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Add RTPS cmake config for AeroFC

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Adding a seperate cmake config to support RTPS messaging on AeroFC. This will
include compiling protocol_splitter and micrortps_client, and starting both
of them at boot time.
This commit is contained in:
Avinash Reddy Palleti
2017-11-21 14:14:13 +05:30
committed by Beat Küng
parent 8873d2d696
commit 456227f39e
2 changed files with 19 additions and 1 deletions
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11
ROMFS/px4fmu_common/init.d/rcS
View File

@@ -597,8 +597,19 @@ then
fi fi
if param compare SYS_COMPANION 921600 if param compare SYS_COMPANION 921600
then then
if ver hwcmp AEROFC_V1
then
if protocol_splitter start ${MAVLINK_COMPANION_DEVICE}
then
mavlink start -d /dev/mavlink -b 921600 -m onboard -r 5000 -x
micrortps_client start -d /dev/rtps -b 0 -l -1 -s 2000
else
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f
fi fi
else
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f
fi
fi
if param compare SYS_COMPANION 57600 if param compare SYS_COMPANION 57600
then then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m onboard -r 5000 -x -f mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m onboard -r 5000 -x -f

7
cmake/configs/nuttx_aerofc-v1_rtps.cmake Normal file
View File

@@ -0,0 +1,7 @@
include(configs/nuttx_aerofc-v1_default)
list(APPEND config_module_list
modules/micrortps_bridge
drivers/protocol_splitter
)