From eb5940758647b11d43fcd14bda73e77f12d32483 Mon Sep 17 00:00:00 2001
From: acfloria <florian.achermann@mavt.ethz.ch>
Date: Tue, 7 Aug 2018 14:44:48 +0200
Subject: [PATCH] Fix starting the iridium driver in the start script

---
 ROMFS/px4fmu_common/init.d/rc.mavlink | 16 +++++++++++-----
 src/modules/systemlib/system_params.c |  2 +-
 2 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/rc.mavlink b/ROMFS/px4fmu_common/init.d/rc.mavlink
index 7e04548cfc..fb7e449aae 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mavlink
+++ b/ROMFS/px4fmu_common/init.d/rc.mavlink
@@ -109,11 +109,6 @@ if param compare SYS_COMPANION 319200
 then
 	mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 19200 -r 1000 -f
 fi
-if param compare SYS_COMPANION 419200
-then
-	iridiumsbd start -d ${MAVLINK_COMPANION_DEVICE}
-	mavlink start -d /dev/iridium -b 19200 -m iridium -r 10
-fi
 if param compare SYS_COMPANION 519200
 then
 	mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 19200 -m minimal -r 1000
@@ -162,6 +157,17 @@ if param compare SYS_COMPANION 3115200
 then
 	mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 115200 -r 1000 -f
 fi
+if param compare SYS_COMPANION 4115200
+then
+	usleep 200000 			# add a sleep here to make sure that the module is powered
+	if iridiumsbd start -d ${MAVLINK_COMPANION_DEVICE}
+	then
+		mavlink start -d /dev/iridium -m iridium -b 115200
+	else
+		echo "WARN: Iridiumsbd driver not started, reboot"
+		tune_control play -m "ML<<CP4CP4CP4CP4CP4"
+	fi
+fi
 if param compare SYS_COMPANION 5115200
 then
 	mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 115200 -m minimal -r 1000
diff --git a/src/modules/systemlib/system_params.c b/src/modules/systemlib/system_params.c
index e225589d6a..1e56f54329 100644
--- a/src/modules/systemlib/system_params.c
+++ b/src/modules/systemlib/system_params.c
@@ -125,7 +125,7 @@ PARAM_DEFINE_INT32(SYS_MC_EST_GROUP, 2);
  * @value 338400 Normal Telemetry (38400 baud, 8N1)
  * @value 357600 Normal Telemetry (57600 baud, 8N1)
  * @value 3115200 Normal Telemetry (115200 baud, 8N1)
- * @value 419200 Iridium Telemetry (19200 baud, 8N1)
+ * @value 4115200 Iridium Telemetry (115200 baud, 8N1)
  * @value 519200 Minimal Telemetry (19200 baud, 8N1)
  * @value 538400 Minimal Telemetry (38400 baud, 8N1)
  * @value 557600 Minimal Telemetry (57600 baud, 8N1)