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Added support in Mavlink Ethernet channel parameters

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Mavlink Ethernet channel settings such as udp port, remote port and broadcast mode now can be changed dynamically via parameters.
This commit is contained in:
garfieldG
2021-01-31 05:36:27 -08:00
committed by David Sidrane
parent b66a9629e0
commit 3cd9b3c2cf
36 changed files with 242 additions and 85 deletions
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3
ROMFS/CMakeLists.txt
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@@ -81,6 +81,9 @@ file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
if (px4_constrained_flash_build)
set(added_arguments --constrained-flash)
endif()
if(PX4_ETHERNET)
set(added_arguments ${added_arguments} --ethernet)
endif()
# create list of relative romfs file names
set(romfs_copy_files_relative)
foreach(romfs_file IN LISTS romfs_copy_files)

2
ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid.post
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@@ -1,2 +1,2 @@
# shellcheck disable=SC2154
mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 # add mavlink stream for SDK
mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK

1
ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1
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@@ -38,7 +38,6 @@ then
param set NAV_LOITER_RAD 100
param set RWTO_TKOFF 1
param set MAV_BROADCAST 1
param set FW_ARSP_SCALE_EN 0

2
ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480.post
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@@ -1,7 +1,7 @@
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
# shellcheck disable=SC2154
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local

2
ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_ctrlalloc.post
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@@ -1,7 +1,7 @@
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
# shellcheck disable=SC2154
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local

6
ROMFS/px4fmu_common/init.d-posix/rcS
View File

@@ -244,7 +244,7 @@ then
sh etc/init.d-posix/rc.mavlink_override
else
# GCS link
mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
mavlink start -x -u $udp_gcs_port_local -r 4000000 -f -p
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
@@ -256,10 +256,10 @@ else
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
# API/Offboard link
mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote -p
# Onboard link to camera
mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote -p
# Onboard link to gimbal
mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote