From 815f813d346c53ef1bc799fb99f3d96689b43b45 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 2 Sep 2020 06:40:22 +1000
Subject: [PATCH] AP_SerialManager: allow for other baudrates for MSP

---
 libraries/AP_SerialManager/AP_SerialManager.cpp | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_SerialManager/AP_SerialManager.cpp b/libraries/AP_SerialManager/AP_SerialManager.cpp
index c5a8df494f..b491e4fd04 100644
--- a/libraries/AP_SerialManager/AP_SerialManager.cpp
+++ b/libraries/AP_SerialManager/AP_SerialManager.cpp
@@ -488,8 +488,12 @@ void AP_SerialManager::init()
 #if HAL_MSP_ENABLED                    
                 case SerialProtocol_MSP:
                 case SerialProtocol_DJI_FPV:
-                    // Note baudrate is hardcoded to 115200
-                    state[i].baud = AP_SERIALMANAGER_MSP_BAUD/1000; // update baud param in case user looks at it
+                    // baudrate defaults to 115200
+                    state[i].baud.set_default(AP_SERIALMANAGER_MSP_BAUD/1000);
+                    state[i].uart->begin(map_baudrate(state[i].baud),
+                                         AP_SERIALMANAGER_MSP_BUFSIZE_RX,
+                                         AP_SERIALMANAGER_MSP_BUFSIZE_TX);
+                    state[i].uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
                     // Note init is handled by AP_MSP
                     break;
 #endif