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ROMFS: start mavlink instance for gimbal

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This commit is contained in:
Julian Oes
2020-10-09 18:14:09 +02:00
committed by Daniel Agar
parent 48b00ff678
commit a16939f47e
1 changed files with 4 additions and 0 deletions
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ROMFS/px4fmu_common/init.d-posix/rcS
+4
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@@ -109,6 +109,7 @@ udp_offboard_port_remote=$((14540+px4_instance))
[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
udp_onboard_payload_port_local=$((14280+px4_instance))
udp_onboard_payload_port_remote=$((14030+px4_instance))
udp_onboard_gimbal_port_local=$((13030+px4_instance))
udp_gcs_port_local=$((18570+px4_instance))
if [ $AUTOCNF = yes ]
@@ -259,7 +260,10 @@ else
# Onboard link to camera
mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
# Onboard link to gimbal
mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -f -m onboard
fi
# execute autostart post script if any
[ -e "$autostart_file".post ] && . "$autostart_file".post