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px4_autopilot/boards/px4/fmu-v5x/init/rc.board_mavlink

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Mavlink startup script per board -moved rc.mavlink to the boards optional rc additions (now it's called rc.board_mavlink) to handle board specific mavlink needs (mavlink over usb, ethernet, additional streams, etc.) -mavlink module will be responsible to usb defaults, therefore less args are needed to be passed to mavlink module if one wants to use mavlink over usb. -the way to check if connection is usb is by it's designated variable and not by config mode.
6 years ago
#!/bin/sh
#
# PX4 FMUv5X specific board MAVLink startup script.
#------------------------------------------------------------------------------
Initialize MAVLink on v5X variants This will ensure that the different baseboard configurations are properly accounted for depending on HW variants.
4 years ago
if ver hwtypecmp V5Xa0 V5X91 V5Xa1
then
# Start MAVLink on the UART connected to the mission computer
v5x: use low bandwidth mavlink mode This changes the default mavlink message set from onboard to onboard_low_bandwidth, which drastically reduces the bandwidth required to get a usable connection.
4 years ago
mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z
Initialize MAVLink on v5X variants This will ensure that the different baseboard configurations are properly accounted for depending on HW variants.
4 years ago
else
Mavlink startup script per board -moved rc.mavlink to the boards optional rc additions (now it's called rc.board_mavlink) to handle board specific mavlink needs (mavlink over usb, ethernet, additional streams, etc.) -mavlink module will be responsible to usb defaults, therefore less args are needed to be passed to mavlink module if one wants to use mavlink over usb. -the way to check if connection is usb is by it's designated variable and not by config mode.
6 years ago
# Start MAVLink on the USB port
mavlink start -d /dev/ttyACM0
Initialize MAVLink on v5X variants This will ensure that the different baseboard configurations are properly accounted for depending on HW variants.
4 years ago
fi