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heartbeat on all 3 comm interfaces ok

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This commit is contained in:
neo 2024-05-24 13:33:49 +02:00
parent b652d85985
commit 78698c0a98
6 changed files with 40 additions and 22 deletions
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8
Tools/serial/generate_config.py
View File

@ -87,22 +87,22 @@ serial_ports = {
"TEL1": { # telemetry link
"label": "TELEM 1",
"index": 101,
"default_baudrate": 57600,
"default_baudrate": 9600,
},
"TEL2": { # companion port
"label": "TELEM 2",
"index": 102,
"default_baudrate": 921600,
"default_baudrate": 9600,
},
"TEL3": {
"label": "TELEM 3",
"index": 103,
"default_baudrate": 57600,
"default_baudrate": 9600,
},
"TEL4": {
"label": "TELEM/SERIAL 4",
"index": 104,
"default_baudrate": 57600,
"default_baudrate": 9600,
},
# GPS Ports

2
boards/px4/fts-proto/firmware.prototype
View File

@ -1,5 +1,5 @@
{
"board_id": 56,
"board_id": 0,
"magic": "PX4FWv1",
"description": "Firmware for the Nimbus FTS-CAN systems",
"image": "",

32
boards/px4/fts-proto/init/rc.board_defaults
View File

@ -5,4 +5,34 @@
param set-default FTS_TYPE 1
param set-default FTS_SIM_MODE 0
param set-default FTS_SIM_MODE 0
param set-default SYS_USE_IO 0
param set-default SENS_IMU_MODE 0
# FC INTERFACE (9600 BAUD)
# MAV_0 - TELEM 1 - TTYS5 - UART7 (PE7/PE8)
param set-default MAV_0_BROADCAST 1
param set-default MAV_0_CONFIG 101
param set-default MAV_0_FORWARD 0
param set-default MAV_0_MODE 1
param set-default MAV_0_RADIO_CTL 0
param set-default MAV_0_RATE 2400
# GROUND FTS INTERFACE (9600 BAUD)
# MAV_1 - TELEM 2 - TTYS3 - UART5 (PD2/PC12)
param set-default MAV_1_BROADCAST 1
param set-default MAV_1_CONFIG 102
param set-default MAV_1_FORWARD 0
param set-default MAV_1_MODE 1
param set-default MAV_1_RADIO_CTL 0
param set-default MAV_1_RATE 2400
# AUTO FTS INTERFACE (9600 BAUD)
# MAV_2 - TELEM 3 - TTYS1 - USART2 (PA3/PD5)
param set-default MAV_2_BROADCAST 1
param set-default MAV_2_CONFIG 103
param set-default MAV_2_FORWARD 0
param set-default MAV_2_MODE 1
param set-default MAV_2_RADIO_CTL 0
param set-default MAV_2_RATE 2400

16
boards/px4/fts-proto/init/rc.board_sensors
View File

@ -3,19 +3,3 @@
# PX4 FTS-CAN specific board sensors init
#------------------------------------------------------------------------------
board_adc start
# Internal SPI bus BMI055 accel/gyro
#bmi055 -A -R 4 -s start
#bmi055 -G -R 4 -s start
# Internal SPI bus ICM42688p
#icm42688p -R 6 -s start
# Internal barometer on I2C4 (The same bus is also exposed externally, and therefore marked as external)
#ms5611 -X -b 4 -a 0x77 start
# Internal compass on IMU I2C4 (The same bus is also exposed externally, and therefore marked as external)
#ist8310 -X -b 4 -a 0xc start
# External compass on GPS/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
#ist8310 -X -b 1 -R 10 start

3
src/modules/mavlink/mavlink_main.cpp
View File

@ -1842,6 +1842,9 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("UAVIONIX_ADSB_OUT_DYNAMIC", 5.0f);
break;
case MAVLINK_MODE_FTS:
break;
default:
ret = -1;
break;

1
src/modules/mavlink/mavlink_main.h
View File

@ -211,6 +211,7 @@ public:
MAVLINK_MODE_GIMBAL,
MAVLINK_MODE_ONBOARD_LOW_BANDWIDTH,
MAVLINK_MODE_UAVIONIX,
MAVLINK_MODE_FTS,
MAVLINK_MODE_COUNT
};