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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
Copy/paste logic in rc.interface to group MIXER and MIXER_AUX logic, alphabetize hardware list in rc.interface, alphabetize set/unset lists in rcS, and add -p argument to pwm failsafe calls per issue #9775.
This commit is contained in:
mcsauder
Beat Küng
parent
50b5e124d5
commit
71ceb0cfd6
@ -9,26 +9,36 @@
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# Otherwise, the variable name goes to the end of the argument.
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#
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set MIXER_AUX_FILE none
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set OUTPUT_AUX_DEV /dev/pwm_output1
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set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
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if ver hwcmp AEROFC_V1 AV_X_V1 CRAZYFLIE MINDPX_V2 NXPHLITE_V3 PX4FMU_V4 OMNIBUS_F4SD
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then
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set MIXER_AUX none
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fi
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if [ $USE_IO == no ]
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then
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set MIXER_AUX none
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fi
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if [ $MIXER != none -a $MIXER != skip ]
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then
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#
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# Load main mixer
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# Load main mixer.
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#
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if [ $MIXER_AUX == none -a $USE_IO == yes ]
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then
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set MIXER_AUX ${MIXER}
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fi
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# Use the mixer file from the SD-card if it exists
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if [ -f ${SDCARD_MIXERS_PATH}/${MIXER}.main.mix ]
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then
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# Use the mixer file from the SD-card if it exists.
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set MIXER_FILE ${SDCARD_MIXERS_PATH}/${MIXER}.main.mix
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# Try out the old convention, for backward compatibility
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else
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# Try out the old convention, for backward compatibility.
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if [ -f ${SDCARD_MIXERS_PATH}/${MIXER}.mix ]
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then
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set MIXER_FILE ${SDCARD_MIXERS_PATH}/${MIXER}.mix
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@ -73,72 +83,11 @@ else
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fi
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fi
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if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ]
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then
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if [ $PWM_OUT != none ]
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then
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#
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# Set PWM output frequency
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#
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if [ $PWM_RATE != none ]
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then
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pwm rate -c ${PWM_OUT} -r ${PWM_RATE}
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fi
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#
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# Set disarmed, min and max PWM values
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#
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if [ $PWM_DISARMED != none ]
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then
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pwm disarmed -c ${PWM_OUT} -p ${PWM_DISARMED}
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fi
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if [ $PWM_MIN != none ]
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then
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pwm min -c ${PWM_OUT} -p ${PWM_MIN}
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fi
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if [ $PWM_MAX != none ]
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then
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pwm max -c ${PWM_OUT} -p ${PWM_MAX}
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fi
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fi
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#
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# Per channel disarmed settings
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#
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pwm disarmed -c 1 -p p:PWM_MAIN_DIS1
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pwm disarmed -c 2 -p p:PWM_MAIN_DIS2
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pwm disarmed -c 3 -p p:PWM_MAIN_DIS3
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pwm disarmed -c 4 -p p:PWM_MAIN_DIS4
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pwm disarmed -c 5 -p p:PWM_MAIN_DIS5
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pwm disarmed -c 6 -p p:PWM_MAIN_DIS6
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pwm disarmed -c 7 -p p:PWM_MAIN_DIS7
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pwm disarmed -c 8 -p p:PWM_MAIN_DIS8
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if [ $FAILSAFE != none ]
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then
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pwm failsafe -d ${OUTPUT_DEV} ${FAILSAFE}
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fi
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fi
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if ver hwcmp MINDPX_V2 CRAZYFLIE AEROFC_V1 PX4FMU_V4 NXPHLITE_V3 OMNIBUS_F4SD AV_X_V1
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then
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set MIXER_AUX none
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fi
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if [ $USE_IO == no ]
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then
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set MIXER_AUX none
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fi
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if [ $MIXER_AUX != none -a $AUX_MODE != none ]
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then
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#
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# Load aux mixer
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# Load aux mixer.
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#
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set MIXER_AUX_FILE none
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set OUTPUT_AUX_DEV /dev/pwm_output1
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if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix ]
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then
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set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix
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@ -154,7 +103,7 @@ then
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then
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if fmu mode_${AUX_MODE} $FMU_ARGS
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then
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# Append aux mixer to main device
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# Append aux mixer to main device.
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if param compare SYS_HITL 1
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then
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if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
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@ -185,12 +134,10 @@ then
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set FAILSAFE_AUX none
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fi
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# Set min / max for aux out and rates
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# Set min / max for aux out and rates.
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if [ $PWM_AUX_OUT != none ]
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then
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#
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# Set PWM_AUX output frequency
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#
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# Set PWM_AUX output frequency.
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if [ $PWM_AUX_RATE != none ]
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then
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pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
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@ -206,17 +153,17 @@ then
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fi
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fi
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# Set disarmed values for aux out
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# Transitional support until all configs
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# are updated
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#
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# Set disarmed values for aux out.
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# Transitional support until all configs are updated.
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#
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if [ $PWM_ACHDIS == none ]
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then
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set PWM_ACHDIS ${PWM_AUX_OUT}
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fi
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#
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# Set disarmed, min and max PWM_AUX values
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# Set disarmed, min and max PWM_AUX values.
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#
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if [ $PWM_AUX_DISARMED != none -a $PWM_ACHDIS != none ]
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then
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@ -224,7 +171,7 @@ then
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fi
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#
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# Per channel disarmed settings
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# Per channel disarmed settings.
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#
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pwm disarmed -c 1 -p p:PWM_AUX_DIS1 -d ${OUTPUT_AUX_DEV}
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pwm disarmed -c 2 -p p:PWM_AUX_DIS2 -d ${OUTPUT_AUX_DEV}
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@ -235,23 +182,54 @@ then
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if [ $FAILSAFE_AUX != none ]
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then
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pwm failsafe -d ${OUTPUT_AUX_DEV} ${FAILSAFE}
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pwm failsafe -p ${FAILSAFE} -d ${OUTPUT_AUX_DEV}
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fi
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fi
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fi
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unset PWM_OUT
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unset PWM_RATE
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unset PWM_ACHDIS
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unset PWM_MIN
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unset PWM_MAX
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unset PWM_AUX_OUT
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unset PWM_AUX_RATE
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unset PWM_AUX_DISARMED
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unset PWM_AUX_MIN
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unset PWM_AUX_MAX
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unset FAILSAFE_AUX
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unset FAILSAFE
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unset OUTPUT_DEV
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if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ]
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then
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if [ $PWM_OUT != none ]
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then
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# Set PWM output frequency.
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if [ $PWM_RATE != none ]
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then
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pwm rate -c ${PWM_OUT} -r ${PWM_RATE}
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fi
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# Set disarmed, min and max PWM values.
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if [ $PWM_DISARMED != none ]
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then
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pwm disarmed -c ${PWM_OUT} -p ${PWM_DISARMED}
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fi
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if [ $PWM_MIN != none ]
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then
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pwm min -c ${PWM_OUT} -p ${PWM_MIN}
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fi
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if [ $PWM_MAX != none ]
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then
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pwm max -c ${PWM_OUT} -p ${PWM_MAX}
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fi
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fi
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#
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# Per channel disarmed settings.
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#
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pwm disarmed -c 1 -p p:PWM_MAIN_DIS1
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pwm disarmed -c 2 -p p:PWM_MAIN_DIS2
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pwm disarmed -c 3 -p p:PWM_MAIN_DIS3
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pwm disarmed -c 4 -p p:PWM_MAIN_DIS4
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pwm disarmed -c 5 -p p:PWM_MAIN_DIS5
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pwm disarmed -c 6 -p p:PWM_MAIN_DIS6
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pwm disarmed -c 7 -p p:PWM_MAIN_DIS7
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pwm disarmed -c 8 -p p:PWM_MAIN_DIS8
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if [ $FAILSAFE != none ]
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then
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pwm failsafe -p ${FAILSAFE} -d ${OUTPUT_DEV}
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fi
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fi
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unset MIXER_AUX_FILE
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unset OUTPUT_AUX_DEV
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unset SDCARD_MIXERS_PATH
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@ -39,17 +39,17 @@ set MK_MODE none
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set MKBLCTRL_ARG ""
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set OUTPUT_MODE none
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set PARAM_FILE /fs/microsd/params
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set PWM_OUT none
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set PWM_RATE p:PWM_RATE
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set PWM_DISARMED p:PWM_DISARMED
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set PWM_MIN p:PWM_MIN
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set PWM_MAX p:PWM_MAX
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set PWM_AUX_OUT none
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set PWM_AUX_RATE none
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set PWM_ACHDIS none
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set PWM_AUX_DISARMED p:PWM_AUX_DISARMED
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set PWM_AUX_MIN p:PWM_AUX_MIN
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set PWM_AUX_MAX p:PWM_AUX_MAX
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set PWM_AUX_MIN p:PWM_AUX_MIN
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set PWM_AUX_OUT none
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set PWM_AUX_RATE none
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set PWM_DISARMED p:PWM_DISARMED
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set PWM_MAX p:PWM_MAX
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set PWM_MIN p:PWM_MIN
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set PWM_OUT none
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set PWM_RATE p:PWM_RATE
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set TUNE_ERR "ML<<CP4CP4CP4CP4CP4"
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set USE_IO no
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set VEHICLE_TYPE none
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@ -636,22 +636,20 @@ unset MIXER
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unset MIXER_AUX
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unset MK_MODE
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unset MKBLCTRL_ARG
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unset OUTPUT_AUX_DEV
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unset OUTPUT_DEV
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unset OUTPUT_MODE
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unset PARAM_FILE
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unset PWM_ACHDIS
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unset PWM_AUX_DISARMED
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unset PWM_AUX_MAX
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unset PWM_AUX_MIN
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unset PWM_AUX_OUT
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unset PWM_AUX_RATE
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unset PWM_OUT
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unset PWM_RATE
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unset PWM_DISARMED
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unset PWM_MIN
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unset PWM_MAX
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unset PWM_AUX_OUT
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unset PWM_AUX_RATE
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unset PWM_ACHDIS
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unset PWM_AUX_DISARMED
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unset PWM_AUX_MIN
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unset PWM_AUX_MAX
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unset PWM_MIN
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unset TUNE_ERR
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unset USE_IO
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unset VEHICLE_TYPE
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