conditional pi5/4 in ardupilotmanager

core/services/ardupilot_manager/ArduPilotManager.py

@@ -146,6 +146,11 @@ def update_serials(self, serials: List[Serial]) -> None:
         self.settings.save(self.configuration)
 
     def get_serials(self) -> List[Serial]:
+        is_pi5 = False
+        with open("/proc/cpuinfo", "r") as f:
+            if "Raspberry Pi 5" in f.read():
+                is_pi5 = True
+
         # The mapping of serial ports works as in the following table:
         #
         # |    ArduSub   |       Navigator         |
@@ -157,13 +162,23 @@ def get_serials(self) -> List[Serial]:
         # The first column comes from https://ardupilot.org/dev/docs/sitl-serial-mapping.html
 
         if "serials" not in self.configuration:
-            return [
-                # updated for bookworm/pi5
-                Serial(port="C", endpoint="/dev/ttyAMA0"),
-                Serial(port="B", endpoint="/dev/ttyAMA2"),
-                Serial(port="E", endpoint="/dev/ttyAMA3"),
-                Serial(port="F", endpoint="/dev/ttyAMA4"),
-            ]
+            if is_pi5:
+                return [
+                    # updated for bookworm/pi5
+                    Serial(port="C", endpoint="/dev/ttyAMA0"),
+                    Serial(port="B", endpoint="/dev/ttyAMA2"),
+                    Serial(port="E", endpoint="/dev/ttyAMA3"),
+                    Serial(port="F", endpoint="/dev/ttyAMA4"),
+                ]
+            else:
+                return [
+                    # updated for bookworm/pi5
+                    Serial(port="C", endpoint="/dev/ttyS0"),
+                    Serial(port="B", endpoint="/dev/ttyAMA3"),
+                    Serial(port="E", endpoint="/dev/ttyAMA4"),
+                    Serial(port="F", endpoint="/dev/ttyAMA5"),
+                ]
+
         serials = []
         for entry in self.configuration["serials"]:
             try: