From 7124cbf3afba859f1ee6888de57a82a8b1357eab Mon Sep 17 00:00:00 2001
From: Claudio Micheli <claudio@auterion.com>
Date: Fri, 4 Jan 2019 11:11:37 +0100
Subject: [PATCH] Fixed CI broken build. Made TELEM2 default port. Device port
 can be set via SENS_EN_CM8JL65 parameter: SENS_EN_CM8JL65 = 0 -> Disabled
 SENS_EN_CM8JL65 = 1 -> Enabled on TELEM2 SENS_EN_CM8JL65 = 2 -> Enabled on
 TELEM1

Signed-off-by: Claudio Micheli <claudio@auterion.com>
---
 ROMFS/px4fmu_common/init.d/rc.sensors                 | 11 +++++++++--
 src/drivers/distance_sensor/cm8jl65/cm8jl65.cpp       |  4 ++--
 .../distance_sensor/cm8jl65/cm8jl65_parser.cpp        |  2 +-
 src/drivers/distance_sensor/cm8jl65/parameters.c      |  5 +++--
 4 files changed, 15 insertions(+), 7 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 2a08f07c1b..c966a73c88 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -94,9 +94,16 @@ then
 fi
 
 # Lanbao PSK-CM8JL65-CC5 distance sensor
-if param compare SENS_EN_CM8JL65 1
+if param greater SENS_EN_CM8JL65 0
 then
-	cm8jl65 start
+	if param compare SENS_EN_CM8JL65 1
+	then
+		cm8jl65 start
+  fi
+	if param compare SENS_EN_CM8JL65 2
+	then
+		cm8jl65 start -d "/dev/ttyS1"
+	fi
 fi
 
 
diff --git a/src/drivers/distance_sensor/cm8jl65/cm8jl65.cpp b/src/drivers/distance_sensor/cm8jl65/cm8jl65.cpp
index edf00679b9..c08aada217 100644
--- a/src/drivers/distance_sensor/cm8jl65/cm8jl65.cpp
+++ b/src/drivers/distance_sensor/cm8jl65/cm8jl65.cpp
@@ -75,8 +75,8 @@
 
 #define CM8JL65_TAKE_RANGE_REG		'd'
 
-// designated serial port on Pixhawk (TELEM1)
-#define CM8JL65_DEFAULT_PORT		"/dev/ttyS1" // Its baudrate is 115200
+// designated serial port on Pixhawk (TELEM2)
+#define CM8JL65_DEFAULT_PORT		"/dev/ttyS2" // Its baudrate is 115200
 
 // normal conversion wait time
 #define CM8JL65_CONVERSION_INTERVAL 50*1000UL/* 50ms */
diff --git a/src/drivers/distance_sensor/cm8jl65/cm8jl65_parser.cpp b/src/drivers/distance_sensor/cm8jl65/cm8jl65_parser.cpp
index f691271e14..b437972d4e 100644
--- a/src/drivers/distance_sensor/cm8jl65/cm8jl65_parser.cpp
+++ b/src/drivers/distance_sensor/cm8jl65/cm8jl65_parser.cpp
@@ -177,7 +177,7 @@ int cm8jl65_parser(uint8_t c, uint8_t *parserbuf, CM8JL65_PARSE_STATE *state, ui
       if (c == (*crc16 & 0xFF)) {
       // printf("Checksum verified \n");
         *dist = (parserbuf[DISTANCE_MSB_POS] << 8) | parserbuf[DISTANCE_LSB_POS];
-        return OK;
+        return 0;
       }
       /*else {
         //printf("Checksum invalidon low byte: 0x%02X, calculated: 0x%04X \n",c, *crc16);
diff --git a/src/drivers/distance_sensor/cm8jl65/parameters.c b/src/drivers/distance_sensor/cm8jl65/parameters.c
index 05c292f1ba..7324b17031 100644
--- a/src/drivers/distance_sensor/cm8jl65/parameters.c
+++ b/src/drivers/distance_sensor/cm8jl65/parameters.c
@@ -36,9 +36,10 @@
  *
  * @reboot_required true
  * @min 0
- * @max 1
+ * @max 2
  * @group Sensors
  * @value 0 Disabled
- * @value 1 Enabled
+ * @value 1 Enabled on TELEM2
+ * @value 2 Enabled on TELEM1
  */
 PARAM_DEFINE_INT32(SENS_EN_CM8JL65, 0);