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SYS_COMPANION: deprecate this param 

Replaced with the more generic serial config params.

rc.mavlink contains automatic transition support that can be removed after
the next release.
This commit is contained in:
Beat Küng 2018-09-05 17:01:11 +02:00
parent f0c0b6f6e8
commit 300e66ae6a
8 changed files with 160 additions and 234 deletions
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7
ROMFS/px4fmu_common/init.d/13013_deltaquad
View File

@ -125,7 +125,12 @@ then
param set PWM_RATE 400
param set SENS_BOARD_ROT 18
param set SYS_COMPANION 57600
# TELEM2 config
param set MAV_1_CONFIG 2
param set MAV_1_RATE 5000
param set MAV_1_FORWARD 1
param set SER_TEL2_BAUD 57600
param set VT_TYPE 2
param set VT_MOT_COUNT 4

2
ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
View File

@ -53,8 +53,6 @@ then
param set PWM_DISARMED 0
param set PWM_MIN 900
param set PWM_MAX 2100
param set SYS_COMPANION 157600
fi
set MIXER caipi

7
ROMFS/px4fmu_common/init.d/4030_3dr_solo
View File

@ -84,6 +84,11 @@ then
param set RC5_MIN 1000
param set RC5_REV 1
param set RC5_TRIM 1500
# enable high-speed link on telem 1
param set MAV_0_RATE 80000
param set MAV_0_MODE 2
param set SER_TEL1_BAUD 921600
fi
set MIXER quad_x
@ -91,5 +96,3 @@ set MIXER quad_x
set PWM_OUT 1234
set MIXER_AUX none
# enable high-speed link on telem 1
set MAVLINK_F "-d /dev/ttyS1 -b 921600 -r 80000 -m onboard -x"

7
ROMFS/px4fmu_common/init.d/4070_aerofc
View File

@ -64,7 +64,11 @@ then
param set MPC_Z_VEL_MAX_UP 5.0000
param set MPC_Z_VEL_P 0.8000
param set SYS_COMPANION 921600
# TELEM2 config
param set MAV_1_CONFIG 2
param set MAV_1_RATE 80000
param set MAV_1_FORWARD 1
param set SER_TEL2_BAUD 921600
fi
if param compare SYS_HITL 0
@ -78,4 +82,3 @@ fi
set MIXER quad_x
set USE_IO no
set MAVLINK_COMPANION_DEVICE /dev/ttyS1

7
ROMFS/px4fmu_common/init.d/4900_crazyflie
View File

@ -65,8 +65,9 @@ then
param set PWM_RATE 3921
param set SDLOG_PROFILE 1
param set SENS_FLOW_MINRNG 0.05
param set SYS_COMPANION 20
param set SYS_FMU_TASK 1
fi
@ -74,3 +75,7 @@ fi
set PWM_DISARMED none
set PWM_MAX none
set PWM_MIN none
syslink start
mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000

336
ROMFS/px4fmu_common/init.d/rc.mavlink
View File

@ -1,231 +1,145 @@
#!nsh
#
# MAVLINK stream startup script.
# MAVLink startup script.
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
# NOTE: Normal mode uses baud rate of 57600 (default) and data rate of 1000 bytes/s.
#
###############################################################################
# Begin Setup for board specific configurations. #
###############################################################################
if ! ver hwcmp AEROFC_V1
then
# Start MAVLink
# Start MAVLink on the USB port
mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
fi
if ver hwcmp NXPHLITE_V3
if ver hwcmp PX4FMU_V4
then
set MAVLINK_COMPANION_DEVICE none
set MAVLINK_F "-r 1200 -d /dev/ttyS4"
# Pixracer: start MAVLink on Wifi (ESP8266 port)
mavlink start -r 20000 -b 921600 -d /dev/ttyS0
fi
if ver hwcmp OMNIBUS_F4SD
then
set MAVLINK_COMPANION_DEVICE /dev/ttyS1
fi
###############################################################################
# End Setup for board specific configurations. #
###############################################################################
if [ "x${MAVLINK_F}" == xdefault ]
then
# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
set MAVLINK_F "-r 1200 -f"
if ver hwcmp AEROFC_V1
then
set MAVLINK_F "-r 1200 -d /dev/ttyS3"
# Only start mavlink if the Benewake TFMini or LeddarOne isn't being used
if param greater SENS_EN_TFMINI 0
then
set MAVLINK_F none
fi
if param greater SENS_EN_LEDDAR1 0
then
set MAVLINK_F none
fi
fi
# Use ttyS1 for MAVLink on FMUv4 in addition to ttyS0 (debug)
if ver hwcmp PX4FMU_V4
then
set MAVLINK_F "-r 1200 -d /dev/ttyS1"
# Start MAVLink on Wifi (ESP8266 port)
mavlink start -r 20000 -b 921600 -d /dev/ttyS0
fi
# Use ttyS3 (TELEM4) for MAVLink on FMUv5 in addition to ttyS1 (TELEM1) and ttyS2 (TELEM2)
if ver hwcmp PX4FMU_V5
then
mavlink start -r 2000 -b 57600 -d /dev/ttyS3
fi
if ver hwcmp CRAZYFLIE OMNIBUS_F4SD
then
# Avoid using either of the two available serials
set MAVLINK_F none
fi
fi
if [ "x${MAVLINK_F}" != xnone ]
then
mavlink start ${MAVLINK_F}
fi
#
# MAVLink onboard / TELEM2
# SYS_COMPANION transition support. Can be removed after the next release (currently at 1.8.0)
#
# XXX We need a better way for runtime eval of shell variables,
# but this works for now
#----------------------------------------------------------------
#
# Sys companion setups not dependant on MAVLINK_COMPANION_DEVICE
#
if ! param compare SYS_COMPANION 10
if param compare SYS_COMPANION 319200
then
if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2
then
# This is TELEM4 on Pixhawk 3 Pro
frsky_telemetry start -d /dev/ttyS6 -t 15
fi
param set MAV_1_CONFIG 2
param set MAV_1_RATE 1000
param set SER_TEL2_BAUD 19200
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 519200
then
param set MAV_1_CONFIG 2
param set MAV_1_MODE 7
param set MAV_1_RATE 1000
param set SER_TEL2_BAUD 19200
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 338400
then
param set MAV_1_CONFIG 2
param set MAV_1_RATE 1000
param set SER_TEL2_BAUD 38400
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 538400
then
param set MAV_1_CONFIG 2
param set MAV_1_MODE 7
param set MAV_1_RATE 1000
param set SER_TEL2_BAUD 38400
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 57600
then
param set MAV_1_CONFIG 2
param set MAV_1_MODE 2
param set MAV_1_RATE 5000
param set SER_TEL2_BAUD 57600
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 157600
then
param set MAV_1_CONFIG 2
param set MAV_1_MODE 3
param set MAV_1_RATE 1000
param set SER_TEL2_BAUD 57600
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 257600
then
param set MAV_1_CONFIG 2
param set MAV_1_MODE 4
param set MAV_1_RATE 5000
param set SER_TEL2_BAUD 57600
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 357600
then
param set MAV_1_CONFIG 2
param set MAV_1_RATE 1000
param set SER_TEL2_BAUD 57600
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 557600
then
param set MAV_1_CONFIG 2
param set MAV_1_RATE 1000
param set MAV_1_MODE 7
param set SER_TEL2_BAUD 57600
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 3115200
then
param set MAV_1_CONFIG 2
param set MAV_1_RATE 1000
param set SER_TEL2_BAUD 115200
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 4115200
then
# Iridium
param set ISBD_CONFIG 2
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 5115200
then
param set MAV_1_CONFIG 2
param set MAV_1_RATE 1000
param set MAV_1_MODE 7
param set SER_TEL2_BAUD 115200
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 460800
then
param set MAV_1_CONFIG 2
param set MAV_1_RATE 5000
param set MAV_1_MODE 2
param set SER_TEL2_BAUD 460800
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 921600
then
param set MAV_1_CONFIG 2
param set MAV_1_RATE 80000
param set MAV_1_MODE 2
param set SER_TEL2_BAUD 921600
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 1921600
then
param set MAV_1_CONFIG 2
param set MAV_1_RATE 20000
param set SER_TEL2_BAUD 921600
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 1500000
then
param set MAV_1_CONFIG 2
param set MAV_1_RATE 140000
param set MAV_1_MODE 2
param set SER_TEL2_BAUD 1500000
param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 20
then
syslink start
mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
fi
if param compare SYS_COMPANION 6460800
then
micrortps_client start -t UART -d /dev/ttyS2 -b 460800
fi
#----------------------------------------------------------------
#
# Sys companion setups dependant on MAVLINK_COMPANION_DEVICE
#
if [ "x${MAVLINK_COMPANION_DEVICE}" != xnone ]
then
if param compare SYS_COMPANION 10
then
frsky_telemetry start -d ${MAVLINK_COMPANION_DEVICE}
fi
#
# 19200 Baud Rate.
#
if param compare SYS_COMPANION 319200
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 19200 -r 1000 -f
fi
if param compare SYS_COMPANION 519200
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 19200 -m minimal -r 1000
fi
#
# 38400 Baud Rate.
#
if param compare SYS_COMPANION 338400
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 38400 -r 1000 -f
fi
if param compare SYS_COMPANION 538400
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 38400 -m minimal -r 1000
fi
#
# 57600 Baud Rate.
#
if param compare SYS_COMPANION 57600
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m onboard -r 5000 -x -f
fi
if param compare SYS_COMPANION 157600
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m osd -r 1000
fi
if param compare SYS_COMPANION 257600
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m magic -r 5000 -x -f
fi
if param compare SYS_COMPANION 357600
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -r 1000 -f
fi
if param compare SYS_COMPANION 557600
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 57600 -m minimal -r 1000
fi
#
# 115200 Baud Rate.
#
if param compare SYS_COMPANION 3115200
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 115200 -r 1000 -f
fi
if param compare SYS_COMPANION 4115200
then
usleep 200000 # add a sleep here to make sure that the module is powered
if iridiumsbd start -d ${MAVLINK_COMPANION_DEVICE}
then
mavlink start -d /dev/iridium -m iridium -b 115200
else
tune_control play -t 20
fi
fi
if param compare SYS_COMPANION 5115200
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 115200 -m minimal -r 1000
fi
#
# 460800 Baud Rate.
#
if param compare SYS_COMPANION 460800
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 460800 -m onboard -r 5000 -x -f
fi
#
# 921600 Baud Rate.
#
if param compare SYS_COMPANION 921600
then
if ver hwcmp AEROFC_V1
then
if protocol_splitter start ${MAVLINK_COMPANION_DEVICE}
then
mavlink start -d /dev/mavlink -b 921600 -m onboard -r 5000 -x
micrortps_client start -d /dev/rtps -b 921600 -l -1 -s 2000
else
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f
fi
else
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -m onboard -r 80000 -x -f
fi
fi
if param compare SYS_COMPANION 1921600
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -r 20000
fi
#
# 1500000 Baud Rate.
#
if param compare SYS_COMPANION 1500000
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 1500000 -m onboard -r 140000 -x -f
fi
fi

20
ROMFS/px4fmu_common/init.d/rcS
View File

@ -74,8 +74,6 @@ set FMU_MODE pwm
set IOFW "/etc/extras/px4io-v2.bin"
set IO_PRESENT no
set LOG_FILE /fs/microsd/bootlog.txt
set MAVLINK_F default
set MAVLINK_COMPANION_DEVICE /dev/ttyS2
set MAV_TYPE none
set MIXER none
set MIXER_AUX none
@ -445,13 +443,9 @@ else
set OUTPUT_MODE hil
sensors start -h
commander start --hil
# disable GPS
param set GPS_1_CONFIG 0
else
if ver hwcmp PX4_SAME70XPLAINED_V1
then
gps start -d /dev/ttyS2
else
gps start
fi
sh /etc/init.d/rc.sensors
commander start
fi
@ -507,10 +501,16 @@ else
fi
#
# Start mavlink streams.
# Start mavlink streams that are not configurable (e.g. on USB).
#
sh /etc/init.d/rc.mavlink
#
# Start UART/Serial device drivers.
# Note: rc.serial is auto-generated from Tools/serial/generate_config.py
#
sh /etc/init.d/rc.serial
#
# Configure vehicle type specific parameters.
# Note: rc.vehicle_setup is the entry point for rc.interface,
@ -585,8 +585,6 @@ unset FMU_MODE
unset IOFW
unset IO_PRESENT
unset LOG_FILE
unset MAVLINK_F
unset MAVLINK_COMPANION_DEVICE
unset MAV_TYPE
unset MIXER
unset MIXER_AUX

8
src/modules/systemlib/system_params.c
View File

@ -109,10 +109,10 @@ PARAM_DEFINE_INT32(SYS_RESTART_TYPE, 2);
PARAM_DEFINE_INT32(SYS_MC_EST_GROUP, 2);
/**
* TELEM2 as companion computer link
* TELEM2 as companion computer link (deprecated)
*
* CHANGING THIS VALUE REQUIRES A RESTART. Configures the baud rate of the TELEM2 connector as
* companion computer interface.
* This parameter is deprecated. Do not change it, use the more generic serial
* configuration parameters instead.
*
* @value 0 Disabled
* @value 10 FrSky Telemetry
@ -139,7 +139,7 @@ PARAM_DEFINE_INT32(SYS_MC_EST_GROUP, 2);
* @reboot_required true
* @group System
*/
PARAM_DEFINE_INT32(SYS_COMPANION, 157600);
PARAM_DEFINE_INT32(SYS_COMPANION, 0);
/**
* Parameter version