diff options
| author | Helen Oleynikova <helenoleynikova@gmail.com> | 2014-03-06 12:45:10 +0100 |
|---|---|---|
| committer | Helen Oleynikova <helenoleynikova@gmail.com> | 2014-03-06 12:45:10 +0100 |
| commit | a897c97d955de4873aea1f01f65cab11faab2d3a (patch) | |
| tree | 17682e87f44a09e23592171d5e3ddbb2213ec71e /ROMFS/px4fmu_common/init.d | |
| parent | bcdc8c9e1dcefc2176fd1f853d4bae90e7d196d6 (diff) | |
| download | px4-firmware-a897c97d955de4873aea1f01f65cab11faab2d3a.tar.gz px4-firmware-a897c97d955de4873aea1f01f65cab11faab2d3a.tar.bz2 px4-firmware-a897c97d955de4873aea1f01f65cab11faab2d3a.zip | |
Changed ARDRONE to an OUTPUT_MODE setting and added a skip option to mixer. Fewer beeps than before.
Diffstat (limited to 'ROMFS/px4fmu_common/init.d')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/4008_ardrone | 5 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.interface | 9 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 13 |
3 files changed, 17 insertions, 10 deletions
diff --git a/ROMFS/px4fmu_common/init.d/4008_ardrone b/ROMFS/px4fmu_common/init.d/4008_ardrone index 512c4cb73..39fe66234 100644 --- a/ROMFS/px4fmu_common/init.d/4008_ardrone +++ b/ROMFS/px4fmu_common/init.d/4008_ardrone @@ -30,7 +30,6 @@ then param set MC_YAW_FF 0.15 fi -set FMU_MODE gpio_serial -set OUTPUT_MODE fmu -set ARDRONE yes +set OUTPUT_MODE ardrone set USE_IO no +set MIXER skip
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface index d25f01dde..afe71460d 100644 --- a/ROMFS/px4fmu_common/init.d/rc.interface +++ b/ROMFS/px4fmu_common/init.d/rc.interface @@ -3,7 +3,7 @@ # Script to configure control interface # -if [ $MIXER != none ] +if [ $MIXER != none -a $MIXER != skip] then # # Load mixer @@ -33,8 +33,11 @@ then tone_alarm $TUNE_OUT_ERROR fi else - echo "[init] Mixer not defined" - tone_alarm $TUNE_OUT_ERROR + if [ $MIXER != skip ] + then + echo "[init] Mixer not defined" + tone_alarm $TUNE_OUT_ERROR + fi fi if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ] diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 9983aa0e7..7b9ae0995 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -240,6 +240,11 @@ then fi fi + if [ $OUTPUT_MODE == ardrone ] + then + set FMU_MODE gpio_serial + fi + if [ $HIL == yes ] then set OUTPUT_MODE hil @@ -277,7 +282,7 @@ then tone_alarm $TUNE_OUT_ERROR fi fi - if [ $OUTPUT_MODE == fmu ] + if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE = ardrone ] then echo "[init] Use FMU PWM as primary output" if fmu mode_$FMU_MODE @@ -351,7 +356,7 @@ then fi fi else - if [ $OUTPUT_MODE != fmu ] + if [ $OUTPUT_MODE != fmu -a $OUTPUT_MODE != ardrone ] then if fmu mode_$FMU_MODE then @@ -387,7 +392,7 @@ then mavlink start -b 230400 -d /dev/ttyACM0 usleep 5000 else - if [ $TTYS1_BUSY == yes -o $ARDRONE == yes ] + if [ $TTYS1_BUSY == yes -o $OUTPUT_MODE == ardrone ] then # Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else mavlink start -d /dev/ttyS0 @@ -430,7 +435,7 @@ then # # Start up ARDrone Motor interface # - if [ $ARDRONE == yes ] + if [ $OUTPUT_MODE == ardrone ] then ardrone_interface start -d /dev/ttyS1 fi |