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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Hamish Willee
27ef1899c7
* Fix up MAV_X_RATE as html tag doesn't render * Update src/modules/mavlink/module.yaml Co-Authored-By: Beat Küng <beat-kueng@gmx.net>
81 lines
2.9 KiB
YAML
81 lines
2.9 KiB
YAML
__max_num_config_instances: &max_num_config_instances 3
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module_name: MAVLink
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serial_config:
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- command: |
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set MAV_ARGS "-b p:${BAUD_PARAM} -m p:MAV_${i}_MODE -r p:MAV_${i}_RATE"
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if param compare MAV_${i}_FORWARD 1
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then
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set MAV_ARGS "${MAV_ARGS} -f"
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fi
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mavlink start -d ${SERIAL_DEV} ${MAV_ARGS} -x
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port_config_param:
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name: MAV_${i}_CONFIG
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group: MAVLink
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# MAVLink instances:
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# 0: Telem1 Port (Telemetry Link)
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# 1: Telem2 Port (Companion Link). Disabled by default to reduce RAM usage
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# 2: Board-specific / no fixed function or port
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default: [TEL1, "", ""]
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num_instances: *max_num_config_instances
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parameters:
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- group: MAVLink
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definitions:
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MAV_${i}_MODE:
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description:
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short: MAVLink Mode for instance ${i}
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long: |
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The MAVLink Mode defines the set of streamed messages (for example the
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vehicle's attitude) and their sending rates.
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type: enum
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values:
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0: Normal
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1: Custom
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2: Onboard
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3: OSD
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4: Magic
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5: Config
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#6: Iridium # as the user does not need to configure this, hide it from the UI
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7: Minimal
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8: External Vision
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reboot_required: true
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num_instances: *max_num_config_instances
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default: [0, 2, 0]
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MAV_${i}_RATE:
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description:
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short: Maximum MAVLink sending rate for instance ${i}
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long: |
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Configure the maximum sending rate for the MAVLink streams in Bytes/sec.
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If the configured streams exceed the maximum rate, the sending rate of
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each stream is automatically decreased.
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If this is set to 0 a value of half of the theoretical maximum bandwidth is used.
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This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on
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8N1-configured links).
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type: int32
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min: 0
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unit: B/s
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reboot_required: true
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num_instances: *max_num_config_instances
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default: [1200, 0, 0]
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MAV_${i}_FORWARD:
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description:
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short: Enable MAVLink Message forwarding for instance ${i}
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long: |
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If enabled, forward incoming MAVLink messages to other MAVLink ports if the
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message is either broadcast or the target is not the autopilot.
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This allows for example a GCS to talk to a camera that is connected to the
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autopilot via MAVLink (on a different link than the GCS).
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type: boolean
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reboot_required: true
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num_instances: *max_num_config_instances
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default: [true, false, false]
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