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Merge pull request #2203 from NaterGator/mavlink_usbfix

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Fix MAVLink USB UART detection
This commit is contained in:
Lorenz Meier
2015-05-26 23:22:27 -07:00
parent 7c5af64580 b55361b472
commit a14b020d63
2 changed files with 6 additions and 4 deletions
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src/modules/mavlink/mavlink_main.cpp
+5 -3
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@@ -577,7 +577,7 @@ int Mavlink::get_component_id()
} }
#ifndef __PX4_POSIX #ifndef __PX4_POSIX
int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb) int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original)
{ {
/* process baud rate */ /* process baud rate */
int speed; int speed;
@@ -642,7 +642,7 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios *
/* Try to set baud rate */ /* Try to set baud rate */
struct termios uart_config; struct termios uart_config;
int termios_state; int termios_state;
*is_usb = false; _is_usb_uart = false;
/* Back up the original uart configuration to restore it after exit */ /* Back up the original uart configuration to restore it after exit */
if ((termios_state = tcgetattr(_uart_fd, uart_config_original)) < 0) { if ((termios_state = tcgetattr(_uart_fd, uart_config_original)) < 0) {
@@ -667,6 +667,8 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios *
return -1; return -1;
} }
} else {
_is_usb_uart = true;
} }
if ((termios_state = tcsetattr(_uart_fd, TCSANOW, &uart_config)) < 0) { if ((termios_state = tcsetattr(_uart_fd, TCSANOW, &uart_config)) < 0) {
@@ -1393,7 +1395,7 @@ Mavlink::task_main(int argc, char *argv[])
struct termios uart_config_original; struct termios uart_config_original;
/* default values for arguments */ /* default values for arguments */
_uart_fd = mavlink_open_uart(_baudrate, _device_name, &uart_config_original, &_is_usb_uart); _uart_fd = mavlink_open_uart(_baudrate, _device_name, &uart_config_original);
if (_uart_fd < 0) { if (_uart_fd < 0) {
warn("could not open %s", _device_name); warn("could not open %s", _device_name);
src/modules/mavlink/mavlink_main.h
+1 -1
View File
@@ -388,7 +388,7 @@ private:
void mavlink_update_system(); void mavlink_update_system();
#ifndef __PX4_QURT #ifndef __PX4_QURT
int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb); int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original);
#endif #endif
static unsigned int interval_from_rate(float rate); static unsigned int interval_from_rate(float rate);