Breakout rc.mavlink from rcS script.

PX4 · Jul 11, 2018 · 8b71bb4 · 8b71bb4
1 parent 8a7919b
commit 8b71bb4
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Showing 4 changed files with 234 additions and 181 deletions.
diff --git a/ROMFS/px4fmu_common/init.d/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/CMakeLists.txt
@@ -107,13 +107,14 @@ px4_add_romfs_files(
 	rc.interface
 	rc.io
 	rc.logging
+	rc.mavlink
 	rc.mc_apps
 	rc.mc_defaults
-	rcS
 	rc.sensors
 	rc.thermal_cal
 	rc.ugv_apps
 	rc.ugv_defaults
 	rc.vtol_apps
 	rc.vtol_defaults
+	rcS
 )
diff --git a/ROMFS/px4fmu_common/init.d/rc.mavlink b/ROMFS/px4fmu_common/init.d/rc.mavlink
@@ -0,0 +1,218 @@
+#!nsh
+#
+# MAVLINK stream startup script.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+# NOTE: Normal mode uses baud rate of 57600 (default) and data rate of 1000 bytes/s.
+#
+#------------------------------------------------------------------------------
+#
+# UART mapping on FMUv2/3/4:
+#
+# UART1         /dev/ttyS0      IO debug (except v4, there ttyS0 is the wifi)
+# USART2        /dev/ttyS1      TELEM1 (flow control)
+# USART3        /dev/ttyS2      TELEM2 (flow control)
+# UART4
+# UART7                         CONSOLE
+# UART8                         SERIAL4
+#
+#------------------------------------------------------------------------------
+#
+# UART mapping on FMUv5:
+#
+# UART1         /dev/ttyS0      GPS
+# USART2        /dev/ttyS1      TELEM1 (flow control)
+# USART3        /dev/ttyS2      TELEM2 (flow control)
+# UART4         /dev/ttyS3      TELEM4
+# USART6        /dev/ttyS4      TELEM3 (flow control)
+# UART7         /dev/ttyS5
+# UART8         /dev/ttyS6      CONSOLE
+#
+#------------------------------------------------------------------------------
+#
+# UART mapping on OMNIBUSF4SD:
+#
+# USART1        /dev/ttyS0      SerialRX
+# USART4        /dev/ttyS1      TELEM1
+# USART6        /dev/ttyS2      GPS
+#
+
+
+
+if [ $MAVLINK_F == default ]
+then
+	# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
+	set MAVLINK_F "-r 1200 -f"
+
+	if ver hwcmp AEROFC_V1
+	then
+		set MAVLINK_F "-r 1200 -d /dev/ttyS3"
+
+		# Only start mavlink if the Benewake TFMini or LeddarOne isn't being used
+		if param greater SENS_EN_TFMINI 0
+		then
+			set MAVLINK_F none
+		fi
+		if param greater SENS_EN_LEDDAR1 0
+		then
+			set MAVLINK_F none
+		fi
+	fi
+
+	# Use ttyS1 for MAVLink on FMUv4 in addition to ttyS0 (debug)
+	if ver hwcmp PX4FMU_V4
+	then
+		set MAVLINK_F "-r 1200 -d /dev/ttyS1"
+		# Start MAVLink on Wifi (ESP8266 port)
+		mavlink start -r 20000 -b 921600 -d /dev/ttyS0
+	fi
+
+	# Use ttyS3 (TELEM4) for MAVLink on FMUv5 in addition to ttyS1 (TELEM1) and ttyS2 (TELEM2)
+	if ver hwcmp PX4FMU_V5
+	then
+		mavlink start -r 2000 -b 57600 -d /dev/ttyS3
+	fi
+
+	if ver hwcmp CRAZYFLIE OMNIBUS_F4SD
+	then
+		# Avoid using either of the two available serials
+		set MAVLINK_F none
+	fi
+fi
+
+if [ "x$MAVLINK_F" == xnone ]
+then
+else
+	mavlink start ${MAVLINK_F}
+fi
+
+#
+# MAVLink onboard / TELEM2
+#
+# XXX We need a better way for runtime eval of shell variables,
+# but this works for now
+if param compare SYS_COMPANION 10
+then
+	frsky_telemetry start -d ${MAVLINK_COMPANION_DEVICE}
+else
+	if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2
+	then
+		# This is TELEM4 on Pixhawk 3 Pro
+		frsky_telemetry start -d /dev/ttyS6 -t 15
+	fi
+fi
+
+if param compare SYS_COMPANION 20
+then
+	syslink start
+	mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
+fi
+
+#
+# 19200 Baud Rate.
+#
+if param compare SYS_COMPANION 319200
+then
+	mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 19200 -r 1000 -f
+fi
+if param compare SYS_COMPANION 419200
+then
+	iridiumsbd start -d ${MAVLINK_COMPANION_DEVICE}
+	mavlink start -d /dev/iridium -b 19200 -m iridium -r 10
+fi
+if param compare SYS_COMPANION 519200
+then
+	mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 19200 -m minimal -r 1000
+fi
+
+#
+# 38400 Baud Rate.
+#
+if param compare SYS_COMPANION 338400
+then
+	mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 38400 -r 1000 -f
+fi
+if param compare SYS_COMPANION 538400
+then
+	mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 38400 -m minimal -r 1000
+fi
+
+#
+# 57600 Baud Rate.
+#
+if param compare SYS_COMPANION 57600
+then
+	mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m onboard -r 5000 -x -f
+fi
+if param compare SYS_COMPANION 157600
+then
+	mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m osd -r 1000
+fi
+if param compare SYS_COMPANION 257600
+then
+	mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m magic -r 5000 -x -f
+fi
+if param compare SYS_COMPANION 357600
+then
+	mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -r 1000 -f
+fi
+if param compare SYS_COMPANION 557600
+then
+	mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m minimal -r 1000
+fi
+
+#
+# 115200 Baud Rate.
+#
+if param compare SYS_COMPANION 3115200
+then
+	mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 115200 -r 1000 -f
+fi
+if param compare SYS_COMPANION 5115200
+then
+	mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 115200 -m minimal -r 1000
+fi
+
+#
+# 460800 Baud Rate.
+#
+if param compare SYS_COMPANION 460800
+then
+	mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 460800 -m onboard -r 5000 -x -f
+fi
+if param compare SYS_COMPANION 6460800
+then
+	micrortps_client start -t UART -d /dev/ttyS2 -b 460800
+fi
+
+#
+# 921600 Baud Rate.
+#
+if param compare SYS_COMPANION 921600
+then
+	if ver hwcmp AEROFC_V1
+	then
+		if protocol_splitter start ${MAVLINK_COMPANION_DEVICE}
+		then
+			mavlink start -d /dev/mavlink -b 921600 -m onboard -r 5000 -x
+			micrortps_client start -d /dev/rtps -b 921600 -l -1 -s 2000
+		else
+			mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f
+		fi
+	else
+		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f
+	fi
+fi
+if param compare SYS_COMPANION 1921600
+then
+	mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -r 20000
+fi
+
+#
+# 1500000 Baud Rate.
+#
+if param compare SYS_COMPANION 1500000
+then
+	mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 1500000 -m onboard -r 10000 -x -f
+fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.thermal_cal b/ROMFS/px4fmu_common/init.d/rc.thermal_cal
@@ -5,7 +5,7 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
-set TEMP_CALIB_ARGS	""
+set TEMP_CALIB_ARGS ""
 
 #
 # Determine if a thermal calibration should be started.