From 1d66b033a4b0127b395f44539bd98e65f505c403 Mon Sep 17 00:00:00 2001 From: Jaeyoung-Lim Date: Sun, 7 Mar 2021 17:11:29 +0100 Subject: [PATCH] Append mixer with aux outputs --- .../init.d-posix/airframes/1043_standard_vtol_drop | 3 +++ .../airframes/1043_standard_vtol_drop.post | 1 + .../init.d-posix/airframes/CMakeLists.txt | 1 + ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt | 1 + ROMFS/px4fmu_common/mixers-sitl/package_drop.aux.mix | 12 ++++++++++++ 5 files changed, 18 insertions(+) create mode 100644 ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop.post create mode 100644 ROMFS/px4fmu_common/mixers-sitl/package_drop.aux.mix diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop index 448d1cc70d..8dcb6fd262 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop @@ -50,6 +50,9 @@ then param set VT_B_TRANS_DUR 8 param set VT_TYPE 2 + param set RC_MAP_AUX1 8 + param set RC_MAP_AUX2 9 + param set RC_MAP_AUX3 10 fi set MAV_TYPE 22 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop.post b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop.post new file mode 100644 index 0000000000..262b86cc69 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop.post @@ -0,0 +1 @@ +mixer append /dev/pwm_output0 etc/mixers-sitl/package_drop.aux.mix diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt index 9cf2a44955..08c352d342 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt @@ -65,6 +65,7 @@ px4_add_romfs_files( 1041_tailsitter 1042_tiltrotor 1043_standard_vtol_drop + 1043_standard_vtol_drop.post 1060_rover 1061_r1_rover 1062_tf-r1 diff --git a/ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt b/ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt index eadfa7003b..eaab17db6d 100644 --- a/ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt +++ b/ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt @@ -35,6 +35,7 @@ px4_add_romfs_files( autogyro_sitl.main.mix boat_sitl.main.mix delta_wing_sitl.main.mix + package_drop.aux.mix plane_sitl.main.mix quad_x_vtol.main.mix rover_ackermann_sitl.main.mix diff --git a/ROMFS/px4fmu_common/mixers-sitl/package_drop.aux.mix b/ROMFS/px4fmu_common/mixers-sitl/package_drop.aux.mix new file mode 100644 index 0000000000..9e0b87924e --- /dev/null +++ b/ROMFS/px4fmu_common/mixers-sitl/package_drop.aux.mix @@ -0,0 +1,12 @@ + +# Roll channel for mount +M: 1 +S: 3 5 10000 10000 0 -10000 10000 + +# Pitch channel for mount +M: 1 +S: 3 6 10000 10000 0 -10000 10000 + +# Yaw channel for mount +M: 1 +S: 3 7 10000 10000 0 -10000 10000