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[mavlink] Parameter to always start on USB (#22234)

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* usb: Added parameter to enable always starting mavlink on USB.

    Refactored cdcacm_init into a module and added a paramter to allow always starting mavlink on
    USB, also added a paramter to choose the mode. The current default behavior is to wait and listen
    for data on USB and auto-detect the protocol (mavlink, nsh, ublox). This results in the mavlink
    stream not starting until something else on the mavlink network sends a packet first. The new
    default behavior is to always start mavlink.

    Added parameters
    MAV_USB_ENABLE -- default 1 (always start mavlink on USB)
    MAV_USE_MODE -- default 3 (onboard)

* added 3 retries for opening serial port in mavlink, removed sleep before sercon

* added DRIVERS_CDCACM_AUTOSTART to ark-v6x default.px4board

* added CONFIG_DRIVERS_CDCACM_AUTOSTART=y to default.px4board for boards with CONFIG_CDCACM in their nsh/defconfig

* format

* remove PGA460 from COMMON_DISTANCE_SENSOR to save flash

* remove LIS2MDL from COMMON_MAGNETOMETER to save flash

* disable CONFIG_DRIVERS_CDCACM_AUTOSTART for fmu-v5 protected.px4board

* moved and renamed parameters, removed mode logic in mavlink

* changed parameter names, added mode none

* remove parameters from mavlink
This commit is contained in:
Jacob Dahl
2024-05-20 12:35:29 -06:00
committed by GitHub
parent 6b0ac49daf
commit 70304fe715
67 changed files with 982 additions and 25 deletions
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8
ROMFS/px4fmu_common/init.d/rcS
View File

@@ -439,6 +439,14 @@ else
# Must be started after the serial config is read
rc_input start $RC_INPUT_ARGS
# Manages USB interface
if ! cdcacm_autostart start
then
sercon
echo "Starting MAVLink on /dev/ttyACM0"
mavlink start -d /dev/ttyACM0
fi
#
# Play the startup tune (if not disabled or there is an error)
#