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Enable third mixer when using UAVCAN for main mixer.

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This commit is contained in:
Ricardo Marques 2020-12-17 13:54:57 +01:00 committed by Lorenz Meier
parent 02c0f08060
commit 7a8203bf19
2 changed files with 126 additions and 7 deletions
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115
ROMFS/px4fmu_common/init.d/rc.interface
View File

@ -11,8 +11,11 @@
set OUTPUT_CMD pwm_out
set MIXER_AUX_FILE none
set OUTPUT_AUX_DEV /dev/pwm_output1
set MIXER_EXTRA_FILE none
set OUTPUT_DEV none
set OUTPUT_AUX_DEV /dev/pwm_output1
set OUTPUT_EXTRA_DEV /dev/pwm_output0
#
# If mount (gimbal) control is enabled and output mode is AUX, set the aux
@ -394,7 +397,115 @@ then
pwm failsafe -c 8 -p p:PWM_MAIN_FAIL8
fi
if [ $EXTRA_MIXER_MODE != none ]
then
if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.aux.mix ]
then
# Use the mixer file from the SD-card if it exists.
set MIXER_EXTRA_FILE ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.aux.mix
else
# Try out the old convention, for backward compatibility.
if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.mix ]
then
set MIXER_EXTRA_FILE ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.mix
else
set MIXER_EXTRA_FILE /etc/mixers/${MIXER_EXTRA}.aux.mix
fi
fi
if mixer load ${OUTPUT_EXTRA_DEV} ${MIXER_EXTRA_FILE}
then
echo "INFO [init] Mixer: ${MIXER_EXTRA_FILE} on ${OUTPUT_EXTRA_DEV}"
else
echo "ERROR [init] Failed loading mixer: ${MIXER_EXTRA_FILE}"
echo "ERROR [init] Failed loading mixer: ${MIXER_EXTRA_FILE}" >> $LOG_FILE
tune_control play -t 20
fi
if [ $PWM_EXTRA_OUT != none ]
then
# Set PWM output frequency.
if [ $PWM_EXTRA_RATE != none ]
then
pwm rate -c ${PWM_EXTRA_OUT} -r ${PWM_EXTRA_RATE}
fi
# Set disarmed, min and max PWM values.
if [ $PWM_EXTRA_DISARMED != none ]
then
pwm disarmed -c ${PWM_EXTRA_OUT} -p ${PWM_EXTRA_DISARMED}
fi
if [ $PWM_EXTRA_MIN != none ]
then
pwm min -c ${PWM_EXTRA_OUT} -p ${PWM_EXTRA_MIN}
fi
if [ $PWM_EXTRA_MAX != none ]
then
pwm max -c ${PWM_EXTRA_OUT} -p ${PWM_EXTRA_MAX}
fi
fi
#
# Per channel disarmed settings.
#
pwm disarmed -c 1 -p p:PWM_AUX_DIS1 -d ${OUTPUT_EXTRA_DEV}
pwm disarmed -c 2 -p p:PWM_AUX_DIS2 -d ${OUTPUT_EXTRA_DEV}
pwm disarmed -c 3 -p p:PWM_AUX_DIS3 -d ${OUTPUT_EXTRA_DEV}
pwm disarmed -c 4 -p p:PWM_AUX_DIS3 -d ${OUTPUT_EXTRA_DEV}
pwm disarmed -c 5 -p p:PWM_AUX_DIS5 -d ${OUTPUT_EXTRA_DEV}
pwm disarmed -c 6 -p p:PWM_AUX_DIS3 -d ${OUTPUT_EXTRA_DEV}
pwm disarmed -c 7 -p p:PWM_AUX_DIS7 -d ${OUTPUT_EXTRA_DEV}
pwm disarmed -c 8 -p p:PWM_AUX_DIS8 -d ${OUTPUT_EXTRA_DEV}
#
# Per channel min settings.
#
pwm min -c 1 -p p:PWM_AUX_MIN1 -d ${OUTPUT_EXTRA_DEV}
pwm min -c 2 -p p:PWM_AUX_MIN2 -d ${OUTPUT_EXTRA_DEV}
pwm min -c 3 -p p:PWM_AUX_MIN3 -d ${OUTPUT_EXTRA_DEV}
pwm min -c 4 -p p:PWM_AUX_MIN4 -d ${OUTPUT_EXTRA_DEV}
pwm min -c 5 -p p:PWM_AUX_MIN5 -d ${OUTPUT_EXTRA_DEV}
pwm min -c 6 -p p:PWM_AUX_MIN6 -d ${OUTPUT_EXTRA_DEV}
pwm min -c 7 -p p:PWM_AUX_MIN7 -d ${OUTPUT_EXTRA_DEV}
pwm min -c 8 -p p:PWM_AUX_MIN8 -d ${OUTPUT_EXTRA_DEV}
#
# Per channel max settings.
#
pwm max -c 1 -p p:PWM_AUX_MAX1 -d ${OUTPUT_EXTRA_DEV}
pwm max -c 2 -p p:PWM_AUX_MAX2 -d ${OUTPUT_EXTRA_DEV}
pwm max -c 3 -p p:PWM_AUX_MAX3 -d ${OUTPUT_EXTRA_DEV}
pwm max -c 4 -p p:PWM_AUX_MAX4 -d ${OUTPUT_EXTRA_DEV}
pwm max -c 5 -p p:PWM_AUX_MAX5 -d ${OUTPUT_EXTRA_DEV}
pwm max -c 6 -p p:PWM_AUX_MAX6 -d ${OUTPUT_EXTRA_DEV}
pwm max -c 7 -p p:PWM_AUX_MAX7 -d ${OUTPUT_EXTRA_DEV}
pwm max -c 8 -p p:PWM_AUX_MAX8 -d ${OUTPUT_EXTRA_DEV}
if [ $FAILSAFE_EXTRA != none ]
then
pwm failsafe -c ${PWM_EXTRA_OUT} -p ${FAILSAFE} -d ${OUTPUT_EXTRA_DEV}
fi
#
# Per channel failsafe settings.
#
pwm failsafe -c 1 -p p:PWM_AUX_FAIL1 -d ${OUTPUT_EXTRA_DEV}
pwm failsafe -c 2 -p p:PWM_AUX_FAIL2 -d ${OUTPUT_EXTRA_DEV}
pwm failsafe -c 3 -p p:PWM_AUX_FAIL3 -d ${OUTPUT_EXTRA_DEV}
pwm failsafe -c 4 -p p:PWM_AUX_FAIL4 -d ${OUTPUT_EXTRA_DEV}
pwm failsafe -c 5 -p p:PWM_AUX_FAIL5 -d ${OUTPUT_EXTRA_DEV}
pwm failsafe -c 6 -p p:PWM_AUX_FAIL6 -d ${OUTPUT_EXTRA_DEV}
pwm failsafe -c 7 -p p:PWM_AUX_FAIL7 -d ${OUTPUT_EXTRA_DEV}
pwm failsafe -c 8 -p p:PWM_AUX_FAIL8 -d ${OUTPUT_EXTRA_DEV}
fi
unset OUTPUT_CMD
unset MIXER_AUX_FILE
unset OUTPUT_AUX_DEV
unset MIXER_EXTRA_FILE
unset OUTPUT_DEV
unset OUTPUT_AUX_DEV
unset OUTPUT_EXTRA_DEV

18
ROMFS/px4fmu_common/init.d/rcS
View File

@ -26,6 +26,7 @@ set AUX_MODE pwm
set DATAMAN_OPT ""
set FAILSAFE none
set FAILSAFE_AUX none
set FAILSAFE_EXTRA none
set FCONFIG /fs/microsd/etc/config.txt
set FEXTRAS /fs/microsd/etc/extras.txt
set FMU_MODE pwm
@ -38,20 +39,27 @@ set MAV_TYPE none
set MIXER none
set MIXER_AUX none
set MIXER_FILE none
set MIXER_EXTRA none
set MK_MODE none
set MKBLCTRL_ARG ""
set OUTPUT_MODE none
set PARAM_FILE /fs/microsd/params
set PWM_AUX_DISARMED p:PWM_AUX_DISARMED
set PWM_AUX_MAX p:PWM_AUX_MAX
set PWM_AUX_MIN p:PWM_AUX_MIN
set PWM_AUX_OUT none
set PWM_AUX_RATE p:PWM_AUX_RATE
set PWM_DISARMED p:PWM_DISARMED
set PWM_MAX p:PWM_MAX
set PWM_MIN p:PWM_MIN
set PWM_OUT none
set PWM_RATE p:PWM_RATE
set PWM_AUX_DISARMED p:PWM_AUX_DISARMED
set PWM_AUX_MAX p:PWM_AUX_MAX
set PWM_AUX_MIN p:PWM_AUX_MIN
set PWM_AUX_OUT none
set PWM_AUX_RATE p:PWM_AUX_RATE
set PWM_EXTRA_DISARMED p:PWM_EXTRA_DISARMED
set PWM_EXTRA_MAX p:PWM_EXTRA_MAX
set PWM_EXTRA_MIN p:PWM_EXTRA_MIN
set PWM_EXTRA_OUT none
set PWM_EXTRA_RATE p:PWM_EXTRA_RATE
set EXTRA_MIXER_MODE none
set RC_INPUT_ARGS ""
set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
set STARTUP_TUNE 1