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Add uxrce dds flow control flag #26209

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Merged
dakejahl merged 6 commits into from
Jan 8, 2026
Merged

Add uxrce dds flow control flag #26209

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b4453f8
added flow control bitfield
Dec 9, 2025
0eb53d4
shortened to 16 char param name length
Dec 9, 2025
ca9c625
refactored changes for uxrce flow control param
Jan 5, 2026
83705f9
Merge branch 'PX4:main' into add-uxrce-dds-flow-control-flag
minotico Jan 5, 2026
2bb4a02
reverted additions to docs
minotico Jan 7, 2026
a43c415
Update src/modules/uxrce_dds_client/module.yaml
dakejahl Jan 8, 2026
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11 changes: 11 additions & 0 deletions src/modules/uxrce_dds_client/module.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -142,3 +142,14 @@ parameters:
category: System
reboot_required: true
default: -1

UXRCE_DDS_FLCTRL:
description:
short: Enable serial flow control for UXRCE interface
long: |
This is used to enable flow control for the serial uXRCE instance.
Used for reliable high bandwidth communication.
type: boolean
category: System
reboot_required: true
default: 0
12 changes: 10 additions & 2 deletions src/modules/uxrce_dds_client/uxrce_dds_client.cpp
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Expand Up @@ -837,8 +837,16 @@ bool UxrceddsClient::setBaudrate(int fd, unsigned baud)
//
uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);

/* no parity, one stop bit, disable flow control */
uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS);
/* no parity, one stop bit */
uart_config.c_cflag &= ~(CSTOPB | PARENB);

/* enable flow control if needed */
if (_param_uxrce_dds_flctrl.get() > 0) {
uart_config.c_cflag |= CRTSCTS;

} else {
uart_config.c_cflag &= ~CRTSCTS;
}

/* set baud rate */
if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
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3 changes: 2 additions & 1 deletion src/modules/uxrce_dds_client/uxrce_dds_client.h
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Expand Up @@ -210,6 +210,7 @@ class UxrceddsClient : public ModuleBase<UxrceddsClient>, public ModuleParams
(ParamInt<px4::params::UXRCE_DDS_SYNCC>) _param_uxrce_dds_syncc,
(ParamInt<px4::params::UXRCE_DDS_SYNCT>) _param_uxrce_dds_synct,
(ParamInt<px4::params::UXRCE_DDS_TX_TO>) _param_uxrce_dds_tx_to,
(ParamInt<px4::params::UXRCE_DDS_RX_TO>) _param_uxrce_dds_rx_to
(ParamInt<px4::params::UXRCE_DDS_RX_TO>) _param_uxrce_dds_rx_to,
(ParamInt<px4::params::UXRCE_DDS_FLCTRL>) _param_uxrce_dds_flctrl
)
};
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