From 057d71e1017b6a9af5050b48c8171a9956dbf2ef Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Mon, 19 Sep 2016 07:54:51 +0200
Subject: [PATCH] posix-configs: use 'mixer append' command for typhoon mount
 mixer

---
 ROMFS/px4fmu_common/mixers/hexa_x.main.mix    | 25 -----------------
 ROMFS/px4fmu_common/mixers/mount_legs.aux.mix | 27 +++++++++++++++++++
 posix-configs/SITL/init/ekf2/typhoon_h480     |  1 +
 posix-configs/SITL/init/lpe/typhoon_h480      |  1 +
 4 files changed, 29 insertions(+), 25 deletions(-)
 create mode 100644 ROMFS/px4fmu_common/mixers/mount_legs.aux.mix

diff --git a/ROMFS/px4fmu_common/mixers/hexa_x.main.mix b/ROMFS/px4fmu_common/mixers/hexa_x.main.mix
index b357ef972c..0011fbcfb4 100644
--- a/ROMFS/px4fmu_common/mixers/hexa_x.main.mix
+++ b/ROMFS/px4fmu_common/mixers/hexa_x.main.mix
@@ -2,28 +2,3 @@
 
 R: 6x 10000 10000 10000 0
 
-# Roll channel for mount
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 2 0  10000  10000      0 -10000  10000
-
-# Pitch channel for mount
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 2 1  10000  10000      0 -10000  10000
-
-# Yaw channel for mount
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 2 2  10000  10000      0 -10000  10000
-
-# mixer for left leg
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 7      0  20000 -10000 -10000  10000
-
-# mixer for right leg
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 8      0  20000 -10000 -10000  10000
-
diff --git a/ROMFS/px4fmu_common/mixers/mount_legs.aux.mix b/ROMFS/px4fmu_common/mixers/mount_legs.aux.mix
new file mode 100644
index 0000000000..c80610619f
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/mount_legs.aux.mix
@@ -0,0 +1,27 @@
+
+# Roll channel for mount
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 0  10000  10000      0 -10000  10000
+
+# Pitch channel for mount
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 1  10000  10000      0 -10000  10000
+
+# Yaw channel for mount
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 2  10000  10000      0 -10000  10000
+
+
+# mixer for left leg
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7      0  20000 -10000 -10000  10000
+
+# mixer for right leg
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 8      0  20000 -10000 -10000  10000
+
diff --git a/posix-configs/SITL/init/ekf2/typhoon_h480 b/posix-configs/SITL/init/ekf2/typhoon_h480
index b673e8d5c1..fd1376cae4 100644
--- a/posix-configs/SITL/init/ekf2/typhoon_h480
+++ b/posix-configs/SITL/init/ekf2/typhoon_h480
@@ -60,6 +60,7 @@ ekf2 start
 mc_pos_control start
 mc_att_control start
 mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/hexa_x.main.mix
+mixer append /dev/pwm_output0 ROMFS/px4fmu_common/mixers/mount_legs.aux.mix
 mavlink start -u 14556 -r 4000000
 mavlink start -u 14557 -r 4000000 -m onboard -o 14540
 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
diff --git a/posix-configs/SITL/init/lpe/typhoon_h480 b/posix-configs/SITL/init/lpe/typhoon_h480
index a0195ece16..6898e0555b 100644
--- a/posix-configs/SITL/init/lpe/typhoon_h480
+++ b/posix-configs/SITL/init/lpe/typhoon_h480
@@ -61,6 +61,7 @@ local_position_estimator start
 mc_pos_control start
 mc_att_control start
 mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/hexa_x.main.mix
+mixer append /dev/pwm_output0 ROMFS/px4fmu_common/mixers/mount_legs.aux.mix
 mavlink start -u 14556 -r 4000000
 mavlink start -u 14557 -r 4000000 -m onboard -o 14540
 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556