From 86f667f6cc504e867d5bb9076b3c71433322581b Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sun, 13 Jan 2013 07:39:40 +1100 Subject: [PATCH] Plane: added new SERIAL0_BAUD parameter this is useful on PX4 --- ArduPlane/Parameters.h | 2 ++ ArduPlane/Parameters.pde | 7 +++++++ ArduPlane/system.pde | 3 +++ 3 files changed, 12 insertions(+) diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h index b6bffe7f3f..500c21bf37 100644 --- a/ArduPlane/Parameters.h +++ b/ArduPlane/Parameters.h @@ -87,6 +87,7 @@ public: k_param_sysid_my_gcs, k_param_serial3_baud, k_param_telem_delay, + k_param_serial0_baud, // 120: Fly-by-wire control // @@ -234,6 +235,7 @@ public: // AP_Int16 sysid_this_mav; AP_Int16 sysid_my_gcs; + AP_Int8 serial0_baud; AP_Int8 serial3_baud; AP_Int8 telem_delay; diff --git a/ArduPlane/Parameters.pde b/ArduPlane/Parameters.pde index 95dda92a4f..9357b3908a 100644 --- a/ArduPlane/Parameters.pde +++ b/ArduPlane/Parameters.pde @@ -19,6 +19,13 @@ const AP_Param::Info var_info[] PROGMEM = { GSCALAR(sysid_this_mav, "SYSID_THISMAV", MAV_SYSTEM_ID), GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255), + // @Param: SERIAL0_BAUD + // @DisplayName: Telemetry Baud Rate + // @Description: The baud rate used on the main uart + // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200 + // @User: Standard + GSCALAR(serial0_baud, "SERIAL0_BAUD", SERIAL0_BAUD/1000), + // @Param: SERIAL3_BAUD // @DisplayName: Telemetry Baud Rate // @Description: The baud rate used on the telemetry port diff --git a/ArduPlane/system.pde b/ArduPlane/system.pde index fd0dff6d28..2676ed83c1 100644 --- a/ArduPlane/system.pde +++ b/ArduPlane/system.pde @@ -110,6 +110,9 @@ static void init_ardupilot() // load_parameters(); + // reset the uartA baud rate after parameter load + hal.uartA->begin(map_baudrate(g.serial0_baud, SERIAL0_BAUD)); + // keep a record of how many resets have happened. This can be // used to detect in-flight resets g.num_resets.set_and_save(g.num_resets+1);