diff options
| author | Anton Babushkin <anton.babushkin@me.com> | 2014-03-01 16:43:04 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-03-01 16:43:04 +0400 |
| commit | 1b8004cd8ecf7824584aac9e7fed447714feb716 (patch) | |
| tree | c916e20ebda1c3cc04690455051353810ede6721 /ROMFS/px4fmu_common/init.d/rcS | |
| parent | 836f7c435fe31572e45333877142dce8b4d2fc78 (diff) | |
| download | px4-firmware-1b8004cd8ecf7824584aac9e7fed447714feb716.tar.gz px4-firmware-1b8004cd8ecf7824584aac9e7fed447714feb716.tar.bz2 px4-firmware-1b8004cd8ecf7824584aac9e7fed447714feb716.zip | |
mavlink: add new streams in main loop, minor cleanup and fixes
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rcS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 36 |
1 files changed, 22 insertions, 14 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index c3065b6fc..17f7dd077 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -117,6 +117,7 @@ then set PWM_MAX none set MKBLCTRL_MODE none set FMU_MODE pwm + set MAVLINK_FLAGS default set MAV_TYPE none # @@ -381,26 +382,33 @@ then # set EXIT_ON_END no - if [ $HIL == yes ] + if [ $MAVLINK_FLAGS == default ] then - sleep 1 - mavlink start -b 230400 -d /dev/ttyACM0 - usleep 5000 - else - if [ $TTYS1_BUSY == yes ] + if [ $HIL == yes ] then - # Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else - mavlink start -r 1000 -d /dev/ttyS0 + sleep 1 + set MAVLINK_FLAGS "-d 10000 -d /dev/ttyACM0" usleep 5000 - - # Exit from nsh to free port for mavlink - set EXIT_ON_END yes else - # Start MAVLink on default port: ttyS1 - mavlink start -r 1000 - usleep 5000 + # Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s + if [ $TTYS1_BUSY == yes ] + then + # Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else + set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0" + usleep 5000 + + # Exit from nsh to free port for mavlink + set EXIT_ON_END yes + else + # Start MAVLink on default port: ttyS1 + set MAVLINK_FLAGS "-r 1000" + usleep 5000 + fi fi fi + + mavlink start $MAVLINK_FLAGS + usleep 5000 # # Start the datamanager |