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SYS_COMPANION add RTPS client option

This commit is contained in:
Daniel Agar 2017-11-20 16:59:45 -05:00
parent e9e01f7559
commit f208241074
3 changed files with 6 additions and 0 deletions
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4
ROMFS/px4fmu_common/init.d/rcS
View File

@ -697,6 +697,10 @@ fi
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 115200 -m minimal -r 1000
fi
if param compare SYS_COMPANION 6460800
then
micrortps_client start -t UART -d /dev/ttyS2 -b 460800
fi
if param compare SYS_COMPANION 1921600
then
mavlink start -d ${MAVLINK_COMPANION_DEVICE} -b 921600 -r 20000

1
src/modules/micrortps_bridge/CMakeLists.txt
View File

@ -77,6 +77,7 @@ if (GENERATE_RTPS_BRIDGE)
set(uorb_sources_microcdr)
# send topic files
message(STATUS "RTPS send: ${config_rtps_send_topics}")
set(send_topic_files)
foreach(topic ${config_rtps_send_topics})
list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)

1
src/modules/systemlib/system_params.c
View File

@ -130,6 +130,7 @@ PARAM_DEFINE_INT32(SYS_MC_EST_GROUP, 2);
* @value 538400 Minimal Telemetry (38400 baud, 8N1)
* @value 557600 Minimal Telemetry (57600 baud, 8N1)
* @value 5115200 Minimal Telemetry (115200 baud, 8N1)
* @value 6460800 RTPS Client (460800 baud)
* @value 1921600 ESP8266 (921600 baud, 8N1)
*
* @min 0