diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rc.usb')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.usb | 52 |
1 files changed, 17 insertions, 35 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb index 0cd8a0e04..1f8d8b862 100644 --- a/ROMFS/px4fmu_common/init.d/rc.usb +++ b/ROMFS/px4fmu_common/init.d/rc.usb @@ -3,40 +3,22 @@ # USB MAVLink start # -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 -x +# Enable a number of interesting streams we want via USB +mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10 +usleep 100000 +mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW -r 10 +usleep 100000 +mavlink stream -d /dev/ttyACM0 -s VFR_HUD -r 20 +usleep 100000 +mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 20 +usleep 100000 +mavlink stream -d /dev/ttyACM0 -s ATTITUDE_CONTROLS -r 30 +usleep 100000 +mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20 +usleep 100000 +mavlink stream -d /dev/ttyACM0 -s GLOBAL_POSITION_SETPOINT_INT -r 20 +usleep 100000 # Exit shell to make it available to MAVLink -exit +exit |