8
CONTENTS
1.8.3
Serial port configuration
Optional. VSM which communicates with vehicles via serial ports should define at least one serial port, otherwise
VSM will not try to connect to the vehicles. Port name and baud rate should be both defined. [prefix] is unique for
each VSM.
1.8.3.1
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
1.8.3.2
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
1.8.3.3
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
1.8.3.4
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
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