From fc155eac7ea2c28803df0b4daaa08db04a642a3e Mon Sep 17 00:00:00 2001
From: Miguel Arroyo <miguel@arroyo.me>
Date: Wed, 9 Aug 2017 16:46:20 -0400
Subject: [PATCH] AP_HAL_PX4: Adds UARTF as commandline option

---
 libraries/AP_HAL_PX4/HAL_PX4_Class.cpp | 20 ++++++++++++++++++--
 1 file changed, 18 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp b/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
index 9f06a5d043..ace97104ce 100644
--- a/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
+++ b/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
@@ -152,6 +152,7 @@ static int main_loop(int argc, char **argv)
     hal.uartC->begin(57600);
     hal.uartD->begin(57600);
     hal.uartE->begin(57600);
+    hal.uartF->begin(57600);
     hal.scheduler->init();
 
     /*
@@ -220,6 +221,7 @@ static void usage(void)
     printf("\t-d2 DEVICE         set second terminal device (default %s)\n", UARTC_DEFAULT_DEVICE);
     printf("\t-d3 DEVICE         set 3rd terminal device (default %s)\n", UARTD_DEFAULT_DEVICE);
     printf("\t-d4 DEVICE         set 2nd GPS device (default %s)\n", UARTE_DEFAULT_DEVICE);
+    printf("\t-d5 DEVICE         set uartF (default %s)\n", UARTF_DEFAULT_DEVICE);
     printf("\n");
 }
 
@@ -231,6 +233,7 @@ void HAL_PX4::run(int argc, char * const argv[], Callbacks* callbacks) const
     const char *deviceC = UARTC_DEFAULT_DEVICE;
     const char *deviceD = UARTD_DEFAULT_DEVICE;
     const char *deviceE = UARTE_DEFAULT_DEVICE;
+    const char *deviceF = UARTF_DEFAULT_DEVICE;
 
     if (argc < 1) {
         printf("%s: missing command (try '%s start')", 
@@ -254,8 +257,10 @@ void HAL_PX4::run(int argc, char * const argv[], Callbacks* callbacks) const
             uartCDriver.set_device_path(deviceC);
             uartDDriver.set_device_path(deviceD);
             uartEDriver.set_device_path(deviceE);
-            printf("Starting %s uartA=%s uartC=%s uartD=%s uartE=%s\n", 
-                   SKETCHNAME, deviceA, deviceC, deviceD, deviceE);
+            uartFDriver.set_device_path(deviceF);
+
+            printf("Starting %s uartA=%s uartC=%s uartD=%s uartE=%s uartF=%s\n",
+                   SKETCHNAME, deviceA, deviceC, deviceD, deviceE, deviceF);
 
             _px4_thread_should_exit = false;
             daemon_task = px4_task_spawn_cmd(SKETCHNAME,
@@ -326,6 +331,17 @@ void HAL_PX4::run(int argc, char * const argv[], Callbacks* callbacks) const
                 exit(1);
             }
         }
+
+        if (strcmp(argv[i], "-d5") == 0) {
+            // set uartF
+            if (argc > i + 1) {
+                deviceF = strdup(argv[i+1]);
+            } else {
+                printf("missing parameter to -d5 DEVICE\n");
+                usage();
+                exit(1);
+            }
+        }
     }
  
     usage();