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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-10 07:21:35 +08:00
Daniel Agar
6d78054f50
- no longer start sercon or mavlink usb by default - on USB connection (VBUS) monitor serial USB at low rate and start Mavlink if there's a HEARTBEAT or nshterm on 3 consecutive carriage returns - the mavlink USB instance is automatically stopped and serdis executed if USB is disconnected - skipping Mavlink USB (and sercon) saves a considerable amount of memory on older boards
17 lines
522 B
Bash
17 lines
522 B
Bash
#!/bin/sh
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#
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# board specific MAVLink startup script.
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#------------------------------------------------------------------------------
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set GIMBAL_TTY /dev/ttyS3
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set MAV_RATE 40000
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set BAUDRATE 500000
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mavlink start -r ${MAV_RATE} -d ${GIMBAL_TTY} -b ${BAUDRATE}
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mavlink stream -d ${GIMBAL_TTY} -s SYSTEM_TIME -r 0.5
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mavlink stream -d ${GIMBAL_TTY} -s AUTOPILOT_STATE_FOR_GIMBAL_DEVICE -r 20
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mavlink stream -d ${GIMBAL_TTY} -s GIMBAL_DEVICE_SET_ATTITUDE -r 20
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# optical flow
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mavlink start -d /dev/ttyS2 -m custom -b 500000
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