fpv build improvements (#588)

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

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

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

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

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
 

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."

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

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.size 1280x720
-	  ${cli} -s .video0.fps 30
+	  # ${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
+	# set custom config
-	# change uart2 to uart0 (uart2 used by default [RX ONLY!] If you need two way, use uart0)
+	if [ ${chip} = "gk7205v200" ] && [ ${sensor} = "imx307" ]; then
-	#sed -i "s!Device = /dev/ttyAMA2!Device = /dev/ttyAMA0!g" /etc/mavlink.conf
+	  echo "switch to custom sensor config"
-	#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
+	  # ${cli} -s .isp.sensorConfig /etc/sensors/60fps/720p_imx307_i2c_2l.ini
+	fi
+
+	# fix osmem in bootargs
+	bootargs=$(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
 	;;
 	*)