From 4989f8d40a482dd50bf535ecc51f0fb1d7f2ce9e Mon Sep 17 00:00:00 2001 From: Lucas De Marchi Date: Thu, 10 Nov 2016 21:39:21 -0200 Subject: [PATCH] aerofc: start mavlink to communicate with Aero Compute Board --- ROMFS/px4fmu_common/init.d/4070_aerofc | 4 ++-- ROMFS/px4fmu_common/init.d/rcS | 4 ++++ 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/4070_aerofc b/ROMFS/px4fmu_common/init.d/4070_aerofc index 24aac2876c..f990f44c25 100644 --- a/ROMFS/px4fmu_common/init.d/4070_aerofc +++ b/ROMFS/px4fmu_common/init.d/4070_aerofc @@ -14,5 +14,5 @@ set OUTPUT_DEV /dev/tap_esc set MIXER quad_x set USE_IO no -param set SYS_COMPANION 0 -set MAVLINK_F "-b 115200 -mode onboard -r 80000 -d /dev/ttyS1" +param set SYS_COMPANION 1500000 +set MAVLINK_COMPANION_DEVICE /dev/ttyS1 diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 5063d609ed..897efd252a 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -587,6 +587,10 @@ then then mavlink start -d $MAVLINK_COMPANION_DEVICE -b 921600 -r 20000 fi + if param compare SYS_COMPANION 1500000 + then + mavlink start -d $MAVLINK_COMPANION_DEVICE -b 1500000 -m onboard -r 10000 -x + fi fi unset MAVLINK_COMPANION_DEVICE