serial drivers/modules: add yaml config files

src/modules/mavlink/CMakeLists.txt

@@ -59,6 +59,8 @@ px4_add_module(
 		mavlink_stream.cpp
 		mavlink_ulog.cpp
 		mavlink_timesync.cpp
+	MODULE_CONFIG
+		module.yaml
 	DEPENDS
 		airspeed
 		git_mavlink_v2

src/modules/mavlink/mavlink_main.cpp

@@ -682,6 +682,11 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, bool force_flow_
 	case 1500000: speed = B1500000; break;
 #endif
 
+#ifdef B2000000
+
+	case 2000000: speed = B2000000; break;
+#endif
+
 #ifdef B3000000
 
 	case 3000000: speed = B3000000; break;

src/modules/mavlink/module.yaml

@@ -0,0 +1,78 @@
+__max_num_config_instances: &max_num_config_instances 3
+
+module_name: MAVLink
+serial_config:
+    - command: |
+        set MAV_ARGS "-b p:${BAUD_PARAM} -m p:MAV_${i}_MODE -r p:MAV_${i}_RATE"
+        if param compare MAV_${i}_FORWARD 1
+        then
+            set MAV_ARGS "${MAV_ARGS} -f"
+        fi
+        mavlink start -d ${SERIAL_DEV} ${MAV_ARGS} -x
+      port_config_param:
+        name: MAV_${i}_CONFIG
+        group: MAVLink
+        # MAVLink instances:
+        # 0: Telem1 Port (Telemetry Link)
+        # 1: Telem2 Port (Companion Link). Disabled by default to reduce RAM usage
+        # 2: Board-specific / no fixed function or port
+        default: [TEL1, "", ""]
+      num_instances: *max_num_config_instances
+
+parameters:
+    - group: MAVLink
+      definitions:
+        MAV_${i}_MODE:
+            description:
+                short: MAVLink Mode for instance ${i}
+                long: |
+                    The MAVLink Mode defines the set of streamed messages (for example the
+                    vehicle's attitude) and their sending rates.
+
+            type: enum
+            values:
+                0: Normal
+                1: Custom
+                2: Onboard
+                3: OSD
+                4: Magic
+                5: Config
+                6: Iridium
+                7: Minimal
+            reboot_required: true
+            num_instances: *max_num_config_instances
+            default: [0, 2, 0]
+
+        MAV_${i}_RATE:
+            description:
+                short: Maximum MAVLink sending rate for instance ${i}
+                long: |
+                    Configure the maximum sending rate for the MAVLink streams in Bytes/sec.
+                    If the configured streams exceed the maximum rate, the sending rate of
+                    each stream is automatically decreased.
+
+                    If this is set to 0, a value of <baudrate>/20 is used, which corresponds to
+                    half of the theoretical maximum bandwidth.
+
+            type: int32
+            min: 0
+            unit: B/s
+            reboot_required: true
+            num_instances: *max_num_config_instances
+            default: [1200, 0, 0]
+
+        MAV_${i}_FORWARD:
+            description:
+                short: Enable MAVLink Message forwarding for instance ${i}
+                long: |
+                    If enabled, forward incoming MAVLink messages to other MAVLink ports if the
+                    message is either broadcast or the target is not the autopilot.
+
+                    This allows for example a GCS to talk to a camera that is connected to the
+                    autopilot via MAVLink (on a different link than the GCS).
+
+            type: boolean
+            reboot_required: true
+            num_instances: *max_num_config_instances
+            default: [true, false, false]
+

src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt

@@ -106,6 +106,8 @@ if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_t
 			microRTPS_client_main.cpp
 			${msg_out_path}/micrortps_client/microRTPS_client.cpp
 			${msg_out_path}/micrortps_client/microRTPS_transport.cpp
+		MODULE_CONFIG
+			module.yaml
 		DEPENDS
 			topic_bridge_files
 	)

src/modules/micrortps_bridge/micrortps_client/module.yaml

@@ -0,0 +1,17 @@
+module_name: RTPS
+serial_config:
+    - command: |
+        protocol_splitter start ${SERIAL_DEV}
+        mavlink start -d /dev/mavlink -b p:${BAUD_PARAM} -m onboard -r 5000 -x
+        micrortps_client start -d /dev/rtps -b p:${BAUD_PARAM} -l -1
+      port_config_param:
+        name: RTPS_MAV_CONFIG
+        group: RTPS
+      label: MAVLink + FastRTPS
+    - command: |
+        micrortps_client start -d ${SERIAL_DEV} -b p:${BAUD_PARAM} -l -1
+      port_config_param:
+        name: RTPS_CONFIG
+        group: RTPS
+      label: FastRTPS
+