changed parameter names, added mode none

PX4 · May 7, 2024 · 9bbccbe · 9bbccbe
1 parent e97c561
commit 9bbccbe
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Showing 3 changed files with 13 additions and 8 deletions.
diff --git a/src/drivers/cdcacm_autostart/cdcacm_autostart.cpp b/src/drivers/cdcacm_autostart/cdcacm_autostart.cpp
@@ -209,7 +209,7 @@ void CdcAcmAutostart::state_connecting()
 		goto fail;
 	}
 
-	if (_cdcacm_protocol.get() == 2) {
+	if (_sys_usb_auto.get() == 2) {
 		PX4_INFO("Starting mavlink on %s (MAV_USB_ENABLE=1)", USB_DEVICE_PATH);
 
 		if (start_mavlink()) {
@@ -221,6 +221,11 @@ void CdcAcmAutostart::state_connecting()
 			_reschedule_time = 100_ms;
 		}
 
+		return;
+	} else if (_sys_usb_auto.get() == 0) {
+		// Do nothing
+		_state = UsbAutoStartState::connected;
+		_active_protocol = UsbProtocol::none;
 		return;
 	}
 
@@ -487,7 +492,7 @@ bool CdcAcmAutostart::start_mavlink()
 {
 	bool success = false;
 	char mavlink_mode_string[3];
-	snprintf(mavlink_mode_string, sizeof(mavlink_mode_string), "%ld", _cdcacm_mav_mode.get());
+	snprintf(mavlink_mode_string, sizeof(mavlink_mode_string), "%ld", _usb_mav_mode.get());
 	static const char *argv[] {"mavlink", "start", "-d", USB_DEVICE_PATH, "-m", mavlink_mode_string, nullptr};
 
 	if (execute_process((char **)argv) > 0) {

diff --git a/src/drivers/cdcacm_autostart/cdcacm_autostart.h b/src/drivers/cdcacm_autostart/cdcacm_autostart.h
@@ -118,7 +118,7 @@ class CdcAcmAutostart : public ModuleBase<CdcAcmAutostart>, public ModuleParams,
 	uint32_t _reschedule_time = 0;
 
 	DEFINE_PARAMETERS(
-		(ParamInt<px4::params::CDCACM_PROTOCOL>) _cdcacm_protocol,
-		(ParamInt<px4::params::CDCACM_MAV_MODE>) _cdcacm_mav_mode
+		(ParamInt<px4::params::SYS_USB_AUTO>) _sys_usb_auto,
+		(ParamInt<px4::params::USB_MAV_MODE>) _usb_mav_mode
 	)
 };
diff --git a/src/drivers/cdcacm_autostart/cdcacm_autostart_params.c b/src/drivers/cdcacm_autostart/cdcacm_autostart_params.c
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * Communication protocol for USB port
+ * Enable USB autostart
  *
  * @value 0 Disabled
  * @value 1 Auto-detect
@@ -42,10 +42,10 @@
  *
  * @group CDCACM
  */
-PARAM_DEFINE_INT32(CDCACM_PROTOCOL, 2);
+PARAM_DEFINE_INT32(SYS_USB_AUTO, 2);
 
 /**
- * Specify MAVLink mode for CDCACM
+ * Specify USB MAVLink mode
  *
  * @value 0 normal
  * @value 1 custom
@@ -65,4 +65,4 @@ PARAM_DEFINE_INT32(CDCACM_PROTOCOL, 2);
  *
  * @group CDCACM
  */
-PARAM_DEFINE_INT32(CDCACM_MAV_MODE, 2);
+PARAM_DEFINE_INT32(USB_MAV_MODE, 2);