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fmu v4: make starting mavlink on WIFI port configurable and make it start by default

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This commit is contained in:
Nicolas de Palezieux
2019-11-13 11:04:40 +01:00
committed by Lorenz Meier
parent 653b7c0007
commit 6260c164e7
2 changed files with 19 additions and 5 deletions
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boards/px4/fmu-v4/init/rc.board_defaults
+19
View File
@@ -9,6 +9,25 @@ then
# Disable safety switch by default
param set CBRK_IO_SAFETY 22027
# start MAVLink on Wifi (ESP8266 port). Except for the TealOne airframe.
if ! param compare SYS_AUTOSTART 4250
then
param set MAV_2_CONFIG 301
param set MAV_2_RATE 20000
param set SER_WIFI_BAUD 921600
fi
fi
if param compare SER_WIFI_BAUD 1
then
# Transitional support: The Wifi port has not been configured by the user,
# configure it for MAVLink via the ESP8266 Wifi module. Except for the TealOne airframe.
if ! param compare SYS_AUTOSTART 4250
then
param set MAV_2_CONFIG 301
param set MAV_2_RATE 20000
param set SER_WIFI_BAUD 921600
fi
fi
safety_button start
boards/px4/fmu-v4/init/rc.board_mavlink
-5
View File
@@ -6,8 +6,3 @@
# Start MAVLink on the USB port
mavlink start -d /dev/ttyACM0
# Pixracer: start MAVLink on Wifi (ESP8266 port). Except for the TealOne airframe.
if ! param compare SYS_AUTOSTART 4250
then
mavlink start -r 20000 -b 921600 -d /dev/ttyS0
fi