[SITL] Update SITL serial proxy posix port setting

[stronnag]

Update the configuration of the serial port to support "non-standard" baud rates on POSIX platforms (tested on Linux, MacOS and FreeBSD).

[stronnag]

Test Status

Linux (Arch, aarch64, riscv64, x86_64; Alpine ia32)

CRSF (ELRS)

via pl2303 (FTDI clone)

$ ./inav_7.0.0_SITL --path ~/sitl-eeproms/crsf-eeprom.bin --serialuart=3 --serialport /dev/ttyUSB0 --baudrate 400000
INAV 7.0.0 SITL (5a785a44)
[SYSTEM] Init...
[SIM] No interface specified. Configurator only.
[SERIALPROXY] Connected /dev/ttyUSB0 to UART3
[EEPROM] Loaded '/home/jrh/sitl-eeproms/crsf-eeprom.bin' (32768 of 32768 bytes)
[SOCKET] Bind TCP [::]:5760 to UART1
[SOCKET] Bind TCP [::]:5761 to UART2
[SOCKET] Bind TCP [::]:5762 to UART3
[SOCKET] [::1]:40896 connected to UART1
[SOCKET] [::1]:40896 disconnected from UART1

IBUS

via CP2102

$ ./inav_7.0.0_SITL --path ~/sitl-eeproms/ibus-eeprom.bin --serialuart=3 --serialport /dev/ttyUSB0 --baudrate 115200
INAV 7.0.0 SITL (5a785a44)
[SYSTEM] Init...
[SIM] No interface specified. Configurator only.
[SERIALPROXY] Connected /dev/ttyUSB0 to UART3
[EEPROM] Loaded '/home/jrh/sitl-eeproms/ibus-eeprom.bin' (32768 of 32768 bytes)
[SOCKET] Bind TCP [::]:5760 to UART1
[SOCKET] Bind TCP [::]:5761 to UART2
[SOCKET] Bind TCP [::]:5762 to UART3
[SOCKET] [::1]:37446 connected to UART1
[SOCKET] [::1]:37446 disconnected from UART1

FC Proxy (Sbus RX/TX)

$ ./inav_7.0.0_SITL --path ~/sitl-eeproms/sim-eeprom.bin --serialport /dev/ttyACM0 --fcproxy
INAV 7.0.0 SITL (5a785a44)
[SYSTEM] Init...
[SIM] No interface specified. Configurator only.
[SERIALPROXY] Using proxy flight controller on /dev/ttyACM0
[EEPROM] Loaded '/home/jrh/sitl-eeproms/sim-eeprom.bin' (32768 of 32768 bytes)
[SOCKET] Bind TCP [::]:5760 to UART1
[SOCKET] Bind TCP [::]:5761 to UART2
[SERIALPROXY] Requesting RX config from proxy FC...
[SERIALPROXY] Setting RX config on proxy FC...

Correct movement of sticks etc. seen in Configurator.

FreeBSD (x64_64)

IBUS

via CP2102

$ ./inav_7.0.0_SITL --path ~/sitl-eeproms/ibus-eeprom.bin --serialuart=3 --serialport /dev/cuaU0 --baudrate 115200
INAV 7.0.0 SITL (5a785a44)
[SYSTEM] Init...
[SIM] No interface specified. Configurator only.
[SERIALPROXY] Connected /dev/cuaU0 to UART3
[EEPROM] Loaded '/home/jrh/sitl-eeproms/ibus-eeprom.bin' (32768 of 32768 bytes)
[SOCKET] Bind TCP [::]:5760 to UART1
[SOCKET] Bind TCP [::]:5761 to UART2
[SOCKET] Bind TCP [::]:5762 to UART3
[SOCKET] [2a02:8010:6287:0:18b0:85ff:fe48:a70f]:36908 connected to UART1
[SOCKET] [2a02:8010:6287:0:18b0:85ff:fe48:a70f]:36908 disconnected from UART1

CRSF (ELRS)

via pl2303 (FDTI clone)

./inav_7.0.0_SITL --path ~/sitl-eeproms/crsf-eeprom.bin --serialuart=3 --serialport /dev/cuaU0 --baudrate 400000
INAV 7.0.0 SITL (5a785a44)
[SYSTEM] Init...
[SIM] No interface specified. Configurator only.
[SERIALPROXY] Connected /dev/cuaU0 to UART3
[EEPROM] Loaded '/home/jrh/sitl-eeproms/crsf-eeprom.bin' (32768 of 32768 bytes)
[SOCKET] Bind TCP [::]:5760 to UART1
[SOCKET] Bind TCP [::]:5761 to UART2
[SOCKET] Bind TCP [::]:5762 to UART3
[SOCKET] [2a02:8010:6287:0:18b0:85ff:fe48:a70f]:59058 connected to UART1
[SOCKET] [2a02:8010:6287:0:18b0:85ff:fe48:a70f]:59058 disconnected from UART1

Correct movement of sticks etc. seen in Configurator.

MacOS (x64_86 kvm/qemu)

IBUS

via CP2102

$ ./inav_7.0.0_SITL --path ~/sitl-eeproms/ibus-eeprom.bin --serialuart=3 --serialport /dev/cu.usbserial-0001 --baudrate 115200
INAV 7.0.0 SITL (5a785a44)
[SYSTEM] Init...
[SIM] No interface specified. Configurator only.
[SERIALPROXY] Connected /dev/cu.usbserial-0001 to UART3
[EEPROM] Loaded '/Users/jrh/sitl-eeproms/ibus-eeprom.bin' (32768 of 32768 bytes)
[SOCKET] Bind TCP [::]:5760 to UART1
[SOCKET] Bind TCP [::]:5761 to UART2
[SOCKET] Bind TCP [::]:5762 to UART3
[SOCKET] [::ffff:172.31.0.244]:51594 connected to UART1
[SOCKET] [::ffff:172.31.0.244]:51594 disconnected from UART1

Correct movement of sticks etc. seen in Configurator.

CRSF not tested as environment does support pl2303/400000 baud (however, stty reports correct tty settings after SITL started with --serialuart=3 --serialport /dev/cu.usbserial-5D20 --baudrate 400000

$ stty < /dev/cu.usbserial-5D20
speed 400000 baud;
lflags: -icanon -isig -iexten -echo
iflags: -icrnl -ixon -ixany -imaxbel -brkint
oflags: -opost -onlcr -oxtabs
cflags: cs8 -parenb clocal
min
0

[stronnag]

@RomanLut please note, Windows has been re-tested (working at 115200, which is all I can easily test).