added prebuild mavlink-router (#269)

* added prebuild mavlink-router

* added telemetry scripts

* update

Co-authored-by: cronyx <cronyx@nodasoft.com>

br-ext-chip-goke/Config.in

@@ -21,6 +21,7 @@ source "$BR2_EXTERNAL_GOKE_PATH/package/libwebsockets-openipc/Config.in"
 source "$BR2_EXTERNAL_GOKE_PATH/package/linux-firmware-openipc/Config.in"
 source "$BR2_EXTERNAL_GOKE_PATH/package/majestic-fonts/Config.in"
 source "$BR2_EXTERNAL_GOKE_PATH/package/majestic-gk7205v200/Config.in"
+source "$BR2_EXTERNAL_GOKE_PATH/package/mavlink-router/Config.in"
 source "$BR2_EXTERNAL_GOKE_PATH/package/mbedtls-openipc/Config.in"
 source "$BR2_EXTERNAL_GOKE_PATH/package/microbe-web/Config.in"
 source "$BR2_EXTERNAL_GOKE_PATH/package/motors/Config.in"

br-ext-chip-goke/configs/unknown_unknown_gk7205v200_fpv_defconfig

@@ -104,3 +104,4 @@ BR2_PACKAGE_RTL8812AU_OPENIPC=y
 
 # FPV
 BR2_PACKAGE_WIFIBROADCAST=y
+BR2_PACKAGE_MAVLINK_ROUTER=y

br-ext-chip-goke/configs/unknown_unknown_gk7205v300_fpv_defconfig

@@ -104,3 +104,4 @@ BR2_PACKAGE_RTL8812AU_OPENIPC=y
 
 # FPV
 BR2_PACKAGE_WIFIBROADCAST=y
+BR2_PACKAGE_MAVLINK_ROUTER=y

br-ext-chip-goke/external.mk

@@ -21,6 +21,7 @@ include $(BR2_EXTERNAL_GOKE_PATH)/package/libwebsockets-openipc/libwebsockets-op
 include $(BR2_EXTERNAL_GOKE_PATH)/package/linux-firmware-openipc/linux-firmware-openipc.mk
 include $(BR2_EXTERNAL_GOKE_PATH)/package/majestic-fonts/majestic-fonts.mk
 include $(BR2_EXTERNAL_GOKE_PATH)/package/majestic-gk7205v200/majestic-gk7205v200.mk
+include $(BR2_EXTERNAL_GOKE_PATH)/package/mavlink-router/mavlink-router.mk
 include $(BR2_EXTERNAL_GOKE_PATH)/package/mbedtls-openipc/mbedtls-openipc.mk
 include $(BR2_EXTERNAL_GOKE_PATH)/package/microbe-web/microbe-web.mk
 include $(BR2_EXTERNAL_GOKE_PATH)/package/motors/motors.mk

br-ext-chip-goke/package/mavlink-router

@@ -0,0 +1 @@
+../../general/package/mavlink-router

br-ext-chip-hisilicon/Config.in

@@ -36,6 +36,7 @@ source "$BR2_EXTERNAL_HISILICON_PATH/package/majestic-hi3516cv300/Config.in"
 source "$BR2_EXTERNAL_HISILICON_PATH/package/majestic-hi3516cv500/Config.in"
 source "$BR2_EXTERNAL_HISILICON_PATH/package/majestic-hi3516ev300/Config.in"
 source "$BR2_EXTERNAL_HISILICON_PATH/package/majestic-hi3519v101/Config.in"
+source "$BR2_EXTERNAL_HISILICON_PATH/package/mavlink-router/Config.in"
 source "$BR2_EXTERNAL_HISILICON_PATH/package/mbedtls-openipc/Config.in"
 source "$BR2_EXTERNAL_HISILICON_PATH/package/microbe-web/Config.in"
 source "$BR2_EXTERNAL_HISILICON_PATH/package/motors/Config.in"

br-ext-chip-hisilicon/configs/unknown_unknown_hi3516ev300_fpv_defconfig

@@ -104,3 +104,4 @@ BR2_PACKAGE_RTL8812AU_OPENIPC=y
 
 # FPV
 BR2_PACKAGE_WIFIBROADCAST=y
+BR2_PACKAGE_MAVLINK_ROUTER=y

br-ext-chip-hisilicon/external.mk

@@ -36,6 +36,7 @@ include $(BR2_EXTERNAL_HISILICON_PATH)/package/majestic-hi3516cv300/majestic-hi3
 include $(BR2_EXTERNAL_HISILICON_PATH)/package/majestic-hi3516cv500/majestic-hi3516cv500.mk
 include $(BR2_EXTERNAL_HISILICON_PATH)/package/majestic-hi3516ev300/majestic-hi3516ev300.mk
 include $(BR2_EXTERNAL_HISILICON_PATH)/package/majestic-hi3519v101/majestic-hi3519v101.mk
+include $(BR2_EXTERNAL_HISILICON_PATH)/package/mavlink-router/mavlink-router.mk
 include $(BR2_EXTERNAL_HISILICON_PATH)/package/mbedtls-openipc/mbedtls-openipc.mk
 include $(BR2_EXTERNAL_HISILICON_PATH)/package/microbe-web/microbe-web.mk
 include $(BR2_EXTERNAL_HISILICON_PATH)/package/motors/motors.mk

br-ext-chip-hisilicon/package/mavlink-router

@@ -0,0 +1 @@
+../../general/package/mavlink-router

general/package/mavlink-router/Config.in

@@ -0,0 +1,6 @@
+config BR2_PACKAGE_MAVLINK_ROUTER
+	bool "mavlink-router"
+	help
+	  MAVLink Router is an application to distribute MAVLink messages between multiple endpoints (connections). It distributes packets to a single port or multiple endpoints depending on the target address. Connections can be made via UART, UDP or TCP.
+
+	  https://github.com/mavlink-router/mavlink-router

general/package/mavlink-router/files/S97mavlink

@@ -0,0 +1,18 @@
+#!/bin/sh
+#
+# Start MAVlink Router
+#
+
+case "$1" in
+  start)
+      echo "Starting mavlink router daemon..."
+      /usr/bin/mavlink-routerd &
+    ;;
+  stop)
+    echo "Stopping mavlink router daemon..."
+    kill -9 $(pidof mavlink-routerd)
+    ;;
+    *)
+    echo "Usage: $0 {start|stop}"
+    exit 1
+esac

general/package/mavlink-router/files/mavlink.conf

@@ -0,0 +1,11 @@
+[General]
+TcpServerPort = 0
+
+[UartEndpoint drone]
+Device = /dev/ttyAMA1
+Baud = 115200
+
+[UdpEndpoint telemetry_tx]
+Mode = Normal
+Address = 127.0.0.1
+Port = 14701

general/package/mavlink-router/mavlink-router.mk

@@ -0,0 +1,20 @@
+################################################################################
+#
+# mavlink-router
+#
+################################################################################
+
+MAVLINK_ROUTER_LICENSE = ASF-2.0
+
+define MAVLINK_ROUTER_INSTALL_TARGET_CMDS
+	$(INSTALL) -m 0755 -d $(TARGET_DIR)/usr/bin
+	cp ../general/package/mavlink-router/files/mavlink-routerd $(TARGET_DIR)/usr/bin/mavlink-routerd
+
+	$(INSTALL) -m 755 -d $(TARGET_DIR)/etc
+	cp ../general/package/mavlink-router/files/mavlink.conf $(TARGET_DIR)/etc/mavlink.conf
+
+	$(INSTALL) -m 755 -d $(TARGET_DIR)/etc/init.d
+	cp ../general/package/mavlink-router/files/S97mavlink $(TARGET_DIR)/etc/init.d
+endef
+
+$(eval $(generic-package))

general/package/mavlink-router/readme.md

@@ -0,0 +1,7 @@
+# MAVLink Router Package
+
+Все необходимые настройки находятся в /etc/mavlink.conf
+
+Запуск и остановка сервиса /etc/init.d/S97mavlink [start|stop]
+
+Полный список всех возможных [настроек](https://github.com/mavlink-router/mavlink-router/blob/master/examples/config.sample) можно получить из сэмпла конфига с официального гитхаба. 

general/package/wifibroadcast/files/S98wfb

@@ -22,11 +22,11 @@ load_ath() {
 load_interface() {
 
   if [ ${driver} = "rtl" ]; then
-	ifconfig ${wlan} up
-	iwconfig ${wlan} mode monitor
+	  ifconfig ${wlan} up
+	  iwconfig ${wlan} mode monitor
   elif [ ${driver} = "ath" ]; then
-	iwconfig ${wlan} mode monitor
-	ifconfig ${wlan} up
+	  iwconfig ${wlan} mode monitor
+	  ifconfig ${wlan} up
   fi
 
   iw reg set ${region}
@@ -34,7 +34,7 @@ load_interface() {
 }
 
 start_wfb() {
-  wfb_tx -p ${radio_port} -u ${udp_port} -K ${keydir}/drone.key -B ${bandwidth} -M ${mcs_index} -S ${stbc} -L ${ldpc} -G ${guard_interval} -k ${rs_k} -n ${rs_n} ${wlan} &
+  wfb_tx -p ${radio_port} -u ${udp_port} -K ${keydir}/drone.key -B ${bandwidth} -M ${mcs_index} -S ${stbc} -L ${ldpc} -G ${guard_interval} -k ${fec_k} -n ${fec_n} -T ${fec_timeout} ${wlan} &
 }
 
 case "$1" in
@@ -74,6 +74,10 @@ case "$1" in
 
 	  echo "Done."
 
+	  if [ ${telemetry} = "true" ]; then
+		  sh /usr/bin/telemetry start
+	  fi
+
 	else
       echo "Wifibroadcast service disabled in wfb.conf..."
 	fi
@@ -81,7 +85,6 @@ case "$1" in
   stop)
     echo "Stopping wifibroadcast service..."
     kill -9 $(pidof wfb_tx)
-	ifconfig ${wlan} down
     ;;
     *)
     echo "Usage: $0 {start|stop}"

general/package/wifibroadcast/files/telemetry

@@ -0,0 +1,38 @@
+#!/bin/sh
+#
+# Start telemetry
+#
+
+. /etc/telemetry.conf
+
+keydir="/etc"
+
+start_telemetry() {
+  if [ ! -f /usr/bin/telemetry_rx -a ! -f /usr/bin/telemetry_tx ]; then
+	  ln -s /usr/bin/wfb_rx /usr/bin/telemetry_rx ; chmod +x /usr/bin/telemetry_rx
+	  ln -s /usr/bin/wfb_tx /usr/bin/telemetry_tx ; chmod +x /usr/bin/telemetry_tx
+  else
+	if [ ${one_way} = "false" ]; then
+	  telemetry_rx -p ${stream_rx} -u ${port_rx} -K ${keydir}/drone.key -k ${fec_k} -n ${fec_n} ${wlan} &
+	fi
+	telemetry_tx -p ${stream_tx} -u ${port_tx} -K ${keydir}/drone.key -B ${bandwidth} -M ${mcs_index} -S ${stbc} -L ${ldpc} -G ${guard_interval} -k ${fec_k} -n ${fec_n} -T ${fec_timeout} ${wlan} &
+  fi
+}
+
+case "$1" in
+  start)
+	  echo "Loading MAVLink telemetry service..."
+
+	  start_telemetry
+
+	  echo "Done."
+    ;;
+  stop)
+    echo "Stopping telemetry service..."
+    kill -9 $(pidof telemetry_rx)
+    kill -9 $(pidof telemetry_tx)
+    ;;
+    *)
+    echo "Usage: $0 {start|stop}"
+    exit 1
+esac

general/package/wifibroadcast/files/telemetry.conf

@@ -0,0 +1,14 @@
+wlan=wlan0
+bandwidth=20
+stbc=1
+ldpc=1
+mcs_index=1
+stream_rx=1
+stream_tx=2
+port_rx=14700
+port_tx=14701
+fec_k=1
+fec_n=2
+fec_timeout=0
+guard_interval=long
+one_way=true

general/package/wifibroadcast/files/wfb.conf

@@ -1,14 +1,16 @@
-daemon=0
+daemon=1
 driver=rtl
 wlan=wlan0
 region=BO
 channel=14
 bandwidth=20
-stbc=0
-ldpc=0
+stbc=1
+ldpc=1
 mcs_index=1
 radio_port=3
 udp_port=5600
-rs_k=8
-rs_n=12
+fec_k=8
+fec_n=12
+fec_timeout=0
 guard_interval=long
+telemetry=false

general/package/wifibroadcast/readme.md

@@ -47,7 +47,11 @@ outgoing:
 iwconfig wlan0 channel X
 ```
 
-Никаких дополнительных настроек для wfb_tx пока не вынесено в конфиг, для тестов их можно добавлять в функции start_wfb в скрипте инициализации /etc/init.d/S98wfb
+# Телеметрия
+
+Включается в /etc/wfb.conf, настройки в /etc/telemetry.conf
+
+Важно! Для работы телеметрии, придется экспериментировать с выделением памяти для системы. Отключить ВСЕ не нужное в камере кроме основного потока, проверить сколько свободной памяти осталось после выделения видео подсистеме и передать свободную в OS. (для GK7205v300: fw_setenv osmem 64M)
 
 
 

general/package/wifibroadcast/wifibroadcast.mk

@@ -20,6 +20,7 @@ endef
 
 define WIFIBROADCAST_INSTALL_TARGET_CMDS
 	$(INSTALL) -m 0755 -D $(@D)/wfb_tx $(TARGET_DIR)/usr/bin
+	$(INSTALL) -m 0755 -D $(@D)/wfb_rx $(TARGET_DIR)/usr/bin
 	$(INSTALL) -m 0755 -D $(@D)/wfb_keygen $(TARGET_DIR)/usr/bin
 
 	$(INSTALL) -m 755 -d $(TARGET_DIR)/etc
@@ -27,6 +28,12 @@ define WIFIBROADCAST_INSTALL_TARGET_CMDS
 
 	$(INSTALL) -m 755 -d $(TARGET_DIR)/etc/init.d
 	cp ../general/package/wifibroadcast/files/S98wfb $(TARGET_DIR)/etc/init.d
+
+	$(INSTALL) -m 755 -d $(TARGET_DIR)/usr/bin
+	cp ../general/package/wifibroadcast/files/telemetry $(TARGET_DIR)/usr/bin
+
+	$(INSTALL) -m 755 -d $(TARGET_DIR)/etc
+	cp ../general/package/wifibroadcast/files/telemetry.conf $(TARGET_DIR)/etc
 endef
 
 $(eval $(generic-package))