1.9
Communication with vehicle
9
1.9.1.1
Port name
Optional.
•
Name:
[prefix].[port index].name = [regular expression]
•
Description:
Ports which should be used to connect to the vehicles by given VSM. Port names are defined
by a [regular expression] which can be used to define just a single port or create a port filtering regular
expression. Expression is case insensitive on Windows. [port index] is a arbitrary port indexing name.
•
Example:
vehicle.ardupilot.serial_port.1.name = /dev/ttyUSB[0-9]+
|
com[0-9]+
•
Example:
vehicle.ardupilot.serial_port.2.name = com42
1.9.1.2
Port baud rate
Optional.
•
Name:
[prefix].[port index].baud.[baud index] = [baud]
•
Description:
Baud rate for port opening. [baud index] is an optional arbitrary name used when it is necessary
to open the same serial port using multiple baud rates. [port index] is an arbitrary port indexing name.
•
Example:
vehicle.ardupilot.serial_port.1.baud.1 = 9600
•
Example:
vehicle.ardupilot.serial_port.1.baud.2 = 57600
•
Example:
vehicle.ardupilot.serial_port.2.baud = 38400
1.9.1.3
Excluded port name
Optional.
•
Name:
[prefix].exclude.[exclude index] = [regular expression]
•
Description:
Ports which should not be used for vehicle access by this VSM. Port names are defined by a
[regular expression] which can be used to define just a single port or create a port filtering regular expression.
Filter is case insensitive on Windows. [exclude index] is a arbitrary indexing name used when more than one
exclude names are defined.
•
Example:
vehicle.ardupilot.serial_port.exclude.1 = /dev/ttyS.
∗
•
Example:
vehicle.ardupilot.serial_port.exclude = com1
1.9.1.4
Serial port arbiter
Optional.
•
Name:
[prefix].use_serial_arbiter = [yes
|
no]
•
Description:
Enable (yes) or disable (no) serial port access arbitration between VSMs running on the same
machine. It is recommended to have it enabled to avoid situation when multiple VSMs try to open the same
port simultaneously.
•
Default:
yes
•
Example:
vehicle.ardupilot.serial_port.use_serial_arbiter = no
1.9.2
TCP connection configuration
Optional. VSM which communicates with vehicles over TCP should define at least one network connection, other-
wise VSM will not try to connect to vehicles. [prefix] is unique for each VSM.
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