From a930edf34bed6130717eb2d2052017f50e13603a Mon Sep 17 00:00:00 2001 From: TSC21 Date: Fri, 9 Jul 2021 12:36:29 +0200 Subject: [PATCH] init.d-posix: rcS: allow to use a different startup config to the micrortps_client in UDP --- ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt | 5 +++-- ROMFS/px4fmu_common/init.d-posix/px4-rc.rtps | 4 ++++ ROMFS/px4fmu_common/init.d-posix/rcS | 3 +-- 3 files changed, 8 insertions(+), 4 deletions(-) create mode 100644 ROMFS/px4fmu_common/init.d-posix/px4-rc.rtps diff --git a/ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt index e23ee51fb2..419ed0ed18 100644 --- a/ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt @@ -34,9 +34,10 @@ add_subdirectory(airframes) px4_add_romfs_files( - px4-rc.params - px4-rc.simulator px4-rc.mavlink + px4-rc.params + px4-rc.rtps + px4-rc.simulator rc.replay rcS ) diff --git a/ROMFS/px4fmu_common/init.d-posix/px4-rc.rtps b/ROMFS/px4fmu_common/init.d-posix/px4-rc.rtps new file mode 100644 index 0000000000..d3cfa4f817 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d-posix/px4-rc.rtps @@ -0,0 +1,4 @@ +#!/bin/sh +# shellcheck disable=SC2154 + +micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance)) diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS index f00beb95b7..bce77bce8a 100644 --- a/ROMFS/px4fmu_common/init.d-posix/rcS +++ b/ROMFS/px4fmu_common/init.d-posix/rcS @@ -228,8 +228,7 @@ navigator start # Try to start the micrortps_client with UDP transport if module exists if px4-micrortps_client status > /dev/null 2>&1 then - # shellcheck disable=SC2154 - micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance)) + . px4-rc.rtps fi if param greater -s MNT_MODE_IN -1