path: root/ROMFS/px4fmu_common/init.d/rc.mc_interface

#!nsh
#
# Script to configure multicopter control interface
#

if [ $FRAME_GEOMETRY == quad_x -o $FRAME_GEOMETRY == quad_+ ]
then
    set OUTPUTS 1234
    param set MAV_TYPE 2
fi
if [ $FRAME_GEOMETRY == quad_w -o $FRAME_GEOMETRY == quad_v ]
then
    set OUTPUTS 1234
    param set MAV_TYPE 2
fi
if [ $FRAME_GEOMETRY == hex_x -o $FRAME_GEOMETRY == hex_+ ]
then
	set OUTPUTS 123456
	param set MAV_TYPE 13
fi
if [ $FRAME_GEOMETRY == octo_x -o $FRAME_GEOMETRY == octo_+ ]
then
	set OUTPUTS 12345678
	param set MAV_TYPE 14
fi

#
# Load mixer
#
echo "[init] Frame geometry: $FRAME_GEOMETRY"
set MIXER /etc/mixers/FMU_$FRAME_GEOMETRY.mix
echo "[init] Loading mixer: $MIXER"
mixer load /dev/pwm_output $MIXER

if [ $OUTPUT_MODE == fmu_pwm -o $OUTPUT_MODE == io_pwm ]
then
	#
	# Set PWM output frequency
	#
	if [ $PWM_RATE != none ]
	then
		echo "[init] Set PWM rate: $PWM_RATE"
		pwm rate -c $OUTPUTS -r $PWM_RATE
	fi
	
	#
	# Set disarmed, min and max PWM values
	#
	if [ $PWM_DISARMED != none ]
	then
		echo "[init] Set PWM disarmed: $PWM_DISARMED"
		pwm disarmed -c $OUTPUTS -p $PWM_DISARMED
	fi
	if [ $PWM_MIN != none ]
	then
		echo "[init] Set PWM min: $PWM_MIN"
		pwm min -c $OUTPUTS -p $PWM_MIN
	fi
	if [ $PWM_MAX != none ]
	then
		echo "[init] Set PWM max: $PWM_MAX"
		pwm max -c $OUTPUTS -p $PWM_MAX
	fi
fi