From c2fc9521d9014b52371462af1dc56ef6f3d87ba4 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 20 Nov 2017 16:59:45 -0500
Subject: [PATCH] SYS_COMPANION add RTPS client option

---
 ROMFS/px4fmu_common/init.d/rcS              | 4 ++++
 src/modules/micrortps_bridge/CMakeLists.txt | 1 +
 src/modules/systemlib/system_params.c       | 1 +
 3 files changed, 6 insertions(+)

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index a17536f184a8..f503d1b83d83 100644
--- 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
index ffa7858ccf20..6aed396f7e80 100644
--- 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
index 036d0a4a1cb4..96b97c2b667a 100644
--- 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