From 66544d080a9160c07700b6cc3a289caa3be4ec35 Mon Sep 17 00:00:00 2001 From: Peter van der Perk Date: Thu, 23 Nov 2023 13:38:51 +0100 Subject: [PATCH] px4_fmu-v6xrt: Fix TELEM2 always being used for mavlink --- boards/px4/fmu-v6xrt/init/rc.board_mavlink | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/boards/px4/fmu-v6xrt/init/rc.board_mavlink b/boards/px4/fmu-v6xrt/init/rc.board_mavlink index 6299992326..633dc58eb8 100644 --- a/boards/px4/fmu-v6xrt/init/rc.board_mavlink +++ b/boards/px4/fmu-v6xrt/init/rc.board_mavlink @@ -1,7 +1,13 @@ #!/bin/sh # -# board specific MAVLink startup script. +# PX4 FMUv6X-RT specific board MAVLink startup script. #------------------------------------------------------------------------------ -# Start MAVLink on the UART connected to the mission computer -mavlink start -d /dev/ttyS5 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z +# if skynode base board is detected start Mavlink on Telem2 +if ver hwtypecmp V6XRT009000 V6XRT010000 +then + mavlink start -d /dev/ttyS5 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z + + # Ensure nothing else starts on TEL2 (ttyS5) + set PRT_TEL2_ 1 +fi