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| author | Roman Bapst <romanbapst@yahoo.de> | 2015-01-06 16:30:47 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-06 19:51:04 +0100 |
| commit | 7ab58a8bc136da2e8a9166bd3fee7ed801c2adb0 (patch) | |
| tree | a3cc55e223af67134b08c580079e8259fae1cddb | |
| parent | ff932820e341d4eae7e0764719fcbf5555c5da14 (diff) | |
| download | px4-firmware-7ab58a8bc136da2e8a9166bd3fee7ed801c2adb0.tar.gz px4-firmware-7ab58a8bc136da2e8a9166bd3fee7ed801c2adb0.tar.bz2 px4-firmware-7ab58a8bc136da2e8a9166bd3fee7ed801c2adb0.zip | |
allow to specify secondary mixer which drives fmu PWM outputs
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.interface | 14 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 3 |
2 files changed, 16 insertions, 1 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface index bab71be93..87c9e3045 100644 --- a/ROMFS/px4fmu_common/init.d/rc.interface +++ b/ROMFS/px4fmu_common/init.d/rc.interface @@ -80,3 +80,17 @@ then pwm failsafe -d $OUTPUT_DEV $FAILSAFE fi fi + +# check if should load secondary mixer +if [ $MIXER_SEC != none ] +then + if fmu mode_pwm + then + echo "[i] FMU mode_pwm started to handle secondary mixer" + # load the specified mixer + mixer load /dev/pwm_output1 /etc/mixers/$MIXER_SEC.mix + else + echo "[i] ERROR: FMU mode_pwm start failed" + tone_alarm $TUNE_ERR + fi +fi diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 10c5e0947..924f6ebc0 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -116,6 +116,7 @@ then set HIL no set VEHICLE_TYPE none set MIXER none + set MIXER_SEC none set OUTPUT_MODE none set PWM_OUT none set PWM_RATE none @@ -580,7 +581,7 @@ then then set MAV_TYPE 19 fi - if [ $MIXER == FMU_firefly6 ] + if [ $MIXER == FMU_firefly6_rotors ] then set MAV_TYPE 21 fi |