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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-11 17:53:42 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-11 17:53:42 +0100 |
| commit | 5a39a4cbd4621fa64d430e7881dcac57928f337f (patch) | |
| tree | 01b6e45b876a4f513082d27174e0f6249f756788 /ROMFS | |
| parent | ebab4bfa7ef9ca138ac476943a87b8e3244b9a21 (diff) | |
| parent | 0bcda7f8a6079ba20eeb4bbd4181872a5513acfc (diff) | |
| download | px4-firmware-5a39a4cbd4621fa64d430e7881dcac57928f337f.tar.gz px4-firmware-5a39a4cbd4621fa64d430e7881dcac57928f337f.tar.bz2 px4-firmware-5a39a4cbd4621fa64d430e7881dcac57928f337f.zip | |
Merged mavlink_beta2
Diffstat (limited to 'ROMFS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.usb | 33 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 40 |
2 files changed, 25 insertions, 48 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb index 0cd8a0e04..0de2d4295 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 5000 -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 8ca14b320..eba18ddb1 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 # @@ -384,29 +386,34 @@ then # # MAVLink # - set EXIT_ON_END no - if [ $HIL == yes ] + if [ $MAVLINK_FLAGS == default ] then - sleep 1 - mavlink start -b 230400 -d /dev/ttyACM0 - gps start - 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 -m hil" 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 @@ -545,6 +552,7 @@ then if [ $EXIT_ON_END == yes ] then + echo "[init] Exit from nsh" exit fi |