px4_autopilot/ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlink

#!/bin/sh
# shellcheck disable=SC2154

udp_offboard_port_local=$((14580+px4_instance))
udp_offboard_port_remote=$((14540+px4_instance))
[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
udp_onboard_payload_port_local=$((14280+px4_instance))
udp_onboard_payload_port_remote=$((14030+px4_instance))
udp_onboard_gimbal_port_local=$((13030+px4_instance))
udp_onboard_gimbal_port_remote=$((13280+px4_instance))
udp_gcs_port_local=$((18570+px4_instance))

# GCS link
mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local

# API/Offboard link
mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote

# Onboard link to camera
mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote

# Onboard link to gimbal
mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote

# To display for SIH sitl
if [ "$SIM_MODE" = "sihsim" ]; then
	udp_sihsim_port_local=$((19450+px4_instance))
	udp_sihsim_port_remote=$((19410+px4_instance))
	mavlink start -x -u $udp_sihsim_port_local -r 400000 -m custom -o $udp_sihsim_port_remote
	mavlink stream -r 200 -s HIL_ACTUATOR_CONTROLS -u  $udp_sihsim_port_local
	mavlink stream -r 25 -s HIL_STATE_QUATERNION -u  $udp_sihsim_port_local
fi