diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rcS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 39 |
1 files changed, 24 insertions, 15 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 65a66a085..503dbb83e 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -116,6 +116,8 @@ 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 @@ -394,28 +396,34 @@ 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 @@ -560,6 +568,7 @@ then if [ $EXIT_ON_END == yes ] then + echo "[init] Exit from nsh" exit fi |