Merge pull request #2062 from PX4/firefly

Firefly6

4 files changed, 35 insertions, 8 deletions

diff --git a/ROMFS/px4fmu_common/init.d/13002_firefly6 b/ROMFS/px4fmu_common/init.d/13002_firefly6
index 29167f1ed..9489bfd9a 100644
--- a/ROMFS/px4fmu_common/init.d/13002_firefly6
+++ b/ROMFS/px4fmu_common/init.d/13002_firefly6
@@ -8,10 +8,14 @@
 sh /etc/init.d/rc.vtol_defaults
 
 set MIXER firefly6
-set MIXER_AUX firefly6
+set PWM_OUT 123456
 
-set PWM_OUT 12345678
-set PWM_AUX_OUT 1234
+set MIXER_AUX firefly6
 set PWM_AUX_RATE 50
+set PWM_AUX_OUT 1234
+set PWM_AUX_DISARMED 1000
+set PWM_AUX_MIN 1000
+set PWM_AUX_MAX 2000
+
 param set VT_MOT_COUNT 6
 param set VT_IDLE_PWM_MC 1080
diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface
index efdba9506..7a424970f 100644
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -45,7 +45,7 @@ then
 
 	if mixer load $OUTPUT_DEV $MIXER_FILE
 	then
-		echo "[i] Mixer: $MIXER_FILE"
+		echo "[i] Mixer: $MIXER_FILE on $OUTPUT_DEV"
 	else
 		echo "[i] Error loading mixer: $MIXER_FILE"
 		tone_alarm $TUNE_ERR
@@ -105,7 +105,7 @@ then
 	set MIXER_AUX_FILE none
 	set OUTPUT_AUX_DEV /dev/pwm_output1
 
-	if [ -f $SDCARD_MIXERS_PATH/$MIXER_AUX.mix ]
+	if [ -f $SDCARD_MIXERS_PATH/$MIXER_AUX.aux.mix ]
 	then
 		set MIXER_AUX_FILE $SDCARD_MIXERS_PATH/$MIXER_AUX.aux.mix
 	else
@@ -120,7 +120,12 @@ then
 	then
 		if fmu mode_pwm
 		then
-			mixer load $OUTPUT_AUX_DEV $MIXER_AUX_FILE
+			if mixer load $OUTPUT_AUX_DEV $MIXER_AUX_FILE
+			then
+				echo "[i] Mixer: $MIXER_AUX_FILE on $OUTPUT_AUX_DEV"
+			else
+				echo "[i] Error loading mixer: $MIXER_AUX_FILE"
+			fi
 		else
 			tone_alarm $TUNE_ERR
 		fi
diff --git a/ROMFS/px4fmu_common/mixers/firefly6.aux.mix b/ROMFS/px4fmu_common/mixers/firefly6.aux.mix
index 9ed6eeed9..b0b425092 100644
--- a/ROMFS/px4fmu_common/mixers/firefly6.aux.mix
+++ b/ROMFS/px4fmu_common/mixers/firefly6.aux.mix
@@ -1,4 +1,14 @@
-# mixer for the FireFly6 elevons
+# mixer for the FireFly6 tilt mechansim servo, elevons and landing gear
+=======================================================================
+
+Tilt mechanism servo mixer
+---------------------------
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 4  10000  10000      0 -10000  10000
+
+Elevon mixers
+-------------
 M: 2
 O:      10000  10000      0 -10000  10000
 S: 1 0   7500   7500      0 -10000  10000
@@ -8,3 +18,9 @@ M: 2
 O:       10000   10000    0 -10000  10000
 S: 1 0    7500    7500    0 -10000  10000
 S: 1 1   -8000   -8000    0 -10000  10000
+
+Landing gear mixer
+------------------
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp
index defcff8e4..d9425f2bb 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.cpp
+++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp
@@ -176,7 +176,7 @@ private:
 	bool flag_idle_mc;		//false = "idle is set for fixed wing mode"; true = "idle is set for multicopter mode"
 	unsigned _motor_count;	// number of motors
 	float _airspeed_tot;
-
+	float _tilt_control;
 //*****************Member functions***********************************************************************
 
 	void 		task_main();	//main task
@@ -241,6 +241,7 @@ VtolAttitudeControl::VtolAttitudeControl() :
 
 	flag_idle_mc = true;
 	_airspeed_tot = 0.0f;
+	_tilt_control = 0.0f;
 
 	memset(& _vtol_vehicle_status, 0, sizeof(_vtol_vehicle_status));
 	_vtol_vehicle_status.vtol_in_rw_mode = true;	/* start vtol in rotary wing mode*/
@@ -521,6 +522,7 @@ void VtolAttitudeControl::fill_mc_att_control_output()
 	//set neutral position for elevons
 	_actuators_out_1.control[0] = _actuators_mc_in.control[2];	//roll elevon
 	_actuators_out_1.control[1] = _actuators_mc_in.control[1];;	//pitch elevon
+	_actuators_out_1.control[4] = _tilt_control;	// for tilt-rotor control
 }
 
 /**