diff --git a/posix-configs/SITL/README.md b/posix-configs/SITL/README.md index a98a6515fa..0accf8401e 100644 --- a/posix-configs/SITL/README.md +++ b/posix-configs/SITL/README.md @@ -63,7 +63,7 @@ Example "startup" file ``` uorb start -mavlink start -u 14556 +mavlink start -x -u 14556 simulator start -s param set CAL_GYRO0_ID 2293760 param set CAL_ACC0_ID 1310720 diff --git a/posix-configs/SITL/init/ekf2/iris b/posix-configs/SITL/init/ekf2/iris index 888edce7fd..7bc1e2e1ae 100644 --- a/posix-configs/SITL/init/ekf2/iris +++ b/posix-configs/SITL/init/ekf2/iris @@ -61,8 +61,8 @@ ekf2 start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix -mavlink start -u 14556 -r 4000000 -mavlink start -u 14557 -r 4000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 4000000 +mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/ekf2/iris_1 b/posix-configs/SITL/init/ekf2/iris_1 index 95a165b41d..4c386005d7 100644 --- a/posix-configs/SITL/init/ekf2/iris_1 +++ b/posix-configs/SITL/init/ekf2/iris_1 @@ -63,8 +63,8 @@ ekf2 start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix -mavlink start -u 14556 -r 4000000 -mavlink start -u 14557 -r 4000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 4000000 +mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/ekf2/iris_2 b/posix-configs/SITL/init/ekf2/iris_2 index 48d6a9a3de..237bf02d7b 100644 --- a/posix-configs/SITL/init/ekf2/iris_2 +++ b/posix-configs/SITL/init/ekf2/iris_2 @@ -63,8 +63,8 @@ ekf2 start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix -mavlink start -u 14558 -r 4000000 -mavlink start -u 14559 -r 4000000 -m onboard -o 14541 +mavlink start -x -u 14558 -r 4000000 +mavlink start -x -u 14559 -r 4000000 -m onboard -o 14541 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14558 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14558 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14558 diff --git a/posix-configs/SITL/init/ekf2/iris_opt_flow b/posix-configs/SITL/init/ekf2/iris_opt_flow index eb88ba9053..ec62f171a0 100644 --- a/posix-configs/SITL/init/ekf2/iris_opt_flow +++ b/posix-configs/SITL/init/ekf2/iris_opt_flow @@ -61,8 +61,8 @@ ekf2 start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix -mavlink start -u 14556 -r 4000000 -mavlink start -u 14557 -r 4000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 4000000 +mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/ekf2/iris_rplidar b/posix-configs/SITL/init/ekf2/iris_rplidar index 888edce7fd..7bc1e2e1ae 100644 --- a/posix-configs/SITL/init/ekf2/iris_rplidar +++ b/posix-configs/SITL/init/ekf2/iris_rplidar @@ -61,8 +61,8 @@ ekf2 start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix -mavlink start -u 14556 -r 4000000 -mavlink start -u 14557 -r 4000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 4000000 +mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/ekf2/multiple_iris b/posix-configs/SITL/init/ekf2/multiple_iris index a71916d7d2..e2200c7824 100644 --- a/posix-configs/SITL/init/ekf2/multiple_iris +++ b/posix-configs/SITL/init/ekf2/multiple_iris @@ -61,8 +61,8 @@ ekf2 start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix -mavlink start -u _MAVPORT_ -r 4000000 -o _MAVOPORT_ -mavlink start -u _MAVPORT2_ -r 4000000 -m onboard -o _MAVOPORT2_ +mavlink start -x -u _MAVPORT_ -r 4000000 -o _MAVOPORT_ +mavlink start -x -u _MAVPORT2_ -r 4000000 -m onboard -o _MAVOPORT2_ mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u _MAVPORT_ mavlink stream -r 50 -s LOCAL_POSITION_NED -u _MAVPORT_ mavlink stream -r 50 -s GLOBAL_POSITION_INT -u _MAVPORT_ diff --git a/posix-configs/SITL/init/ekf2/plane b/posix-configs/SITL/init/ekf2/plane index 22d0d39931..86727a7530 100644 --- a/posix-configs/SITL/init/ekf2/plane +++ b/posix-configs/SITL/init/ekf2/plane @@ -69,8 +69,8 @@ fw_pos_control_l1 start fw_att_control start land_detector start fixedwing mixer load /dev/pwm_output0 ROMFS/sitl/mixers/plane_sitl.main.mix -mavlink start -u 14556 -r 2000000 -mavlink start -u 14557 -r 2000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 2000000 +mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/ekf2/rover b/posix-configs/SITL/init/ekf2/rover index 4bb5a018ed..a202d62edc 100644 --- a/posix-configs/SITL/init/ekf2/rover +++ b/posix-configs/SITL/init/ekf2/rover @@ -66,8 +66,8 @@ ekf2 start gnd_pos_control start gnd_att_control start mixer load /dev/pwm_output0 ROMFS/sitl/mixers/rover_sitl.main.mix -mavlink start -u 14556 -r 4000000 -mavlink start -u 14557 -r 4000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 4000000 +mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/ekf2/solo b/posix-configs/SITL/init/ekf2/solo index 250e51a907..51a0cf3704 100644 --- a/posix-configs/SITL/init/ekf2/solo +++ b/posix-configs/SITL/init/ekf2/solo @@ -58,8 +58,8 @@ ekf2 start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix -mavlink start -u 14556 -r 4000000 -mavlink start -u 14557 -r 4000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 4000000 +mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/ekf2/standard_vtol b/posix-configs/SITL/init/ekf2/standard_vtol index 8cd0117e19..caae87a69a 100644 --- a/posix-configs/SITL/init/ekf2/standard_vtol +++ b/posix-configs/SITL/init/ekf2/standard_vtol @@ -79,8 +79,8 @@ mc_att_control start fw_pos_control_l1 start fw_att_control start mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix -mavlink start -u 14556 -r 2000000 -f -mavlink start -u 14557 -r 2000000 -m onboard -o 14540 -f +mavlink start -x -u 14556 -r 2000000 -f +mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 -f mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14557 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556 diff --git a/posix-configs/SITL/init/ekf2/tailsitter b/posix-configs/SITL/init/ekf2/tailsitter index 0795c9f968..5782342eff 100644 --- a/posix-configs/SITL/init/ekf2/tailsitter +++ b/posix-configs/SITL/init/ekf2/tailsitter @@ -60,8 +60,8 @@ mc_att_control start fw_pos_control_l1 start fw_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix -mavlink start -u 14556 -r 2000000 -mavlink start -u 14557 -r 2000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 2000000 +mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/ekf2/typhoon_h480 b/posix-configs/SITL/init/ekf2/typhoon_h480 index 71fc797159..ec7b0b924d 100644 --- a/posix-configs/SITL/init/ekf2/typhoon_h480 +++ b/posix-configs/SITL/init/ekf2/typhoon_h480 @@ -65,9 +65,9 @@ mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/hexa_x.main.mix mixer append /dev/pwm_output0 ROMFS/px4fmu_common/mixers/mount_legs.aux.mix -mavlink start -u 14556 -r 4000000 -mavlink start -u 14557 -r 4000000 -m onboard -o 14540 -mavlink start -u 14558 -r 4000 -f -m onboard -o 14530 +mavlink start -x -u 14556 -r 4000000 +mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 +mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/inav/iris b/posix-configs/SITL/init/inav/iris index 42d46d5f54..57e6713887 100644 --- a/posix-configs/SITL/init/inav/iris +++ b/posix-configs/SITL/init/inav/iris @@ -61,7 +61,7 @@ position_estimator_inav start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix -mavlink start -u 14556 -r 2000000 +mavlink start -x -u 14556 -r 2000000 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/inav/iris_opt_flow b/posix-configs/SITL/init/inav/iris_opt_flow index 87ceda20a2..84c9adb3d4 100644 --- a/posix-configs/SITL/init/inav/iris_opt_flow +++ b/posix-configs/SITL/init/inav/iris_opt_flow @@ -63,8 +63,8 @@ position_estimator_inav start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix -mavlink start -u 14556 -r 2000000 -mavlink start -u 14557 -r 2000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 2000000 +mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/lpe/hippocampus b/posix-configs/SITL/init/lpe/hippocampus index e382756077..3ee7bbbe4b 100644 --- a/posix-configs/SITL/init/lpe/hippocampus +++ b/posix-configs/SITL/init/lpe/hippocampus @@ -27,8 +27,8 @@ commander start attitude_estimator_q start -mavlink start -u 14556 -r 4000000 -mavlink start -u 14557 -r 4000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 4000000 +mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 diff --git a/posix-configs/SITL/init/lpe/iris b/posix-configs/SITL/init/lpe/iris index 48303c55dc..61dff160cb 100644 --- a/posix-configs/SITL/init/lpe/iris +++ b/posix-configs/SITL/init/lpe/iris @@ -62,8 +62,8 @@ local_position_estimator start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix -mavlink start -u 14556 -r 4000000 -mavlink start -u 14557 -r 4000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 4000000 +mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/lpe/iris_1 b/posix-configs/SITL/init/lpe/iris_1 index 4421f31e97..fde4b0e4f9 100644 --- a/posix-configs/SITL/init/lpe/iris_1 +++ b/posix-configs/SITL/init/lpe/iris_1 @@ -64,8 +64,8 @@ local_position_estimator start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix -mavlink start -u 14556 -r 4000000 -mavlink start -u 14557 -r 4000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 4000000 +mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/lpe/iris_2 b/posix-configs/SITL/init/lpe/iris_2 index ae5afe9e41..8f3d567e35 100644 --- a/posix-configs/SITL/init/lpe/iris_2 +++ b/posix-configs/SITL/init/lpe/iris_2 @@ -64,8 +64,8 @@ local_position_estimator start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix -mavlink start -u 14558 -r 4000000 -mavlink start -u 14559 -r 4000000 -m onboard -o 14541 +mavlink start -x -u 14558 -r 4000000 +mavlink start -x -u 14559 -r 4000000 -m onboard -o 14541 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14558 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14558 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14558 diff --git a/posix-configs/SITL/init/lpe/iris_opt_flow b/posix-configs/SITL/init/lpe/iris_opt_flow index ef728d8c73..2490d2e1f7 100644 --- a/posix-configs/SITL/init/lpe/iris_opt_flow +++ b/posix-configs/SITL/init/lpe/iris_opt_flow @@ -80,8 +80,8 @@ local_position_estimator start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix -mavlink start -u 14556 -r 2000000 -mavlink start -u 14557 -r 2000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 2000000 +mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/lpe/iris_rplidar b/posix-configs/SITL/init/lpe/iris_rplidar index 70e36bc423..115b164dd7 100644 --- a/posix-configs/SITL/init/lpe/iris_rplidar +++ b/posix-configs/SITL/init/lpe/iris_rplidar @@ -62,8 +62,8 @@ local_position_estimator start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix -mavlink start -u 14556 -r 4000000 -mavlink start -u 14557 -r 4000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 4000000 +mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/lpe/plane b/posix-configs/SITL/init/lpe/plane index 1d47faffe6..77ef53d8e0 100644 --- a/posix-configs/SITL/init/lpe/plane +++ b/posix-configs/SITL/init/lpe/plane @@ -67,8 +67,8 @@ fw_pos_control_l1 start fw_att_control start land_detector start fixedwing mixer load /dev/pwm_output0 ROMFS/sitl/mixers/plane_sitl.main.mix -mavlink start -u 14556 -r 2000000 -mavlink start -u 14557 -r 2000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 2000000 +mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/lpe/rover b/posix-configs/SITL/init/lpe/rover index d3a3dc3aa9..1f2d83d659 100644 --- a/posix-configs/SITL/init/lpe/rover +++ b/posix-configs/SITL/init/lpe/rover @@ -62,8 +62,8 @@ ekf2 start gnd_pos_control start gnd_att_control start mixer load /dev/pwm_output0 ROMFS/sitl/mixers/rover_sitl.main.mix -mavlink start -u 14556 -r 4000000 -mavlink start -u 14557 -r 4000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 4000000 +mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/lpe/solo b/posix-configs/SITL/init/lpe/solo index 8128c00807..44527c636d 100644 --- a/posix-configs/SITL/init/lpe/solo +++ b/posix-configs/SITL/init/lpe/solo @@ -62,8 +62,8 @@ local_position_estimator start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix -mavlink start -u 14556 -r 4000000 -mavlink start -u 14557 -r 4000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 4000000 +mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/lpe/standard_vtol b/posix-configs/SITL/init/lpe/standard_vtol index 36e2592578..a1658db314 100644 --- a/posix-configs/SITL/init/lpe/standard_vtol +++ b/posix-configs/SITL/init/lpe/standard_vtol @@ -75,8 +75,8 @@ mc_att_control start fw_pos_control_l1 start fw_att_control start mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix -mavlink start -u 14556 -r 2000000 -mavlink start -u 14557 -r 2000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 2000000 +mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14540 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556 diff --git a/posix-configs/SITL/init/lpe/typhoon_h480 b/posix-configs/SITL/init/lpe/typhoon_h480 index 245b27dc2c..50bbfcebd1 100644 --- a/posix-configs/SITL/init/lpe/typhoon_h480 +++ b/posix-configs/SITL/init/lpe/typhoon_h480 @@ -60,8 +60,8 @@ mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/hexa_x.main.mix mixer append /dev/pwm_output0 ROMFS/px4fmu_common/mixers/mount_legs.aux.mix -mavlink start -u 14556 -r 4000000 -mavlink start -u 14557 -r 4000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 4000000 +mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/rcS_gazebo_delta_wing b/posix-configs/SITL/init/rcS_gazebo_delta_wing index 4a31913644..e72a2f322f 100644 --- a/posix-configs/SITL/init/rcS_gazebo_delta_wing +++ b/posix-configs/SITL/init/rcS_gazebo_delta_wing @@ -44,8 +44,8 @@ fw_pos_control_l1 start fw_att_control start land_detector start fixedwing mixer load /dev/pwm_output0 ../../../../ROMFS/sitl/mixers/delta_wing_sitl.main.mix -mavlink start -u 14556 -r 2000000 -mavlink start -u 14557 -r 2000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 2000000 +mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/test/test_template.in b/posix-configs/SITL/init/test/test_template.in index 043a70fcc4..a89b301ddc 100644 --- a/posix-configs/SITL/init/test/test_template.in +++ b/posix-configs/SITL/init/test/test_template.in @@ -24,7 +24,7 @@ list_devices list_topics list_files -mavlink start -u 14556 -r 2000000 +mavlink start -x -u 14556 -r 2000000 mavlink boot_complete tests @test_name@ diff --git a/posix-configs/bebop/px4.config b/posix-configs/bebop/px4.config index c6f1ae0b99..5b35caf9e5 100644 --- a/posix-configs/bebop/px4.config +++ b/posix-configs/bebop/px4.config @@ -42,7 +42,7 @@ land_detector start multicopter mc_pos_control start mc_att_control start sleep 1 -mavlink start -u 14556 -r 1000000 +mavlink start -x -u 14556 -r 1000000 sleep 1 mavlink stream -u 14556 -s HIGHRES_IMU -r 50 mavlink stream -u 14556 -s ATTITUDE -r 50 diff --git a/posix-configs/eagle/200qx/mainapp.config b/posix-configs/eagle/200qx/mainapp.config index 0f49363c63..90e0549ec6 100644 --- a/posix-configs/eagle/200qx/mainapp.config +++ b/posix-configs/eagle/200qx/mainapp.config @@ -4,7 +4,7 @@ logger start -t -b 200 param set MAV_BROADCAST 1 dataman start navigator start -mavlink start -u 14556 -r 1000000 +mavlink start -x -u 14556 -r 1000000 sleep 1 mavlink stream -u 14556 -s HIGHRES_IMU -r 50 mavlink stream -u 14556 -s ATTITUDE -r 50 diff --git a/posix-configs/eagle/210qc/mainapp.config b/posix-configs/eagle/210qc/mainapp.config index 0f49363c63..90e0549ec6 100644 --- a/posix-configs/eagle/210qc/mainapp.config +++ b/posix-configs/eagle/210qc/mainapp.config @@ -4,7 +4,7 @@ logger start -t -b 200 param set MAV_BROADCAST 1 dataman start navigator start -mavlink start -u 14556 -r 1000000 +mavlink start -x -u 14556 -r 1000000 sleep 1 mavlink stream -u 14556 -s HIGHRES_IMU -r 50 mavlink stream -u 14556 -s ATTITUDE -r 50 diff --git a/posix-configs/eagle/flight/mainapp.config b/posix-configs/eagle/flight/mainapp.config index 0f49363c63..90e0549ec6 100644 --- a/posix-configs/eagle/flight/mainapp.config +++ b/posix-configs/eagle/flight/mainapp.config @@ -4,7 +4,7 @@ logger start -t -b 200 param set MAV_BROADCAST 1 dataman start navigator start -mavlink start -u 14556 -r 1000000 +mavlink start -x -u 14556 -r 1000000 sleep 1 mavlink stream -u 14556 -s HIGHRES_IMU -r 50 mavlink stream -u 14556 -s ATTITUDE -r 50 diff --git a/posix-configs/eagle/hil/mainapphil.config b/posix-configs/eagle/hil/mainapphil.config index 5636501d6e..26b4b11b5f 100644 --- a/posix-configs/eagle/hil/mainapphil.config +++ b/posix-configs/eagle/hil/mainapphil.config @@ -1,7 +1,7 @@ uorb start muorb start param set MAV_BROADCAST 1 -mavlink start -u 14556 +mavlink start -x -u 14556 sleep 1 mavlink stream -u 14556 -s HIGHRES_IMU -r 50 mavlink stream -u 14556 -s ATTITUDE -r 50 diff --git a/posix-configs/excelsior/mainapp.config b/posix-configs/excelsior/mainapp.config index 9c5ac75c8a..73833c2a6c 100644 --- a/posix-configs/excelsior/mainapp.config +++ b/posix-configs/excelsior/mainapp.config @@ -5,7 +5,7 @@ param set MAV_BROADCAST 1 dataman start navigator start sleep 2 -mavlink start -u 14556 -r 1000000 +mavlink start -x -u 14556 -r 1000000 sleep 1 mavlink stream -u 14556 -s HIGHRES_IMU -r 50 mavlink stream -u 14556 -s ATTITUDE -r 50 diff --git a/posix-configs/ocpoc/px4.config b/posix-configs/ocpoc/px4.config index 0e6f47351d..7f355b89b2 100644 --- a/posix-configs/ocpoc/px4.config +++ b/posix-configs/ocpoc/px4.config @@ -23,7 +23,7 @@ land_detector start multicopter mc_pos_control start mc_att_control start -mavlink start -d /dev/ttyPS1 +mavlink start -x -d /dev/ttyPS1 mavlink stream -d /dev/ttyPS1 -s HIGHRES_IMU -r 50 mavlink stream -d /dev/ttyPS1 -s ATTITUDE -r 50 diff --git a/posix-configs/rpi/px4.config b/posix-configs/rpi/px4.config index 3c5e871746..0182cce846 100644 --- a/posix-configs/rpi/px4.config +++ b/posix-configs/rpi/px4.config @@ -24,10 +24,10 @@ ekf2 start land_detector start multicopter mc_pos_control start mc_att_control start -mavlink start -u 14556 -r 1000000 +mavlink start -x -u 14556 -r 1000000 mavlink stream -u 14556 -s HIGHRES_IMU -r 50 mavlink stream -u 14556 -s ATTITUDE -r 50 -mavlink start -d /dev/ttyUSB0 +mavlink start -x -d /dev/ttyUSB0 mavlink stream -d /dev/ttyUSB0 -s HIGHRES_IMU -r 50 mavlink stream -d /dev/ttyUSB0 -s ATTITUDE -r 50 navio_sysfs_rc_in start diff --git a/posix-configs/rpi/px4_fw.config b/posix-configs/rpi/px4_fw.config index 1e44dfd94c..8e7a0269f5 100644 --- a/posix-configs/rpi/px4_fw.config +++ b/posix-configs/rpi/px4_fw.config @@ -27,7 +27,7 @@ ekf2 start fw_att_control start fw_pos_control_l1 start -mavlink start -u 14556 -r 1000000 +mavlink start -x -u 14556 -r 1000000 sleep 1 mavlink stream -u 14556 -s HIGHRES_IMU -r 20 mavlink stream -u 14556 -s ATTITUDE -r 20 diff --git a/posix-configs/rpi/px4_hil.config b/posix-configs/rpi/px4_hil.config index a4857f0df6..28053fe2fe 100644 --- a/posix-configs/rpi/px4_hil.config +++ b/posix-configs/rpi/px4_hil.config @@ -16,7 +16,7 @@ ekf2 start land_detector start multicopter mc_pos_control start mc_att_control start -mavlink start -u 14577 -r 1000000 +mavlink start -x -u 14577 -r 1000000 navio_sysfs_rc_in start pwm_out_sim mode_pwm16 mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix diff --git a/posix-configs/rpi/px4_no_shield.config b/posix-configs/rpi/px4_no_shield.config index d5c26cf5d5..df0274a6f0 100644 --- a/posix-configs/rpi/px4_no_shield.config +++ b/posix-configs/rpi/px4_no_shield.config @@ -19,11 +19,11 @@ position_estimator_inav start land_detector start multicopter mc_pos_control start mc_att_control start -mavlink start -u 14556 -r 1000000 +mavlink start -x -u 14556 -r 1000000 sleep 1 mavlink stream -u 14556 -s HIGHRES_IMU -r 50 mavlink stream -u 14556 -s ATTITUDE -r 50 -#mavlink start -d /dev/ttyUSB0 +#mavlink start -x -d /dev/ttyUSB0 #mavlink stream -d /dev/ttyUSB0 -s HIGHRES_IMU -r 50 #mavlink stream -d /dev/ttyUSB0 -s ATTITUDE -r 50 rpi_rc_in start