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Autostart: generic quad, hexa and octo added, WIP

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This commit is contained in:
Anton Babushkin
2014-01-09 10:05:24 +01:00
parent 9a5ef70070
commit 532c4c771e
13 changed files with 201 additions and 239 deletions
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ROMFS/px4fmu_common/init.d/rc.mc_interface
+24 -28
View File
@@ -3,37 +3,33 @@
# Script to set PWM min / max limits and mixer
#
echo "Rotors count: $FRAME_COUNT"
if [ $FRAME_COUNT == 4 ]
then
set FRAME_COUNT_STR quad
set OUTPUTS 1234
param set MAV_TYPE 2
fi
if [ $FRAME_COUNT == 6 ]
then
set FRAME_COUNT_STR hex
set OUTPUTS 123456
param set MAV_TYPE 13
fi
if [ $FRAME_COUNT == 8 ]
then
set FRAME_COUNT_STR octo
set OUTPUTS 12345678
param set MAV_TYPE 14
fi
#
# Load mixer
#
if [ $FRAME_GEOMETRY == x ]
then
echo "Frame geometry X"
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
else
if [ $FRAME_GEOMETRY == w ]
then
echo "Frame geometry W"
mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix
else
echo "Frame geometry +"
mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
fi
fi
if [ $FRAME_COUNT == 4 ]
then
set OUTPUTS 1234
param set MAV_TYPE 2
else
if [ $FRAME_COUNT == 6 ]
then
set OUTPUTS 123456
param set MAV_TYPE 13
else
set OUTPUTS 12345678
fi
fi
echo "Frame geometry: ${FRAME_GEOMETRY}"
set MIXER /etc/mixers/FMU_${FRAME_GEOMETRY_STR}_${FRAME_GEOMETRY}.mix
echo "Loading mixer: ${MIXER}"
mixer load /dev/pwm_output ${MIXER}
#
# Set PWM output frequency