Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-09 09:28:31 -04:00
Code Issues Packages Projects Releases Wiki Activity

Rover: use setup_uart()

Browse Source
This commit is contained in:
Andrew Tridgell 2014-05-16 11:45:20 +10:00
parent 836b365bc8
commit 35e87fa2ea
1 changed files with 2 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
APMrover2/system.pde
View File

@ -135,15 +135,10 @@ static void init_ardupilot()
check_usb_mux(); check_usb_mux();
// we have a 2nd serial port for telemetry // we have a 2nd serial port for telemetry
hal.uartC->begin(map_baudrate(g.serial1_baud, SERIAL1_BAUD), 128, 128); gcs[1].setup_uart(hal.uartC, map_baudrate(g.serial1_baud, SERIAL1_BAUD), 128, 128);
gcs[1].init(hal.uartC);
#if MAVLINK_COMM_NUM_BUFFERS > 2 #if MAVLINK_COMM_NUM_BUFFERS > 2
// we may have a 3rd serial port for telemetry gcs[2].setup_uart(hal.uartD, map_baudrate(g.serial2_baud, SERIAL2_BAUD), 128, 128);
if (hal.uartD != NULL) {
hal.uartD->begin(map_baudrate(g.serial2_baud, SERIAL2_BAUD), 128, 128);
gcs[2].init(hal.uartD);
}
#endif #endif
mavlink_system.sysid = g.sysid_this_mav; mavlink_system.sysid = g.sysid_this_mav;