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rc.mavlink:NXPhlite Mavlink on ttyS4 and ttyACM only

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NXPhlite does not have a companion link. So start
    Mavlink on ttyS4 and ttyACM only.
This commit is contained in:
David Sidrane
2018-08-20 16:00:30 -07:00
parent 2c282d0e0e
commit 46b563fe3a
1 changed files with 125 additions and 121 deletions
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ROMFS/px4fmu_common/init.d/rc.mavlink
+125 -121
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@@ -19,7 +19,8 @@ fi
if ver hwcmp NXPHLITE_V3 if ver hwcmp NXPHLITE_V3
then then
set MAVLINK_COMPANION_DEVICE /dev/ttyS4 set MAVLINK_COMPANION_DEVICE none
set MAVLINK_F "-r 1200 -d /dev/ttyS4"
fi fi
if ver hwcmp OMNIBUS_F4SD if ver hwcmp OMNIBUS_F4SD
@@ -82,132 +83,135 @@ fi
# #
# XXX We need a better way for runtime eval of shell variables, # XXX We need a better way for runtime eval of shell variables,
# but this works for now # but this works for now
if param compare SYS_COMPANION 10 if [ "x${MAVLINK_COMPANION_DEVICE}" != xnone ]
then then
frsky_telemetry start -d ${MAVLINK_COMPANION_DEVICE} if param compare SYS_COMPANION 10
else
if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2
then then
# This is TELEM4 on Pixhawk 3 Pro frsky_telemetry start -d ${MAVLINK_COMPANION_DEVICE}
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
#
# 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 else
tune_control play -m "ML<<CP4CP4CP4CP4CP4" if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2
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
if param compare SYS_COMPANION 6460800
then
micrortps_client start -t UART -d /dev/ttyS2 -b 460800
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 then
mavlink start -d /dev/mavlink -b 921600 -m onboard -r 5000 -x # This is TELEM4 on Pixhawk 3 Pro
micrortps_client start -d /dev/rtps -b 921600 -l -1 -s 2000 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
#
# 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 -m "ML<<CP4CP4CP4CP4CP4"
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
if param compare SYS_COMPANION 6460800
then
micrortps_client start -t UART -d /dev/ttyS2 -b 460800
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 else
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f
fi fi
else
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f
fi fi
fi if param compare SYS_COMPANION 1921600
if param compare SYS_COMPANION 1921600 then
then mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -r 20000
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -r 20000 fi
fi
# #
# 1500000 Baud Rate. # 1500000 Baud Rate.
# #
if param compare SYS_COMPANION 1500000 if param compare SYS_COMPANION 1500000
then then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 1500000 -m onboard -r 140000 -x -f mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 1500000 -m onboard -r 140000 -x -f
fi fi
fi