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mavlink: Add flow control parameters (#19254)

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This commit is contained in:
Alex Klimaj
2022-03-10 08:22:00 -08:00
committed by GitHub
parent b66dd5ffa6
commit 71850eeda6
1 changed files with 28 additions and 5 deletions
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src/modules/mavlink/module.yaml
+28 -5
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@@ -24,6 +24,14 @@ serial_config:
then then
set MAV_ARGS "${MAV_ARGS} -s" set MAV_ARGS "${MAV_ARGS} -s"
fi fi
if param compare MAV_${i}_FLOW_CTRL 0
then
set MAV_ARGS "${MAV_ARGS} -Z"
fi
if param compare MAV_${i}_FLOW_CTRL 1
then
set MAV_ARGS "${MAV_ARGS} -z"
fi
mavlink start ${MAV_ARGS} -x mavlink start ${MAV_ARGS} -x
port_config_param: port_config_param:
name: MAV_${i}_CONFIG name: MAV_${i}_CONFIG
@@ -73,7 +81,7 @@ parameters:
each stream is automatically decreased. each stream is automatically decreased.
If this is set to 0 a value of half of the theoretical maximum bandwidth is used. If this is set to 0 a value of half of the theoretical maximum bandwidth is used.
This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on
8N1-configured links). 8N1-configured links).
type: int32 type: int32
@@ -116,7 +124,7 @@ parameters:
description: description:
short: MAVLink Network Port for instance ${i} short: MAVLink Network Port for instance ${i}
long: | long: |
If ethernet enabled and selected as configuration for MAVLink instance ${i}, If ethernet enabled and selected as configuration for MAVLink instance ${i},
selected udp port will be set and used in MAVLink instance ${i}. selected udp port will be set and used in MAVLink instance ${i}.
type: int32 type: int32
@@ -129,7 +137,7 @@ parameters:
description: description:
short: MAVLink Remote Port for instance ${i} short: MAVLink Remote Port for instance ${i}
long: | long: |
If ethernet enabled and selected as configuration for MAVLink instance ${i}, If ethernet enabled and selected as configuration for MAVLink instance ${i},
selected remote port will be set and used in MAVLink instance ${i}. selected remote port will be set and used in MAVLink instance ${i}.
type: int32 type: int32
@@ -142,14 +150,29 @@ parameters:
description: description:
short: Broadcast heartbeats on local network for MAVLink instance ${i} short: Broadcast heartbeats on local network for MAVLink instance ${i}
long: | long: |
This allows a ground control station to automatically find the drone This allows a ground control station to automatically find the drone
on the local network. on the local network.
type: enum type: enum
values: values:
0: Never broadcast 0: Never broadcast
1: Always broadcast 1: Always broadcast
2: Only multicast 2: Only multicast
num_instances: *max_num_config_instances num_instances: *max_num_config_instances
default: [1, 0, 0] default: [1, 0, 0]
requires_ethernet: true requires_ethernet: true
MAV_${i}_FLOW_CTRL:
description:
short: Enable serial flow control for instance ${i}
long: |
This is used to force flow control on or off for the the mavlink
instance. By default it is auto detected. Use when auto detction fails.
type: enum
values:
0: Force off
1: Force on
2: Auto-detected
num_instances: *max_num_config_instances
default: [2, 2, 2]