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allow to specify secondary mixer which drives fmu PWM outputs

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This commit is contained in:
Roman Bapst
2015-01-06 16:30:47 +01:00
committed by Lorenz Meier
parent ff932820e3
commit 7ab58a8bc1
2 changed files with 16 additions and 1 deletions
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14
ROMFS/px4fmu_common/init.d/rc.interface
View File

@@ -80,3 +80,17 @@ then
pwm failsafe -d $OUTPUT_DEV $FAILSAFE pwm failsafe -d $OUTPUT_DEV $FAILSAFE
fi fi
fi fi
# check if should load secondary mixer
if [ $MIXER_SEC != none ]
then
if fmu mode_pwm
then
echo "[i] FMU mode_pwm started to handle secondary mixer"
# load the specified mixer
mixer load /dev/pwm_output1 /etc/mixers/$MIXER_SEC.mix
else
echo "[i] ERROR: FMU mode_pwm start failed"
tone_alarm $TUNE_ERR
fi
fi

3
ROMFS/px4fmu_common/init.d/rcS
View File

@@ -116,6 +116,7 @@ then
set HIL no set HIL no
set VEHICLE_TYPE none set VEHICLE_TYPE none
set MIXER none set MIXER none
set MIXER_SEC none
set OUTPUT_MODE none set OUTPUT_MODE none
set PWM_OUT none set PWM_OUT none
set PWM_RATE none set PWM_RATE none
@@ -580,7 +581,7 @@ then
then then
set MAV_TYPE 19 set MAV_TYPE 19
fi fi
if [ $MIXER == FMU_firefly6 ] if [ $MIXER == FMU_firefly6_rotors ]
then then
set MAV_TYPE 21 set MAV_TYPE 21
fi fi