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AP_Periph: added ADSB_BAUDRATE parameter

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This commit is contained in:
Andrew Tridgell 2019-11-27 11:06:34 +11:00
parent 5ae24a7aac
commit e64682a834
3 changed files with 12 additions and 1 deletions
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4
Tools/AP_Periph/Parameters.cpp
View File

@ -81,6 +81,10 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
GOBJECT(rangefinder, "RNGFND", RangeFinder),
#endif
#ifdef HAL_PERIPH_ENABLE_ADSB
GSCALAR(adsb_baudrate, "ADSB_BAUDRATE", 57600),
#endif
AP_VAREND
};

6
Tools/AP_Periph/Parameters.h
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@ -23,6 +23,7 @@ public:
k_param_rangefinder,
k_param_flash_bootloader,
k_param_rangefinder_baud,
k_param_adsb_baudrate,
};
AP_Int16 format_version;
@ -42,6 +43,11 @@ public:
#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
AP_Int32 rangefinder_baud;
#endif
#ifdef HAL_PERIPH_ENABLE_ADSB
AP_Int32 adsb_baudrate;
#endif
Parameters() {}
};

3
Tools/AP_Periph/adsb.cpp
View File

@ -22,6 +22,7 @@
#ifdef HAL_PERIPH_ENABLE_ADSB
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <AP_SerialManager/AP_SerialManager.h>
extern const AP_HAL::HAL &hal;
@ -30,7 +31,7 @@ extern const AP_HAL::HAL &hal;
*/
void AP_Periph_FW::adsb_init(void)
{
ADSB_PORT->begin(57600, 256, 256);
ADSB_PORT->begin(AP_SerialManager::map_baudrate(g.adsb_baudrate), 256, 256);
}