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

#!nsh
#
# Script to set PWM min / max limits and mixer
#

echo "Rotors count: $FRAME_COUNT"
if [ $FRAME_COUNT == 4 ]
then
	set FRAME_COUNT_STR quad
    set OUTPUTS 1234
    param set MAV_TYPE 2
fi
if [ $FRAME_COUNT == 6 ]
then
	set FRAME_COUNT_STR hex
	set OUTPUTS 123456
	param set MAV_TYPE 13
fi
if [ $FRAME_COUNT == 8 ]
then
	set FRAME_COUNT_STR octo
	set OUTPUTS 12345678
	param set MAV_TYPE 14
fi

#
# Load mixer
#
echo "Frame geometry: ${FRAME_GEOMETRY}"
set MIXER /etc/mixers/FMU_${FRAME_GEOMETRY_STR}_${FRAME_GEOMETRY}.mix
echo "Loading mixer: ${MIXER}"
mixer load /dev/pwm_output ${MIXER}

#
# Set PWM output frequency
#
if [ $PWM_RATE != none ]
then
	pwm rate -c $OUTPUTS -r $PWM_RATE
fi

#
# Set disarmed, min and max PWM values
#
if [ $PWM_DISARMED != none ]
then
	pwm disarmed -c $OUTPUTS -p $PWM_DISARMED
fi
if [ $PWM_MIN != none ]
then
	pwm min -c $OUTPUTS -p $PWM_MIN
fi
if [ $PWM_MAX != none ]
then
	pwm max -c $OUTPUTS -p $PWM_MAX
fi