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global: fix MD007 unordered list indentation in markdown files Normalize unordered list indentation to use 2-space multiples: - Top-level list items start at column 0 - Nested list items use 2 additional spaces per level Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> global: fix MD009 trailing whitespace in markdown files Remove trailing whitespace from all affected markdown files. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> global: fix MD010 hard tabs in markdown files Replace hard tab characters with 4 spaces. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> global: fix MD012 multiple consecutive blank lines in markdown Collapse multiple consecutive blank lines to single blank lines across all markdown files (excluding vendored code). Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> global: fix MD007 list indentation base level in markdown Shift list indentation left by 2 spaces so top-level list items start at column 0 instead of column 2. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD022 blank lines around headings in markdown Ensure headings are surrounded by blank lines as required by markdownlint MD022 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD032 blank lines around lists in markdown Ensure lists are surrounded by blank lines as required by markdownlint MD032 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD031 blank lines around code blocks in markdown Ensure fenced code blocks are surrounded by blank lines as required by markdownlint MD031 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD047 files should end with single newline Ensure all markdown files end with exactly one newline character as required by markdownlint MD047 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD023 headings must start at beginning of line Remove leading whitespace from heading lines as required by markdownlint MD023 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD007 remaining list indentation in markdown Fix unordered list indentation to use correct spacing as required by markdownlint MD007 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD030 spaces after list markers in markdown Reduce multiple spaces after list markers to single space as required by markdownlint MD030 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD022 blank lines around setext headings Ensure setext-style headings (underlined with === or ---) are surrounded by blank lines as required by markdownlint MD022 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD018 missing space after hash in headings Add space after hash marks in atx-style headings as required by markdownlint MD018 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD019 multiple spaces after hash in headings Reduce multiple spaces after hash marks to single space in atx-style headings as required by markdownlint MD019 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD012 multiple consecutive blank lines in markdown Remove multiple consecutive blank lines and ensure files end with exactly one newline as required by markdownlint MD012 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD023 headings with leading whitespace Remove leading whitespace from setext-style heading text lines as required by markdownlint MD023 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD022 blank line after heading in markdown Add missing blank line after heading as required by markdownlint MD022 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD009 trailing non-breaking space in markdown Remove trailing non-breaking space (U+00A0) as required by markdownlint MD009 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD012 remaining multiple blank lines in markdown Remove leading blank lines and whitespace-only lines that create multiple consecutive blank lines. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
2.4 KiB
RockBlock 9704 Lua Script
A Lua script for ArduPilot that enables satellite communication using the RockBlock 9704 SBD modem to send and receive basic MAVLink telemetry.
Requires https://github.com/stephendade/rockblock2mav (MQTT client) at the GCS end
Messages will be send or received if High Latency Mode is enabled, or as configured
by RK9_FORCEHL.
Setup: This script requires:
- A SERIALn port, set to Scripting. Connect to the RXD/TXD lines of the Rockblock's header
- A SCR_SDEVn (virtual) port, set to MAVLink High Latency. Requires SCR_SDEV_EN=1
- A relay output connected to the I_EN pin of the Rockblock's header
- A GPIO input connected to the I_BTD pin of the Rockblock's header
The Rockblock's V_IN- and V_IN+ header pins can be connected to the flight controller's GND and +5V pins respectively.
Caveats:
- This will only send HIGH_LATENCY2 packets via the SBD modem. No heartbeats, no command acknowledgements, no statustexts, no parameters, etc
- A single HIGH_LATENCY2 packet will be sent every RK9_PERIOD sec
Parameters
The script has the following parameters:
RK9_FORCEHL
Mode of operation:
- 0 = start disabled, can be enabled via MAV_CMD_CONTROL_HIGH_LATENCY (default)
- 1 = start enabled, can be disabled via MAV_CMD_CONTROL_HIGH_LATENCY
- 2 = enabled on loss of telemetry (GCS) link for RK9_TIMEOUT seconds
RK9_PERIOD
When in High Latency mode, send Rockblock updates every RK9_PERIOD seconds. Defaults to 30 seconds.
RK9_DEBUG
Sends Rockblock debug text to GCS via statustexts. Defaults to 0 (disabled).
RK9_ENABLE
Enables the modem transmission. Defaults to 1 (enabled).
RK9_TIMEOUT
If RK9_FORCEHL=2, this is the number of seconds of no-messages from the GCS until High Latency mode is auto-enabled. Defaults to 5 seconds.
RK9_SERPORT
Serial port number to which the Rockblock is connected. This is the index of the SERIALn_ ports that are set to 28 for "scripting". Defaults to 0.
RK9_SCRPORT
Scripting Serial port number to which the Rockblock is connected for HL2 messages. This is the index of the SCR_SDEV ports that are set to 2 for "MavlinkHL". Defaults to 0.
RK9_RELAY
RELAYn output to control Rockblock power. This connects to I_EN on the Rockblock header. Defaults to RELAY1.
RK9_BOOTED
SERVOn GPIO pin number (usually 50 or greater) that reads the Rockblock booted state. This connects to I_BTD on the Rockblock header. Requires SERVOn_FUNCTION=-1. Defaults to 52 (SERVO3).