From 03edf901617c5f5785ef7d78d8fa74e2bfdd45fc Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Mon, 7 Oct 2013 16:34:07 +0200 Subject: Adapt startup scripts to new pwm systemcmd interface --- ROMFS/px4fmu_common/init.d/10_dji_f330 | 12 ++++++++---- ROMFS/px4fmu_common/init.d/11_dji_f450 | 13 ++++++++----- ROMFS/px4fmu_common/init.d/15_tbs_discovery | 13 ++++++++----- ROMFS/px4fmu_common/init.d/16_3dr_iris | 13 ++++++++----- ROMFS/px4fmu_common/init.d/666_fmu_q_x550 | 2 +- ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl | 10 ++++------ 6 files changed, 37 insertions(+), 26 deletions(-) (limited to 'ROMFS/px4fmu_common') diff --git a/ROMFS/px4fmu_common/init.d/10_dji_f330 b/ROMFS/px4fmu_common/init.d/10_dji_f330 index d21759507..e7a62a4b8 100644 --- a/ROMFS/px4fmu_common/init.d/10_dji_f330 +++ b/ROMFS/px4fmu_common/init.d/10_dji_f330 @@ -61,9 +61,6 @@ then sh /etc/init.d/rc.io # Set PWM values for DJI ESCs - px4io idle 900 900 900 900 - px4io min 1200 1200 1200 1200 - px4io max 1800 1800 1800 1800 else # Start MAVLink (on UART1 / ttyS0) mavlink start -d /dev/ttyS0 @@ -81,7 +78,14 @@ mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix # # Set PWM output frequency # -pwm -u 400 -m 0xff +pwm rate -c 1234 -r 400 + +# +# Set disarmed, min and max PWM signals +# +pwm disarmed -c 1234 -p 900 +pwm min -c 1234 -p 1200 +pwm max -c 1234 -p 1800 # # Start common for all multirotors apps diff --git a/ROMFS/px4fmu_common/init.d/11_dji_f450 b/ROMFS/px4fmu_common/init.d/11_dji_f450 index 388f40a47..91847b06b 100644 --- a/ROMFS/px4fmu_common/init.d/11_dji_f450 +++ b/ROMFS/px4fmu_common/init.d/11_dji_f450 @@ -44,10 +44,6 @@ then usleep 5000 sh /etc/init.d/rc.io - # Set PWM values for DJI ESCs - px4io idle 900 900 900 900 - px4io min 1200 1200 1200 1200 - px4io max 1800 1800 1800 1800 else # Start MAVLink (on UART1 / ttyS0) mavlink start -d /dev/ttyS0 @@ -65,7 +61,14 @@ mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix # # Set PWM output frequency # -pwm -u 400 -m 0xff +pwm rate -c 1234 -r 400 + +# +# Set disarmed, min and max PWM signals (for DJI ESCs) +# +pwm disarmed -c 1234 -p 900 +pwm min -c 1234 -p 1200 +pwm max -c 1234 -p 1800 # # Start common for all multirotors apps diff --git a/ROMFS/px4fmu_common/init.d/15_tbs_discovery b/ROMFS/px4fmu_common/init.d/15_tbs_discovery index cbfde6d3c..65be56df8 100644 --- a/ROMFS/px4fmu_common/init.d/15_tbs_discovery +++ b/ROMFS/px4fmu_common/init.d/15_tbs_discovery @@ -44,10 +44,6 @@ then usleep 5000 sh /etc/init.d/rc.io - # Set PWM values for DJI ESCs - px4io idle 900 900 900 900 - px4io min 1200 1200 1200 1200 - px4io max 1800 1800 1800 1800 else # Start MAVLink (on UART1 / ttyS0) mavlink start -d /dev/ttyS0 @@ -65,7 +61,14 @@ mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix # # Set PWM output frequency # -pwm -u 400 -m 0xff +pwm rate -c 1234 -r 400 + +# +# Set disarmed, min and max PWM signals (for DJI ESCs) +# +pwm disarmed -c 1234 -p 900 +pwm min -c 1234 -p 1200 +pwm max -c 1234 -p 1800 # # Start common for all multirotors apps diff --git a/ROMFS/px4fmu_common/init.d/16_3dr_iris b/ROMFS/px4fmu_common/init.d/16_3dr_iris index d47ecb393..3434735fd 100644 --- a/ROMFS/px4fmu_common/init.d/16_3dr_iris +++ b/ROMFS/px4fmu_common/init.d/16_3dr_iris @@ -44,10 +44,6 @@ then usleep 5000 sh /etc/init.d/rc.io - # Set PWM values for DJI ESCs - px4io idle 900 900 900 900 - px4io min 1200 1200 1200 1200 - px4io max 1800 1800 1800 1800 else # Start MAVLink (on UART1 / ttyS0) mavlink start -d /dev/ttyS0 @@ -65,7 +61,14 @@ mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix # # Set PWM output frequency # -pwm -u 400 -m 0xff +pwm rate -c 1234 -r 400 + +# +# Set disarmed, min and max PWM signals +# +pwm disarmed -c 1234 -p 900 +pwm min -c 1234 -p 1200 +pwm max -c 1234 -p 1800 # # Start common for all multirotors apps diff --git a/ROMFS/px4fmu_common/init.d/666_fmu_q_x550 b/ROMFS/px4fmu_common/init.d/666_fmu_q_x550 index ae41f2a01..eae37098b 100644 --- a/ROMFS/px4fmu_common/init.d/666_fmu_q_x550 +++ b/ROMFS/px4fmu_common/init.d/666_fmu_q_x550 @@ -53,7 +53,7 @@ mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix # # Set PWM output frequency # -pwm -u 400 -m 0xff +pwm rate -c 1234 -r 400 # # Start common for all multirotors apps diff --git a/ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl b/ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl index 51bc61c9e..a63d0e5f1 100644 --- a/ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl +++ b/ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl @@ -83,10 +83,6 @@ then usleep 5000 sh /etc/init.d/rc.io - # Set PWM values for DJI ESCs - px4io idle 900 900 900 900 - px4io min 1200 1200 1200 1200 - px4io max 1800 1800 1800 1800 else fmu mode_pwm # Start MAVLink (on UART1 / ttyS0) @@ -107,9 +103,11 @@ else fi # -# Set PWM output frequency +# Set disarmed, min and max PWM signals # -#pwm -u 400 -m 0xff +pwm disarmed -c 1234 -p 900 +pwm min -c 1234 -p 1200 +pwm max -c 1234 -p 1800 # # Start common for all multirotors apps -- cgit v1.2.3