 1000 -f
-	fi
-	if param compare SYS_COMPANION 4115200
-	then
-		usleep 200000 			# add a sleep here to make sure that the module is powered
-		if iridiumsbd start -d ${MAVLINK_COMPANION_DEVICE}
-		then
-			mavlink start -d /dev/iridium -m iridium -b 115200
-		else
-			tune_control play -t 20
-		fi
-	fi
-	if param compare SYS_COMPANION 5115200
-	then
-		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 115200 -m minimal -r 1000
-	fi
-
-	#
-	# 460800 Baud Rate.
-	#
-	if param compare SYS_COMPANION 460800
-	then
-		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 460800 -m onboard -r 5000 -x -f
-	fi
-
-	#
-	# 921600 Baud Rate.
-	#
-	if param compare SYS_COMPANION 921600
-	then
-		if ver hwcmp AEROFC_V1
-		then
-			if protocol_splitter start ${MAVLINK_COMPANION_DEVICE}
-			then
-				mavlink start -d /dev/mavlink -b 921600 -m onboard -r 5000 -x
-				micrortps_client start -d /dev/rtps -b 921600 -l -1 -s 2000
-			else
-				mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f
-			fi
-		else
-			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f
-		fi
-	fi
-	if param compare SYS_COMPANION 1921600
-	then
-		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -r 20000
-	fi
-
-	#
-	# 1500000 Baud Rate.
-	#
-	if param compare SYS_COMPANION 1500000
-	then
-		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 1500000 -m onboard -r 140000 -x -f
-	fi
-fi

ROMFS/px4fmu_common/init.d/rcS

@@ -74,8 +74,6 @@ set FMU_MODE pwm
 set IOFW "/etc/extras/px4io-v2.bin"
 set IO_PRESENT no
 set LOG_FILE /fs/microsd/bootlog.txt
-set MAVLINK_F default
-set MAVLINK_COMPANION_DEVICE /dev/ttyS2
 set MAV_TYPE none
 set MIXER none
 set MIXER_AUX none
@@ -445,13 +443,9 @@ else
 		set OUTPUT_MODE hil
 		sensors start -h
 		commander start --hil
+		# disable GPS
+		param set GPS_1_CONFIG 0
 	else
-		if ver hwcmp PX4_SAME70XPLAINED_V1
-		then
-			gps start -d /dev/ttyS2
-		else
-			gps start
-		fi
 		sh /etc/init.d/rc.sensors
 		commander start
 	fi
@@ -507,10 +501,16 @@ else
 	fi
 
 	#
-	# Start mavlink streams.
+	# Start mavlink streams that are not configurable (e.g. on USB).
 	#
 	sh /etc/init.d/rc.mavlink
 
+	#
+	# Start UART/Serial device drivers.
+	# Note: rc.serial is auto-generated from Tools/serial/generate_config.py
+	#
+	sh /etc/init.d/rc.serial
+
 	#
 	# Configure vehicle type specific parameters.
 	# Note: rc.vehicle_setup is the entry point for rc.interface,
@@ -585,8 +585,6 @@ unset FMU_MODE
 unset IOFW
 unset IO_PRESENT
 unset LOG_FILE
-unset MAVLINK_F
-unset MAVLINK_COMPANION_DEVICE
 unset MAV_TYPE
 unset MIXER
 unset MIXER_AUX

src/modules/systemlib/system_params.c

@@ -109,10 +109,10 @@ PARAM_DEFINE_INT32(SYS_RESTART_TYPE, 2);
 PARAM_DEFINE_INT32(SYS_MC_EST_GROUP, 2);
 
 /**
- * TELEM2 as companion computer link
+ * TELEM2 as companion computer link (deprecated)
  *
- * CHANGING THIS VALUE REQUIRES A RESTART. Configures the baud rate of the TELEM2 connector as
+ * This parameter is deprecated. Do not change it, use the more generic serial
- * companion computer interface.
+ * configuration parameters instead.
  *
  * @value 0 Disabled
  * @value 10 FrSky Telemetry
@@ -139,7 +139,7 @@ PARAM_DEFINE_INT32(SYS_MC_EST_GROUP, 2);
  * @reboot_required true
  * @group System
  */
-PARAM_DEFINE_INT32(SYS_COMPANION, 157600);
+PARAM_DEFINE_INT32(SYS_COMPANION, 0);
 
 /**
  * Parameter version