From a16939f47e64aa1c93708416a3b244c1bcfe30df Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Fri, 9 Oct 2020 18:14:09 +0200 Subject: [PATCH] ROMFS: start mavlink instance for gimbal --- ROMFS/px4fmu_common/init.d-posix/rcS | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS index 73b7c5c0ec1..f4db5918f99 100644 --- a/ROMFS/px4fmu_common/init.d-posix/rcS +++ b/ROMFS/px4fmu_common/init.d-posix/rcS @@ -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