px4_autopilot/ROMFS/px4fmu_common/init.d/rc.mavlink

#!/bin/sh
#
# MAVLink startup script.
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#

if ! ver hwcmp INTEL_AEROFC_V1
then
	# Start MAVLink on the USB port
	mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
fi

#
# SYS_COMPANION transition support. Can be removed after the next release (currently at 1.8.0)
#
if param compare SYS_COMPANION 319200
then
	param set MAV_1_CONFIG 102
	param set MAV_1_RATE 1000
	param set SER_TEL2_BAUD 19200
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 519200
then
	param set MAV_1_CONFIG 102
	param set MAV_1_MODE 7
	param set MAV_1_RATE 1000
	param set SER_TEL2_BAUD 19200
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 338400
then
	param set MAV_1_CONFIG 102
	param set MAV_1_RATE 1000
	param set SER_TEL2_BAUD 38400
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 538400
then
	param set MAV_1_CONFIG 102
	param set MAV_1_MODE 7
	param set MAV_1_RATE 1000
	param set SER_TEL2_BAUD 38400
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 57600
then
	param set MAV_1_CONFIG 102
	param set MAV_1_MODE 2
	param set MAV_1_RATE 5000
	param set SER_TEL2_BAUD 57600
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 157600
then
	param set MAV_1_CONFIG 102
	param set MAV_1_MODE 3
	param set MAV_1_RATE 1000
	param set SER_TEL2_BAUD 57600
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 257600
then
	param set MAV_1_CONFIG 102
	param set MAV_1_MODE 4
	param set MAV_1_RATE 5000
	param set SER_TEL2_BAUD 57600
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 357600
then
	param set MAV_1_CONFIG 102
	param set MAV_1_RATE 1000
	param set SER_TEL2_BAUD 57600
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 557600
then
	param set MAV_1_CONFIG 102
	param set MAV_1_RATE 1000
	param set MAV_1_MODE 7
	param set SER_TEL2_BAUD 57600
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 3115200
then
	param set MAV_1_CONFIG 102
	param set MAV_1_RATE 1000
	param set SER_TEL2_BAUD 115200
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 4115200
then
	# Iridium
	param set ISBD_CONFIG 102
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 5115200
then
	param set MAV_1_CONFIG 102
	param set MAV_1_RATE 1000
	param set MAV_1_MODE 7
	param set SER_TEL2_BAUD 115200
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 460800
then
	param set MAV_1_CONFIG 102
	param set MAV_1_RATE 5000
	param set MAV_1_MODE 2
	param set SER_TEL2_BAUD 460800
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 921600
then
	param set MAV_1_CONFIG 102
	param set MAV_1_RATE 80000
	param set MAV_1_MODE 2
	param set SER_TEL2_BAUD 921600
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 1921600
then
	param set MAV_1_CONFIG 102
	param set MAV_1_RATE 20000
	param set SER_TEL2_BAUD 921600
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 1500000
then
	param set MAV_1_CONFIG 102
	param set MAV_1_RATE 140000
	param set MAV_1_MODE 2
	param set SER_TEL2_BAUD 1500000
	param set SYS_COMPANION 0
fi
ROMFS: change shebang from #!zsh to #!/bin/sh This was required for shellsheck. 6 years ago			`#!/bin/sh`
Breakout rc.mavlink from rcS script. 7 years ago			`#`
SYS_COMPANION: deprecate this param Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release. 7 years ago			`# MAVLink startup script.`
Breakout rc.mavlink from rcS script. 7 years ago			`#`
			`# NOTE: Script variables are declared/initialized/unset in the rcS script.`
			`#`

boards new split VENDOR_MODEL naming convention 6 years ago			`if ! ver hwcmp INTEL_AEROFC_V1`
Migrate hardware specific mavlink stream cases to rc.mavlink. 7 years ago			`then`
SYS_COMPANION: deprecate this param Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release. 7 years ago			`# Start MAVLink on the USB port`
Migrate hardware specific mavlink stream cases to rc.mavlink. 7 years ago			`mavlink start -r 800000 -d /dev/ttyACM0 -m config -x`
			`fi`

SYS_COMPANION: deprecate this param Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release. 7 years ago			`#`
			`# SYS_COMPANION transition support. Can be removed after the next release (currently at 1.8.0)`
			`#`
			`if param compare SYS_COMPANION 319200`
Migrate hardware specific mavlink stream cases to rc.mavlink. 7 years ago			`then`
serial generate config add 10 generic serial ports 7 years ago			`param set MAV_1_CONFIG 102`
SYS_COMPANION: deprecate this param Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release. 7 years ago			`param set MAV_1_RATE 1000`
			`param set SER_TEL2_BAUD 19200`
			`param set SYS_COMPANION 0`
Migrate hardware specific mavlink stream cases to rc.mavlink. 7 years ago			`fi`
SYS_COMPANION: deprecate this param Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release. 7 years ago			`if param compare SYS_COMPANION 519200`
Breakout rc.mavlink from rcS script. 7 years ago			`then`
serial generate config add 10 generic serial ports 7 years ago			`param set MAV_1_CONFIG 102`
SYS_COMPANION: deprecate this param Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release. 7 years ago			`param set MAV_1_MODE 7`
			`param set MAV_1_RATE 1000`
			`param set SER_TEL2_BAUD 19200`
			`param set SYS_COMPANION 0`
Breakout rc.mavlink from rcS script. 7 years ago			`fi`
SYS_COMPANION: deprecate this param Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release. 7 years ago			`if param compare SYS_COMPANION 338400`
Breakout rc.mavlink from rcS script. 7 years ago			`then`
serial generate config add 10 generic serial ports 7 years ago			`param set MAV_1_CONFIG 102`
SYS_COMPANION: deprecate this param Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release. 7 years ago			`param set MAV_1_RATE 1000`
			`param set SER_TEL2_BAUD 38400`
			`param set SYS_COMPANION 0`
Breakout rc.mavlink from rcS script. 7 years ago			`fi`
SYS_COMPANION: deprecate this param Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release. 7 years ago			`if param compare SYS_COMPANION 538400`
Breakout rc.mavlink from rcS script. 7 years ago			`then`
serial generate config add 10 generic serial ports 7 years ago			`param set MAV_1_CONFIG 102`
SYS_COMPANION: deprecate this param Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release. 7 years ago			`param set MAV_1_MODE 7`
			`param set MAV_1_RATE 1000`
			`param set SER_TEL2_BAUD 38400`
			`param set SYS_COMPANION 0`
rc.mavlink:Seperate sys compaion init dependant on MAVLINK_COMPANION_DEVICE 7 years ago			`fi`
SYS_COMPANION: deprecate this param Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release. 7 years ago			`if param compare SYS_COMPANION 57600`
rc.mavlink:Seperate sys compaion init dependant on MAVLINK_COMPANION_DEVICE 7 years ago			`then`
serial generate config add 10 generic serial ports 7 years ago			`param set MAV_1_CONFIG 102`
SYS_COMPANION: deprecate this param Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release. 7 years ago			`param set MAV_1_MODE 2`
			`param set MAV_1_RATE 5000`
			`param set SER_TEL2_BAUD 57600`
			`param set SYS_COMPANION 0`
rc.mavlink:Seperate sys compaion init dependant on MAVLINK_COMPANION_DEVICE 7 years ago			`fi`
SYS_COMPANION: deprecate this param Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release. 7 years ago			`if param compare SYS_COMPANION 157600`
rc.mavlink:Seperate sys compaion init dependant on MAVLINK_COMPANION_DEVICE 7 years ago			`then`
serial generate config add 10 generic serial ports 7 years ago			`param set MAV_1_CONFIG 102`
SYS_COMPANION: deprecate this param Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release. 7 years ago			`param set MAV_1_MODE 3`
			`param set MAV_1_RATE 1000`
			`param set SER_TEL2_BAUD 57600`
			`param set SYS_COMPANION 0`
rc.mavlink:Seperate sys compaion init dependant on MAVLINK_COMPANION_DEVICE 7 years ago			`fi`
SYS_COMPANION: deprecate this param Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release. 7 years ago			`if param compare SYS_COMPANION 257600`
rc.mavlink:Seperate sys compaion init dependant on MAVLINK_COMPANION_DEVICE 7 years ago			`then`
serial generate config add 10 generic serial ports 7 years ago			`param set MAV_1_CONFIG 102`
SYS_COMPANION: deprecate this param Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release. 7 years ago			`param set MAV_1_MODE 4`
			`param set MAV_1_RATE 5000`
			`param set SER_TEL2_BAUD 57600`
			`param set SYS_COMPANION 0`
			`fi`
			`if param compare SYS_COMPANION 357600`
			`then`
serial generate config add 10 generic serial ports 7 years ago			`param set MAV_1_CONFIG 102`
SYS_COMPANION: deprecate this param Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release. 7 years ago			`param set MAV_1_RATE 1000`
			`param set SER_TEL2_BAUD 57600`
			`param set SYS_COMPANION 0`
			`fi`
			`if param compare SYS_COMPANION 557600`
			`then`
serial generate config add 10 generic serial ports 7 years ago			`param set MAV_1_CONFIG 102`
SYS_COMPANION: deprecate this param Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release. 7 years ago			`param set MAV_1_RATE 1000`
			`param set MAV_1_MODE 7`
			`param set SER_TEL2_BAUD 57600`
			`param set SYS_COMPANION 0`
			`fi`
			`if param compare SYS_COMPANION 3115200`
			`then`
serial generate config add 10 generic serial ports 7 years ago			`param set MAV_1_CONFIG 102`
SYS_COMPANION: deprecate this param Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release. 7 years ago			`param set MAV_1_RATE 1000`
			`param set SER_TEL2_BAUD 115200`
			`param set SYS_COMPANION 0`
			`fi`
			`if param compare SYS_COMPANION 4115200`
			`then`
			`# Iridium`
serial generate config add 10 generic serial ports 7 years ago			`param set ISBD_CONFIG 102`
SYS_COMPANION: deprecate this param Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release. 7 years ago			`param set SYS_COMPANION 0`
			`fi`
			`if param compare SYS_COMPANION 5115200`
			`then`
serial generate config add 10 generic serial ports 7 years ago			`param set MAV_1_CONFIG 102`
SYS_COMPANION: deprecate this param Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release. 7 years ago			`param set MAV_1_RATE 1000`
			`param set MAV_1_MODE 7`
			`param set SER_TEL2_BAUD 115200`
			`param set SYS_COMPANION 0`
			`fi`
			`if param compare SYS_COMPANION 460800`
			`then`
serial generate config add 10 generic serial ports 7 years ago			`param set MAV_1_CONFIG 102`
SYS_COMPANION: deprecate this param Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release. 7 years ago			`param set MAV_1_RATE 5000`
			`param set MAV_1_MODE 2`
			`param set SER_TEL2_BAUD 460800`
			`param set SYS_COMPANION 0`
			`fi`
			`if param compare SYS_COMPANION 921600`
			`then`
serial generate config add 10 generic serial ports 7 years ago			`param set MAV_1_CONFIG 102`
SYS_COMPANION: deprecate this param Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release. 7 years ago			`param set MAV_1_RATE 80000`
			`param set MAV_1_MODE 2`
			`param set SER_TEL2_BAUD 921600`
			`param set SYS_COMPANION 0`
			`fi`
			`if param compare SYS_COMPANION 1921600`
			`then`
serial generate config add 10 generic serial ports 7 years ago			`param set MAV_1_CONFIG 102`
SYS_COMPANION: deprecate this param Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release. 7 years ago			`param set MAV_1_RATE 20000`
			`param set SER_TEL2_BAUD 921600`
			`param set SYS_COMPANION 0`
			`fi`
			`if param compare SYS_COMPANION 1500000`
			`then`
serial generate config add 10 generic serial ports 7 years ago			`param set MAV_1_CONFIG 102`
SYS_COMPANION: deprecate this param Replaced with the more generic serial config params. rc.mavlink contains automatic transition support that can be removed after the next release. 7 years ago			`param set MAV_1_RATE 140000`
			`param set MAV_1_MODE 2`
			`param set SER_TEL2_BAUD 1500000`
			`param set SYS_COMPANION 0`
			`fi`
Breakout rc.mavlink from rcS script. 7 years ago