added SERIAL3_BAUD parameter

this is the real baud rate divided by 1000. So 57600 is set as 57

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2997 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/Parameters.h

@@ -63,6 +63,7 @@ public:
 	k_param_streamrates_port3,
 	k_param_sysid_this_mav,
 	k_param_sysid_my_gcs,
+    k_param_serial3_baud,
 
 	//
 	// 140: Sensor parameters
@@ -179,6 +180,7 @@ public:
 	//
 	AP_Int16	sysid_this_mav;
 	AP_Int16	sysid_my_gcs;
+    AP_Int8			serial3_baud;
 
 
 	// Crosstrack navigation
@@ -282,6 +284,7 @@ public:
 
 	sysid_this_mav			(MAV_SYSTEM_ID,				k_param_sysid_this_mav,					PSTR("SYSID_THISMAV")),
 	sysid_my_gcs			(255,						k_param_sysid_my_gcs,					PSTR("SYSID_MYGCS")),
+    serial3_baud			(SERIAL3_BAUD/1000,         k_param_serial3_baud,					PSTR("SERIAL3_BAUD")),
 
 	//crosstrack_gain			(XTRACK_GAIN * 100,			k_param_crosstrack_gain,				PSTR("XTRK_GAIN_SC")),
 	crosstrack_entry_angle	(XTRACK_ENTRY_ANGLE * 100,	k_param_crosstrack_entry_angle, 		PSTR("XTRK_ANGLE_CD")),

ArduCopterMega/system.pde

@@ -73,16 +73,6 @@ static void init_ardupilot()
 	Serial1.begin(38400, 128, 16);
 	#endif
 
-	// Telemetry port.
-	//
-	// Not used if telemetry is going to the console.
-	//
-	// XXX for unidirectional protocols, we could (should) minimize
-	// the receive buffer, and the transmit buffer could also be
-	// shrunk for protocols that don't send large messages.
-	//
-	Serial3.begin(SERIAL3_BAUD, 128, 128);
-
 	Serial.printf_P(PSTR("\n\nInit ACM"
 						 "\n\nRAM: %lu\n"),
 						 freeRAM());
@@ -150,6 +140,17 @@ static void init_ardupilot()
 	    AP_Var::load_all();
 	}
 
+	// Telemetry port.
+	//
+	// Not used if telemetry is going to the console.
+	//
+	// XXX for unidirectional protocols, we could (should) minimize
+	// the receive buffer, and the transmit buffer could also be
+	// shrunk for protocols that don't send large messages.
+	//
+	Serial3.begin(map_baudrate(g.serial3_baud,SERIAL3_BAUD), 128, 128);
+
+
 	#ifdef RADIO_OVERRIDE_DEFAULTS
 	{
 		int16_t rc_override[8] = RADIO_OVERRIDE_DEFAULTS;
@@ -529,3 +530,20 @@ check_startup_for_CLI()
 
 #endif
 
+
+/*
+  map from a 8 bit EEPROM baud rate to a real baud rate
+ */
+static uint32_t map_baudrate(int8_t rate, uint32_t default_baud)
+{
+    switch (rate) {
+    case 9:    return 9600;
+    case 19:   return 19200;
+    case 38:   return 38400;
+    case 57:   return 57600;
+    case 111:  return 111100;
+    case 115:  return 115200;
+    }
+    Serial.println_P(PSTR("Invalid SERIAL3_BAUD"));
+    return default_baud;
+}