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init.d-posix: rcS: allow to use a different startup config to the micrortps_client in UDP

This commit is contained in:
TSC21 2021-07-09 12:36:29 +02:00 committed by Nuno Marques
parent 6d4f65a47a
commit a930edf34b
3 changed files with 8 additions and 4 deletions
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5
ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt
View File

@ -34,9 +34,10 @@
add_subdirectory(airframes)
px4_add_romfs_files(
px4-rc.params
px4-rc.simulator
px4-rc.mavlink
px4-rc.params
px4-rc.rtps
px4-rc.simulator
rc.replay
rcS
)

4
ROMFS/px4fmu_common/init.d-posix/px4-rc.rtps Normal file
View File

@ -0,0 +1,4 @@
#!/bin/sh
# shellcheck disable=SC2154
micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))

3
ROMFS/px4fmu_common/init.d-posix/rcS
View File

@ -228,8 +228,7 @@ navigator start
# Try to start the micrortps_client with UDP transport if module exists
if px4-micrortps_client status > /dev/null 2>&1
then
# shellcheck disable=SC2154
micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
. px4-rc.rtps
fi
if param greater -s MNT_MODE_IN -1