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HACK to enable actuators in HITL

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Mixers get loaded on normal output modules
the first actuator_outputs instance gets sent
to the simulator. No lockdown but the rest of
HIL stays.
This commit is contained in:
Matthias Grob
2022-06-13 10:19:08 +02:00
parent e6f90bcb81
commit 9c616fcf63
3 changed files with 4 additions and 16 deletions
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ROMFS/px4fmu_common/init.d/rc.interface
+1 -10
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@@ -188,16 +188,7 @@ then
if [ $MIXER_AUX_FILE != none ]
then
# Append aux mixer to main device.
if param greater SYS_HITL 0
then
if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
then
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
else
echo "ERROR [init] Failed appending mixer: ${MIXER_AUX_FILE}"
fi
fi
# Enable actuators in HITL
if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
then
if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}