From e191958ce656dbc31bc0029b9d0e1ed2fd4db72c Mon Sep 17 00:00:00 2001
From: Anton Matosov <anton.matosov@gmail.com>
Date: Tue, 3 Mar 2015 23:53:48 -0800
Subject: Made aux output pwm rate, min, max, disarmed and failsafe values
 configurable the same way as for the main outputs

---
 ROMFS/px4fmu_common/init.d/10019_sk450_deadcat |  5 ++++
 ROMFS/px4fmu_common/init.d/rc.interface        | 36 +++++++++++++++++++++++++-
 ROMFS/px4fmu_common/init.d/rcS                 |  5 ++++
 3 files changed, 45 insertions(+), 1 deletion(-)

diff --git a/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat b/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat
index 8a90c9169..c6861c2d4 100644
--- a/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat
+++ b/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat
@@ -30,4 +30,9 @@ set MIXER sk450_deadcat
 set PWM_OUT 1234
 set PWM_MIN 1050
 
+set PWM_AUX_OUT 1234
+# set PWM_AUX_MIN 900
+# set PWM_AUX_MAX 2100
+set PWM_AUX_RATE 100
+
 gimbal start
diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface
index 767a4564e..5101acc07 100644
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -103,6 +103,7 @@ then
 	#
 
 	set MIXER_AUX_FILE none
+	set OUTPUT_AUX_DEV /dev/pwm_output1
 
 	if [ -f $SDCARD_MIXERS_PATH/$MIXER_AUX.mix ]
 	then
@@ -119,10 +120,43 @@ then
 	then
 		if fmu mode_pwm
 		then
-			mixer load /dev/pwm_output1 $MIXER_AUX_FILE
+			mixer load $OUTPUT_AUX_DEV $MIXER_AUX_FILE
 		else
 			tone_alarm $TUNE_ERR
 		fi
+
+		if [ $PWM_AUX_OUT != none ]
+		then
+			#
+			# Set PWM_AUX output frequency
+			#
+			if [ $PWM_AUX_RATE != none ]
+			then
+				pwm rate -c $PWM_AUX_OUT -r $PWM_AUX_RATE -d $OUTPUT_AUX_DEV
+			fi
+
+			#
+			# Set disarmed, min and max PWM_AUX values
+			#
+			if [ $PWM_AUX_DISARMED != none ]
+			then
+				pwm disarmed -c $PWM_AUX_OUT -p $PWM_AUX_DISARMED -d $OUTPUT_AUX_DEV
+			fi
+			if [ $PWM_AUX_MIN != none ]
+			then
+				pwm min -c $PWM_AUX_OUT -p $PWM_AUX_MIN -d $OUTPUT_AUX_DEV
+			fi
+			if [ $PWM_AUX_MAX != none ]
+			then
+				pwm max -c $PWM_AUX_OUT -p $PWM_AUX_MAX -d $OUTPUT_AUX_DEV
+			fi
+		fi
+
+		if [ $FAILSAFE_AUX != none ]
+		then
+			pwm failsafe -d $OUTPUT_AUX_DEV $FAILSAFE
+		fi
+
 	fi
 fi
 unset OUTPUT_DEV
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 1d21d7772..59abdc8e3 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -109,6 +109,11 @@ then
 	set PWM_DISARMED none
 	set PWM_MIN none
 	set PWM_MAX none
+	set PWM_AUX_OUT none
+	set PWM_AUX_RATE none
+	set PWM_AUX_DISARMED none
+	set PWM_AUX_MIN none
+	set PWM_AUX_MAX none
 	set MK_MODE none
 	set FMU_MODE pwm
 	set MAVLINK_F default
-- 
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