From d03d46b8a302152dafabfed9a8073aae13abbcee Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lorenz@px4.io>
Date: Sun, 7 Feb 2021 16:10:12 +0100
Subject: [PATCH] Initialize MAVLink on v5X variants This will ensure that the
 different baseboard configurations are properly accounted for depending on HW
 variants.

---
 boards/px4/fmu-v5x/init/rc.board_mavlink | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/boards/px4/fmu-v5x/init/rc.board_mavlink b/boards/px4/fmu-v5x/init/rc.board_mavlink
index 659180f688..4da9b1f0ad 100644
--- a/boards/px4/fmu-v5x/init/rc.board_mavlink
+++ b/boards/px4/fmu-v5x/init/rc.board_mavlink
@@ -3,5 +3,11 @@
 # PX4 FMUv5X specific board MAVLink startup script.
 #------------------------------------------------------------------------------
 
+if ver hwtypecmp V5Xa0 V5X91 V5Xa1
+then
+# Start MAVLink on the UART connected to the mission computer
+mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard -x -z
+else
 # Start MAVLink on the USB port
 mavlink start -d /dev/ttyACM0
+fi