SYS_COMPANION add RTPS client option

PX4 · Apr 1, 2018 · c2fc952 · c2fc952
1 parent 247cd06
commit c2fc952
Show file tree

Hide file tree

Showing 3 changed files with 6 additions and 0 deletions.
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
@@ -670,6 +670,10 @@ then
 	then
 		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 115200 -m minimal -r 1000
 	fi
+	if param compare SYS_COMPANION 6460800
+	then
+		micrortps_client start -t UART -d /dev/ttyS2 -b 460800
+	fi
 	if param compare SYS_COMPANION 1921600
 	then
 		mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -r 20000

diff --git a/src/modules/micrortps_bridge/CMakeLists.txt b/src/modules/micrortps_bridge/CMakeLists.txt
@@ -77,6 +77,7 @@ if (GENERATE_RTPS_BRIDGE)
 	set(uorb_sources_microcdr)
 
 	# send topic files
+	message(STATUS "RTPS send: ${config_rtps_send_topics}")
 	set(send_topic_files)
 	foreach(topic ${config_rtps_send_topics})
 		list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)

diff --git a/src/modules/systemlib/system_params.c b/src/modules/systemlib/system_params.c
@@ -130,6 +130,7 @@ PARAM_DEFINE_INT32(SYS_MC_EST_GROUP, 2);
  * @value 538400 Minimal Telemetry (38400 baud, 8N1)
  * @value 557600 Minimal Telemetry (57600 baud, 8N1)
  * @value 5115200 Minimal Telemetry (115200 baud, 8N1)
+ * @value 6460800 RTPS Client (460800 baud)
  * @value 1921600 ESP8266 (921600 baud, 8N1)
  *
  * @min 0