Add msposd ground station OSD support (#1715)

general/package/legacy/datalink/files/telemetry

@@ -23,6 +23,10 @@ start_drone_telemetry() {
 		telemetry_tx -p "$stream_tx" -u "$port_tx" -K "$keydir/$unit.key" -B "$bandwidth" \
 			-M "$mcs_index" -S "$stbc" -L "$ldpc" -G "$guard_interval" -k "$fec_k" -n "$fec_n" \
 			-T "$pool_timeout" -i "$link_id" -f "$frame_type" "$wlan" > /dev/null &
+	elif [ "$router" -eq 3 ]; then
+		telemetry_tx -p "$stream_tx" -u "$tel_port" -K "$keydir/$unit.key" -B "$bandwidth" \
+			-M "$mcs_index" -S "$stbc" -L "$ldpc" -G "$guard_interval" -k "$fec_k" -n "$fec_n" \
+			-T "$pool_timeout" -i "$link_id" -f "$frame_type" "$wlan" > /dev/null &
 	fi
 }
 
@@ -43,7 +47,13 @@ case "$1" in
 		else
 			if [ "$router" -eq 2  ]; then
 				msposd --channels "$channels" --master "$serial" --baudrate "$baud"  \
-					--out 127.0.0.1:$(($port_tx + 1)) -osd -r "$fps" --ahi "$ahi" > /dev/null &
+					--out 127.0.0.1:$tel_port -osd -r "$fps" --ahi "$ahi" > /dev/null &
+			elif [ "$router" -eq 3  ]; then
+				msposd --channels "$channels" --master "$serial" --baudrate "$baud"  \
+					--out 127.0.0.1:$tel_port -r "$fps" --ahi "$ahi" > /dev/null &
+			elif [ "$router" -eq 4  ]; then
+				msposd --channels "$channels" --master "$serial" --baudrate "$baud"  \
+					--out $tun_ip:$tun_port -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 &

general/package/legacy/datalink/files/telemetry_drone.conf

@@ -4,7 +4,12 @@ unit=drone
 serial=/dev/ttyAMA0
 baud=115200
 
-### router: use simple mavfwd (0), classic mavlink-routerd (1) or msposd instead of mavfwd (2)
+### router:
+# 0: simple mavfwd (default)
+# 1: classic mavlink-routerd
+# 2: msposd airunit embedded osd
+# 3: msposd ground osd using telemetry
+# 4: msposd ground osd using tunnel
 router=0
 
 wlan=wlan0
@@ -31,3 +36,6 @@ channels=8
 ### for msposd: OSD over video
 fps=20
 ahi=0
+tel_port=14551
+tun_ip=10.5.0.1
+tun_port=14551