diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rc.mc_interface')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.mc_interface | 70 |
1 files changed, 37 insertions, 33 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_interface b/ROMFS/px4fmu_common/init.d/rc.mc_interface index 9e3d678bf..003aee81b 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_interface +++ b/ROMFS/px4fmu_common/init.d/rc.mc_interface @@ -1,24 +1,25 @@ #!nsh # -# Script to set PWM min / max limits and mixer +# Script to load multicopter mixer and set rate/disarmed/min/max values for PWM output # -echo "Rotors count: $FRAME_COUNT" -if [ $FRAME_COUNT == 4 ] +if [ $FRAME_GEOMETRY == quad_x -o $FRAME_GEOMETRY == quad_+ ] then - set FRAME_COUNT_STR quad set OUTPUTS 1234 param set MAV_TYPE 2 fi -if [ $FRAME_COUNT == 6 ] +if [ $FRAME_GEOMETRY == quad_w -o $FRAME_GEOMETRY == quad_v ] +then + set OUTPUTS 1234 + param set MAV_TYPE 2 +fi +if [ $FRAME_GEOMETRY == hex_x -o $FRAME_GEOMETRY == hex_+ ] then - set FRAME_COUNT_STR hex set OUTPUTS 123456 param set MAV_TYPE 13 fi -if [ $FRAME_COUNT == 8 ] +if [ $FRAME_GEOMETRY == octo_x -o $FRAME_GEOMETRY == octo_+ ] then - set FRAME_COUNT_STR octo set OUTPUTS 12345678 param set MAV_TYPE 14 fi @@ -26,31 +27,34 @@ fi # # Load mixer # -echo "Frame geometry: ${FRAME_GEOMETRY}" -set MIXER /etc/mixers/FMU_${FRAME_GEOMETRY_STR}_${FRAME_GEOMETRY}.mix -echo "Loading mixer: ${MIXER}" -mixer load /dev/pwm_output ${MIXER} +echo "Frame geometry: $FRAME_GEOMETRY" +set MIXER /etc/mixers/FMU_${FRAME_GEOMETRY}.mix +echo "Loading mixer: $MIXER" +mixer load /dev/pwm_output $MIXER -# -# Set PWM output frequency -# -if [ $PWM_RATE != none ] -then - pwm rate -c $OUTPUTS -r $PWM_RATE -fi - -# -# Set disarmed, min and max PWM values -# -if [ $PWM_DISARMED != none ] -then - pwm disarmed -c $OUTPUTS -p $PWM_DISARMED -fi -if [ $PWM_MIN != none ] -then - pwm min -c $OUTPUTS -p $PWM_MIN -fi -if [ $PWM_MAX != none ] +if [ $OUTPUT_MODE == fmu_pwm -o $OUTPUT_MODE == io_pwm ] then - pwm max -c $OUTPUTS -p $PWM_MAX + # + # Set PWM output frequency + # + if [ $PWM_RATE != none ] + then + pwm rate -c $OUTPUTS -r $PWM_RATE + fi + + # + # Set disarmed, min and max PWM values + # + if [ $PWM_DISARMED != none ] + then + pwm disarmed -c $OUTPUTS -p $PWM_DISARMED + fi + if [ $PWM_MIN != none ] + then + pwm min -c $OUTPUTS -p $PWM_MIN + fi + if [ $PWM_MAX != none ] + then + pwm max -c $OUTPUTS -p $PWM_MAX + fi fi |