mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
rc.mavlink:NXPhlite Mavlink on ttyS4 and ttyACM only
NXPhlite does not have a companion link. So start
Mavlink on ttyS4 and ttyACM only.
This commit is contained in:
David Sidrane
parent
2c282d0e0e
commit
46b563fe3a
@ -19,7 +19,8 @@ fi
|
||||
|
||||
if ver hwcmp NXPHLITE_V3
|
||||
then
|
||||
set MAVLINK_COMPANION_DEVICE /dev/ttyS4
|
||||
set MAVLINK_COMPANION_DEVICE none
|
||||
set MAVLINK_F "-r 1200 -d /dev/ttyS4"
|
||||
fi
|
||||
|
||||
if ver hwcmp OMNIBUS_F4SD
|
||||
@ -82,132 +83,135 @@ fi
|
||||
#
|
||||
# XXX We need a better way for runtime eval of shell variables,
|
||||
# but this works for now
|
||||
if param compare SYS_COMPANION 10
|
||||
if [ "x${MAVLINK_COMPANION_DEVICE}" != xnone ]
|
||||
then
|
||||
frsky_telemetry start -d ${MAVLINK_COMPANION_DEVICE}
|
||||
else
|
||||
if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2
|
||||
if param compare SYS_COMPANION 10
|
||||
then
|
||||
# This is TELEM4 on Pixhawk 3 Pro
|
||||
frsky_telemetry start -d /dev/ttyS6 -t 15
|
||||
fi
|
||||
fi
|
||||
|
||||
if param compare SYS_COMPANION 20
|
||||
then
|
||||
syslink start
|
||||
mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
|
||||
fi
|
||||
|
||||
#
|
||||
# 19200 Baud Rate.
|
||||
#
|
||||
if param compare SYS_COMPANION 319200
|
||||
then
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 19200 -r 1000 -f
|
||||
fi
|
||||
if param compare SYS_COMPANION 519200
|
||||
then
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 19200 -m minimal -r 1000
|
||||
fi
|
||||
|
||||
#
|
||||
# 38400 Baud Rate.
|
||||
#
|
||||
if param compare SYS_COMPANION 338400
|
||||
then
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 38400 -r 1000 -f
|
||||
fi
|
||||
if param compare SYS_COMPANION 538400
|
||||
then
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 38400 -m minimal -r 1000
|
||||
fi
|
||||
|
||||
#
|
||||
# 57600 Baud Rate.
|
||||
#
|
||||
if param compare SYS_COMPANION 57600
|
||||
then
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m onboard -r 5000 -x -f
|
||||
fi
|
||||
if param compare SYS_COMPANION 157600
|
||||
then
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m osd -r 1000
|
||||
fi
|
||||
if param compare SYS_COMPANION 257600
|
||||
then
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m magic -r 5000 -x -f
|
||||
fi
|
||||
if param compare SYS_COMPANION 357600
|
||||
then
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -r 1000 -f
|
||||
fi
|
||||
if param compare SYS_COMPANION 557600
|
||||
then
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m minimal -r 1000
|
||||
fi
|
||||
|
||||
#
|
||||
# 115200 Baud Rate.
|
||||
#
|
||||
if param compare SYS_COMPANION 3115200
|
||||
then
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 115200 -r 1000 -f
|
||||
fi
|
||||
if param compare SYS_COMPANION 4115200
|
||||
then
|
||||
usleep 200000 # add a sleep here to make sure that the module is powered
|
||||
if iridiumsbd start -d ${MAVLINK_COMPANION_DEVICE}
|
||||
then
|
||||
mavlink start -d /dev/iridium -m iridium -b 115200
|
||||
frsky_telemetry start -d ${MAVLINK_COMPANION_DEVICE}
|
||||
else
|
||||
tune_control play -m "ML<<CP4CP4CP4CP4CP4"
|
||||
fi
|
||||
fi
|
||||
if param compare SYS_COMPANION 5115200
|
||||
then
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 115200 -m minimal -r 1000
|
||||
fi
|
||||
|
||||
#
|
||||
# 460800 Baud Rate.
|
||||
#
|
||||
if param compare SYS_COMPANION 460800
|
||||
then
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 460800 -m onboard -r 5000 -x -f
|
||||
fi
|
||||
if param compare SYS_COMPANION 6460800
|
||||
then
|
||||
micrortps_client start -t UART -d /dev/ttyS2 -b 460800
|
||||
fi
|
||||
|
||||
#
|
||||
# 921600 Baud Rate.
|
||||
#
|
||||
if param compare SYS_COMPANION 921600
|
||||
then
|
||||
if ver hwcmp AEROFC_V1
|
||||
then
|
||||
if protocol_splitter start ${MAVLINK_COMPANION_DEVICE}
|
||||
if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2
|
||||
then
|
||||
mavlink start -d /dev/mavlink -b 921600 -m onboard -r 5000 -x
|
||||
micrortps_client start -d /dev/rtps -b 921600 -l -1 -s 2000
|
||||
# This is TELEM4 on Pixhawk 3 Pro
|
||||
frsky_telemetry start -d /dev/ttyS6 -t 15
|
||||
fi
|
||||
fi
|
||||
|
||||
if param compare SYS_COMPANION 20
|
||||
then
|
||||
syslink start
|
||||
mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
|
||||
fi
|
||||
|
||||
#
|
||||
# 19200 Baud Rate.
|
||||
#
|
||||
if param compare SYS_COMPANION 319200
|
||||
then
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 19200 -r 1000 -f
|
||||
fi
|
||||
if param compare SYS_COMPANION 519200
|
||||
then
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 19200 -m minimal -r 1000
|
||||
fi
|
||||
|
||||
#
|
||||
# 38400 Baud Rate.
|
||||
#
|
||||
if param compare SYS_COMPANION 338400
|
||||
then
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 38400 -r 1000 -f
|
||||
fi
|
||||
if param compare SYS_COMPANION 538400
|
||||
then
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 38400 -m minimal -r 1000
|
||||
fi
|
||||
|
||||
#
|
||||
# 57600 Baud Rate.
|
||||
#
|
||||
if param compare SYS_COMPANION 57600
|
||||
then
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m onboard -r 5000 -x -f
|
||||
fi
|
||||
if param compare SYS_COMPANION 157600
|
||||
then
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m osd -r 1000
|
||||
fi
|
||||
if param compare SYS_COMPANION 257600
|
||||
then
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m magic -r 5000 -x -f
|
||||
fi
|
||||
if param compare SYS_COMPANION 357600
|
||||
then
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -r 1000 -f
|
||||
fi
|
||||
if param compare SYS_COMPANION 557600
|
||||
then
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m minimal -r 1000
|
||||
fi
|
||||
|
||||
#
|
||||
# 115200 Baud Rate.
|
||||
#
|
||||
if param compare SYS_COMPANION 3115200
|
||||
then
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 115200 -r 1000 -f
|
||||
fi
|
||||
if param compare SYS_COMPANION 4115200
|
||||
then
|
||||
usleep 200000 # add a sleep here to make sure that the module is powered
|
||||
if iridiumsbd start -d ${MAVLINK_COMPANION_DEVICE}
|
||||
then
|
||||
mavlink start -d /dev/iridium -m iridium -b 115200
|
||||
else
|
||||
tune_control play -m "ML<<CP4CP4CP4CP4CP4"
|
||||
fi
|
||||
fi
|
||||
if param compare SYS_COMPANION 5115200
|
||||
then
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 115200 -m minimal -r 1000
|
||||
fi
|
||||
|
||||
#
|
||||
# 460800 Baud Rate.
|
||||
#
|
||||
if param compare SYS_COMPANION 460800
|
||||
then
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 460800 -m onboard -r 5000 -x -f
|
||||
fi
|
||||
if param compare SYS_COMPANION 6460800
|
||||
then
|
||||
micrortps_client start -t UART -d /dev/ttyS2 -b 460800
|
||||
fi
|
||||
|
||||
#
|
||||
# 921600 Baud Rate.
|
||||
#
|
||||
if param compare SYS_COMPANION 921600
|
||||
then
|
||||
if ver hwcmp AEROFC_V1
|
||||
then
|
||||
if protocol_splitter start ${MAVLINK_COMPANION_DEVICE}
|
||||
then
|
||||
mavlink start -d /dev/mavlink -b 921600 -m onboard -r 5000 -x
|
||||
micrortps_client start -d /dev/rtps -b 921600 -l -1 -s 2000
|
||||
else
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f
|
||||
fi
|
||||
else
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f
|
||||
fi
|
||||
else
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f
|
||||
fi
|
||||
fi
|
||||
if param compare SYS_COMPANION 1921600
|
||||
then
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -r 20000
|
||||
fi
|
||||
if param compare SYS_COMPANION 1921600
|
||||
then
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -r 20000
|
||||
fi
|
||||
|
||||
#
|
||||
# 1500000 Baud Rate.
|
||||
#
|
||||
if param compare SYS_COMPANION 1500000
|
||||
then
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 1500000 -m onboard -r 140000 -x -f
|
||||
fi
|
||||
#
|
||||
# 1500000 Baud Rate.
|
||||
#
|
||||
if param compare SYS_COMPANION 1500000
|
||||
then
|
||||
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 1500000 -m onboard -r 140000 -x -f
|
||||
fi
|
||||
fi
|
||||
Loading…
x
Reference in New Issue
Block a user