From 8a2089e257e6e3762601aad6eaca3245cbd59a46 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 21 Aug 2014 14:30:17 +0200 Subject: [PATCH] Enable TELEM2 MAVLink, forward local pos at 30 Hz if connected via USB --- ROMFS/px4fmu_common/init.d/rc.usb | 1 + ROMFS/px4fmu_common/init.d/rcS | 5 ++++- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb index ee040a706d..b3de8e5907 100644 --- a/ROMFS/px4fmu_common/init.d/rc.usb +++ b/ROMFS/px4fmu_common/init.d/rc.usb @@ -25,6 +25,7 @@ mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20 usleep 100000 mavlink stream -d /dev/ttyACM0 -s POSITION_TARGET_GLOBAL_INT -r 10 usleep 100000 +mavlink stream -d /dev/ttyACM0 -s LOCAL_POSITION_NED -r 30 # Exit shell to make it available to MAVLink exit diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 11e6995037..5f7a205dcb 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -450,7 +450,10 @@ then # # MAVLink onboard / TELEM2 # - mavlink start -d /dev/ttyS2 -b 230400 + if ver hwcmp PX4FMU_V2 + then + mavlink start -d /dev/ttyS2 -b 230400 + fi # # Sensors, Logging, GPS