mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-08 09:50:35 +08:00
Anton Babushkin
61 lines
1.1 KiB
Plaintext
61 lines
1.1 KiB
Plaintext
#!nsh
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#
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# Script to load multicopter mixer and set rate/disarmed/min/max values for PWM output
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#
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if [ $FRAME_GEOMETRY == quad_x -o $FRAME_GEOMETRY == quad_+ ]
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then
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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_GEOMETRY == quad_w -o $FRAME_GEOMETRY == quad_v ]
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then
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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_GEOMETRY == hex_x -o $FRAME_GEOMETRY == hex_+ ]
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then
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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_GEOMETRY == octo_x -o $FRAME_GEOMETRY == octo_+ ]
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then
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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}.mix
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echo "Loading mixer: $MIXER"
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mixer load /dev/pwm_output $MIXER
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if [ $OUTPUT_MODE == fmu_pwm -o $OUTPUT_MODE == io_pwm ]
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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 $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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fi
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