Auto start mavlink via NSH on PX4

[mhkabir]

When a PX4/Pixhawk board is connected via USB, it automatically brings up a nsh shell and not mavlink. Basically mavros shows "connected" without checking for a Mavlink heartbeat.

You can get a MAVLink instance on /dev/ttyS0 via serial:

const char init[] = {0x0d, 0x0d, 0x0d};
link->write(init, sizeof(init));
const char* cmd = "sh /etc/init.d/rc.usb\n";
link->write(cmd, strlen(cmd));
link->write(init, 4);

Would be great if this was implemented into mavros.

[vooon]

I do not really want to add such quirk, but it looks like will have to find a workaround.

I believe that the easiest way is write a script for the connection preparation.
I think in roslaunch must be a way to run a script before starting node.

[vooon]

I looked roslaunch, decided to add quirk easier. Although I do not like it.