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Mavlink startup script per board

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-moved rc.mavlink to the boards optional rc additions (now it's called rc.board_mavlink) to handle board specific mavlink needs (mavlink over usb, ethernet, additional streams, etc.)
-mavlink module will be responsible to usb defaults, therefore less args are needed to be passed to mavlink module if one wants to use mavlink over usb.
-the way to check if connection is usb is by it's designated variable and not by config mode.
This commit is contained in:
garfieldG
2019-09-19 01:47:32 -07:00
committed by Daniel Agar
parent fdefaf1ad3
commit bbb96cbd0c
21 changed files with 139 additions and 35 deletions
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src/modules/mavlink/mavlink_main.cpp
+24 -9
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@@ -586,7 +586,7 @@ Mavlink::mavlink_open_uart(const int baud, const char *uart_name, const bool for
}
/* back off 1800 ms to avoid running into the USB setup timing */
while (_mode == MAVLINK_MODE_CONFIG &&
while (_is_usb_uart &&
hrt_absolute_time() < 1800U * 1000U) {
px4_usleep(50000);
}
@@ -595,7 +595,7 @@ Mavlink::mavlink_open_uart(const int baud, const char *uart_name, const bool for
_uart_fd = ::open(uart_name, O_RDWR | O_NOCTTY);
/* if this is a config link, stay here and wait for it to open */
if (_uart_fd < 0 && _mode == MAVLINK_MODE_CONFIG) {
if (_uart_fd < 0 && _is_usb_uart) {
uORB::SubscriptionData<actuator_armed_s> armed_sub{ORB_ID(actuator_armed)};
@@ -628,7 +628,6 @@ Mavlink::mavlink_open_uart(const int baud, const char *uart_name, const bool for
/* Try to set baud rate */
struct termios uart_config;
int termios_state;
_is_usb_uart = false;
/* Initialize the uart config */
if ((termios_state = tcgetattr(_uart_fd, &uart_config)) < 0) {
@@ -640,8 +639,7 @@ Mavlink::mavlink_open_uart(const int baud, const char *uart_name, const bool for
/* Clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* USB serial is indicated by /dev/ttyACM0*/
if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/ttyACM1") != OK) {
if (!_is_usb_uart) {
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
@@ -651,7 +649,6 @@ Mavlink::mavlink_open_uart(const int baud, const char *uart_name, const bool for
}
} else {
_is_usb_uart = true;
/* USB has no baudrate, but use a magic number for 'fast' */
_baudrate = 2000000;
@@ -1835,7 +1832,7 @@ Mavlink::task_main(int argc, char *argv[])
int ch;
_baudrate = 57600;
_datarate = 0;
_mode = MAVLINK_MODE_NORMAL;
_mode = MAVLINK_MODE_COUNT;
bool _force_flow_control = false;
_interface_name = nullptr;
@@ -2059,6 +2056,24 @@ Mavlink::task_main(int argc, char *argv[])
return PX4_ERROR;
}
/* USB serial is indicated by /dev/ttyACM0*/
if (strcmp(_device_name, "/dev/ttyACM0") == OK || strcmp(_device_name, "/dev/ttyACM1") == OK) {
if (_datarate == 0) {
_datarate = 800000;
}
if (_mode == MAVLINK_MODE_COUNT) {
_mode = MAVLINK_MODE_CONFIG;
}
_ftp_on = true;
_is_usb_uart = true;
}
if (_mode == MAVLINK_MODE_COUNT) {
_mode = MAVLINK_MODE_NORMAL;
}
if (_datarate == 0) {
/* convert bits to bytes and use 1/2 of bandwidth by default */
_datarate = _baudrate / 20;
@@ -2083,11 +2098,11 @@ Mavlink::task_main(int argc, char *argv[])
/* default values for arguments */
_uart_fd = mavlink_open_uart(_baudrate, _device_name, _force_flow_control);
if (_uart_fd < 0 && _mode != MAVLINK_MODE_CONFIG) {
if (_uart_fd < 0 && !_is_usb_uart) {
PX4_ERR("could not open %s", _device_name);
return PX4_ERROR;
} else if (_uart_fd < 0 && _mode == MAVLINK_MODE_CONFIG) {
} else if (_uart_fd < 0 && _is_usb_uart) {
/* the config link is optional */
return OK;
}