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Add option for custom mavlink configuration

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This commit enables a option for users to add a custom mavlink configuration through rc.mavlink_override
This commit is contained in:
Jaeyoung-Lim
2021-01-22 15:42:56 +01:00
committed by Beat Küng
parent 17ea6f68e2
commit fa5a6cf712
1 changed files with 21 additions and 15 deletions
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ROMFS/px4fmu_common/init.d-posix/rcS
+21 -15
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@@ -238,24 +238,30 @@ fi
# #
. ${R}etc/init.d/rc.vehicle_setup . ${R}etc/init.d/rc.vehicle_setup
# GCS link if [ -e etc/init.d-posix/rc.mavlink_override ]
mavlink start -x -u $udp_gcs_port_local -r 4000000 then
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local echo "Running non-default mavlink config rc.mavlink_override"
mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local sh etc/init.d-posix/rc.mavlink_override
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local else
mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local # GCS link
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local mavlink start -x -u $udp_gcs_port_local -r 4000000
mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
# API/Offboard link # API/Offboard link
mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote
# Onboard link to camera # Onboard link to camera
mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
fi
# execute autostart post script if any # execute autostart post script if any
[ -e "$autostart_file".post ] && . "$autostart_file".post [ -e "$autostart_file".post ] && . "$autostart_file".post