Rover: added SERIAL0_BAUD parameter

APMrover2/Parameters.h

@@ -61,6 +61,7 @@ public:
         k_param_gcs3,       // stream rates for port3
         k_param_sysid_this_mav,
         k_param_sysid_my_gcs,
+        k_param_serial0_baud,
         k_param_serial3_baud,
         k_param_telem_delay,
 
@@ -238,6 +239,7 @@ public:
 	//
 	AP_Int16    sysid_this_mav;
 	AP_Int16    sysid_my_gcs;
+    AP_Int8	    serial0_baud;
     AP_Int8	    serial3_baud;
     AP_Int8     telem_delay;
 

APMrover2/Parameters.pde

@@ -14,11 +14,18 @@
 #define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &v, {group_info:class::var_info} }
 
 const AP_Param::Info var_info[] PROGMEM = {
-	GSCALAR(format_version,         "FORMAT_VERSION",   0),
+	GSCALAR(format_version,         "FORMAT_VERSION",   1),
 	GSCALAR(software_type,          "SYSID_SW_TYPE",    Parameters::k_software_type),
 	GSCALAR(sysid_this_mav,         "SYSID_THISMAV",    MAV_SYSTEM_ID),
 	GSCALAR(sysid_my_gcs,           "SYSID_MYGCS",      255),
 
+    // @Param: SERIAL0_BAUD
+    // @DisplayName: Telemetry Baud Rate
+    // @Description: The baud rate used on the first serial port
+    // @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
     // @DisplayName: Telemetry Baud Rate
     // @Description: The baud rate used on the telemetry port

APMrover2/system.pde

@@ -118,6 +118,9 @@ static void init_ardupilot()
 	
     load_parameters();
 
+    // after parameter load setup correct baud rate on uartA
+    hal.uartA->begin(map_baudrate(g.serial0_baud, SERIAL0_BAUD));
+
     // keep a record of how many resets have happened. This can be
     // used to detect in-flight resets
     g.num_resets.set_and_save(g.num_resets+1);