From 7ab58a8bc136da2e8a9166bd3fee7ed801c2adb0 Mon Sep 17 00:00:00 2001
From: Roman Bapst <romanbapst@yahoo.de>
Date: Tue, 6 Jan 2015 16:30:47 +0100
Subject: allow to specify secondary mixer which drives fmu PWM outputs

---
 ROMFS/px4fmu_common/init.d/rc.interface | 14 ++++++++++++++
 ROMFS/px4fmu_common/init.d/rcS          |  3 ++-
 2 files changed, 16 insertions(+), 1 deletion(-)

(limited to 'ROMFS/px4fmu_common')

diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface
index bab71be93..87c9e3045 100644
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -80,3 +80,17 @@ then
 		pwm failsafe -d $OUTPUT_DEV $FAILSAFE
 	fi
 fi
+
+# check if should load secondary mixer
+if [ $MIXER_SEC != none ]
+then
+	if fmu mode_pwm
+	then
+		echo "[i] FMU mode_pwm started to handle secondary mixer"
+		# load the specified mixer
+		mixer load /dev/pwm_output1 /etc/mixers/$MIXER_SEC.mix
+	else
+		echo "[i] ERROR: FMU mode_pwm start failed"
+		tone_alarm $TUNE_ERR
+	fi
+fi
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 10c5e0947..924f6ebc0 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -116,6 +116,7 @@ then
 	set HIL no
 	set VEHICLE_TYPE none
 	set MIXER none
+	set MIXER_SEC none
 	set OUTPUT_MODE none
 	set PWM_OUT none
 	set PWM_RATE none
@@ -580,7 +581,7 @@ then
 			then
 				set MAV_TYPE 19
 			fi
-			if [ $MIXER == FMU_firefly6 ]
+			if [ $MIXER == FMU_firefly6_rotors ]
 			then
 				set MAV_TYPE 21
 			fi
-- 
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