mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-28 11:13:34 +08:00
Beat Küng
300e66ae6a
Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release.
146 lines
3.1 KiB
Plaintext
146 lines
3.1 KiB
Plaintext
#!nsh
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#
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# MAVLink startup script.
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#
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# NOTE: Script variables are declared/initialized/unset in the rcS script.
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#
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if ! ver hwcmp AEROFC_V1
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then
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# Start MAVLink on the USB port
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mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
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fi
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if ver hwcmp PX4FMU_V4
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then
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# Pixracer: start MAVLink on Wifi (ESP8266 port)
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mavlink start -r 20000 -b 921600 -d /dev/ttyS0
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fi
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#
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# SYS_COMPANION transition support. Can be removed after the next release (currently at 1.8.0)
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#
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if param compare SYS_COMPANION 319200
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then
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param set MAV_1_CONFIG 2
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param set MAV_1_RATE 1000
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param set SER_TEL2_BAUD 19200
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 519200
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then
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param set MAV_1_CONFIG 2
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param set MAV_1_MODE 7
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param set MAV_1_RATE 1000
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param set SER_TEL2_BAUD 19200
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 338400
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then
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param set MAV_1_CONFIG 2
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param set MAV_1_RATE 1000
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param set SER_TEL2_BAUD 38400
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 538400
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then
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param set MAV_1_CONFIG 2
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param set MAV_1_MODE 7
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param set MAV_1_RATE 1000
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param set SER_TEL2_BAUD 38400
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 57600
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then
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param set MAV_1_CONFIG 2
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param set MAV_1_MODE 2
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param set MAV_1_RATE 5000
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param set SER_TEL2_BAUD 57600
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 157600
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then
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param set MAV_1_CONFIG 2
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param set MAV_1_MODE 3
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param set MAV_1_RATE 1000
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param set SER_TEL2_BAUD 57600
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 257600
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then
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param set MAV_1_CONFIG 2
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param set MAV_1_MODE 4
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param set MAV_1_RATE 5000
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param set SER_TEL2_BAUD 57600
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 357600
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then
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param set MAV_1_CONFIG 2
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param set MAV_1_RATE 1000
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param set SER_TEL2_BAUD 57600
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 557600
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then
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param set MAV_1_CONFIG 2
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param set MAV_1_RATE 1000
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param set MAV_1_MODE 7
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param set SER_TEL2_BAUD 57600
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 3115200
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then
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param set MAV_1_CONFIG 2
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param set MAV_1_RATE 1000
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param set SER_TEL2_BAUD 115200
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 4115200
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then
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# Iridium
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param set ISBD_CONFIG 2
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 5115200
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then
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param set MAV_1_CONFIG 2
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param set MAV_1_RATE 1000
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param set MAV_1_MODE 7
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param set SER_TEL2_BAUD 115200
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 460800
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then
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param set MAV_1_CONFIG 2
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param set MAV_1_RATE 5000
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param set MAV_1_MODE 2
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param set SER_TEL2_BAUD 460800
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 921600
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then
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param set MAV_1_CONFIG 2
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param set MAV_1_RATE 80000
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param set MAV_1_MODE 2
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param set SER_TEL2_BAUD 921600
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 1921600
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then
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param set MAV_1_CONFIG 2
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param set MAV_1_RATE 20000
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param set SER_TEL2_BAUD 921600
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param set SYS_COMPANION 0
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fi
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if param compare SYS_COMPANION 1500000
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then
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param set MAV_1_CONFIG 2
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param set MAV_1_RATE 140000
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param set MAV_1_MODE 2
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param set SER_TEL2_BAUD 1500000
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param set SYS_COMPANION 0
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fi
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