From 9f42c0015366eb924886dff1af6ffdc224ad743c Mon Sep 17 00:00:00 2001 From: Daniel Li Date: Thu, 10 Apr 2025 03:28:52 +0800 Subject: [PATCH] Add msposd ground station OSD support (#1715) --- general/package/legacy/datalink/files/telemetry | 12 +++++++++++- .../legacy/datalink/files/telemetry_drone.conf | 10 +++++++++- 2 files changed, 20 insertions(+), 2 deletions(-) diff --git a/general/package/legacy/datalink/files/telemetry b/general/package/legacy/datalink/files/telemetry index 7479eeee..bfe2f1cd 100755 --- a/general/package/legacy/datalink/files/telemetry +++ b/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 & diff --git a/general/package/legacy/datalink/files/telemetry_drone.conf b/general/package/legacy/datalink/files/telemetry_drone.conf index 14d2f7e4..e0408271 100644 --- a/general/package/legacy/datalink/files/telemetry_drone.conf +++ b/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