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romfs: allow to use another uart for companion

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Right now it's only possible to use ttyS2 as the UART for connecting a
companion computer. Add a variable that can be set so other boards may
be better supported.
This commit is contained in:
Lucas De Marchi
2016-11-10 21:35:17 -02:00
committed by Lorenz Meier
parent 4943437327
commit 1360c26c62
1 changed files with 11 additions and 9 deletions
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20
ROMFS/px4fmu_common/init.d/rcS
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@@ -145,6 +145,7 @@ then
set FMU_MODE pwm
set AUX_MODE pwm
set MAVLINK_F default
set MAVLINK_COMPANION_DEVICE /dev/ttyS2
set EXIT_ON_END no
set MAV_TYPE none
set FAILSAFE none
@@ -547,7 +548,7 @@ then
# but this works for now
if param compare SYS_COMPANION 10
then
frsky_telemetry start -d /dev/ttyS2
frsky_telemetry start -d $MAVLINK_COMPANION_DEVICE
fi
if param compare SYS_COMPANION 20
then
@@ -556,38 +557,39 @@ then
fi
if param compare SYS_COMPANION 921600
then
mavlink start -d /dev/ttyS2 -b 921600 -m onboard -r 80000 -x
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 921600 -m onboard -r 80000 -x
fi
if param compare SYS_COMPANION 57600
then
mavlink start -d /dev/ttyS2 -b 57600 -m onboard -r 5000 -x
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 57600 -m onboard -r 5000 -x
fi
if param compare SYS_COMPANION 157600
then
mavlink start -d /dev/ttyS2 -b 57600 -m osd -r 1000
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 57600 -m osd -r 1000
fi
if param compare SYS_COMPANION 257600
then
mavlink start -d /dev/ttyS2 -b 57600 -m magic -r 5000 -x
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 57600 -m magic -r 5000 -x
fi
if param compare SYS_COMPANION 319200
then
mavlink start -d /dev/ttyS2 -b 19200 -r 1000
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 19200 -r 1000
fi
if param compare SYS_COMPANION 338400
then
mavlink start -d /dev/ttyS2 -b 38400 -r 1000
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 38400 -r 1000
fi
if param compare SYS_COMPANION 357600
then
mavlink start -d /dev/ttyS2 -b 57600 -r 1000
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 57600 -r 1000
fi
if param compare SYS_COMPANION 1921600
then
mavlink start -d /dev/ttyS2 -b 921600 -r 20000
mavlink start -d $MAVLINK_COMPANION_DEVICE -b 921600 -r 20000
fi
fi
unset MAVLINK_COMPANION_DEVICE
#
# Starting stuff according to UAVCAN_ENABLE value