Copter: added SERIAL2_BAUD and rename SERIAL3_BAUD to SERIAL1_BAUD

ArduCopter/APM_Config_mavlink_hil.h

@@ -25,7 +25,7 @@
 // the loop port.  Alternatively, use a telemetry/HIL shim like FGShim
 // https://ardupilot-mega.googlecode.com/svn/Tools/trunk/FlightGear
 //
-// The buad rate is controlled by SERIAL3_BAUD in this mode.
+// The buad rate is controlled by SERIAL1_BAUD in this mode.
 
 #define HIL_PORT            3
 

ArduCopter/GCS_Mavlink.pde

@@ -2071,7 +2071,7 @@ GCS_MAVLINK::queued_param_send()
 
     // use at most 30% of bandwidth on parameters. The constant 26 is
     // 1/(1000 * 1/8 * 0.001 * 0.3)
-    bytes_allowed = g.serial3_baud * (tnow - _queued_parameter_send_time_ms) * 26;
+    bytes_allowed = g.serial1_baud * (tnow - _queued_parameter_send_time_ms) * 26;
     if (bytes_allowed > comm_get_txspace(chan)) {
         bytes_allowed = comm_get_txspace(chan);
     }

ArduCopter/Parameters.h

@@ -137,9 +137,10 @@ public:
         k_param_gcs1,
         k_param_sysid_this_mav,
         k_param_sysid_my_gcs,
-        k_param_serial3_baud,
+        k_param_serial1_baud,
         k_param_telem_delay,
         k_param_gcs2,
+        k_param_serial2_baud,
 
         //
         // 140: Sensor parameters
@@ -282,7 +283,10 @@ public:
     //
     AP_Int16        sysid_this_mav;
     AP_Int16        sysid_my_gcs;
-    AP_Int8         serial3_baud;
+    AP_Int8         serial1_baud;
+#if MAVLINK_COMM_NUM_BUFFERS > 2
+    AP_Int8         serial2_baud;
+#endif
     AP_Int8         telem_delay;
 
     AP_Int16        rtl_altitude;

ArduCopter/Parameters.pde

@@ -49,12 +49,21 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @User: Advanced
     GSCALAR(sysid_my_gcs,   "SYSID_MYGCS",     255),
 
-    // @Param: SERIAL3_BAUD
+    // @Param: SERIAL1_BAUD
     // @DisplayName: Telemetry Baud Rate
-    // @Description: The baud rate used on the telemetry port
+    // @Description: The baud rate used on the first telemetry port
     // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200
     // @User: Standard
-    GSCALAR(serial3_baud,   "SERIAL3_BAUD",     SERIAL3_BAUD/1000),
+    GSCALAR(serial1_baud,   "SERIAL1_BAUD",     SERIAL1_BAUD/1000),
+
+#if MAVLINK_COMM_NUM_BUFFERS > 2
+    // @Param: SERIAL2_BAUD
+    // @DisplayName: Telemetry Baud Rate
+    // @Description: The baud rate used on the seconds telemetry port
+    // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200
+    // @User: Standard
+    GSCALAR(serial2_baud,   "SERIAL2_BAUD",     SERIAL2_BAUD/1000),
+#endif
 
     // @Param: TELEM_DELAY
     // @DisplayName: Telemetry startup delay

ArduCopter/config.h

@@ -332,8 +332,11 @@
 #ifndef SERIAL0_BAUD
  # define SERIAL0_BAUD                   115200
 #endif
-#ifndef SERIAL3_BAUD
- # define SERIAL3_BAUD                    57600
+#ifndef SERIAL1_BAUD
+ # define SERIAL1_BAUD                    57600
+#endif
+#ifndef SERIAL2_BAUD
+ # define SERIAL2_BAUD                    57600
 #endif
 
 

ArduCopter/system.pde

@@ -150,13 +150,15 @@ static void init_ardupilot()
     // we have a 2nd serial port for telemetry on all boards except
     // APM2. We actually do have one on APM2 but it isn't necessary as
     // a MUX is used
-    hal.uartC->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD), 128, 128);
+    hal.uartC->begin(map_baudrate(g.serial1_baud, SERIAL1_BAUD), 128, 128);
     gcs[1].init(hal.uartC);
 #endif
+#if MAVLINK_COMM_NUM_BUFFERS > 2
     if (hal.uartD != NULL) {
-        hal.uartD->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD), 128, 128);
+        hal.uartD->begin(map_baudrate(g.serial2_baud, SERIAL2_BAUD), 128, 128);
         gcs[2].init(hal.uartD);
     }
+#endif
 
     // identify ourselves correctly with the ground station
     mavlink_system.sysid = g.sysid_this_mav;
@@ -529,7 +531,7 @@ static uint32_t map_baudrate(int8_t rate, uint32_t default_baud)
     case 111:  return 111100;
     case 115:  return 115200;
     }
-    //cliSerial->println_P(PSTR("Invalid SERIAL3_BAUD"));
+    //cliSerial->println_P(PSTR("Invalid baudrate"));
     return default_baud;
 }
 
@@ -547,11 +549,11 @@ static void check_usb_mux(void)
     // the APM2 has a MUX setup where the first serial port switches
     // between USB and a TTL serial connection. When on USB we use
     // SERIAL0_BAUD, but when connected as a TTL serial port we run it
-    // at SERIAL3_BAUD.
+    // at SERIAL1_BAUD.
     if (ap.usb_connected) {
         hal.uartA->begin(SERIAL0_BAUD);
     } else {
-        hal.uartA->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD));
+        hal.uartA->begin(map_baudrate(g.serial1_baud, SERIAL1_BAUD));
     }
 #endif
 }