diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rc.interface')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.interface | 63 |
1 files changed, 54 insertions, 9 deletions
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 |