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-rw-r--r--ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil2
-rw-r--r--ROMFS/px4fmu_common/init.d/10015_tbs_discovery2
-rw-r--r--ROMFS/px4fmu_common/init.d/10016_3dr_iris2
-rw-r--r--ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d2
-rw-r--r--ROMFS/px4fmu_common/init.d/10018_tbs_endurance2
-rw-r--r--ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil2
-rw-r--r--ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil2
-rw-r--r--ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil2
-rw-r--r--ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil2
-rw-r--r--ROMFS/px4fmu_common/init.d/11001_hexa_cox2
-rw-r--r--ROMFS/px4fmu_common/init.d/12001_octo_cox2
-rw-r--r--ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol2
-rw-r--r--ROMFS/px4fmu_common/init.d/13002_firefly63
-rw-r--r--ROMFS/px4fmu_common/init.d/2101_hk_bixler2
-rw-r--r--ROMFS/px4fmu_common/init.d/2103_skyhunter_18002
-rw-r--r--ROMFS/px4fmu_common/init.d/3030_io_camflyer2
-rw-r--r--ROMFS/px4fmu_common/init.d/3032_skywalker_x52
-rw-r--r--ROMFS/px4fmu_common/init.d/3034_fx792
-rw-r--r--ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha2
-rw-r--r--ROMFS/px4fmu_common/init.d/4001_quad_x2
-rw-r--r--ROMFS/px4fmu_common/init.d/5001_quad_+2
-rw-r--r--ROMFS/px4fmu_common/init.d/6001_hexa_x2
-rw-r--r--ROMFS/px4fmu_common/init.d/7001_hexa_+2
-rw-r--r--ROMFS/px4fmu_common/init.d/8001_octo_x2
-rw-r--r--ROMFS/px4fmu_common/init.d/9001_octo_+2
-rw-r--r--ROMFS/px4fmu_common/init.d/rc.interface58
-rw-r--r--ROMFS/px4fmu_common/init.d/rcS20
27 files changed, 78 insertions, 51 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..2b418dfc5 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
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
index d5a104b4c..551a19928 100644
--- a/ROMFS/px4fmu_common/init.d/13002_firefly6
+++ b/ROMFS/px4fmu_common/init.d/13002_firefly6
@@ -7,8 +7,7 @@
sh /etc/init.d/rc.vtol_defaults
-set MIXER FMU_firefly6_rotors
-set MIXER_SEC FMU_firefly6_elevons
+set MIXER firefly6
set PWM_OUT 12345678
param set VT_MOT_COUNT 6
diff --git a/ROMFS/px4fmu_common/init.d/2101_hk_bixler b/ROMFS/px4fmu_common/init.d/2101_hk_bixler
index dcc5db824..0e6d2481c 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 \ No newline at end of file
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 98f41b31e..d4880ea42 100644
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -3,19 +3,30 @@
# 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
#
+
+ if [ $MIXER_AUX == none ]
+ then
+ MIXER_AUX = $MIXER.aux
+ fi
# Use the mixer file from the SD-card if it exists
- if [ -f /fs/microsd/etc/mixers/$MIXER.mix ]
+ if [ -f $SDCARD_MIXERS_PATH/$MIXER.main.mix ]
then
- set MIXER_FILE /fs/microsd/etc/mixers/$MIXER.mix
- else
- set MIXER_FILE /etc/mixers/$MIXER.mix
- fi
+ set MIXER_FILE $SDCARD_MIXERS_PATH/$MIXER.main.mix
+ # Try out the old convention, for backward compatibility
+ elif [ -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
if [ $OUTPUT_MODE == mkblctrl ]
then
@@ -80,14 +91,31 @@ then
pwm failsafe -d $OUTPUT_DEV $FAILSAFE
fi
fi
-
+
# check if should load secondary mixer
-if [ $MIXER_SEC != none ]
+if [ $MIXER_AUX != none ]
then
- if fmu mode_pwm
- then
- mixer load /dev/pwm_output1 /etc/mixers/$MIXER_SEC.mix
- else
- tone_alarm $TUNE_ERR
- fi
-fi
+ #
+ # 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
+ elif [ -f /etc/mixers/$MIXER_AUX.mix ]
+ then
+ set MIXER_AUX_FILE /etc/mixers/$MIXER_AUX.mix
+ 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 \ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 924f6ebc0..31d6a8a2d 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -116,7 +116,7 @@ then
set HIL no
set VEHICLE_TYPE none
set MIXER none
- set MIXER_SEC none
+ set MIXER_AUX none
set OUTPUT_MODE none
set PWM_OUT none
set PWM_RATE none
@@ -482,7 +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 ]
@@ -518,27 +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
@@ -577,11 +577,11 @@ 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 == FMU_firefly6_rotors ]
+ if [ $MIXER == firefly6_rotors ]
then
set MAV_TYPE 21
fi
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-06 16:40:11 +0000