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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-17 13:33:34 +08:00
57 lines
952 B
Plaintext
57 lines
952 B
Plaintext
#!nsh
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#
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# Script to set PWM min / max limits and mixer
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#
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echo "Rotors count: $FRAME_COUNT"
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if [ $FRAME_COUNT == 4 ]
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then
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set FRAME_COUNT_STR quad
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set OUTPUTS 1234
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param set MAV_TYPE 2
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fi
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if [ $FRAME_COUNT == 6 ]
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then
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set FRAME_COUNT_STR hex
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set OUTPUTS 123456
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param set MAV_TYPE 13
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fi
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if [ $FRAME_COUNT == 8 ]
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then
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set FRAME_COUNT_STR octo
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set OUTPUTS 12345678
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param set MAV_TYPE 14
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fi
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#
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# Load mixer
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#
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echo "Frame geometry: ${FRAME_GEOMETRY}"
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set MIXER /etc/mixers/FMU_${FRAME_GEOMETRY_STR}_${FRAME_GEOMETRY}.mix
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echo "Loading mixer: ${MIXER}"
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mixer load /dev/pwm_output ${MIXER}
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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 $OUTPUTS -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 $OUTPUTS -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 $OUTPUTS -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 $OUTPUTS -p $PWM_MAX
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fi
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