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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
Download Patch File Download Diff File Expand all files Collapse all files

2
posix-configs/SITL/init/test/cmd_template.in
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@@ -16,7 +16,7 @@ pwm_out_sim start
ver all
mavlink start -x -u 14556 -r 2000000
mavlink start -x -u 14556 -r 2000000 -p
mavlink boot_complete
@cmd_name@ start

2
posix-configs/SITL/init/test/test_mavlink
View File

@@ -16,7 +16,7 @@ pwm_out_sim start
ver all
mavlink start -x -u 14556 -r 2000000
mavlink start -x -u 14556 -r 2000000 -p
mavlink boot_complete
tests mavlink

3
posix-configs/bbblue/px4.config
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@@ -29,7 +29,6 @@ param set SYS_AUTOSTART 4011
# Broadcast heartbeats on local network. This allows a ground control station
# to automatically find the drone on the local network.
param set MAV_BROADCAST 1
# MAV_TYPE: 1 Fixed wing aircraft, 2 Quadrotor
param set MAV_TYPE 2
@@ -73,7 +72,7 @@ mc_pos_control start
mc_att_control start
mc_rate_control start
mavlink start -n SoftAp -x -u 14556 -r 1000000
mavlink start -n SoftAp -x -u 14556 -r 1000000 -p
# -n name of wifi interface: SoftAp, wlan or your custom interface,
# e.g., -n SoftAp . The default is wlan

3
posix-configs/bbblue/px4_fw.config
View File

@@ -29,7 +29,6 @@ param set SYS_AUTOSTART 4011
# Broadcast heartbeats on local network. This allows a ground control station
# to automatically find the drone on the local network.
param set MAV_BROADCAST 1
# MAV_TYPE: 1 Fixed wing aircraft, 2 Quadrotor
param set MAV_TYPE 2
@@ -68,7 +67,7 @@ land_detector start fixedwing
fw_att_control start
fw_pos_control_l1 start
mavlink start -n SoftAp -x -u 14556 -r 1000000
mavlink start -n SoftAp -x -u 14556 -r 1000000 -p
# -n name of wifi interface: SoftAp, wlan or your custom interface,
# e.g., -n wlan . The default on BBBlue is SoftAp

3
posix-configs/eagle/200qx/mainapp.config
View File

@@ -9,10 +9,9 @@ logger start -t -b 200
# Wait 1s before setting parameters for muorb to initialize
sleep 1
param set CBRK_SUPPLY_CHK 894281
param set MAV_BROADCAST 1
dataman start
navigator start
mavlink start -x -u 14556 -r 1000000
mavlink start -x -u 14556 -r 1000000 -p
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
mavlink stream -u 14556 -s ATTITUDE -r 50

3
posix-configs/eagle/210qc/mainapp.config
View File

@@ -9,10 +9,9 @@ logger start -t -b 200
# Wait 1s before setting parameters for muorb to initialize
sleep 1
param set CBRK_SUPPLY_CHK 894281
param set MAV_BROADCAST 1
dataman start
navigator start
mavlink start -x -u 14556 -r 1000000
mavlink start -x -u 14556 -r 1000000 -p
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
mavlink stream -u 14556 -s ATTITUDE -r 50

3
posix-configs/eagle/flight/mainapp.config
View File

@@ -9,10 +9,9 @@ logger start -t -b 200
# Wait 1s before setting parameters for muorb to initialize
sleep 1
param set CBRK_SUPPLY_CHK 894281
param set MAV_BROADCAST 1
dataman start
navigator start
mavlink start -x -u 14556 -r 1000000
mavlink start -x -u 14556 -r 1000000 -p
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
mavlink stream -u 14556 -s ATTITUDE -r 50

3
posix-configs/eagle/hil/mainapphil.config
View File

@@ -2,8 +2,7 @@ muorb start
# Wait 1s before setting parameters for muorb to initialize
sleep 1
param set CBRK_SUPPLY_CHK 894281
param set MAV_BROADCAST 1
mavlink start -x -u 14556
mavlink start -x -u 14556 -p
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
mavlink stream -u 14556 -s ATTITUDE -r 50

3
posix-configs/eagle/init/rcS
View File

@@ -94,10 +94,9 @@ qshell mc_rate_control start
logger start -b 200 -t
param set MAV_BROADCAST 1
dataman start
navigator start
mavlink start -u 14556 -r 1000000
mavlink start -u 14556 -r 1000000 -p
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
mavlink stream -u 14556 -s ATTITUDE -r 50
mavlink stream -u 14556 -s RC_CHANNELS -r 20

3
posix-configs/excelsior/mainapp.config
View File

@@ -6,11 +6,10 @@
muorb start
logger start -e -t
param set CBRK_SUPPLY_CHK 894281
param set MAV_BROADCAST 1
dataman start
navigator start
sleep 2
mavlink start -x -u 14556 -r 1000000
mavlink start -x -u 14556 -r 1000000 -p
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
mavlink stream -u 14556 -s ATTITUDE -r 50

1
posix-configs/ocpoc/px4.config
View File

@@ -10,7 +10,6 @@ then
fi
param set CBRK_SUPPLY_CHK 894281
param set SYS_AUTOSTART 4001
param set MAV_BROADCAST 1
param set MAV_TYPE 2
param set MAV_SYS_ID 1

3
posix-configs/rpi/pilotpi_fw.config
View File

@@ -11,7 +11,6 @@ fi
# system_power not implemented
param set CBRK_SUPPLY_CHK 894281
# broadcast to LAN
param set MAV_BROADCAST 1
# always keep current config
param set SYS_AUTOCONFIG 0
# useless but required for parameter completeness
@@ -71,7 +70,7 @@ flight_mode_manager start
fw_att_control start
fw_pos_control_l1 start
mavlink start -x -u 14556 -r 1000000
mavlink start -x -u 14556 -r 1000000 -p
# Telem
mavlink start -x -Z -d /dev/ttySC1

3
posix-configs/rpi/pilotpi_mc.config
View File

@@ -11,7 +11,6 @@ fi
# system_power not implemented
param set CBRK_SUPPLY_CHK 894281
# broadcast to LAN
param set MAV_BROADCAST 1
# always keep current config
param set SYS_AUTOCONFIG 0
# useless but required for parameter completeness
@@ -69,7 +68,7 @@ mc_pos_control start
mc_att_control start
mc_rate_control start
mavlink start -x -u 14556 -r 1000000
mavlink start -x -u 14556 -r 1000000 -p
# Telem
mavlink start -x -Z -d /dev/ttySC1

3
posix-configs/rpi/px4.config
View File

@@ -11,7 +11,6 @@ then
fi
param set CBRK_SUPPLY_CHK 894281
param set SYS_AUTOSTART 4001
param set MAV_BROADCAST 1
param set MAV_TYPE 2
param set IMU_GYRO_RATEMAX 400
@@ -48,7 +47,7 @@ mc_pos_control start
mc_att_control start
mc_rate_control start
mavlink start -x -u 14556 -r 1000000
mavlink start -x -u 14556 -r 1000000 -p
if [ -c /dev/ttyUSB0 ]
then

3
posix-configs/rpi/px4_fw.config
View File

@@ -10,7 +10,6 @@ then
param load
fi
param set CBRK_SUPPLY_CHK 894281
param set MAV_BROADCAST 1
param set SYS_AUTOSTART 2100
param set MAV_TYPE 1
param set IMU_GYRO_RATEMAX 400
@@ -46,7 +45,7 @@ land_detector start fixedwing
fw_att_control start
fw_pos_control_l1 start
mavlink start -x -u 14556 -r 1000000
mavlink start -x -u 14556 -r 1000000 -p
if [ -c /dev/ttyUSB0 ]
then

3
posix-configs/rpi/px4_hil.config
View File

@@ -13,7 +13,6 @@ then
fi
param set CBRK_SUPPLY_CHK 894281
param set SYS_AUTOSTART 1001
param set MAV_BROADCAST 1
param set MAV_TYPE 2
# Multi-EKF
@@ -38,7 +37,7 @@ mc_pos_control start
mc_att_control start
mc_rate_control start
mavlink start -x -u 14577 -r 1000000
mavlink start -x -u 14577 -r 1000000 -p
navio_sysfs_rc_in start
pwm_out_sim start
mixer load /dev/pwm_output0 etc/mixers/quad_x.main.mix

3
posix-configs/rpi/px4_test.config
View File

@@ -11,7 +11,6 @@ then
fi
param set CBRK_SUPPLY_CHK 894281
param set SYS_AUTOSTART 4001
param set MAV_BROADCAST 1
param set MAV_TYPE 2
param set IMU_GYRO_RATEMAX 400
@@ -47,7 +46,7 @@ flight_mode_manager start
mc_pos_control start
mc_att_control start
mavlink start -x -u 14556 -r 1000000
mavlink start -x -u 14556 -r 1000000 -p
if [ -c /dev/ttyUSB0 ]
then