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Changed ARDRONE to an OUTPUT_MODE setting and added a skip option to mixer. Fewer beeps than before.

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This commit is contained in:
Helen Oleynikova
2014-03-06 12:45:10 +01:00
parent bcdc8c9e1d
commit a897c97d95
3 changed files with 17 additions and 10 deletions
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5
ROMFS/px4fmu_common/init.d/4008_ardrone
View File

@@ -30,7 +30,6 @@ then
param set MC_YAW_FF 0.15
fi
set FMU_MODE gpio_serial
set OUTPUT_MODE fmu
set ARDRONE yes
set OUTPUT_MODE ardrone
set USE_IO no
set MIXER skip

9
ROMFS/px4fmu_common/init.d/rc.interface
View File

@@ -3,7 +3,7 @@
# Script to configure control interface
#
if [ $MIXER != none ]
if [ $MIXER != none -a $MIXER != skip]
then
#
# Load mixer
@@ -33,8 +33,11 @@ then
tone_alarm $TUNE_OUT_ERROR
fi
else
echo "[init] Mixer not defined"
tone_alarm $TUNE_OUT_ERROR
if [ $MIXER != skip ]
then
echo "[init] Mixer not defined"
tone_alarm $TUNE_OUT_ERROR
fi
fi
if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ]

13
ROMFS/px4fmu_common/init.d/rcS
View File

@@ -240,6 +240,11 @@ then
fi
fi
if [ $OUTPUT_MODE == ardrone ]
then
set FMU_MODE gpio_serial
fi
if [ $HIL == yes ]
then
set OUTPUT_MODE hil
@@ -277,7 +282,7 @@ then
tone_alarm $TUNE_OUT_ERROR
fi
fi
if [ $OUTPUT_MODE == fmu ]
if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE = ardrone ]
then
echo "[init] Use FMU PWM as primary output"
if fmu mode_$FMU_MODE
@@ -351,7 +356,7 @@ then
fi
fi
else
if [ $OUTPUT_MODE != fmu ]
if [ $OUTPUT_MODE != fmu -a $OUTPUT_MODE != ardrone ]
then
if fmu mode_$FMU_MODE
then
@@ -387,7 +392,7 @@ then
mavlink start -b 230400 -d /dev/ttyACM0
usleep 5000
else
if [ $TTYS1_BUSY == yes -o $ARDRONE == yes ]
if [ $TTYS1_BUSY == yes -o $OUTPUT_MODE == ardrone ]
then
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
mavlink start -d /dev/ttyS0
@@ -430,7 +435,7 @@ then
#
# Start up ARDrone Motor interface
#
if [ $ARDRONE == yes ]
if [ $OUTPUT_MODE == ardrone ]
then
ardrone_interface start -d /dev/ttyS1
fi