Added rc.mavlink_override to test the new parameters with sitl

ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt

@@ -36,4 +36,5 @@ add_subdirectory(airframes)
 px4_add_romfs_files(
 	rc.replay
 	rcS
+	rc.mavlink_override
 )

ROMFS/px4fmu_common/init.d-posix/rc.mavlink_override

@@ -0,0 +1,30 @@
+#!/bin/sh
+. px4-alias.sh
+
+# using parameters to open mavlink channels
+
+for i in 0 1 2
+do
+if param greater MAV_${i}_BROADCAST 0
+then
+		set MAV_ARGS "-u p:MAV_${i}_UDP_PRT -o p:MAV_${i}_REMOTE_PRT -m p:MAV_${i}_MODE -r p:MAV_${i}_RATE"
+	
+		if param compare MAV_${i}_BROADCAST 1
+		then
+			set MAV_ARGS "${MAV_ARGS} -p"
+		fi
+	
+		if param compare MAV_${i}_BROADCAST 2
+		then
+			set MAV_ARGS "${MAV_ARGS} -c"
+		fi
+	
+		if param compare MAV_${i}_FORWARD 1
+		then
+			set MAV_ARGS "${MAV_ARGS} -f"
+		fi
+	
+		mavlink start ${MAV_ARGS}
+		echo "Starting mavlink with command: mavlink start ${MAV_ARGS}"
+fi
+done

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -262,7 +262,7 @@ else
 	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
+	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote -p
 fi
 
 # execute autostart post script if any

boards/px4/sitl/default.cmake

@@ -7,6 +7,7 @@ px4_add_board(
 	LABEL default
 	EMBEDDED_METADATA parameters
 	TESTING
+	ETHERNET
 	DRIVERS
 		#barometer # all available barometer drivers
 		#batt_smbus

src/modules/mavlink/module.yaml

@@ -11,6 +11,10 @@ serial_config:
             then
                 set MAV_ARGS "${MAV_ARGS} -p"
             fi
+            if param compare MAV_${i}_BROADCAST 2
+            then
+                set MAV_ARGS "${MAV_ARGS} -c"
+            fi
         fi
         if param compare MAV_${i}_FORWARD 1
         then