init.d-posix: rcS: allow to use a different startup config to the micrortps_client in UDP

4 years ago · a930edf34b
3 changed files with 7 additions and 3 deletions
--- a/ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt
@ -34,9 +34,10 @@
				@@ -34,9 +34,10 @@
 add_subdirectory(airframes)

 px4_add_romfs_files(
+	px4-rc.mavlink
 	px4-rc.params
+	px4-rc.rtps
 	px4-rc.simulator
-	px4-rc.mavlink
 	rc.replay
 	rcS
 )
--- a/ROMFS/px4fmu_common/init.d-posix/px4-rc.rtps
+++ b/ROMFS/px4fmu_common/init.d-posix/px4-rc.rtps
@ -0,0 +1,4 @@
				@@ -0,0 +1,4 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@ -228,8 +228,7 @@ navigator start
				@@ -228,8 +228,7 @@ navigator start
 # Try to start the micrortps_client with UDP transport if module exists
 if px4-micrortps_client status > /dev/null 2>&1
 then
-	# shellcheck disable=SC2154
-	micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
+	. px4-rc.rtps
 fi

 if param greater -s MNT_MODE_IN -1