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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-03-19 20:01:01 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-03-19 20:01:01 +0400 |
| commit | 9b71e660ad86cb2ecec4db93795f417a9ba0fddd (patch) | |
| tree | c7bd62f4e4b260f03c6103e9d322e2b3f84d11c2 /ROMFS/px4fmu_common | |
| parent | 068b7526b74c9bbcc31acc28f0d578ed9c0f97b1 (diff) | |
| parent | 295f87f22cc471fccb44e3f3dee3e8fcab263de2 (diff) | |
| download | px4-firmware-9b71e660ad86cb2ecec4db93795f417a9ba0fddd.tar.gz px4-firmware-9b71e660ad86cb2ecec4db93795f417a9ba0fddd.tar.bz2 px4-firmware-9b71e660ad86cb2ecec4db93795f417a9ba0fddd.zip | |
Merge branch 'beta_mavlink2' into mpc_local_pos_mavlink
Diffstat (limited to 'ROMFS/px4fmu_common')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.usb | 33 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 39 |
2 files changed, 25 insertions, 47 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb index 0cd8a0e04..558be4275 100644 --- a/ROMFS/px4fmu_common/init.d/rc.usb +++ b/ROMFS/px4fmu_common/init.d/rc.usb @@ -5,38 +5,7 @@ echo "Starting MAVLink on this USB console" -# Stop tone alarm -tone_alarm stop - -# -# Check for UORB -# -if uorb start -then - echo "uORB started" -fi - -# Tell MAVLink that this link is "fast" -if mavlink stop -then - echo "stopped other MAVLink instance" -fi -mavlink start -b 230400 -d /dev/ttyACM0 - -# Stop commander -if commander stop -then - echo "Commander stopped" -fi -sleep 1 - -# Start the commander -if commander start -then - echo "Commander started" -fi - -echo "MAVLink started, exiting shell.." +mavlink start -r 10000 -d /dev/ttyACM0 # Exit shell to make it available to MAVLink exit diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 7c3524fef..7797feb74 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -117,6 +117,8 @@ then set PWM_MAX none set MKBLCTRL_MODE none set FMU_MODE pwm + set MAVLINK_FLAGS default + set EXIT_ON_END no set MAV_TYPE none set LOAD_DEFAULT_APPS yes @@ -385,28 +387,34 @@ then # # MAVLink # - 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 -d /dev/ttyS0 + sleep 1 + set MAVLINK_FLAGS "-r 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 - 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 @@ -551,6 +559,7 @@ then if [ $EXIT_ON_END == yes ] then + echo "[init] Exit from nsh" exit fi |