Changed naming of the mixers to get rid of umbiguity as outputs are actually going to be driven by io, not fmu

Implemented automatic lookup for the .aux.mix file if it exists

ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil

@@ -7,4 +7,4 @@
 sh /etc/init.d/rc.fw_defaults
 
 set HIL yes
-set MIXER FMU_AERT
+set MIXER AERT

ROMFS/px4fmu_common/init.d/10015_tbs_discovery

@@ -24,7 +24,7 @@ then
 	param set MC_YAWRATE_D 0.0
 fi
 
-set MIXER FMU_quad_w
+set MIXER quad_w
 
 set PWM_OUT 1234
 set PWM_MIN 1200

ROMFS/px4fmu_common/init.d/10016_3dr_iris

@@ -27,7 +27,7 @@ then
 	param set BAT_C_SCALING 0.0124
 fi
 
-set MIXER FMU_quad_w
+set MIXER quad_w
 
 set PWM_OUT 1234
 

ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d

@@ -26,7 +26,7 @@ then
 	param set BAT_N_CELLS 4
 fi
 
-set MIXER FMU_quad_w
+set MIXER quad_w
 
 set PWM_MIN 1210
 set PWM_MAX 2100

ROMFS/px4fmu_common/init.d/10018_tbs_endurance

@@ -25,7 +25,7 @@ then
 	param set MC_YAWRATE_D 0.0
 fi
 
-set MIXER FMU_quad_w
+set MIXER quad_w
 
 set PWM_OUTPUTS 1234
 set PWM_MIN 1200

ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil

@@ -7,6 +7,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_quad_x
+set MIXER quad_x
 
 set HIL yes

ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil

@@ -7,6 +7,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_quad_+
+set MIXER quad_+
 
 set HIL yes

ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil

@@ -9,4 +9,4 @@ sh /etc/init.d/rc.fw_defaults
 
 set HIL yes
 
-set MIXER FMU_AERT
+set MIXER AERT

ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil

@@ -35,4 +35,4 @@ fi
 set HIL yes
 
 # Set the AERT mixer for HIL (even if the malolo is a flying wing)
-set MIXER FMU_AERT
+set MIXER AERT

ROMFS/px4fmu_common/init.d/11001_hexa_cox

@@ -7,7 +7,7 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_hexa_cox
+set MIXER hexa_cox
 
 # Need to set all 8 channels
 set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/12001_octo_cox

@@ -7,6 +7,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_octo_cox
+set MIXER octo_cox
 
 set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol

@@ -7,7 +7,7 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-set MIXER FMU_caipirinha_vtol
+set MIXER caipirinha_vtol
 
 set PWM_OUT 12
 set PWM_MAX 2000

ROMFS/px4fmu_common/init.d/13002_firefly6

@@ -7,8 +7,7 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-set MIXER FMU_firefly6_rotors
-set MIXER_SEC FMU_firefly6_elevons
+set MIXER firefly6
 
 set PWM_OUT 12345678
 param set VT_MOT_COUNT 6

ROMFS/px4fmu_common/init.d/2101_hk_bixler

@@ -2,4 +2,4 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-set MIXER FMU_AERT
+set MIXER AERT

ROMFS/px4fmu_common/init.d/2103_skyhunter_1800

@@ -2,4 +2,4 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-set MIXER FMU_AET
+set MIXER AET

ROMFS/px4fmu_common/init.d/3030_io_camflyer

@@ -2,7 +2,7 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-set MIXER FMU_Q
+set MIXER Q
 # Provide ESC a constant 1000 us pulse while disarmed
 set PWM_OUT 4
 set PWM_DISARMED 1000

ROMFS/px4fmu_common/init.d/3032_skywalker_x5

@@ -28,4 +28,4 @@ then
 	param set FW_R_RMAX 0
 fi
 
-set MIXER FMU_X5
+set MIXER X5

ROMFS/px4fmu_common/init.d/3034_fx79

@@ -7,4 +7,4 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-set MIXER FMU_FX79
+set MIXER FX79

ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha

@@ -31,4 +31,4 @@ then
 	param set FW_R_RMAX 0
 fi
 
-set MIXER FMU_Q
+set MIXER Q

ROMFS/px4fmu_common/init.d/4001_quad_x

@@ -7,6 +7,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_quad_x
+set MIXER quad_x
 
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/5001_quad_+

@@ -7,6 +7,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_quad_+
+set MIXER quad_+
 
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/6001_hexa_x

@@ -7,7 +7,7 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_hexa_x
+set MIXER hexa_x
 
 # Need to set all 8 channels
 set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/7001_hexa_+

@@ -7,7 +7,7 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_hexa_+
+set MIXER hexa_+
 
 # Need to set all 8 channels
 set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/8001_octo_x

@@ -7,6 +7,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_octo_x
+set MIXER octo_x
 
 set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/9001_octo_+

@@ -7,6 +7,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_octo_+
+set MIXER octo_+
 
 set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/rc.interface

@@ -3,19 +3,30 @@
 # Script to configure control interface
 #
 
+set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
+    
 if [ $MIXER != none -a $MIXER != skip ]
 then
 	#
-	# Load mixer
+	# Load main mixer
 	#
+    
+    if [ $MIXER_AUX == none ]
+    then
+        MIXER_AUX = $MIXER.aux
+    fi
 	
 	# Use the mixer file from the SD-card if it exists
-	if [ -f /fs/microsd/etc/mixers/$MIXER.mix ]
+	if [ -f $SDCARD_MIXERS_PATH/$MIXER.main.mix ]
 	then
-		set MIXER_FILE /fs/microsd/etc/mixers/$MIXER.mix
-	else
-		set MIXER_FILE /etc/mixers/$MIXER.mix
-	fi
+		set MIXER_FILE $SDCARD_MIXERS_PATH/$MIXER.main.mix
+	# Try out the old convention, for backward compatibility
+	elif [ -f $SDCARD_MIXERS_PATH/$MIXER.mix ]
+    then
+        set MIXER_FILE $SDCARD_MIXERS_PATH/$MIXER.mix
+    else
+        set MIXER_FILE /etc/mixers/$MIXER.main.mix
+    fi
 	
 	if [ $OUTPUT_MODE == mkblctrl ]
 	then
@@ -80,14 +91,31 @@ then
 		pwm failsafe -d $OUTPUT_DEV $FAILSAFE
 	fi
 fi
-
+   
 # check if should load secondary mixer
-if [ $MIXER_SEC != none ]
+if [ $MIXER_AUX != none ]
 then
-	if fmu mode_pwm
-	then
-		mixer load /dev/pwm_output1 /etc/mixers/$MIXER_SEC.mix
-	else
-		tone_alarm $TUNE_ERR
-	fi
-fi
+    #
+    # Load aux mixer
+    #
+    
+    set MIXER_AUX_FILE none
+    
+    if [ -f $SDCARD_MIXERS_PATH/$MIXER_AUX.mix ]
+    then
+        set MIXER_AUX_FILE $SDCARD_MIXERS_PATH/$MIXER_AUX.mix
+    elif [ -f /etc/mixers/$MIXER_AUX.mix ]
+    then
+        set MIXER_AUX_FILE /etc/mixers/$MIXER_AUX.mix
+    fi
+    
+    if [ $MIXER_AUX_FILE != none -a $FMU_MODE == pwm ]
+    then
+    	if fmu mode_pwm
+    	then
+    		mixer load /dev/pwm_output1 $MIXER_AUX_FILE
+    	else
+    		tone_alarm $TUNE_ERR
+    	fi
+    fi
+fi

ROMFS/px4fmu_common/init.d/rcS

@@ -116,7 +116,7 @@ then
 	set HIL no
 	set VEHICLE_TYPE none
 	set MIXER none
-	set MIXER_SEC none
+	set MIXER_AUX none
 	set OUTPUT_MODE none
 	set PWM_OUT none
 	set PWM_RATE none
@@ -482,7 +482,7 @@ then
 		if [ $MIXER == none ]
 		then
 			# Set default mixer for fixed wing if not defined
-			set MIXER FMU_AERT
+			set MIXER AERT
 		fi
 
 		if [ $MAV_TYPE == none ]
@@ -518,27 +518,27 @@ then
 		if [ $MAV_TYPE == none ]
 		then
 			# Use mixer to detect vehicle type
-			if [ $MIXER == FMU_quad_x -o $MIXER == FMU_quad_+ ]
+			if [ $MIXER == quad_x -o $MIXER == quad_+ ]
 			then
 				set MAV_TYPE 2
 			fi
-			if [ $MIXER == FMU_quad_w ]
+			if [ $MIXER == quad_w ]
 			then
 				set MAV_TYPE 2
 			fi
-			if [ $MIXER == FMU_hexa_x -o $MIXER == FMU_hexa_+ ]
+			if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
 			then
 				set MAV_TYPE 13
 			fi
-			if [ $MIXER == FMU_hexa_cox ]
+			if [ $MIXER == hexa_cox ]
 			then
 				set MAV_TYPE 13
 			fi
-			if [ $MIXER == FMU_octo_x -o $MIXER == FMU_octo_+ ]
+			if [ $MIXER == octo_x -o $MIXER == octo_+ ]
 			then
 				set MAV_TYPE 14
 			fi
-			if [ $MIXER == FMU_octo_cox ]
+			if [ $MIXER == octo_cox ]
 			then
 				set MAV_TYPE 14
 			fi
@@ -577,11 +577,11 @@ then
 		if [ $MAV_TYPE == none ]
 		then
 			# Use mixer to detect vehicle type
-			if [ $MIXER == FMU_caipirinha_vtol ]
+			if [ $MIXER == caipirinha_vtol ]
 			then
 				set MAV_TYPE 19
 			fi
-			if [ $MIXER == FMU_firefly6_rotors ]
+			if [ $MIXER == firefly6_rotors ]
 			then
 				set MAV_TYPE 21
 			fi

src/systemcmds/tests/test_mixer.cpp

@@ -343,7 +343,7 @@ int test_mixer(int argc, char *argv[])
 	if (argc > 2)
 		filename = argv[2];
 	else
-		filename = "/etc/mixers/FMU_quad_w.mix";
+		filename = "/etc/mixers/quad_w.main.mix";
 
 	load_mixer_file(filename, &buf[0], sizeof(buf));
 	loaded = strlen(buf);

unittests/conversion_test.cpp

@@ -4,6 +4,6 @@
 
 #include "gtest/gtest.h"
 
-TEST(ConversionTest, FMU_quad_w) {
+TEST(ConversionTest, quad_w_main) {
         ASSERT_EQ(test_conv(0, NULL), 0) << "Conversion test failed";
 }

unittests/mixer_test.cpp

@@ -6,6 +6,6 @@
 
 
 TEST(MixerTest, Mixer) {
-	char* args[] = {"empty", "../ROMFS/px4fmu_common/mixers/IO_pass.mix", "../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"};
+	char* args[] = {"empty", "../ROMFS/px4fmu_common/mixers/IO_pass.mix", "../ROMFS/px4fmu_common/mixers/quad_w.main.mix"};
 	ASSERT_EQ(test_mixer(3, args), 0) << "IO_pass.mix failed";
 }