Plane: added SERIAL2_BAUD and rename SERIAL3_BAUD to SERIAL1_BAUD

ArduPlane/GCS_Mavlink.pde

@@ -2184,7 +2184,7 @@ GCS_MAVLINK::queued_param_send()
 
     // use at most 30% of bandwidth on parameters. The constant 26 is
     // 1/(1000 * 1/8 * 0.001 * 0.3)
-    bytes_allowed = g.serial3_baud * (tnow - _queued_parameter_send_time_ms) * 26;
+    bytes_allowed = g.serial1_baud * (tnow - _queued_parameter_send_time_ms) * 26;
     if (bytes_allowed > comm_get_txspace(chan)) {
         bytes_allowed = comm_get_txspace(chan);
     }

ArduPlane/Parameters.h

@@ -105,10 +105,11 @@ public:
         k_param_gcs1,               // stream rates for uartC
         k_param_sysid_this_mav,
         k_param_sysid_my_gcs,
-        k_param_serial3_baud,
+        k_param_serial1_baud,
         k_param_telem_delay,
         k_param_serial0_baud,
         k_param_gcs2,               // stream rates for uartD
+        k_param_serial2_baud,
 
         // 120: Fly-by-wire control
         //
@@ -272,7 +273,10 @@ public:
     AP_Int16 sysid_this_mav;
     AP_Int16 sysid_my_gcs;
     AP_Int8 serial0_baud;
-    AP_Int8 serial3_baud;
+    AP_Int8 serial1_baud;
+#if MAVLINK_COMM_NUM_BUFFERS > 2
+    AP_Int8 serial2_baud;
+#endif
     AP_Int8 telem_delay;
 
 #if HIL_MODE != HIL_MODE_DISABLED

ArduPlane/Parameters.pde

@@ -31,17 +31,26 @@ const AP_Param::Info var_info[] PROGMEM = {
 
     // @Param: SERIAL0_BAUD
     // @DisplayName: USB Console Baud Rate
-    // @Description: The baud rate used on the main uart
+    // @Description: The baud rate used on the USB console
     // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200
     // @User: Standard
     GSCALAR(serial0_baud,           "SERIAL0_BAUD",   SERIAL0_BAUD/1000),
 
-    // @Param: SERIAL3_BAUD
+    // @Param: SERIAL1_BAUD
     // @DisplayName: Telemetry Baud Rate
-    // @Description: The baud rate used on the telemetry port
+    // @Description: The baud rate used on the first telemetry port
     // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200
     // @User: Standard
-    GSCALAR(serial3_baud,           "SERIAL3_BAUD",   SERIAL3_BAUD/1000),
+    GSCALAR(serial1_baud,           "SERIAL1_BAUD",   SERIAL1_BAUD/1000),
+
+#if MAVLINK_COMM_NUM_BUFFERS > 2
+    // @Param: SERIAL2_BAUD
+    // @DisplayName: Telemetry Baud Rate
+    // @Description: The baud rate used on the second telemetry port
+    // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200
+    // @User: Standard
+    GSCALAR(serial2_baud,           "SERIAL2_BAUD",   SERIAL2_BAUD/1000),
+#endif
 
     // @Param: TELEM_DELAY
     // @DisplayName: Telemetry startup delay 

ArduPlane/config.h

@@ -164,8 +164,11 @@
 #ifndef SERIAL0_BAUD
  # define SERIAL0_BAUD                   115200
 #endif
-#ifndef SERIAL3_BAUD
- # define SERIAL3_BAUD                    57600
+#ifndef SERIAL1_BAUD
+ # define SERIAL1_BAUD                    57600
+#endif
+#ifndef SERIAL2_BAUD
+ # define SERIAL2_BAUD                    57600
 #endif
 
 
@@ -526,6 +529,10 @@
  # define SERIAL_BUFSIZE 512
 #endif
 
+#ifndef SERIAL1_BUFSIZE
+ # define SERIAL1_BUFSIZE 256
+#endif
+
 #ifndef SERIAL2_BUFSIZE
  # define SERIAL2_BUFSIZE 256
 #endif

ArduPlane/system.pde

@@ -116,15 +116,17 @@ static void init_ardupilot()
     check_usb_mux();
 
     // we have a 2nd serial port for telemetry
-    hal.uartC->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD),
-                     128, SERIAL2_BUFSIZE);
+    hal.uartC->begin(map_baudrate(g.serial1_baud, SERIAL1_BAUD),
+                     128, SERIAL1_BUFSIZE);
     gcs[1].init(hal.uartC);
 
+#if MAVLINK_COMM_NUM_BUFFERS > 2
     if (hal.uartD != NULL) {
-        hal.uartD->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD),
+        hal.uartD->begin(map_baudrate(g.serial2_baud, SERIAL2_BAUD),
                          128, SERIAL2_BUFSIZE);        
         gcs[2].init(hal.uartD);
     }
+#endif
 
     mavlink_system.sysid = g.sysid_this_mav;
 
@@ -494,7 +496,7 @@ static uint32_t map_baudrate(int8_t rate, uint32_t default_baud)
     case 111:  return 111100;
     case 115:  return 115200;
     }
-    cliSerial->println_P(PSTR("Invalid SERIAL3_BAUD"));
+    cliSerial->println_P(PSTR("Invalid baudrate"));
     return default_baud;
 }
 
@@ -513,11 +515,11 @@ static void check_usb_mux(void)
     // the APM2 has a MUX setup where the first serial port switches
     // between USB and a TTL serial connection. When on USB we use
     // SERIAL0_BAUD, but when connected as a TTL serial port we run it
-    // at SERIAL3_BAUD.
+    // at SERIAL1_BAUD.
     if (usb_connected) {
         hal.uartA->begin(SERIAL0_BAUD);
     } else {
-        hal.uartA->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD));
+        hal.uartA->begin(map_baudrate(g.serial1_baud, SERIAL1_BAUD));
     }
 #endif
 }