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mavlink: option to specify the UDP remote port

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This enables using several mavlink instances for SITL.
This commit is contained in:
Julian Oes 2016-01-15 10:48:43 -08:00 committed by Lorenz Meier
parent 3d282e4ee8
commit b44f20d705
2 changed files with 23 additions and 7 deletions
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27
src/modules/mavlink/mavlink_main.cpp
View File

@ -185,6 +185,7 @@ Mavlink::Mavlink() :
_socket_fd(-1),
_protocol(SERIAL),
_network_port(14556),
_remote_port(DEFAULT_REMOTE_PORT_UDP),
_rstatus {},
_message_buffer {},
_message_buffer_mutex {},
@ -1056,7 +1057,7 @@ Mavlink::init_udp()
if (_mode != MAVLINK_MODE_ONBOARD) {
_src_addr.sin_family = AF_INET;
inet_aton("127.0.0.1", &_src_addr.sin_addr);
_src_addr.sin_port = htons(DEFAULT_REMOTE_PORT_UDP);
_src_addr.sin_port = htons(_remote_port);
set_client_source_initialized();
}
@ -1064,7 +1065,7 @@ Mavlink::init_udp()
memset((char *)&_bcast_addr, 0, sizeof(_bcast_addr));
_bcast_addr.sin_family = AF_INET;
inet_aton("255.255.255.255", &_bcast_addr.sin_addr);
_bcast_addr.sin_port = htons(DEFAULT_REMOTE_PORT_UDP);
_bcast_addr.sin_port = htons(_remote_port);
#endif
}
@ -1521,7 +1522,7 @@ Mavlink::task_main(int argc, char *argv[])
char* eptr;
int temp_int_arg;
while ((ch = px4_getopt(argc, argv, "b:r:d:u:m:fpvwx", &myoptind, &myoptarg)) != EOF) {
while ((ch = px4_getopt(argc, argv, "b:r:d:u:o:m:fpvwx", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'b':
_baudrate = strtoul(myoptarg, NULL, 10);
@ -1547,7 +1548,7 @@ Mavlink::task_main(int argc, char *argv[])
_device_name = myoptarg;
set_protocol(SERIAL);
break;
case 'u':
temp_int_arg = strtoul(myoptarg, &eptr, 10);
if ( *eptr == '\0' ) {
@ -1559,6 +1560,18 @@ Mavlink::task_main(int argc, char *argv[])
}
break;
case 'o':
temp_int_arg = strtoul(myoptarg, &eptr, 10);
if ( *eptr == '\0' ) {
warnx("set remote port %d", temp_int_arg);
_remote_port = temp_int_arg;
set_protocol(UDP);
} else {
warnx("invalid remote udp_port '%s'", myoptarg);
err_flag = true;
}
break;
// case 'e':
// mavlink_link_termination_allowed = true;
// break;
@ -1868,7 +1881,7 @@ Mavlink::task_main(int argc, char *argv[])
hrt_abstime t = hrt_absolute_time();
update_rate_mult();
_mission_manager->check_active_mission();
if (param_sub->update(&param_time, nullptr)) {
@ -1880,7 +1893,7 @@ Mavlink::task_main(int argc, char *argv[])
if (_uart_fd >= 0 && _radio_id != 0 && _rstatus.type == telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO) {
/* request to configure radio and radio is present */
FILE *fs = fdopen(_uart_fd, "w");
if (fs) {
/* switch to AT command mode */
usleep(1200000);
@ -2320,7 +2333,7 @@ Mavlink::stream_command(int argc, char *argv[])
static void usage()
{
warnx("usage: mavlink {start|stop-all|stream} [-d device] [-u udp_port] [-b baudrate]\n\t[-r rate][-m mode] [-s stream] [-f] [-p] [-v] [-w] [-x]");
warnx("usage: mavlink {start|stop-all|stream} [-d device] [-u network_port] [-o remote_port] [-b baudrate]\n\t[-r rate][-m mode] [-s stream] [-f] [-p] [-v] [-w] [-x]");
}
int mavlink_main(int argc, char *argv[])

3
src/modules/mavlink/mavlink_main.h
View File

@ -337,6 +337,8 @@ public:
unsigned short get_network_port() { return _network_port; }
unsigned short get_remote_port() { return _remote_port; }
int get_socket_fd () { return _socket_fd; };
#ifdef __PX4_POSIX
struct sockaddr_in * get_client_source_address() { return &_src_addr; }
@ -441,6 +443,7 @@ private:
int _socket_fd;
Protocol _protocol;
unsigned short _network_port;
unsigned short _remote_port;
struct telemetry_status_s _rstatus; ///< receive status