void init_serial()
{
#if (SERIAL_OUTPUT_FORMAT == SERIAL_OSD_REMZIBI)
dcm_flags._.nmea_passthrough = 1;
#endif
udb_serial_set_rate(SERIAL_BAUDRATE);
}
void init_serial(void)
{
#if (SERIAL_OUTPUT_FORMAT == SERIAL_OSD_REMZIBI)
dcm_flags._.nmea_passthrough = 1;
#endif
#ifndef SERIAL_BAUDRATE
#define SERIAL_BAUDRATE 19200 // default
#pragma warning SERIAL_BAUDRATE set to default value of 19200 bps
#endif
udb_serial_set_rate(SERIAL_BAUDRATE);
}
void init_serial()
{
#if ( SERIAL_OUTPUT_FORMAT == SERIAL_OSD_REMZIBI )
dcm_flags._.nmea_passthrough = 1;
#endif
udb_serial_set_rate(19200) ;
// udb_serial_set_rate(38400) ;
// udb_serial_set_rate(57600) ;
// udb_serial_set_rate(115200) ;
// udb_serial_set_rate(230400) ;
// udb_serial_set_rate(460800) ;
// udb_serial_set_rate(921600) ; // yes, it really will work at this rate
return ;
}
int main (void)
{
mcu_init();
// Set up the libraries
udb_init();
dcm_init();
udb_serial_set_rate(115200);
sprintf( debug_buffer, " tick lat long alt gspd temp rmat0 rmat1 rmat2 rmat3 rmat4 rmat5 rmat6 rmat7 rmat8 \r\n");
udb_serial_start_sending_data();
LED_GREEN = LED_OFF;
// Start it up!
udb_run(); // This never returns.
return 0;
}
void mavlink_init(void)
{
int16_t index;
udb_init_USART(&mavlink_callback_get_byte_to_send, &mavlink_callback_received_byte);
udb_serial_set_rate(MAVLINK_BAUD);
mavlink_process_message_handle = register_event_p(&handleMessage, EVENT_PRIORITY_MEDIUM);
mavlink_system.sysid = MAVLINK_SYSID; // System ID, 1-255, ID of your Plane for GCS
mavlink_system.compid = 1; // Component/Subsystem ID, (1-255) MatrixPilot on UDB is component 1.
// Fill stream rates array with zeros to default all streams off;
for (index = 0; index < MAV_DATA_STREAM_ENUM_END; index++)
streamRates[index] = 0;
// QGroundControl GCS lets user send message to increase stream rate
streamRates[MAV_DATA_STREAM_RC_CHANNELS] = MAVLINK_RATE_RC_CHAN;
streamRates[MAV_DATA_STREAM_RAW_SENSORS] = MAVLINK_RATE_RAW_SENSORS;
streamRates[MAV_DATA_STREAM_POSITION] = MAVLINK_RATE_POSITION;
streamRates[MAV_DATA_STREAM_EXTRA1] = MAVLINK_RATE_SUE;
streamRates[MAV_DATA_STREAM_EXTRA2] = MAVLINK_RATE_POSITION_SENSORS;
}
void cbox_init(void)
{
udb_serial_set_rate(9600);
}
