posix-configs: use 'mixer append' command for typhoon mount mixer

9 years ago · 057d71e101
4 changed files with 29 additions and 25 deletions
--- a/ROMFS/px4fmu_common/mixers/hexa_x.main.mix
+++ b/ROMFS/px4fmu_common/mixers/hexa_x.main.mix
@ -2,28 +2,3 @@
				@@ -2,28 +2,3 @@

 R: 6x 10000 10000 10000 0

-# Roll channel for mount
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 2 0  10000  10000      0 -10000  10000
-
-# Pitch channel for mount
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 2 1  10000  10000      0 -10000  10000
-
-# Yaw channel for mount
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 2 2  10000  10000      0 -10000  10000
-
-# mixer for left leg
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 7      0  20000 -10000 -10000  10000
-
-# mixer for right leg
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 8      0  20000 -10000 -10000  10000
-
--- a/ROMFS/px4fmu_common/mixers/mount_legs.aux.mix
+++ b/ROMFS/px4fmu_common/mixers/mount_legs.aux.mix
@ -0,0 +1,27 @@
				@@ -0,0 +1,27 @@
+
+# Roll channel for mount
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 0  10000  10000      0 -10000  10000
+
+# Pitch channel for mount
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 1  10000  10000      0 -10000  10000
+
+# Yaw channel for mount
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 2  10000  10000      0 -10000  10000
+
+
+# mixer for left leg
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7      0  20000 -10000 -10000  10000
+
+# mixer for right leg
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 8      0  20000 -10000 -10000  10000
+
--- a/posix-configs/SITL/init/ekf2/typhoon_h480
+++ b/posix-configs/SITL/init/ekf2/typhoon_h480
@ -60,6 +60,7 @@ ekf2 start
				@@ -60,6 +60,7 @@ ekf2 start
 mc_pos_control start
 mc_att_control start
 mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/hexa_x.main.mix
+mixer append /dev/pwm_output0 ROMFS/px4fmu_common/mixers/mount_legs.aux.mix
 mavlink start -u 14556 -r 4000000
 mavlink start -u 14557 -r 4000000 -m onboard -o 14540
 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
--- a/posix-configs/SITL/init/lpe/typhoon_h480
+++ b/posix-configs/SITL/init/lpe/typhoon_h480
@ -61,6 +61,7 @@ local_position_estimator start
				@@ -61,6 +61,7 @@ local_position_estimator start
 mc_pos_control start
 mc_att_control start
 mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/hexa_x.main.mix
+mixer append /dev/pwm_output0 ROMFS/px4fmu_common/mixers/mount_legs.aux.mix
 mavlink start -u 14556 -r 4000000
 mavlink start -u 14557 -r 4000000 -m onboard -o 14540
 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556