diff options
author | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-08 12:45:43 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-08 12:45:43 +0100 |
commit | aa2a00b56a0be0e20abfa54c311575f9e055f212 (patch) | |
tree | 7c13065632d45486c31eee5c08b8de58c36335fc /ROMFS/px4fmu_common/init.d | |
parent | 1df7939072f87a5f3f3cc05ff57f545db7c144ad (diff) | |
parent | e405fafe882c95345ccf88ea5f372f353aa4c21f (diff) | |
download | px4-firmware-aa2a00b56a0be0e20abfa54c311575f9e055f212.tar.gz px4-firmware-aa2a00b56a0be0e20abfa54c311575f9e055f212.tar.bz2 px4-firmware-aa2a00b56a0be0e20abfa54c311575f9e055f212.zip |
Merge branch 'MixerNaming' of github.com:anton-matosov/Firmware
Diffstat (limited to 'ROMFS/px4fmu_common/init.d')
27 files changed, 106 insertions, 42 deletions
diff --git a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil index 4d6d350b8..40b9ed8df 100644 --- a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil +++ b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil @@ -7,4 +7,4 @@ sh /etc/init.d/rc.fw_defaults set HIL yes -set MIXER FMU_AERT +set MIXER AERT diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery index c1b366de8..2c7c0d68e 100644 --- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery +++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery @@ -24,7 +24,7 @@ then param set MC_YAWRATE_D 0.0 fi -set MIXER FMU_quad_w +set MIXER quad_w set PWM_OUT 1234 set PWM_MIN 1200 diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris index 3879737a8..caa8e28fc 100644 --- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris +++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris @@ -27,7 +27,7 @@ then param set BAT_C_SCALING 0.0124 fi -set MIXER FMU_quad_w +set MIXER quad_w set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d index 57f77754c..5e41d6957 100644 --- a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d +++ b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d @@ -26,7 +26,7 @@ then param set BAT_N_CELLS 4 fi -set MIXER FMU_quad_w +set MIXER quad_w set PWM_MIN 1210 set PWM_MAX 2100 diff --git a/ROMFS/px4fmu_common/init.d/10018_tbs_endurance b/ROMFS/px4fmu_common/init.d/10018_tbs_endurance index 668026c61..eeb9b48b2 100644 --- a/ROMFS/px4fmu_common/init.d/10018_tbs_endurance +++ b/ROMFS/px4fmu_common/init.d/10018_tbs_endurance @@ -25,7 +25,7 @@ then param set MC_YAWRATE_D 0.0 fi -set MIXER FMU_quad_w +set MIXER quad_w set PWM_OUTPUTS 1234 set PWM_MIN 1200 diff --git a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil index 1c4f6803b..03b6b30d2 100644 --- a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil +++ b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil @@ -7,6 +7,6 @@ sh /etc/init.d/rc.mc_defaults -set MIXER FMU_quad_x +set MIXER quad_x set HIL yes diff --git a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil index 0cbdd75be..7e651216d 100644 --- a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil +++ b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil @@ -7,6 +7,6 @@ sh /etc/init.d/rc.mc_defaults -set MIXER FMU_quad_+ +set MIXER quad_+ -set HIL yes
\ No newline at end of file +set HIL yes diff --git a/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil index fb440d2fc..090920847 100644 --- a/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil +++ b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil @@ -9,4 +9,4 @@ sh /etc/init.d/rc.fw_defaults set HIL yes -set MIXER FMU_AERT +set MIXER AERT diff --git a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil index f208b692a..15e5cf21d 100644 --- a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil +++ b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil @@ -35,4 +35,4 @@ fi set HIL yes # Set the AERT mixer for HIL (even if the malolo is a flying wing) -set MIXER FMU_AERT +set MIXER AERT diff --git a/ROMFS/px4fmu_common/init.d/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/11001_hexa_cox index 50f717e3d..0bb8cb52e 100644 --- a/ROMFS/px4fmu_common/init.d/11001_hexa_cox +++ b/ROMFS/px4fmu_common/init.d/11001_hexa_cox @@ -7,7 +7,7 @@ sh /etc/init.d/rc.mc_defaults -set MIXER FMU_hexa_cox +set MIXER hexa_cox # Need to set all 8 channels set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/12001_octo_cox b/ROMFS/px4fmu_common/init.d/12001_octo_cox index e0a838185..16e86fd5f 100644 --- a/ROMFS/px4fmu_common/init.d/12001_octo_cox +++ b/ROMFS/px4fmu_common/init.d/12001_octo_cox @@ -7,6 +7,6 @@ sh /etc/init.d/rc.mc_defaults -set MIXER FMU_octo_cox +set MIXER octo_cox set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol index 7e9a6d3dc..87b98a02b 100644 --- a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol +++ b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol @@ -7,7 +7,7 @@ sh /etc/init.d/rc.vtol_defaults -set MIXER FMU_caipirinha_vtol +set MIXER caipirinha_vtol set PWM_OUT 12 set PWM_MAX 2000 diff --git a/ROMFS/px4fmu_common/init.d/13002_firefly6 b/ROMFS/px4fmu_common/init.d/13002_firefly6 new file mode 100644 index 000000000..551a19928 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/13002_firefly6 @@ -0,0 +1,14 @@ +#!nsh +# +# Generic configuration file for BirdsEyeView Aerobotics FireFly6 +# +# Roman Bapst <romanbapst@yahoo.de> +# + +sh /etc/init.d/rc.vtol_defaults + +set MIXER firefly6 + +set PWM_OUT 12345678 +param set VT_MOT_COUNT 6 +param set VT_IDLE_PWM_MC 1080 diff --git a/ROMFS/px4fmu_common/init.d/2101_hk_bixler b/ROMFS/px4fmu_common/init.d/2101_hk_bixler index dcc5db824..05ee57ffa 100644 --- a/ROMFS/px4fmu_common/init.d/2101_hk_bixler +++ b/ROMFS/px4fmu_common/init.d/2101_hk_bixler @@ -2,4 +2,4 @@ sh /etc/init.d/rc.fw_defaults -set MIXER FMU_AERT
\ No newline at end of file +set MIXER AERT diff --git a/ROMFS/px4fmu_common/init.d/2103_skyhunter_1800 b/ROMFS/px4fmu_common/init.d/2103_skyhunter_1800 index 9bc0262d8..2433ab4f4 100644 --- a/ROMFS/px4fmu_common/init.d/2103_skyhunter_1800 +++ b/ROMFS/px4fmu_common/init.d/2103_skyhunter_1800 @@ -2,4 +2,4 @@ sh /etc/init.d/rc.fw_defaults -set MIXER FMU_AET +set MIXER AET diff --git a/ROMFS/px4fmu_common/init.d/3030_io_camflyer b/ROMFS/px4fmu_common/init.d/3030_io_camflyer index fe0269557..188678324 100644 --- a/ROMFS/px4fmu_common/init.d/3030_io_camflyer +++ b/ROMFS/px4fmu_common/init.d/3030_io_camflyer @@ -2,7 +2,7 @@ sh /etc/init.d/rc.fw_defaults -set MIXER FMU_Q +set MIXER Q # Provide ESC a constant 1000 us pulse while disarmed set PWM_OUT 4 set PWM_DISARMED 1000 diff --git a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 index 94363bf6a..3d464a4ae 100644 --- a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 +++ b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 @@ -28,4 +28,4 @@ then param set FW_R_RMAX 0 fi -set MIXER FMU_X5 +set MIXER X5 diff --git a/ROMFS/px4fmu_common/init.d/3034_fx79 b/ROMFS/px4fmu_common/init.d/3034_fx79 index 4a76ba6eb..d46147ede 100644 --- a/ROMFS/px4fmu_common/init.d/3034_fx79 +++ b/ROMFS/px4fmu_common/init.d/3034_fx79 @@ -7,4 +7,4 @@ sh /etc/init.d/rc.fw_defaults -set MIXER FMU_FX79 +set MIXER FX79 diff --git a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha index 9eafac1c5..9e1c1c170 100644 --- a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha +++ b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha @@ -31,4 +31,4 @@ then param set FW_R_RMAX 0 fi -set MIXER FMU_Q +set MIXER Q diff --git a/ROMFS/px4fmu_common/init.d/4001_quad_x b/ROMFS/px4fmu_common/init.d/4001_quad_x index 4677f9fc3..e0538160f 100644 --- a/ROMFS/px4fmu_common/init.d/4001_quad_x +++ b/ROMFS/px4fmu_common/init.d/4001_quad_x @@ -7,6 +7,6 @@ sh /etc/init.d/rc.mc_defaults -set MIXER FMU_quad_x +set MIXER quad_x set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/5001_quad_+ b/ROMFS/px4fmu_common/init.d/5001_quad_+ index c78911391..e51f9cf89 100644 --- a/ROMFS/px4fmu_common/init.d/5001_quad_+ +++ b/ROMFS/px4fmu_common/init.d/5001_quad_+ @@ -7,6 +7,6 @@ sh /etc/init.d/rc.mc_defaults -set MIXER FMU_quad_+ +set MIXER quad_+ set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/6001_hexa_x b/ROMFS/px4fmu_common/init.d/6001_hexa_x index 0df25b11a..7a6dda648 100644 --- a/ROMFS/px4fmu_common/init.d/6001_hexa_x +++ b/ROMFS/px4fmu_common/init.d/6001_hexa_x @@ -7,7 +7,7 @@ sh /etc/init.d/rc.mc_defaults -set MIXER FMU_hexa_x +set MIXER hexa_x # Need to set all 8 channels set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/7001_hexa_+ b/ROMFS/px4fmu_common/init.d/7001_hexa_+ index 16c772ee1..dd9589d61 100644 --- a/ROMFS/px4fmu_common/init.d/7001_hexa_+ +++ b/ROMFS/px4fmu_common/init.d/7001_hexa_+ @@ -7,7 +7,7 @@ sh /etc/init.d/rc.mc_defaults -set MIXER FMU_hexa_+ +set MIXER hexa_+ # Need to set all 8 channels set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/8001_octo_x b/ROMFS/px4fmu_common/init.d/8001_octo_x index bae36737f..7cbb3ddfc 100644 --- a/ROMFS/px4fmu_common/init.d/8001_octo_x +++ b/ROMFS/px4fmu_common/init.d/8001_octo_x @@ -7,6 +7,6 @@ sh /etc/init.d/rc.mc_defaults -set MIXER FMU_octo_x +set MIXER octo_x set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/9001_octo_+ b/ROMFS/px4fmu_common/init.d/9001_octo_+ index ca5439f68..5d608d593 100644 --- a/ROMFS/px4fmu_common/init.d/9001_octo_+ +++ b/ROMFS/px4fmu_common/init.d/9001_octo_+ @@ -7,6 +7,6 @@ sh /etc/init.d/rc.mc_defaults -set MIXER FMU_octo_+ +set MIXER octo_+ set PWM_OUT 12345678 diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface index bab71be93..4015a911b 100644 --- a/ROMFS/px4fmu_common/init.d/rc.interface +++ b/ROMFS/px4fmu_common/init.d/rc.interface @@ -3,20 +3,34 @@ # Script to configure control interface # +set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers + if [ $MIXER != none -a $MIXER != skip ] then # - # Load mixer + # Load main mixer # - - #Use the mixer file from the SD-card if it exists - if [ -f /fs/microsd/etc/mixers/$MIXER.mix ] + + if [ $MIXER_AUX == none ] + then + set MIXER_AUX $MIXER.aux + fi + + # Use the mixer file from the SD-card if it exists + if [ -f $SDCARD_MIXERS_PATH/$MIXER.main.mix ] then - set MIXER_FILE /fs/microsd/etc/mixers/$MIXER.mix + set MIXER_FILE $SDCARD_MIXERS_PATH/$MIXER.main.mix + # Try out the old convention, for backward compatibility else - set MIXER_FILE /etc/mixers/$MIXER.mix + + if [ -f $SDCARD_MIXERS_PATH/$MIXER.mix ] + then + set MIXER_FILE $SDCARD_MIXERS_PATH/$MIXER.mix + else + set MIXER_FILE /etc/mixers/$MIXER.main.mix + fi fi - + if [ $OUTPUT_MODE == mkblctrl ] then set OUTPUT_DEV /dev/mkblctrl @@ -28,7 +42,7 @@ then then set OUTPUT_DEV /dev/uavcan/esc fi - + if mixer load $OUTPUT_DEV $MIXER_FILE then echo "[i] Mixer: $MIXER_FILE" @@ -57,7 +71,7 @@ then then pwm rate -c $PWM_OUT -r $PWM_RATE fi - + # # Set disarmed, min and max PWM values # @@ -80,3 +94,34 @@ then pwm failsafe -d $OUTPUT_DEV $FAILSAFE fi fi + +# check if should load secondary mixer +if [ $MIXER_AUX != none ] +then + # + # Load aux mixer + # + + set MIXER_AUX_FILE none + + if [ -f $SDCARD_MIXERS_PATH/$MIXER_AUX.mix ] + then + set MIXER_AUX_FILE $SDCARD_MIXERS_PATH/$MIXER_AUX.mix + else + + if [ -f /etc/mixers/$MIXER_AUX.mix ] + then + set MIXER_AUX_FILE /etc/mixers/$MIXER_AUX.mix + fi + fi + + if [ $MIXER_AUX_FILE != none -a $FMU_MODE == pwm ] + then + if fmu mode_pwm + then + mixer load /dev/pwm_output1 $MIXER_AUX_FILE + else + tone_alarm $TUNE_ERR + fi + fi +fi diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 26b729aad..31d6a8a2d 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_AUX none set OUTPUT_MODE none set PWM_OUT none set PWM_RATE none @@ -481,7 +482,7 @@ then if [ $MIXER == none ] then # Set default mixer for fixed wing if not defined - set MIXER FMU_AERT + set MIXER AERT fi if [ $MAV_TYPE == none ] @@ -517,27 +518,27 @@ then if [ $MAV_TYPE == none ] then # Use mixer to detect vehicle type - if [ $MIXER == FMU_quad_x -o $MIXER == FMU_quad_+ ] + if [ $MIXER == quad_x -o $MIXER == quad_+ ] then set MAV_TYPE 2 fi - if [ $MIXER == FMU_quad_w ] + if [ $MIXER == quad_w ] then set MAV_TYPE 2 fi - if [ $MIXER == FMU_hexa_x -o $MIXER == FMU_hexa_+ ] + if [ $MIXER == hexa_x -o $MIXER == hexa_+ ] then set MAV_TYPE 13 fi - if [ $MIXER == FMU_hexa_cox ] + if [ $MIXER == hexa_cox ] then set MAV_TYPE 13 fi - if [ $MIXER == FMU_octo_x -o $MIXER == FMU_octo_+ ] + if [ $MIXER == octo_x -o $MIXER == octo_+ ] then set MAV_TYPE 14 fi - if [ $MIXER == FMU_octo_cox ] + if [ $MIXER == octo_cox ] then set MAV_TYPE 14 fi @@ -576,10 +577,14 @@ then if [ $MAV_TYPE == none ] then # Use mixer to detect vehicle type - if [ $MIXER == FMU_caipirinha_vtol ] + if [ $MIXER == caipirinha_vtol ] then set MAV_TYPE 19 fi + if [ $MIXER == firefly6_rotors ] + then + set MAV_TYPE 21 + fi fi # Still no MAV_TYPE found |