diff --git a/br-ext-chip-goke/configs/gk7205v200_fpv_defconfig b/br-ext-chip-goke/configs/gk7205v200_fpv_defconfig
index 4871aaad..7a9eaecd 100644
--- a/br-ext-chip-goke/configs/gk7205v200_fpv_defconfig
+++ b/br-ext-chip-goke/configs/gk7205v200_fpv_defconfig
@@ -100,7 +100,8 @@ BR2_PACKAGE_RTL8812AU_OPENIPC=y
# FPV
BR2_PACKAGE_WIFIBROADCAST=y
-BR2_PACKAGE_MAVLINK_ROUTER=y
+# BR2_PACKAGE_MAVLINK_ROUTER is not set
+BR2_PACKAGE_MAVFWD=y
# DEBUG
BR2_PACKAGE_HOST_GDB=y
diff --git a/br-ext-chip-goke/configs/gk7205v300_fpv_defconfig b/br-ext-chip-goke/configs/gk7205v300_fpv_defconfig
index 672323ea..b0f55d56 100644
--- a/br-ext-chip-goke/configs/gk7205v300_fpv_defconfig
+++ b/br-ext-chip-goke/configs/gk7205v300_fpv_defconfig
@@ -100,7 +100,8 @@ BR2_PACKAGE_RTL8812AU_OPENIPC=y
# FPV
BR2_PACKAGE_WIFIBROADCAST=y
-BR2_PACKAGE_MAVLINK_ROUTER=y
+# BR2_PACKAGE_MAVLINK_ROUTER is not set
+BR2_PACKAGE_MAVFWD=y
# DEBUG
BR2_PACKAGE_HOST_GDB=y
diff --git a/br-ext-chip-hisilicon/configs/hi3516ev200_fpv_defconfig b/br-ext-chip-hisilicon/configs/hi3516ev200_fpv_defconfig
index 601e2560..b4da1dca 100644
--- a/br-ext-chip-hisilicon/configs/hi3516ev200_fpv_defconfig
+++ b/br-ext-chip-hisilicon/configs/hi3516ev200_fpv_defconfig
@@ -100,7 +100,8 @@ BR2_PACKAGE_RTL8812AU_OPENIPC=y
# FPV
BR2_PACKAGE_WIFIBROADCAST=y
-BR2_PACKAGE_MAVLINK_ROUTER=y
+# BR2_PACKAGE_MAVLINK_ROUTER is not set
+BR2_PACKAGE_MAVFWD=y
# DEBUG
BR2_PACKAGE_HOST_GDB=y
diff --git a/br-ext-chip-hisilicon/configs/hi3516ev300_fpv_defconfig b/br-ext-chip-hisilicon/configs/hi3516ev300_fpv_defconfig
index b3cf11f4..71ab3cf4 100644
--- a/br-ext-chip-hisilicon/configs/hi3516ev300_fpv_defconfig
+++ b/br-ext-chip-hisilicon/configs/hi3516ev300_fpv_defconfig
@@ -100,7 +100,8 @@ BR2_PACKAGE_RTL8812AU_OPENIPC=y
# FPV
BR2_PACKAGE_WIFIBROADCAST=y
-BR2_PACKAGE_MAVLINK_ROUTER=y
+# BR2_PACKAGE_MAVLINK_ROUTER is not set
+BR2_PACKAGE_MAVFWD=y
# DEBUG
BR2_PACKAGE_HOST_GDB=y
diff --git a/general/package/wifibroadcast/files/S98wfb b/general/package/wifibroadcast/files/S98wfb
index aee7967f..986faeb1 100755
--- a/general/package/wifibroadcast/files/S98wfb
+++ b/general/package/wifibroadcast/files/S98wfb
@@ -87,7 +87,6 @@ case "$1" in
# UART2_RX mux
devmem 0x120c0010 32 0x1e04
fi
- /usr/bin/mavlink-routerd &
/usr/bin/telemetry start
fi
diff --git a/general/package/wifibroadcast/files/telemetry b/general/package/wifibroadcast/files/telemetry
index c8aa66cb..f73a338a 100755
--- a/general/package/wifibroadcast/files/telemetry
+++ b/general/package/wifibroadcast/files/telemetry
@@ -23,6 +23,8 @@ case "$1" in
start)
echo "Loading MAVLink telemetry service..."
+ mavfwd --master ${serial} --baudrate ${baud} --out 127.0.0.1:${port_tx} --in 127.0.0.1:${port_rx} &
+
start_telemetry
echo "Done."
diff --git a/general/package/wifibroadcast/files/telemetry.conf b/general/package/wifibroadcast/files/telemetry.conf
index 95953f29..7ecc519b 100644
--- a/general/package/wifibroadcast/files/telemetry.conf
+++ b/general/package/wifibroadcast/files/telemetry.conf
@@ -1,3 +1,5 @@
+serial=/dev/ttyAMA0
+baud=115200
wlan=wlan0
bandwidth=20
stbc=1
@@ -12,4 +14,4 @@ fec_k=1
fec_n=2
fec_timeout=0
guard_interval=long
-one_way=true
+one_way=false
diff --git a/general/package/wifibroadcast/files/tweaksys b/general/package/wifibroadcast/files/tweaksys
index c490957e..95d5c0bb 100755
--- a/general/package/wifibroadcast/files/tweaksys
+++ b/general/package/wifibroadcast/files/tweaksys
@@ -27,8 +27,6 @@ all_other() {
# change fps 25 -> 30
sed -i "s!Isp_FrameRate=25!Isp_FrameRate=30!g" /etc/sensors/imx307_i2c_2l_1080p.ini
sed -i "s!Isp_FrameRate=25!Isp_FrameRate=30!g" /etc/sensors/smtsec_imx307_i2c_4l_1080p.ini
- # disable mavlink routerd autostart
- sed -i "s!/usr/bin/mavlink-routerd &!#/usr/bin/mavlink-routerd &!g" /etc/init.d/S97mavlink
# majestic basic settings
${cli} -s .isp.slowShutter disabled
${cli} -s .isp.drc 350
@@ -36,18 +34,17 @@ all_other() {
# ${cli} -s .isp.dis true
${cli} -s .image.contrast 50
${cli} -s .image.luminance 50
- ${cli} -s .video0.bitrate 4096
+ ${cli} -s .video0.bitrate 5120
${cli} -s .video0.codec h264
${cli} -s .video0.rcMode cbr
- ${cli} -s .video0.gopSize 0.1
+ ${cli} -s .video0.gopSize 0
${cli} -s .hls.enabled false
${cli} -s .netip.enabled false
- ${cli} -s .rtsp.enabled false
${cli} -s .jpeg.enabled false
# lowdelay support only imx307 sensor
if [ ${sensor} = "imx307" ]; then
- ${cli} -s .video0.size 1920x1080
- ${cli} -s .video0.fps 30
+ # ${cli} -s .video0.size 1280x720
+ # ${cli} -s .video0.fps 30
${cli} -s .isp.lowDelay true
# ${cli} -s .video0.sliceUnits 4
fi
@@ -65,21 +62,36 @@ EOF
case "$1" in
gk7205v200 | hi3516ev200)
echo "Preparing system tweaks for ${chip}..."
- # set osmem
- fw_setenv osmem 40M
- # change uart2 to uart0 (uart2 used by default [RX ONLY!] If you need two way, use uart0)
- #sed -i "s!Device = /dev/ttyAMA2!Device = /dev/ttyAMA0!g" /etc/mavlink.conf
- #sed -i "s!console::respawn:/sbin/getty -L console 0 vt100 # GENERIC_SERIAL!#console::respawn:/sbin/getty -L console 0 vt100 # GENERIC_SERIAL!g" /etc/inittab
+
+ # set custom config
+ if [ ${chip} = "gk7205v200" ] && [ ${sensor} = "imx307" ]; then
+ echo "switch to custom sensor config"
+ # ${cli} -s .isp.sensorConfig /etc/sensors/60fps/720p_imx307_i2c_2l.ini
+ fi
+
+ # fix osmem in bootargs
+ bootargs=$(fw_printenv -n bootargs)
+ if echo ${bootargs} | grep -q "32M"; then
+ newbootargs="mem=\${osmem} "$(echo ${bootargs} | cut -d " " -f2-)
+ fw_setenv bootargs ${newbootargs}
+ fw_setenv osmem 40M
+ fi
+
+ sed -i "s!console::respawn:/sbin/getty -L console 0 vt100 # GENERIC_SERIAL!#console::respawn:/sbin/getty -L console 0 vt100 # GENERIC_SERIAL!g" /etc/inittab
+
# remove unneeded to reduce some memory
rm -f /etc/init.d/S60crond /etc/init.d/S49ntpd /etc/init.d/S02klogd
+
all_other
;;
gk7205v300 | hi3516ev300)
echo "Preparing system tweaks for ${chip}..."
+
# set sensor config for smtsec board
if [ ${chip} = "gk7205v300" ] && [ ${sensor} = "imx307" ]; then
${cli} -s .isp.sensorConfig /etc/sensors/smtsec_imx307_i2c_4l_1080p.ini
fi
+
all_other
;;
*)