From 9c74474196e222e60ac01da362dfdafff40d45af Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 15 Nov 2020 13:15:44 +1100
Subject: [PATCH] GCS_MAVLink: setup baudrates for passthru serial ports

---
 libraries/GCS_MAVLink/GCS.h          | 2 ++
 libraries/GCS_MAVLink/GCS_Common.cpp | 5 ++++-
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 67631e00db..7110494bbd 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -1017,6 +1017,8 @@ private:
         uint32_t start_ms;
         uint32_t last_ms;
         uint32_t last_port1_data_ms;
+        uint32_t baud1;
+        uint32_t baud2;
         uint8_t timeout_s;
         HAL_Semaphore sem;
     } _passthru;
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 90a2fcf281..f4bc4e147c 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -4937,7 +4937,8 @@ void GCS::update_passthru(void)
     WITH_SEMAPHORE(_passthru.sem);
     uint32_t now = AP_HAL::millis();
 
-    bool enabled = AP::serialmanager().get_passthru(_passthru.port1, _passthru.port2, _passthru.timeout_s);
+    bool enabled = AP::serialmanager().get_passthru(_passthru.port1, _passthru.port2, _passthru.timeout_s,
+                                                    _passthru.baud1, _passthru.baud2);
     if (enabled && !_passthru.enabled) {
         _passthru.start_ms = now;
         _passthru.last_ms = 0;
@@ -4983,6 +4984,8 @@ void GCS::passthru_timer(void)
             return;
         }
         _passthru.start_ms = 0;
+        _passthru.port1->begin(_passthru.baud1);
+        _passthru.port2->begin(_passthru.baud2);
     }
 
     // while pass-thru is enabled lock both ports. They remain