path: root/ROMFS/px4fmu_common/init.d/rc.usb

#!nsh
#
# USB MAVLink start
#

mavlink start -r 10000 -d /dev/ttyACM0
# Enable a number of interesting streams we want via USB
mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10
usleep 1000
mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW -r 10
usleep 1000
mavlink stream -d /dev/ttyACM0 -s VFR_HUD -r 20
usleep 1000
mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 20
usleep 1000
mavlink stream -d /dev/ttyACM0 -s ATTITUDE_CONTROLS -r 30
usleep 1000
mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
usleep 1000

# Exit shell to make it available to MAVLink
exit