[mavlink] configurable device

conf/modules/mavlink.xml

@@ -3,6 +3,8 @@
 <module name="datalink">
   <doc>
     <description>Basic MAVLink implementation</description>
+    <configure name="MAVLINK_PORT" value="UARTx|UDPx" description="The port device to use for mavlink"/>
+    <configure name="MAVLINK_BAUD" value="B57600" description="Baud rate if MAVLINK_PORT is a UART"/>
   </doc>
   <header>
     <file name="mavlink.h"/>
@@ -14,5 +16,14 @@
 
   <makefile>
     <file name="mavlink.c"/>
+    <raw>
+      MAVLINK_PORT ?= UART1
+      MAVLINK_BAUD ?= B57600
+      MAVLINK_PORT_LOWER=$(shell echo $(MAVLINK_PORT) | tr A-Z a-z)
+      MAVLINK_PORT_UPPER=$(shell echo $(MAVLINK_PORT) | tr a-z A-Z)
+    </raw>
+    <define name="MAVLINK_DEV" value="$(MAVLINK_PORT_UPPER)"/>
+    <define name="USE_$(MAVLINK_PORT_UPPER)"/>
+    <define name="$(MAVLINK_PORT_UPPER)_BAUD" value="$(MAVLINK_BAUD)"/>
   </makefile>
 </module>

sw/airborne/modules/datalink/mavlink.c

@@ -102,7 +102,7 @@ void mavlink_event(void)
         case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE: {
           mavlink_rc_channels_override_t cmd;
           mavlink_msg_rc_channels_override_decode(&msg, &cmd);
-
+#if defined RADIO_CONTROL && defined RADIO_CONTROL_TYPE_DATALINK
           uint8_t thrust = (cmd.chan3_raw - 950) * 127 / 1100;
           int8_t roll = -(cmd.chan1_raw - 1500) * 255 / 1100 / 2;
           int8_t pitch = -(cmd.chan2_raw - 1500) * 255 / 1100 / 2;
@@ -110,6 +110,7 @@ void mavlink_event(void)
           parse_rc_4ch_datalink(0, thrust, roll, pitch, yaw);
           //printf("RECEIVED: RC Channel Override for: %d/%d: throttle: %d; roll: %d; pitch: %d; yaw: %d;\r\n",
           // cmd.target_system, cmd.target_component, thrust, roll, pitch, yaw);
+#endif
           break;
         }
 
@@ -159,7 +160,7 @@ void mavlink_event(void)
 
         default:
           //Do nothing
-          printf("Received message with id: %d\r\n", msg.msgid);
+          //printf("Received message with id: %d\r\n", msg.msgid);
           break;
       }
     }

sw/airborne/modules/datalink/mavlink.h

@@ -42,7 +42,9 @@
  */
 extern mavlink_system_t mavlink_system;
 
+#ifndef MAVLINK_DEV
 #define MAVLINK_DEV UDP0
+#endif
 
 /*
  * The MAVLink link description
@@ -70,4 +72,4 @@ static inline void comm_send_ch(mavlink_channel_t chan, uint8_t ch)
 	MAVLink(Transmit(ch));
 }
 
-#endif // DATALINK_MAVLINK_H
+#endif // DATALINK_MAVLINK_H