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GCS_MAVLink: setup baudrates for passthru serial ports

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This commit is contained in:
Andrew Tridgell 2020-11-15 13:15:44 +11:00
parent d0db3eef58
commit 9c74474196
2 changed files with 6 additions and 1 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -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;

5
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -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