Mavlink startup script per board

-moved rc.mavlink to the boards optional rc additions (now it's called rc.board_mavlink) to handle board specific mavlink needs (mavlink over usb, ethernet, additional streams, etc.)
-mavlink module will be responsible to usb defaults, therefore less args are needed to be passed to mavlink module if one wants to use mavlink over usb.
-the way to check if connection is usb is by it's designated variable and not by config mode.

ROMFS/CMakeLists.txt

@@ -143,6 +143,7 @@ list(APPEND OPTIONAL_BOARD_RC
 	rc.board_defaults
 	rc.board_sensors
 	rc.board_extras
+	rc.board_mavlink
 )
 
 foreach(board_rc_file ${OPTIONAL_BOARD_RC})

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -39,7 +39,6 @@ px4_add_romfs_files(
 	rc.interface
 	rc.io
 	rc.logging
-	rc.mavlink
 	rc.mc_apps
 	rc.mc_defaults
 	rcS

ROMFS/px4fmu_common/init.d/rc.mavlink

@@ -1,13 +0,0 @@
-#!/bin/sh
-#
-# MAVLink startup script.
-#
-# NOTE: Script variables are declared/initialized/unset in the rcS script.
-#
-
-if ! ver hwcmp INTEL_AEROFC_V1
-then
-	# Start MAVLink on the USB port
-	mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
-fi
-

ROMFS/px4fmu_common/init.d/rcS

@@ -396,9 +396,15 @@ else
 	fi
 
 	#
-	# Start mavlink streams that are not configurable (e.g. on USB).
+	# Optional board mavlink streams: rc.board_mavlink
 	#
-	sh /etc/init.d/rc.mavlink
+	set BOARD_RC_MAVLINK /etc/init.d/rc.board_mavlink
+	if [ -f $BOARD_RC_MAVLINK ]
+	then
+		echo "Board extras: ${BOARD_RC_MAVLINK}"
+		sh $BOARD_RC_MAVLINK
+	fi
+	unset BOARD_RC_MAVLINK
 
 	#
 	# Start UART/Serial device drivers.

boards/airmind/mindpx-v2/init/rc.board_mavlink

@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# Airmind Mindpx-v2 specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0

boards/auav/x21/init/rc.board_mavlink

@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# AUAV/mRO x21 specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0

boards/av/x-v1/init/rc.board_mavlink

@@ -1,8 +1,7 @@
 #!/bin/sh
 #
-# av_x1-v1 specific board init
+# av_x1-v1 specific board MAVLink startup script.
-#
+#------------------------------------------------------------------------------
-#
 
 # AV-X: start MAVLink to companion (connected to TX2)
 mavlink start -d /dev/ttyS5 -b 500000 -m osd

boards/bitcraze/crazyflie/init/rc.board_mavlink

@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# Bitcraze Crazyflie specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0

boards/holybro/kakutef7/init/rc.board_mavlink

@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# KakuteF7 specific specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0

boards/mro/ctrl-zero-f7/init/rc.board_mavlink

@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# mRo Control Zero specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0

boards/nxp/fmuk66-v3/init/rc.board_mavlink

@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# NXP fmuk66-v3 specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0

boards/omnibus/f4sd/init/rc.board_mavlink

@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# OmnibusF4SD specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0

boards/px4/fmu-v2/init/rc.board_mavlink

@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# PX4 FMUv2 specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0

boards/px4/fmu-v3/init/rc.board_mavlink

@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# PX4 FMUv3 specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0

boards/px4/fmu-v4/init/rc.board_extras

@@ -3,13 +3,6 @@
 # PX4 FMUv4 specific board extras init
 #------------------------------------------------------------------------------
 
-
-# Pixracer: start MAVLink on Wifi (ESP8266 port). Except for the TealOne airframe.
-if ! param compare SYS_AUTOSTART 4250
-then
-	mavlink start -r 20000 -b 921600 -d /dev/ttyS0
-fi
-
 # Run FrSky Telemetry on Pixracer on the FrSky port if not enabled already
 if param compare TEL_FRSKY_CONFIG 0
 then

boards/px4/fmu-v4/init/rc.board_mavlink

@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# PX4 FMUv4 specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0
+
+# Pixracer: start MAVLink on Wifi (ESP8266 port). Except for the TealOne airframe.
+if ! param compare SYS_AUTOSTART 4250
+then
+	mavlink start -r 20000 -b 921600 -d /dev/ttyS0
+fi

boards/px4/fmu-v4pro/init/rc.board_mavlink

@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# PX4 FMUv4pro specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0

boards/px4/fmu-v5/init/rc.board_mavlink

@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# PX4 FMUv5 specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0

boards/px4/fmu-v5x/init/rc.board_mavlink

@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# PX4 FMUv5X specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0

boards/uvify/core/init/rc.board_mavlink

@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# UVify UVF4 specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0

src/modules/mavlink/mavlink_main.cpp

@@ -586,7 +586,7 @@ Mavlink::mavlink_open_uart(const int baud, const char *uart_name, const bool for
 	}
 
 	/* back off 1800 ms to avoid running into the USB setup timing */
-	while (_mode == MAVLINK_MODE_CONFIG &&
+	while (_is_usb_uart &&
 	       hrt_absolute_time() < 1800U * 1000U) {
 		px4_usleep(50000);
 	}
@@ -595,7 +595,7 @@ Mavlink::mavlink_open_uart(const int baud, const char *uart_name, const bool for
 	_uart_fd = ::open(uart_name, O_RDWR | O_NOCTTY);
 
 	/* if this is a config link, stay here and wait for it to open */
-	if (_uart_fd < 0 && _mode == MAVLINK_MODE_CONFIG) {
+	if (_uart_fd < 0 && _is_usb_uart) {
 
 		uORB::SubscriptionData<actuator_armed_s> armed_sub{ORB_ID(actuator_armed)};
 
@@ -628,7 +628,6 @@ Mavlink::mavlink_open_uart(const int baud, const char *uart_name, const bool for
 	/* Try to set baud rate */
 	struct termios uart_config;
 	int termios_state;
-	_is_usb_uart = false;
 
 	/* Initialize the uart config */
 	if ((termios_state = tcgetattr(_uart_fd, &uart_config)) < 0) {
@@ -640,8 +639,7 @@ Mavlink::mavlink_open_uart(const int baud, const char *uart_name, const bool for
 	/* Clear ONLCR flag (which appends a CR for every LF) */
 	uart_config.c_oflag &= ~ONLCR;
 
-	/* USB serial is indicated by /dev/ttyACM0*/
+	if (!_is_usb_uart) {
-	if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/ttyACM1") != OK) {
 
 		/* Set baud rate */
 		if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
@@ -651,7 +649,6 @@ Mavlink::mavlink_open_uart(const int baud, const char *uart_name, const bool for
 		}
 
 	} else {
-		_is_usb_uart = true;
 
 		/* USB has no baudrate, but use a magic number for 'fast' */
 		_baudrate = 2000000;
@@ -1835,7 +1832,7 @@ Mavlink::task_main(int argc, char *argv[])
 	int ch;
 	_baudrate = 57600;
 	_datarate = 0;
-	_mode = MAVLINK_MODE_NORMAL;
+	_mode = MAVLINK_MODE_COUNT;
 	bool _force_flow_control = false;
 
 	_interface_name = nullptr;
@@ -2059,6 +2056,24 @@ Mavlink::task_main(int argc, char *argv[])
 		return PX4_ERROR;
 	}
 
+	/* USB serial is indicated by /dev/ttyACM0*/
+	if (strcmp(_device_name, "/dev/ttyACM0") == OK || strcmp(_device_name, "/dev/ttyACM1") == OK) {
+		if (_datarate == 0) {
+			_datarate = 800000;
+		}
+
+		if (_mode == MAVLINK_MODE_COUNT) {
+			_mode = MAVLINK_MODE_CONFIG;
+		}
+
+		_ftp_on = true;
+		_is_usb_uart = true;
+	}
+
+	if (_mode == MAVLINK_MODE_COUNT) {
+		_mode = MAVLINK_MODE_NORMAL;
+	}
+
 	if (_datarate == 0) {
 		/* convert bits to bytes and use 1/2 of bandwidth by default */
 		_datarate = _baudrate / 20;
@@ -2083,11 +2098,11 @@ Mavlink::task_main(int argc, char *argv[])
 		/* default values for arguments */
 		_uart_fd = mavlink_open_uart(_baudrate, _device_name, _force_flow_control);
 
-		if (_uart_fd < 0 && _mode != MAVLINK_MODE_CONFIG) {
+		if (_uart_fd < 0 && !_is_usb_uart) {
 			PX4_ERR("could not open %s", _device_name);
 			return PX4_ERROR;
 
-		} else if (_uart_fd < 0 && _mode == MAVLINK_MODE_CONFIG) {
+		} else if (_uart_fd < 0 && _is_usb_uart) {
 			/* the config link is optional */
 			return OK;
 		}