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rc.mavlink:Seperate sys compaion init dependant on MAVLINK_COMPANION_DEVICE

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This commit is contained in:
David Sidrane
2018-08-22 04:18:42 -07:00
parent 46b563fe3a
commit 454d175617
1 changed files with 30 additions and 16 deletions
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ROMFS/px4fmu_common/init.d/rc.mavlink
+30 -16
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@@ -83,23 +83,41 @@ fi
#
# XXX We need a better way for runtime eval of shell variables,
# 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
then
# This is TELEM4 on Pixhawk 3 Pro
frsky_telemetry start -d /dev/ttyS6 -t 15
fi
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}
else
if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2
then
# This is TELEM4 on Pixhawk 3 Pro
frsky_telemetry start -d /dev/ttyS6 -t 15
fi
fi
if param compare SYS_COMPANION 20
then
syslink start
mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
fi
#
@@ -179,10 +197,6 @@ then
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 460800 -m onboard -r 5000 -x -f
fi
if param compare SYS_COMPANION 6460800
then
micrortps_client start -t UART -d /dev/ttyS2 -b 460800
fi
#
# 921600 Baud Rate.