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ROMFS: add remote port for gimbal mavlink instance

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Previously, we did not set a remote port which meant that the default
remote port 14550 was used. This meant that the mavlink instance
talking to the gimbal was interfering with the connection to the ground
station (on 14550).
This commit is contained in:
Julian Oes
2020-12-04 08:34:31 +13:00
committed by Daniel Agar
parent 3a2e4db309
commit fecd96dc28
1 changed files with 2 additions and 1 deletions
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ROMFS/px4fmu_common/init.d-posix/rcS
+2 -1
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@@ -110,6 +110,7 @@ udp_offboard_port_remote=$((14540+px4_instance))
udp_onboard_payload_port_local=$((14280+px4_instance))
udp_onboard_payload_port_remote=$((14030+px4_instance))
udp_onboard_gimbal_port_local=$((13030+px4_instance))
udp_onboard_gimbal_port_remote=$((13280+px4_instance))
udp_gcs_port_local=$((18570+px4_instance))
if [ $AUTOCNF = yes ]
@@ -261,7 +262,7 @@ else
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 -m gimbal
mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
fi
# execute autostart post script if any