From 60f5329b25acfcbd77bbc0cbf0c5eeace830ac0b Mon Sep 17 00:00:00 2001 From: cronyx Date: Thu, 26 Sep 2024 15:24:52 +0300 Subject: [PATCH] add ability to run msposd instead of mavfwd --- general/package/datalink/files/telemetry | 8 +++++++- general/package/datalink/files/telemetry_drone.conf | 6 +++++- 2 files changed, 12 insertions(+), 2 deletions(-) diff --git a/general/package/datalink/files/telemetry b/general/package/datalink/files/telemetry index 00dd450f..bb649507 100755 --- a/general/package/datalink/files/telemetry +++ b/general/package/datalink/files/telemetry @@ -39,8 +39,13 @@ case "$1" in if [ "$router" -eq 1 ] || [ "$fw" = "lte" ]; then mavlink-routerd -c /etc/mavlink.conf > /dev/null 2>&1 & else - mavfwd --channels "$channels" --master "$serial" --baudrate "$baud" -p 100 -t -a "$aggregate" \ + if [ "$router" -eq 2 ]; then + msposd --master "$serial" --baudrate "$baud" --channels "$channels" \ + --out 127.0.0.1:14555 -osd -r "$fps" --ahi "$ahi" > /dev/null & + else + mavfwd --channels "$channels" --master "$serial" --baudrate "$baud" -p 100 -t -a "$aggregate" \ --out 127.0.0.1:$port_tx --in 127.0.0.1:$port_rx > /dev/null & + fi fi if [ "$fw" = "fpv" ] || [ "$fw" = "venc" ]; then start_${unit}_telemetry @@ -53,6 +58,7 @@ case "$1" in killall -q telemetry_tx killall -q mavlink-routerd killall -q mavfwd + killall -q msposd ;; *) diff --git a/general/package/datalink/files/telemetry_drone.conf b/general/package/datalink/files/telemetry_drone.conf index b2b8f853..c5f5a486 100644 --- a/general/package/datalink/files/telemetry_drone.conf +++ b/general/package/datalink/files/telemetry_drone.conf @@ -4,7 +4,7 @@ unit=drone serial=/dev/ttyAMA0 baud=115200 -### router: use simple mavfwd (0) or classic mavlink-routerd (1) +### router: use simple mavfwd (0), classic mavlink-routerd (1) or msposd instead of mavfwd router=0 wlan=wlan0 @@ -27,3 +27,7 @@ aggregate=15 ### for mavfwd: RC override channels to parse after first 4 and call /usr/sbin/channels.sh $ch $val, default 0 channels=8 + +### for msposd: OSD over video +fps=20 +ahi=0