From e43625cfc1e941c64b377b769c1e9aa6064e6197 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 1 Jul 2016 18:08:32 +0200 Subject: [PATCH] ROMFS: Clear out SITL mixers from deployed image, delete unused mixers, move test mixers to test config --- ROMFS/px4fmu_common/mixers/quad_v.main.mix | 18 ------------------ .../mixers/quad_test.mix | 0 .../mixers/plane_sitl.main.mix | 0 .../mixers/standard_vtol_sitl.main.mix | 0 posix-configs/SITL/init/rcS_gazebo_plane | 2 +- .../SITL/init/rcS_gazebo_standard_vtol | 2 +- unittests/mixer_test.cpp | 2 +- 7 files changed, 3 insertions(+), 21 deletions(-) delete mode 100644 ROMFS/px4fmu_common/mixers/quad_v.main.mix rename ROMFS/{px4fmu_common => px4fmu_test}/mixers/quad_test.mix (100%) rename ROMFS/{px4fmu_common => sitl}/mixers/plane_sitl.main.mix (100%) rename ROMFS/{px4fmu_common => sitl}/mixers/standard_vtol_sitl.main.mix (100%) diff --git a/ROMFS/px4fmu_common/mixers/quad_v.main.mix b/ROMFS/px4fmu_common/mixers/quad_v.main.mix deleted file mode 100644 index d14074694d..0000000000 --- a/ROMFS/px4fmu_common/mixers/quad_v.main.mix +++ /dev/null @@ -1,18 +0,0 @@ -Multirotor mixer for PX4FMU -=========================== - -This file defines a single mixer for a quadrotor in the V configuration. All controls -are mixed 100%. - -R: 4v 10000 10000 10000 0 - -Gimbal / payload mixer for last two channels ------------------------------------------------------ - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 3 5 10000 10000 0 -10000 10000 - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 3 6 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/quad_test.mix b/ROMFS/px4fmu_test/mixers/quad_test.mix similarity index 100% rename from ROMFS/px4fmu_common/mixers/quad_test.mix rename to ROMFS/px4fmu_test/mixers/quad_test.mix diff --git a/ROMFS/px4fmu_common/mixers/plane_sitl.main.mix b/ROMFS/sitl/mixers/plane_sitl.main.mix similarity index 100% rename from ROMFS/px4fmu_common/mixers/plane_sitl.main.mix rename to ROMFS/sitl/mixers/plane_sitl.main.mix diff --git a/ROMFS/px4fmu_common/mixers/standard_vtol_sitl.main.mix b/ROMFS/sitl/mixers/standard_vtol_sitl.main.mix similarity index 100% rename from ROMFS/px4fmu_common/mixers/standard_vtol_sitl.main.mix rename to ROMFS/sitl/mixers/standard_vtol_sitl.main.mix diff --git a/posix-configs/SITL/init/rcS_gazebo_plane b/posix-configs/SITL/init/rcS_gazebo_plane index a431c1ed28..3a162cc678 100644 --- a/posix-configs/SITL/init/rcS_gazebo_plane +++ b/posix-configs/SITL/init/rcS_gazebo_plane @@ -42,7 +42,7 @@ ekf2 start fw_pos_control_l1 start fw_att_control start land_detector start fixedwing -mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/plane_sitl.main.mix +mixer load /dev/pwm_output0 ../../../../ROMFS/sitl/mixers/plane_sitl.main.mix mavlink start -u 14556 -r 2000000 mavlink start -u 14557 -r 2000000 -m onboard -o 14540 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 diff --git a/posix-configs/SITL/init/rcS_gazebo_standard_vtol b/posix-configs/SITL/init/rcS_gazebo_standard_vtol index 2a663400ca..d9e06b6fbd 100644 --- a/posix-configs/SITL/init/rcS_gazebo_standard_vtol +++ b/posix-configs/SITL/init/rcS_gazebo_standard_vtol @@ -69,7 +69,7 @@ mc_pos_control start mc_att_control start fw_pos_control_l1 start fw_att_control start -mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/standard_vtol_sitl.main.mix +mixer load /dev/pwm_output0 ../../../../ROMFS/sitl/mixers/standard_vtol_sitl.main.mix mavlink start -u 14556 -r 2000000 mavlink start -u 14557 -r 2000000 -m onboard -o 14540 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 diff --git a/unittests/mixer_test.cpp b/unittests/mixer_test.cpp index 6b47034e28..73df8c54f2 100644 --- a/unittests/mixer_test.cpp +++ b/unittests/mixer_test.cpp @@ -7,6 +7,6 @@ TEST(MixerTest, Mixer) { - const char *args[] = {"empty", "../ROMFS/px4fmu_common/mixers/IO_pass.mix", "../ROMFS/px4fmu_common/mixers/quad_test.mix"}; + const char *args[] = {"empty", "../ROMFS/px4fmu_test/mixers/IO_pass.mix", "../ROMFS/px4fmu_test/mixers/quad_test.mix"}; ASSERT_EQ(test_mixer(3, (char **)args), 0) << "IO_pass.mix failed"; }