From fecd96dc28ff6c47c0c25c727ac9737e9037f9bd Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Fri, 4 Dec 2020 08:34:31 +1300 Subject: [PATCH] ROMFS: add remote port for gimbal mavlink instance Previously, we did not set a remote port which meant that the default remote port 14550 was used. This meant that the mavlink instance talking to the gimbal was interfering with the connection to the ground station (on 14550). --- ROMFS/px4fmu_common/init.d-posix/rcS | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS index 5aa031072d..7b535701ae 100644 --- a/ROMFS/px4fmu_common/init.d-posix/rcS +++ b/ROMFS/px4fmu_common/init.d-posix/rcS @@ -110,6 +110,7 @@ udp_offboard_port_remote=$((14540+px4_instance)) udp_onboard_payload_port_local=$((14280+px4_instance)) udp_onboard_payload_port_remote=$((14030+px4_instance)) udp_onboard_gimbal_port_local=$((13030+px4_instance)) +udp_onboard_gimbal_port_remote=$((13280+px4_instance)) udp_gcs_port_local=$((18570+px4_instance)) if [ $AUTOCNF = yes ] @@ -261,7 +262,7 @@ else mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote # Onboard link to gimbal - mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal + mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote fi # execute autostart post script if any