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RTPS test branch #9224

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merged 2 commits into from
May 23, 2018
Merged

RTPS test branch #9224

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247cd06
RTPS bridge send all EKF sensors
dagar Nov 20, 2017
c2fc952
SYS_COMPANION add RTPS client option
dagar Nov 20, 2017
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4 changes: 4 additions & 0 deletions ROMFS/px4fmu_common/init.d/rcS
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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Any reason to establish the RTPS client to half the baud rate of the ESP8266?

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I was following another example at the time using this baudrate. Feel free to change it to a more appropriate default, or add a range of desired rates.

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I see. @avinash-palleti do you see any problem on keeping the baudrate at the max possible?

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
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9 changes: 8 additions & 1 deletion src/modules/micrortps_bridge/CMakeLists.txt
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Expand Up @@ -41,7 +41,13 @@ if(NOT FASTRTPSGEN)
endif()

set(config_rtps_send_topics
sensor_combined
sensor_combined
sensor_baro
sensor_selection
vehicle_gps_position
airspeed
vehicle_land_detected
vehicle_status
)

set(config_rtps_receive_topics
Expand Down Expand Up @@ -71,6 +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)
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1 change: 1 addition & 0 deletions src/modules/systemlib/system_params.c
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Expand Up @@ -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
Expand Down