diff --git a/posix-configs/SITL/README.md b/posix-configs/SITL/README.md index a98a6515faefb64572193ae31c3ed38950965458..0accf8401e72d0142771568770383e7722063bb2 100644 --- a/posix-configs/SITL/README.md +++ b/posix-configs/SITL/README.md @@ -63,7 +63,7 @@ Example "startup" file ``` uorb start -mavlink start -u 14556 +mavlink start -x -u 14556 simulator start -s param set CAL_GYRO0_ID 2293760 param set CAL_ACC0_ID 1310720 diff --git a/posix-configs/SITL/init/ekf2/iris b/posix-configs/SITL/init/ekf2/iris index 888edce7fdf2d22fd0375962332bd73bf2982422..7bc1e2e1aea0f1ffab2181741856ef03bcc7802a 100644 --- a/posix-configs/SITL/init/ekf2/iris +++ b/posix-configs/SITL/init/ekf2/iris @@ -61,8 +61,8 @@ ekf2 start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix -mavlink start -u 14556 -r 4000000 -mavlink start -u 14557 -r 4000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 4000000 +mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/ekf2/iris_1 b/posix-configs/SITL/init/ekf2/iris_1 index 95a165b41db02c7a2786f24402561a4d9dd8e6df..4c386005d7270c0cfb75dcc746150c9e33d0631e 100644 --- a/posix-configs/SITL/init/ekf2/iris_1 +++ b/posix-configs/SITL/init/ekf2/iris_1 @@ -63,8 +63,8 @@ ekf2 start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix -mavlink start -u 14556 -r 4000000 -mavlink start -u 14557 -r 4000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 4000000 +mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/ekf2/iris_2 b/posix-configs/SITL/init/ekf2/iris_2 index 48d6a9a3de0fc0e9547ee070b59834acc9808683..237bf02d7b8a65f90f3df65e054cd693f16dc137 100644 --- a/posix-configs/SITL/init/ekf2/iris_2 +++ b/posix-configs/SITL/init/ekf2/iris_2 @@ -63,8 +63,8 @@ ekf2 start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix -mavlink start -u 14558 -r 4000000 -mavlink start -u 14559 -r 4000000 -m onboard -o 14541 +mavlink start -x -u 14558 -r 4000000 +mavlink start -x -u 14559 -r 4000000 -m onboard -o 14541 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14558 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14558 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14558 diff --git a/posix-configs/SITL/init/ekf2/iris_opt_flow b/posix-configs/SITL/init/ekf2/iris_opt_flow index eb88ba9053695c65d03c762db1ac3e930e71a635..ec62f171a0a0209401a629d7caed809174cef5b5 100644 --- a/posix-configs/SITL/init/ekf2/iris_opt_flow +++ b/posix-configs/SITL/init/ekf2/iris_opt_flow @@ -61,8 +61,8 @@ ekf2 start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix -mavlink start -u 14556 -r 4000000 -mavlink start -u 14557 -r 4000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 4000000 +mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/ekf2/iris_rplidar b/posix-configs/SITL/init/ekf2/iris_rplidar index 888edce7fdf2d22fd0375962332bd73bf2982422..7bc1e2e1aea0f1ffab2181741856ef03bcc7802a 100644 --- a/posix-configs/SITL/init/ekf2/iris_rplidar +++ b/posix-configs/SITL/init/ekf2/iris_rplidar @@ -61,8 +61,8 @@ ekf2 start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix -mavlink start -u 14556 -r 4000000 -mavlink start -u 14557 -r 4000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 4000000 +mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/ekf2/multiple_iris b/posix-configs/SITL/init/ekf2/multiple_iris index a71916d7d2b7cc860d2929d65f495417ac3a3c5d..e2200c78249025aadcb665c650aa7036ef0ad609 100644 --- a/posix-configs/SITL/init/ekf2/multiple_iris +++ b/posix-configs/SITL/init/ekf2/multiple_iris @@ -61,8 +61,8 @@ ekf2 start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix -mavlink start -u _MAVPORT_ -r 4000000 -o _MAVOPORT_ -mavlink start -u _MAVPORT2_ -r 4000000 -m onboard -o _MAVOPORT2_ +mavlink start -x -u _MAVPORT_ -r 4000000 -o _MAVOPORT_ +mavlink start -x -u _MAVPORT2_ -r 4000000 -m onboard -o _MAVOPORT2_ mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u _MAVPORT_ mavlink stream -r 50 -s LOCAL_POSITION_NED -u _MAVPORT_ mavlink stream -r 50 -s GLOBAL_POSITION_INT -u _MAVPORT_ diff --git a/posix-configs/SITL/init/ekf2/plane b/posix-configs/SITL/init/ekf2/plane index 22d0d39931aec52edd168f237b782c9aab58aa77..86727a7530a4646edb2244ffc6127d3530eb6ec3 100644 --- a/posix-configs/SITL/init/ekf2/plane +++ b/posix-configs/SITL/init/ekf2/plane @@ -69,8 +69,8 @@ fw_pos_control_l1 start fw_att_control start land_detector start fixedwing mixer load /dev/pwm_output0 ROMFS/sitl/mixers/plane_sitl.main.mix -mavlink start -u 14556 -r 2000000 -mavlink start -u 14557 -r 2000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 2000000 +mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/ekf2/rover b/posix-configs/SITL/init/ekf2/rover index 4bb5a018edac38a966d7c3dec837020294a6f80d..a202d62edc353d895a3f44953a795092e638a990 100644 --- a/posix-configs/SITL/init/ekf2/rover +++ b/posix-configs/SITL/init/ekf2/rover @@ -66,8 +66,8 @@ ekf2 start gnd_pos_control start gnd_att_control start mixer load /dev/pwm_output0 ROMFS/sitl/mixers/rover_sitl.main.mix -mavlink start -u 14556 -r 4000000 -mavlink start -u 14557 -r 4000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 4000000 +mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/ekf2/solo b/posix-configs/SITL/init/ekf2/solo index 250e51a90712bbc1fc1e4ece754a2a076ad98b86..51a0cf37048abb08a45f0095fd94e43cebeeba0d 100644 --- a/posix-configs/SITL/init/ekf2/solo +++ b/posix-configs/SITL/init/ekf2/solo @@ -58,8 +58,8 @@ ekf2 start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix -mavlink start -u 14556 -r 4000000 -mavlink start -u 14557 -r 4000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 4000000 +mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/ekf2/standard_vtol b/posix-configs/SITL/init/ekf2/standard_vtol index 8cd0117e1929e587a193809508bad90c9bee1281..caae87a69ab86f2d17568ba0bf20c5a6add7c0b8 100644 --- a/posix-configs/SITL/init/ekf2/standard_vtol +++ b/posix-configs/SITL/init/ekf2/standard_vtol @@ -79,8 +79,8 @@ mc_att_control start fw_pos_control_l1 start fw_att_control start mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix -mavlink start -u 14556 -r 2000000 -f -mavlink start -u 14557 -r 2000000 -m onboard -o 14540 -f +mavlink start -x -u 14556 -r 2000000 -f +mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 -f mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14557 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556 diff --git a/posix-configs/SITL/init/ekf2/tailsitter b/posix-configs/SITL/init/ekf2/tailsitter index 0795c9f968e20caa183129ee2042c908cde4beb6..5782342eff11f0710981412b77587a8798af14b3 100644 --- a/posix-configs/SITL/init/ekf2/tailsitter +++ b/posix-configs/SITL/init/ekf2/tailsitter @@ -60,8 +60,8 @@ mc_att_control start fw_pos_control_l1 start fw_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix -mavlink start -u 14556 -r 2000000 -mavlink start -u 14557 -r 2000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 2000000 +mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/ekf2/typhoon_h480 b/posix-configs/SITL/init/ekf2/typhoon_h480 index 71fc797159546f99e7cc19f8b5d474b5a9fded65..ec7b0b924dfc1d15acb0beba201ec95f906c7f1f 100644 --- a/posix-configs/SITL/init/ekf2/typhoon_h480 +++ b/posix-configs/SITL/init/ekf2/typhoon_h480 @@ -65,9 +65,9 @@ mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/hexa_x.main.mix mixer append /dev/pwm_output0 ROMFS/px4fmu_common/mixers/mount_legs.aux.mix -mavlink start -u 14556 -r 4000000 -mavlink start -u 14557 -r 4000000 -m onboard -o 14540 -mavlink start -u 14558 -r 4000 -f -m onboard -o 14530 +mavlink start -x -u 14556 -r 4000000 +mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 +mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/inav/iris b/posix-configs/SITL/init/inav/iris index 42d46d5f54f213f67d504e849121aeeaa4149658..57e6713887cbea907a8c7c6a8d1177f23db60c27 100644 --- a/posix-configs/SITL/init/inav/iris +++ b/posix-configs/SITL/init/inav/iris @@ -61,7 +61,7 @@ position_estimator_inav start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix -mavlink start -u 14556 -r 2000000 +mavlink start -x -u 14556 -r 2000000 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/inav/iris_opt_flow b/posix-configs/SITL/init/inav/iris_opt_flow index 87ceda20a2a2d0dbe7230fad7f820fee4bed0e56..84c9adb3d48c744d31d5d43dc1d487387c711ba5 100644 --- a/posix-configs/SITL/init/inav/iris_opt_flow +++ b/posix-configs/SITL/init/inav/iris_opt_flow @@ -63,8 +63,8 @@ position_estimator_inav start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix -mavlink start -u 14556 -r 2000000 -mavlink start -u 14557 -r 2000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 2000000 +mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/lpe/hippocampus b/posix-configs/SITL/init/lpe/hippocampus index e382756077ce7384be1279b9f471221f606429da..3ee7bbbe4b2caa0443530fe3f2a2ce9f5c1b8549 100644 --- a/posix-configs/SITL/init/lpe/hippocampus +++ b/posix-configs/SITL/init/lpe/hippocampus @@ -27,8 +27,8 @@ commander start attitude_estimator_q start -mavlink start -u 14556 -r 4000000 -mavlink start -u 14557 -r 4000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 4000000 +mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 diff --git a/posix-configs/SITL/init/lpe/iris b/posix-configs/SITL/init/lpe/iris index 48303c55dc83ca3f23fa0e8ccceb8168b3ab4d88..61dff160cbe6cc4cc622b031e8f5569da94ec75d 100644 --- a/posix-configs/SITL/init/lpe/iris +++ b/posix-configs/SITL/init/lpe/iris @@ -62,8 +62,8 @@ local_position_estimator start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix -mavlink start -u 14556 -r 4000000 -mavlink start -u 14557 -r 4000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 4000000 +mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/lpe/iris_1 b/posix-configs/SITL/init/lpe/iris_1 index 4421f31e974665311574497d36a696f83e484804..fde4b0e4f985d8677a8d7de716d25db2cd936314 100644 --- a/posix-configs/SITL/init/lpe/iris_1 +++ b/posix-configs/SITL/init/lpe/iris_1 @@ -64,8 +64,8 @@ local_position_estimator start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix -mavlink start -u 14556 -r 4000000 -mavlink start -u 14557 -r 4000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 4000000 +mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/lpe/iris_2 b/posix-configs/SITL/init/lpe/iris_2 index ae5afe9e418763718294b17ba2240caf436d8ac2..8f3d567e3583373431a20d44d317fd0204c8402f 100644 --- a/posix-configs/SITL/init/lpe/iris_2 +++ b/posix-configs/SITL/init/lpe/iris_2 @@ -64,8 +64,8 @@ local_position_estimator start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix -mavlink start -u 14558 -r 4000000 -mavlink start -u 14559 -r 4000000 -m onboard -o 14541 +mavlink start -x -u 14558 -r 4000000 +mavlink start -x -u 14559 -r 4000000 -m onboard -o 14541 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14558 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14558 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14558 diff --git a/posix-configs/SITL/init/lpe/iris_opt_flow b/posix-configs/SITL/init/lpe/iris_opt_flow index ef728d8c734b4f447a12e3011abb8b096c713a7a..2490d2e1f7bcd667ed313a50caebd285c4ac4b4d 100644 --- a/posix-configs/SITL/init/lpe/iris_opt_flow +++ b/posix-configs/SITL/init/lpe/iris_opt_flow @@ -80,8 +80,8 @@ local_position_estimator start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix -mavlink start -u 14556 -r 2000000 -mavlink start -u 14557 -r 2000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 2000000 +mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/lpe/iris_rplidar b/posix-configs/SITL/init/lpe/iris_rplidar index 70e36bc4237436931c3bc40e88518d5a0e3daa7d..115b164dd786855b2ee2a0ea044a5689e81ea82f 100644 --- a/posix-configs/SITL/init/lpe/iris_rplidar +++ b/posix-configs/SITL/init/lpe/iris_rplidar @@ -62,8 +62,8 @@ local_position_estimator start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix -mavlink start -u 14556 -r 4000000 -mavlink start -u 14557 -r 4000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 4000000 +mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/lpe/plane b/posix-configs/SITL/init/lpe/plane index 1d47faffe619ee6bbefffeb896b329cdc3df6a11..77ef53d8e06db5d3d70f5e99a91d72b8e6394cd4 100644 --- a/posix-configs/SITL/init/lpe/plane +++ b/posix-configs/SITL/init/lpe/plane @@ -67,8 +67,8 @@ fw_pos_control_l1 start fw_att_control start land_detector start fixedwing mixer load /dev/pwm_output0 ROMFS/sitl/mixers/plane_sitl.main.mix -mavlink start -u 14556 -r 2000000 -mavlink start -u 14557 -r 2000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 2000000 +mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/lpe/rover b/posix-configs/SITL/init/lpe/rover index d3a3dc3aa9b7b457bc8fd906da767c15cd9009b1..1f2d83d659f4a7fcfa8eb0ad6e9e6da722c5a295 100644 --- a/posix-configs/SITL/init/lpe/rover +++ b/posix-configs/SITL/init/lpe/rover @@ -62,8 +62,8 @@ ekf2 start gnd_pos_control start gnd_att_control start mixer load /dev/pwm_output0 ROMFS/sitl/mixers/rover_sitl.main.mix -mavlink start -u 14556 -r 4000000 -mavlink start -u 14557 -r 4000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 4000000 +mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/lpe/solo b/posix-configs/SITL/init/lpe/solo index 8128c008077c9cd6ab2d580907d81cfd442b0cc4..44527c636de32f4875356f2170366bfe26d619b6 100644 --- a/posix-configs/SITL/init/lpe/solo +++ b/posix-configs/SITL/init/lpe/solo @@ -62,8 +62,8 @@ local_position_estimator start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix -mavlink start -u 14556 -r 4000000 -mavlink start -u 14557 -r 4000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 4000000 +mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/lpe/standard_vtol b/posix-configs/SITL/init/lpe/standard_vtol index 36e259257891420a260cea91413340202046365e..a1658db314a99abdab8afb46e05115fe1ee0752b 100644 --- a/posix-configs/SITL/init/lpe/standard_vtol +++ b/posix-configs/SITL/init/lpe/standard_vtol @@ -75,8 +75,8 @@ mc_att_control start fw_pos_control_l1 start fw_att_control start mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix -mavlink start -u 14556 -r 2000000 -mavlink start -u 14557 -r 2000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 2000000 +mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14540 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556 diff --git a/posix-configs/SITL/init/lpe/typhoon_h480 b/posix-configs/SITL/init/lpe/typhoon_h480 index 245b27dc2c9ca2634c9b6425c0f33266dbcb923e..50bbfcebd1cfcd47c1e8164d760fabdac1f7116a 100644 --- a/posix-configs/SITL/init/lpe/typhoon_h480 +++ b/posix-configs/SITL/init/lpe/typhoon_h480 @@ -60,8 +60,8 @@ mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/hexa_x.main.mix mixer append /dev/pwm_output0 ROMFS/px4fmu_common/mixers/mount_legs.aux.mix -mavlink start -u 14556 -r 4000000 -mavlink start -u 14557 -r 4000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 4000000 +mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/rcS_gazebo_delta_wing b/posix-configs/SITL/init/rcS_gazebo_delta_wing index 4a31913644cfaab0bfd9cea0a0d0a527488f2535..e72a2f322f3030ab7a982c0359289348b872a83d 100644 --- a/posix-configs/SITL/init/rcS_gazebo_delta_wing +++ b/posix-configs/SITL/init/rcS_gazebo_delta_wing @@ -44,8 +44,8 @@ fw_pos_control_l1 start fw_att_control start land_detector start fixedwing mixer load /dev/pwm_output0 ../../../../ROMFS/sitl/mixers/delta_wing_sitl.main.mix -mavlink start -u 14556 -r 2000000 -mavlink start -u 14557 -r 2000000 -m onboard -o 14540 +mavlink start -x -u 14556 -r 2000000 +mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556 diff --git a/posix-configs/SITL/init/test/test_template.in b/posix-configs/SITL/init/test/test_template.in index 043a70fcc4680fdb9fa799533cadb08d8e5cae67..a89b301ddc7126b8a251b5ba582e83417a38f3ca 100644 --- a/posix-configs/SITL/init/test/test_template.in +++ b/posix-configs/SITL/init/test/test_template.in @@ -24,7 +24,7 @@ list_devices list_topics list_files -mavlink start -u 14556 -r 2000000 +mavlink start -x -u 14556 -r 2000000 mavlink boot_complete tests @test_name@ diff --git a/posix-configs/bebop/px4.config b/posix-configs/bebop/px4.config index c6f1ae0b992f9f12dd697e9899c6aa8c325d762a..5b35caf9e530b300d06ecd400108dd2e0b44bd83 100644 --- a/posix-configs/bebop/px4.config +++ b/posix-configs/bebop/px4.config @@ -42,7 +42,7 @@ land_detector start multicopter mc_pos_control start mc_att_control start sleep 1 -mavlink start -u 14556 -r 1000000 +mavlink start -x -u 14556 -r 1000000 sleep 1 mavlink stream -u 14556 -s HIGHRES_IMU -r 50 mavlink stream -u 14556 -s ATTITUDE -r 50 diff --git a/posix-configs/eagle/200qx/mainapp.config b/posix-configs/eagle/200qx/mainapp.config index 0f49363c6339aead562e9908cef8eab1fa3d1bb0..90e0549ec6e1c769f617c59d08fb6925e6b6b56f 100644 --- a/posix-configs/eagle/200qx/mainapp.config +++ b/posix-configs/eagle/200qx/mainapp.config @@ -4,7 +4,7 @@ logger start -t -b 200 param set MAV_BROADCAST 1 dataman start navigator start -mavlink start -u 14556 -r 1000000 +mavlink start -x -u 14556 -r 1000000 sleep 1 mavlink stream -u 14556 -s HIGHRES_IMU -r 50 mavlink stream -u 14556 -s ATTITUDE -r 50 diff --git a/posix-configs/eagle/210qc/mainapp.config b/posix-configs/eagle/210qc/mainapp.config index 0f49363c6339aead562e9908cef8eab1fa3d1bb0..90e0549ec6e1c769f617c59d08fb6925e6b6b56f 100644 --- a/posix-configs/eagle/210qc/mainapp.config +++ b/posix-configs/eagle/210qc/mainapp.config @@ -4,7 +4,7 @@ logger start -t -b 200 param set MAV_BROADCAST 1 dataman start navigator start -mavlink start -u 14556 -r 1000000 +mavlink start -x -u 14556 -r 1000000 sleep 1 mavlink stream -u 14556 -s HIGHRES_IMU -r 50 mavlink stream -u 14556 -s ATTITUDE -r 50 diff --git a/posix-configs/eagle/flight/mainapp.config b/posix-configs/eagle/flight/mainapp.config index 0f49363c6339aead562e9908cef8eab1fa3d1bb0..90e0549ec6e1c769f617c59d08fb6925e6b6b56f 100644 --- a/posix-configs/eagle/flight/mainapp.config +++ b/posix-configs/eagle/flight/mainapp.config @@ -4,7 +4,7 @@ logger start -t -b 200 param set MAV_BROADCAST 1 dataman start navigator start -mavlink start -u 14556 -r 1000000 +mavlink start -x -u 14556 -r 1000000 sleep 1 mavlink stream -u 14556 -s HIGHRES_IMU -r 50 mavlink stream -u 14556 -s ATTITUDE -r 50 diff --git a/posix-configs/eagle/hil/mainapphil.config b/posix-configs/eagle/hil/mainapphil.config index 5636501d6e02ca60daba6b8c779741167b0cd766..26b4b11b5f625668a7ae56b5aa0299eb12e7d14b 100644 --- a/posix-configs/eagle/hil/mainapphil.config +++ b/posix-configs/eagle/hil/mainapphil.config @@ -1,7 +1,7 @@ uorb start muorb start param set MAV_BROADCAST 1 -mavlink start -u 14556 +mavlink start -x -u 14556 sleep 1 mavlink stream -u 14556 -s HIGHRES_IMU -r 50 mavlink stream -u 14556 -s ATTITUDE -r 50 diff --git a/posix-configs/excelsior/mainapp.config b/posix-configs/excelsior/mainapp.config index 9c5ac75c8a030699f179cb90754825cb1528495f..73833c2a6ca54bb363ae64562a92a22d47bf597e 100644 --- a/posix-configs/excelsior/mainapp.config +++ b/posix-configs/excelsior/mainapp.config @@ -5,7 +5,7 @@ param set MAV_BROADCAST 1 dataman start navigator start sleep 2 -mavlink start -u 14556 -r 1000000 +mavlink start -x -u 14556 -r 1000000 sleep 1 mavlink stream -u 14556 -s HIGHRES_IMU -r 50 mavlink stream -u 14556 -s ATTITUDE -r 50 diff --git a/posix-configs/ocpoc/px4.config b/posix-configs/ocpoc/px4.config index 0e6f47351d9242f249537e76cb795d9a5b9ed992..7f355b89b21929794c4dbdeae2798ce8569ab5c8 100644 --- a/posix-configs/ocpoc/px4.config +++ b/posix-configs/ocpoc/px4.config @@ -23,7 +23,7 @@ land_detector start multicopter mc_pos_control start mc_att_control start -mavlink start -d /dev/ttyPS1 +mavlink start -x -d /dev/ttyPS1 mavlink stream -d /dev/ttyPS1 -s HIGHRES_IMU -r 50 mavlink stream -d /dev/ttyPS1 -s ATTITUDE -r 50 diff --git a/posix-configs/rpi/px4.config b/posix-configs/rpi/px4.config index 3c5e8717468caf5dfb49fa09877357f9b745cf39..0182cce8468c0aadbcee6b6accf09d5a03d17af1 100644 --- a/posix-configs/rpi/px4.config +++ b/posix-configs/rpi/px4.config @@ -24,10 +24,10 @@ ekf2 start land_detector start multicopter mc_pos_control start mc_att_control start -mavlink start -u 14556 -r 1000000 +mavlink start -x -u 14556 -r 1000000 mavlink stream -u 14556 -s HIGHRES_IMU -r 50 mavlink stream -u 14556 -s ATTITUDE -r 50 -mavlink start -d /dev/ttyUSB0 +mavlink start -x -d /dev/ttyUSB0 mavlink stream -d /dev/ttyUSB0 -s HIGHRES_IMU -r 50 mavlink stream -d /dev/ttyUSB0 -s ATTITUDE -r 50 navio_sysfs_rc_in start diff --git a/posix-configs/rpi/px4_fw.config b/posix-configs/rpi/px4_fw.config index 1e44dfd94ca1ae10659b9cc40c033728f3efadb0..8e7a0269f5809cabfe2bcaac372b53b9a33cb4be 100644 --- a/posix-configs/rpi/px4_fw.config +++ b/posix-configs/rpi/px4_fw.config @@ -27,7 +27,7 @@ ekf2 start fw_att_control start fw_pos_control_l1 start -mavlink start -u 14556 -r 1000000 +mavlink start -x -u 14556 -r 1000000 sleep 1 mavlink stream -u 14556 -s HIGHRES_IMU -r 20 mavlink stream -u 14556 -s ATTITUDE -r 20 diff --git a/posix-configs/rpi/px4_hil.config b/posix-configs/rpi/px4_hil.config index a4857f0df6a80816ba98a7254d2afe510bc01fc3..28053fe2fe5eac1b606fe2a4a8271b76aae73022 100644 --- a/posix-configs/rpi/px4_hil.config +++ b/posix-configs/rpi/px4_hil.config @@ -16,7 +16,7 @@ ekf2 start land_detector start multicopter mc_pos_control start mc_att_control start -mavlink start -u 14577 -r 1000000 +mavlink start -x -u 14577 -r 1000000 navio_sysfs_rc_in start pwm_out_sim mode_pwm16 mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix diff --git a/posix-configs/rpi/px4_no_shield.config b/posix-configs/rpi/px4_no_shield.config index d5c26cf5d542f8b59d63a37341edea4011b85c50..df0274a6f0197c0cde8f5330de5707b02fedd9e2 100644 --- a/posix-configs/rpi/px4_no_shield.config +++ b/posix-configs/rpi/px4_no_shield.config @@ -19,11 +19,11 @@ position_estimator_inav start land_detector start multicopter mc_pos_control start mc_att_control start -mavlink start -u 14556 -r 1000000 +mavlink start -x -u 14556 -r 1000000 sleep 1 mavlink stream -u 14556 -s HIGHRES_IMU -r 50 mavlink stream -u 14556 -s ATTITUDE -r 50 -#mavlink start -d /dev/ttyUSB0 +#mavlink start -x -d /dev/ttyUSB0 #mavlink stream -d /dev/ttyUSB0 -s HIGHRES_IMU -r 50 #mavlink stream -d /dev/ttyUSB0 -s ATTITUDE -r 50 rpi_rc_in start