mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-27 03:03:34 +08:00
ROMFS: purge old mixing system
- SYS_USE_IO is now off by default (enabled by default per board)
This commit is contained in:
Daniel Agar
@@ -42,7 +42,6 @@ px4_add_romfs_files(
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rc.fw_apps
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rc.fw_defaults
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rc.heli_defaults
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rc.interface
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rc.logging
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rc.mc_apps
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rc.mc_defaults
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@@ -42,8 +42,6 @@ param set-default MC_YAW_P 4
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param set-default MPC_MANTHR_MIN 0
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param set-default MPC_MAN_TILT_MAX 60
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param set-default DSHOT_CONFIG 600
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param set-default SYS_HAS_BARO 0
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param set-default SYS_HAS_MAG 0
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@@ -48,13 +48,10 @@ fi
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# End Estimator Group Selection #
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###############################################################################
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if param compare SYS_CTRL_ALLOC 1
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then
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#
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# Start Control Allocator
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#
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control_allocator start
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fi
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#
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# Start Control Allocator
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#
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control_allocator start
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#
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# Start Airship Attitude Controller.
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@@ -9,9 +9,3 @@ set VEHICLE_TYPE airship
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# MAV_TYPE_AIRSHIP 7
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param set-default MAV_TYPE 7
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#
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# This is the gimbal pass mixer.
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#
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set MIXER_AUX pass
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set PWM_AUX_OUT 1234
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@@ -2,7 +2,6 @@
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#
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# External airframe startup script (on SD card)
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#
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set SDCARD_MIXERS_PATH ${SDCARD_EXT_PATH}/mixers
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if [ -e ${SDCARD_EXT_PATH}/rc.autostart ]
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then
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@@ -20,22 +20,3 @@ param set-default NAV_ACC_RAD 2
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# Temporary.
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param set-default NAV_FW_ALT_RAD 1000
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#
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# Enable servo output on pins 3 and 4 (steering and thrust)
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# but also include 1+2 as they form together one output group
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# and need to be set together.
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#
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set PWM_OUT 1234
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#
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# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
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# may damage analog servos.
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#
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set PWM_MAIN_RATE 50
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#
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# This is the gimbal pass mixer.
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#
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set MIXER_AUX pass
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set PWM_AUX_OUT 1234
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@@ -10,13 +10,10 @@
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#
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ekf2 start &
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if param compare SYS_CTRL_ALLOC 1
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then
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#
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# Start Control Allocator
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#
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control_allocator start
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fi
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#
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# Start Control Allocator
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#
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control_allocator start
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#
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# Start attitude controller.
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@@ -52,11 +52,3 @@ param set-default PWM_MAIN_RATE 50
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# FW takeoff acceleration can easily exceed ublox GPS 2G default.
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#
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param set-default GPS_UBX_DYNMODEL 8
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#
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# This is the gimbal pass mixer.
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#
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set MIXER_AUX pass
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set PWM_AUX_RATE 50
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set PWM_AUX_OUT 1234
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@@ -1,284 +0,0 @@
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#!/bin/sh
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#
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# Script to configure control interfaces.
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#
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#
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# NOTE: environment variable references:
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# If the dollar sign ('$') is followed by a left bracket ('{') then the
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# variable name is terminated with the right bracket character ('}').
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# Otherwise, the variable name goes to the end of the argument.
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#
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set OUTPUT_CMD pwm_out
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set MIXER_AUX_FILE none
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set MIXER_EXTRA_FILE none
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set OUTPUT_DEV none
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set OUTPUT_AUX_DEV /dev/pwm_output1
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set OUTPUT_EXTRA_DEV /dev/pwm_output0
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# set these before starting the modules
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if [ $PWM_AUX_OUT != none ]
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then
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param set PWM_AUX_OUT ${PWM_AUX_OUT}
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fi
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if [ $PWM_OUT != none ]
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then
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param set PWM_MAIN_OUT ${PWM_OUT}
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fi
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#
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# If mount (gimbal) control is enabled and output mode is AUX, set the aux
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# mixer to mount (override the airframe-specific MIXER_AUX setting).
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#
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if param greater -s MNT_MODE_IN -1
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then
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if param compare -s MNT_MODE_OUT 0
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then
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set MIXER_AUX mount
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fi
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fi
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#
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# Set the default output mode if none was set.
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#
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if [ $OUTPUT_MODE = none -a $OUTPUT_MODE != skip ]
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then
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if [ $USE_IO = yes ]
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then
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# Enable IO output only if IO is present.
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if [ $IO_PRESENT = yes ]
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then
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set OUTPUT_MODE io
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if param greater -s DSHOT_CONFIG 0
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then
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set OUTPUT_CMD dshot
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fi
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fi
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else
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if param greater -s DSHOT_CONFIG 0
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then
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set OUTPUT_MODE dshot
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set OUTPUT_CMD dshot
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else
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set OUTPUT_MODE pwm_out
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fi
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fi
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fi
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#
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# If OUTPUT_MODE = none then something is wrong with setup and we shouldn't try to enable output.
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#
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if [ $OUTPUT_MODE != none -a $OUTPUT_MODE != skip ]
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then
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if [ $OUTPUT_MODE = hil -o $OUTPUT_MODE = sim ]
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then
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if ! pwm_out_sim start -m $OUTPUT_MODE
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then
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tune_control play error
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fi
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fi
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if [ $OUTPUT_MODE = uavcan_esc ]
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then
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if param compare UAVCAN_ENABLE 0
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then
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param set UAVCAN_ENABLE 3
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fi
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fi
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#
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# Start IO for PWM output or RC input if needed.
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#
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if [ $IO_PRESENT = yes ]
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then
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if ! px4io start
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then
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echo "PX4IO start failed"
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tune_control play -t 18 # PROG_PX4IO_ERR
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fi
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fi
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if [ $OUTPUT_MODE = $OUTPUT_CMD -o $OUTPUT_MODE = io ]
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then
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if param compare SYS_CTRL_ALLOC 1
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then
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pwm_out start
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dshot start
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else
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if ! $OUTPUT_CMD start
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then
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echo "$OUTPUT_CMD start failed"
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tune_control play error
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fi
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fi
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fi
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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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#
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if [ $MIXER_AUX = none -a $USE_IO = yes ]
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then
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set MIXER_AUX ${MIXER}
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fi
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if [ "$MIXER_FILE" = none ]
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then
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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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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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else
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set MIXER_FILE /etc/mixers/${MIXER}.main.mix
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fi
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fi
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fi
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set OUTPUT_DEV /dev/pwm_output0
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if [ $OUTPUT_MODE = uavcan_esc ]
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then
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set OUTPUT_DEV /dev/uavcan/esc
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fi
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if mixer load ${OUTPUT_DEV} ${MIXER_FILE}
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then
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echo "INFO [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}"
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else
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echo "ERROR [init] Failed loading mixer: ${MIXER_FILE}"
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tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
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fi
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else
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if [ $MIXER != skip ]
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then
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echo "ERROR [init] Mixer undefined"
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tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
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fi
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fi
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if [ $MIXER_AUX != none ]
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then
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#
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# Load aux mixer.
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#
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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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else
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if [ -f /etc/mixers/${MIXER_AUX}.aux.mix ]
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then
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set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix
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fi
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fi
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if [ $MIXER_AUX_FILE != none ]
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then
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# Append aux mixer to main device.
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if param greater SYS_HITL 0
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then
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if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
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then
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echo "INFO [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
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else
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echo "ERROR [init] Failed appending mixer: ${MIXER_AUX_FILE}"
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fi
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fi
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if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
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then
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if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
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then
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echo "INFO [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
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else
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echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}"
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fi
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else
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echo "INFO [init] setting PWM_AUX_OUT none"
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set PWM_AUX_OUT none
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fi
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# for DShot do not configure pwm values
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if [ $OUTPUT_CMD != dshot ]
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then
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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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# 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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fi
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fi
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fi
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fi
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fi
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if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
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then
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if [ $PWM_OUT != none -a $PWM_MAIN_RATE != none ]
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then
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# Set PWM output frequency.
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if ! param compare SYS_CTRL_ALLOC 1
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then
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pwm rate -c ${PWM_OUT} -r ${PWM_MAIN_RATE}
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fi
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fi
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fi
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if [ $EXTRA_MIXER_MODE != none ]
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then
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if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.aux.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_EXTRA_FILE ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.aux.mix
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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_EXTRA}.mix ]
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then
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set MIXER_EXTRA_FILE ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.mix
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else
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set MIXER_EXTRA_FILE /etc/mixers/${MIXER_EXTRA}.aux.mix
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fi
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fi
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if mixer load ${OUTPUT_EXTRA_DEV} ${MIXER_EXTRA_FILE}
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then
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echo "INFO [init] Mixer: ${MIXER_EXTRA_FILE} on ${OUTPUT_EXTRA_DEV}"
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else
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echo "ERROR [init] Failed loading mixer: ${MIXER_EXTRA_FILE}"
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tune_control play -t 20
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fi
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if [ $PWM_EXTRA_OUT != none ]
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then
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# Set PWM output frequency.
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if [ $PWM_EXTRA_RATE != none ]
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||||
then
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pwm rate -c ${PWM_EXTRA_OUT} -r ${PWM_EXTRA_RATE}
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fi
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fi
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fi
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unset OUTPUT_CMD
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unset MIXER_AUX_FILE
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unset MIXER_EXTRA_FILE
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unset OUTPUT_DEV
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unset OUTPUT_AUX_DEV
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unset OUTPUT_EXTRA_DEV
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@@ -48,13 +48,10 @@ fi
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# End Estimator Group Selection #
|
||||
###############################################################################
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
fi
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
|
||||
#
|
||||
# Start Multicopter Rate Controller.
|
||||
|
||||
@@ -25,14 +25,3 @@ param set-default PWM_MAIN_MIN 1075
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default GPS_UBX_DYNMODEL 6
|
||||
|
||||
#
|
||||
# This is the gimbal pass mixer.
|
||||
#
|
||||
set MIXER_AUX pass
|
||||
|
||||
set MIXER quad_x
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
set PWM_AUX_OUT 1234
|
||||
|
||||
@@ -12,13 +12,10 @@ ekf2 start &
|
||||
#attitude_estimator_q start
|
||||
#local_position_estimator start
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
fi
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
|
||||
#
|
||||
# Start attitude controllers.
|
||||
|
||||
@@ -21,22 +21,3 @@ param set-default NAV_LOITER_RAD 2
|
||||
|
||||
# Temporary.
|
||||
param set-default NAV_FW_ALT_RAD 1000
|
||||
|
||||
#
|
||||
# Enable servo output on pins 3 and 4 (steering and thrust)
|
||||
# but also include 1+2 as they form together one output group
|
||||
# and need to be set together.
|
||||
#
|
||||
set PWM_OUT 1234
|
||||
|
||||
#
|
||||
# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
|
||||
# may damage analog servos.
|
||||
#
|
||||
set PWM_MAIN_RATE 50
|
||||
|
||||
#
|
||||
# This is the gimbal pass mixer.
|
||||
#
|
||||
set MIXER_AUX pass
|
||||
set PWM_AUX_OUT 1234
|
||||
|
||||
@@ -15,13 +15,10 @@ ekf2 start &
|
||||
# End Estimator Group Selection #
|
||||
###############################################################################
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
fi
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
|
||||
#
|
||||
# Start UUV Attitude Controller.
|
||||
|
||||
@@ -13,20 +13,3 @@ param set-default MAV_TYPE 12
|
||||
param set-default PWM_MAIN_MAX 1950
|
||||
param set-default PWM_MAIN_MIN 1050
|
||||
param set-default PWM_MAIN_DISARM 1500
|
||||
|
||||
#
|
||||
# PWM Hz - 50 Hz is the normal rate in RC cars, boats etc,
|
||||
# higher rates may damage analog servos.
|
||||
#
|
||||
set PWM_MAIN_RATE 50
|
||||
|
||||
#
|
||||
# Enable servo output on pins 1-4
|
||||
set PWM_OUT 1234
|
||||
|
||||
#
|
||||
# This is the gimbal pass mixer.
|
||||
#
|
||||
set MIXER_AUX pass
|
||||
set PWM_AUX_OUT 1234
|
||||
set PWM_AUX_RATE 50
|
||||
|
||||
@@ -10,14 +10,6 @@
|
||||
#
|
||||
if [ $VEHICLE_TYPE = fw ]
|
||||
then
|
||||
if [ $MIXER = none ]
|
||||
then
|
||||
echo "FW mixer undefined"
|
||||
fi
|
||||
|
||||
# Load mixer and configure outputs.
|
||||
. ${R}etc/init.d/rc.interface
|
||||
|
||||
# Start standard fixedwing apps.
|
||||
. ${R}etc/init.d/rc.fw_apps
|
||||
fi
|
||||
@@ -27,14 +19,6 @@ fi
|
||||
#
|
||||
if [ $VEHICLE_TYPE = mc ]
|
||||
then
|
||||
if [ $MIXER = none ]
|
||||
then
|
||||
echo "MC mixer undefined"
|
||||
fi
|
||||
|
||||
# Load mixer and configure outputs.
|
||||
. ${R}etc/init.d/rc.interface
|
||||
|
||||
# Start standard multicopter apps.
|
||||
. ${R}etc/init.d/rc.mc_apps
|
||||
fi
|
||||
@@ -44,14 +28,6 @@ fi
|
||||
#
|
||||
if [ $VEHICLE_TYPE = rover ]
|
||||
then
|
||||
if [ $MIXER = none ]
|
||||
then
|
||||
echo "rover mixer undefined"
|
||||
fi
|
||||
|
||||
# Load mixer and configure outputs.
|
||||
. ${R}etc/init.d/rc.interface
|
||||
|
||||
# Start standard UGV apps.
|
||||
. ${R}etc/init.d/rc.rover_apps
|
||||
fi
|
||||
@@ -61,14 +37,6 @@ fi
|
||||
#
|
||||
if [ $VEHICLE_TYPE = vtol ]
|
||||
then
|
||||
if [ $MIXER = none ]
|
||||
then
|
||||
echo "VTOL mixer undefined"
|
||||
fi
|
||||
|
||||
# Load mixer and configure outputs.
|
||||
. ${R}etc/init.d/rc.interface
|
||||
|
||||
# Start standard vtol apps.
|
||||
. ${R}etc/init.d/rc.vtol_apps
|
||||
fi
|
||||
@@ -78,14 +46,6 @@ fi
|
||||
#
|
||||
if [ $VEHICLE_TYPE = airship ]
|
||||
then
|
||||
if [ $MIXER = none ]
|
||||
then
|
||||
echo "Airship mixer undefined"
|
||||
fi
|
||||
|
||||
# Load mixer and configure outputs.
|
||||
. ${R}etc/init.d/rc.interface
|
||||
|
||||
# Start airship apps.
|
||||
. ${R}etc/init.d/rc.airship_apps
|
||||
fi
|
||||
@@ -95,14 +55,6 @@ fi
|
||||
#
|
||||
if [ $VEHICLE_TYPE = uuv ]
|
||||
then
|
||||
if [ $MIXER = none ]
|
||||
then
|
||||
echo "UUV mixer undefined"
|
||||
fi
|
||||
|
||||
# Load mixer and configure outputs.
|
||||
. ${R}etc/init.d/rc.interface
|
||||
|
||||
# Start standard vtol apps.
|
||||
. ${R}etc/init.d/rc.uuv_apps
|
||||
fi
|
||||
|
||||
@@ -15,13 +15,10 @@ ekf2 start &
|
||||
# End Estimator group selection #
|
||||
###############################################################################
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
fi
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
|
||||
airspeed_selector start
|
||||
|
||||
|
||||
@@ -25,29 +25,14 @@ set FCONFIG /fs/microsd/etc/config.txt
|
||||
set FEXTRAS /fs/microsd/etc/extras.txt
|
||||
set FRC /fs/microsd/etc/rc.txt
|
||||
set IOFW "/etc/extras/px4_io-v2_default.bin"
|
||||
set IO_PRESENT no
|
||||
set LOGGER_ARGS ""
|
||||
set LOGGER_BUF 8
|
||||
set MIXER skip
|
||||
set MIXER_AUX none
|
||||
set MIXER_FILE none
|
||||
set MIXER_EXTRA none
|
||||
set OUTPUT_MODE none
|
||||
set PARAM_FILE ""
|
||||
set PWM_OUT none
|
||||
set PWM_MAIN_RATE p:PWM_MAIN_RATE
|
||||
set PWM_AUX_OUT none
|
||||
set PWM_AUX_RATE p:PWM_AUX_RATE
|
||||
set PWM_EXTRA_OUT none
|
||||
set PWM_EXTRA_RATE p:PWM_EXTRA_RATE
|
||||
set EXTRA_MIXER_MODE none
|
||||
set RC_INPUT_ARGS ""
|
||||
set SDCARD_AVAILABLE no
|
||||
set SDCARD_EXT_PATH /fs/microsd/ext_autostart
|
||||
set SDCARD_FORMAT no
|
||||
set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
|
||||
set STARTUP_TUNE 1
|
||||
set USE_IO no
|
||||
set VEHICLE_TYPE none
|
||||
|
||||
#
|
||||
@@ -236,7 +221,7 @@ else
|
||||
# Waypoint storage.
|
||||
# REBOOTWORK this needs to start in parallel.
|
||||
#
|
||||
if param compare SYS_DM_BACKEND 1
|
||||
if param compare -s SYS_DM_BACKEND 1
|
||||
then
|
||||
dataman start -r
|
||||
else
|
||||
@@ -278,13 +263,8 @@ else
|
||||
if param greater -s UAVCAN_ENABLE 0
|
||||
then
|
||||
# Start core UAVCAN module.
|
||||
if uavcan start
|
||||
if ! uavcan start
|
||||
then
|
||||
if param greater UAVCAN_ENABLE 2
|
||||
then
|
||||
set OUTPUT_MODE uavcan_esc
|
||||
fi
|
||||
else
|
||||
tune_control play error
|
||||
fi
|
||||
else
|
||||
@@ -295,22 +275,15 @@ else
|
||||
fi
|
||||
|
||||
#
|
||||
# Check if PX4IO present and update firmware if needed.
|
||||
# Assumption IOFW set to firmware file and IO_PRESENT = no
|
||||
# Start IO for PWM output or RC input if enabled
|
||||
#
|
||||
|
||||
if [ -f $IOFW ]
|
||||
if param compare -s SYS_USE_IO 1
|
||||
then
|
||||
# Check for the mini using build with px4io fw file
|
||||
# but not a px4IO
|
||||
if ver hwtypecmp V5004000 V5006000
|
||||
# Check if PX4IO present and update firmware if needed.
|
||||
if [ -f $IOFW ]
|
||||
then
|
||||
param set SYS_USE_IO 0
|
||||
else
|
||||
if px4io checkcrc ${IOFW}
|
||||
if ! px4io checkcrc ${IOFW}
|
||||
then
|
||||
set IO_PRESENT yes
|
||||
else
|
||||
# tune Program PX4IO
|
||||
tune_control play -t 16 # tune 16 = PROG_PX4IO
|
||||
|
||||
@@ -321,7 +294,6 @@ else
|
||||
if px4io checkcrc ${IOFW}
|
||||
then
|
||||
tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
|
||||
set IO_PRESENT yes
|
||||
else
|
||||
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
|
||||
fi
|
||||
@@ -330,20 +302,12 @@ else
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Set USE_IO flag.
|
||||
#
|
||||
if param compare -s SYS_USE_IO 1
|
||||
then
|
||||
set USE_IO yes
|
||||
fi
|
||||
|
||||
if [ $USE_IO = yes -a $IO_PRESENT = no ]
|
||||
then
|
||||
echo "PX4IO not found"
|
||||
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
|
||||
if ! px4io start
|
||||
then
|
||||
echo "PX4IO start failed"
|
||||
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
@@ -359,7 +323,11 @@ else
|
||||
#
|
||||
if param greater SYS_HITL 0
|
||||
then
|
||||
set OUTPUT_MODE hil
|
||||
if ! pwm_out_sim start -m hil
|
||||
then
|
||||
tune_control play error
|
||||
fi
|
||||
|
||||
sensors start -h
|
||||
commander start -h
|
||||
# disable GPS
|
||||
@@ -397,13 +365,14 @@ else
|
||||
|
||||
sensors start
|
||||
commander start
|
||||
|
||||
dshot start
|
||||
pwm_out start
|
||||
fi
|
||||
|
||||
#
|
||||
# Configure vehicle type specific parameters.
|
||||
# Note: rc.vehicle_setup is the entry point for rc.interface,
|
||||
# rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
|
||||
#
|
||||
# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
|
||||
. ${R}etc/init.d/rc.vehicle_setup
|
||||
|
||||
# Pre-takeoff continuous magnetometer calibration
|
||||
@@ -435,11 +404,8 @@ else
|
||||
#
|
||||
. ${R}etc/init.d/rc.serial
|
||||
|
||||
if [ $IO_PRESENT = no ]
|
||||
then
|
||||
# Must be started after the serial config is read
|
||||
rc_input start $RC_INPUT_ARGS
|
||||
fi
|
||||
# Must be started after the serial config is read
|
||||
rc_input start $RC_INPUT_ARGS
|
||||
|
||||
# PPS capture driver (before pwm_out)
|
||||
if param greater -s PPS_CAP_ENABLE 0
|
||||
@@ -564,28 +530,15 @@ unset R
|
||||
unset FCONFIG
|
||||
unset FEXTRAS
|
||||
unset FRC
|
||||
unset IO_PRESENT
|
||||
unset IOFW
|
||||
unset LOGGER_ARGS
|
||||
unset LOGGER_BUF
|
||||
unset MIXER
|
||||
unset MIXER_AUX
|
||||
unset MIXER_FILE
|
||||
unset OUTPUT_MODE
|
||||
unset PARAM_FILE
|
||||
unset PWM_AUX_OUT
|
||||
unset PWM_AUX_RATE
|
||||
unset PWM_MAIN_RATE
|
||||
unset PWM_OUT
|
||||
unset PWM_EXTRA_OUT
|
||||
unset PWM_EXTRA_RATE
|
||||
unset RC_INPUT_ARGS
|
||||
unset SDCARD_AVAILABLE
|
||||
unset SDCARD_EXT_PATH
|
||||
unset SDCARD_FORMAT
|
||||
unset SDCARD_MIXERS_PATH
|
||||
unset STARTUP_TUNE
|
||||
unset USE_IO
|
||||
unset VEHICLE_TYPE
|
||||
|
||||
#
|
||||
|
||||
Reference in New Issue
Block a user