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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
sbg
Anton Matosov 10 years ago
parent
74b63d08e1
commit
08062e6546
56 changed files with 81 additions and 54 deletions
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  1. 2
      ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
  2. 2
      ROMFS/px4fmu_common/init.d/10015_tbs_discovery
  3. 2
      ROMFS/px4fmu_common/init.d/10016_3dr_iris
  4. 2
      ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
  5. 2
      ROMFS/px4fmu_common/init.d/10018_tbs_endurance
  6. 2
      ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
  7. 2
      ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
  8. 2
      ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
  9. 2
      ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
  10. 2
      ROMFS/px4fmu_common/init.d/11001_hexa_cox
  11. 2
      ROMFS/px4fmu_common/init.d/12001_octo_cox
  12. 2
      ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
  13. 3
      ROMFS/px4fmu_common/init.d/13002_firefly6
  14. 2
      ROMFS/px4fmu_common/init.d/2101_hk_bixler
  15. 2
      ROMFS/px4fmu_common/init.d/2103_skyhunter_1800
  16. 2
      ROMFS/px4fmu_common/init.d/3030_io_camflyer
  17. 2
      ROMFS/px4fmu_common/init.d/3032_skywalker_x5
  18. 2
      ROMFS/px4fmu_common/init.d/3034_fx79
  19. 2
      ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
  20. 2
      ROMFS/px4fmu_common/init.d/4001_quad_x
  21. 2
      ROMFS/px4fmu_common/init.d/5001_quad_+
  22. 2
      ROMFS/px4fmu_common/init.d/6001_hexa_x
  23. 2
      ROMFS/px4fmu_common/init.d/7001_hexa_+
  24. 2
      ROMFS/px4fmu_common/init.d/8001_octo_x
  25. 2
      ROMFS/px4fmu_common/init.d/9001_octo_+
  26. 58
      ROMFS/px4fmu_common/init.d/rc.interface
  27. 20
      ROMFS/px4fmu_common/init.d/rcS
  28. 0
      ROMFS/px4fmu_common/mixers/AERT.main.mix
  29. 0
      ROMFS/px4fmu_common/mixers/AET.main.mix
  30. 0
      ROMFS/px4fmu_common/mixers/CCPM.main.mix
  31. 0
      ROMFS/px4fmu_common/mixers/FX79.main.mix
  32. 0
      ROMFS/px4fmu_common/mixers/Q.main.mix
  33. 0
      ROMFS/px4fmu_common/mixers/RET.main.mix
  34. 0
      ROMFS/px4fmu_common/mixers/Viper.main.mix
  35. 0
      ROMFS/px4fmu_common/mixers/X5.main.mix
  36. 0
      ROMFS/px4fmu_common/mixers/caipirinha_vtol.main.mix
  37. 0
      ROMFS/px4fmu_common/mixers/delta.main.mix
  38. 0
      ROMFS/px4fmu_common/mixers/easystar.main.mix
  39. 0
      ROMFS/px4fmu_common/mixers/firefly6.aux.mix
  40. 0
      ROMFS/px4fmu_common/mixers/firefly6.main.mix
  41. 0
      ROMFS/px4fmu_common/mixers/hexa_+.main.mix
  42. 0
      ROMFS/px4fmu_common/mixers/hexa_cox.main.mix
  43. 0
      ROMFS/px4fmu_common/mixers/hexa_x.main.mix
  44. 0
      ROMFS/px4fmu_common/mixers/octo_+.main.mix
  45. 0
      ROMFS/px4fmu_common/mixers/octo_cox.main.mix
  46. 0
      ROMFS/px4fmu_common/mixers/octo_x.main.mix
  47. 0
      ROMFS/px4fmu_common/mixers/phantom.main.mix
  48. 0
      ROMFS/px4fmu_common/mixers/quad_+.main.mix
  49. 0
      ROMFS/px4fmu_common/mixers/quad_v.main.mix
  50. 0
      ROMFS/px4fmu_common/mixers/quad_w.main.mix
  51. 0
      ROMFS/px4fmu_common/mixers/quad_x.main.mix
  52. 0
      ROMFS/px4fmu_common/mixers/skywalker.main.mix
  53. 0
      ROMFS/px4fmu_common/mixers/wingwing.main.mix
  54. 2
      src/systemcmds/tests/test_mixer.cpp
  55. 2
      unittests/conversion_test.cpp
  56. 2
      unittests/mixer_test.cpp

2
ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
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@ -7,4 +7,4 @@
sh /etc/init.d/rc.fw_defaults sh /etc/init.d/rc.fw_defaults
set HIL yes set HIL yes
set MIXER FMU_AERT set MIXER AERT

2
ROMFS/px4fmu_common/init.d/10015_tbs_discovery
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@ -24,7 +24,7 @@ then
param set MC_YAWRATE_D 0.0 param set MC_YAWRATE_D 0.0
fi fi
set MIXER FMU_quad_w set MIXER quad_w
set PWM_OUT 1234 set PWM_OUT 1234
set PWM_MIN 1200 set PWM_MIN 1200

2
ROMFS/px4fmu_common/init.d/10016_3dr_iris
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@ -27,7 +27,7 @@ then
param set BAT_C_SCALING 0.0124 param set BAT_C_SCALING 0.0124
fi fi
set MIXER FMU_quad_w set MIXER quad_w
set PWM_OUT 1234 set PWM_OUT 1234

2
ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
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@ -26,7 +26,7 @@ then
param set BAT_N_CELLS 4 param set BAT_N_CELLS 4
fi fi
set MIXER FMU_quad_w set MIXER quad_w
set PWM_MIN 1210 set PWM_MIN 1210
set PWM_MAX 2100 set PWM_MAX 2100

2
ROMFS/px4fmu_common/init.d/10018_tbs_endurance
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@ -25,7 +25,7 @@ then
param set MC_YAWRATE_D 0.0 param set MC_YAWRATE_D 0.0
fi fi
set MIXER FMU_quad_w set MIXER quad_w
set PWM_OUTPUTS 1234 set PWM_OUTPUTS 1234
set PWM_MIN 1200 set PWM_MIN 1200

2
ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
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@ -7,6 +7,6 @@
sh /etc/init.d/rc.mc_defaults sh /etc/init.d/rc.mc_defaults
set MIXER FMU_quad_x set MIXER quad_x
set HIL yes set HIL yes

2
ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
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@ -7,6 +7,6 @@
sh /etc/init.d/rc.mc_defaults sh /etc/init.d/rc.mc_defaults
set MIXER FMU_quad_+ set MIXER quad_+
set HIL yes set HIL yes

2
ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
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@ -9,4 +9,4 @@ sh /etc/init.d/rc.fw_defaults
set HIL yes set HIL yes
set MIXER FMU_AERT set MIXER AERT

2
ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
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@ -35,4 +35,4 @@ fi
set HIL yes set HIL yes
# Set the AERT mixer for HIL (even if the malolo is a flying wing) # Set the AERT mixer for HIL (even if the malolo is a flying wing)
set MIXER FMU_AERT set MIXER AERT

2
ROMFS/px4fmu_common/init.d/11001_hexa_cox
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@ -7,7 +7,7 @@
sh /etc/init.d/rc.mc_defaults sh /etc/init.d/rc.mc_defaults
set MIXER FMU_hexa_cox set MIXER hexa_cox
# Need to set all 8 channels # Need to set all 8 channels
set PWM_OUT 12345678 set PWM_OUT 12345678

2
ROMFS/px4fmu_common/init.d/12001_octo_cox
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@ -7,6 +7,6 @@
sh /etc/init.d/rc.mc_defaults sh /etc/init.d/rc.mc_defaults
set MIXER FMU_octo_cox set MIXER octo_cox
set PWM_OUT 12345678 set PWM_OUT 12345678

2
ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
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@ -7,7 +7,7 @@
sh /etc/init.d/rc.vtol_defaults sh /etc/init.d/rc.vtol_defaults
set MIXER FMU_caipirinha_vtol set MIXER caipirinha_vtol
set PWM_OUT 12 set PWM_OUT 12
set PWM_MAX 2000 set PWM_MAX 2000

3
ROMFS/px4fmu_common/init.d/13002_firefly6
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@ -7,8 +7,7 @@
sh /etc/init.d/rc.vtol_defaults sh /etc/init.d/rc.vtol_defaults
set MIXER FMU_firefly6_rotors set MIXER firefly6
set MIXER_SEC FMU_firefly6_elevons
set PWM_OUT 12345678 set PWM_OUT 12345678
param set VT_MOT_COUNT 6 param set VT_MOT_COUNT 6

2
ROMFS/px4fmu_common/init.d/2101_hk_bixler
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@ -2,4 +2,4 @@
sh /etc/init.d/rc.fw_defaults sh /etc/init.d/rc.fw_defaults
set MIXER FMU_AERT set MIXER AERT

2
ROMFS/px4fmu_common/init.d/2103_skyhunter_1800
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@ -2,4 +2,4 @@
sh /etc/init.d/rc.fw_defaults sh /etc/init.d/rc.fw_defaults
set MIXER FMU_AET set MIXER AET

2
ROMFS/px4fmu_common/init.d/3030_io_camflyer
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@ -2,7 +2,7 @@
sh /etc/init.d/rc.fw_defaults sh /etc/init.d/rc.fw_defaults
set MIXER FMU_Q set MIXER Q
# Provide ESC a constant 1000 us pulse while disarmed # Provide ESC a constant 1000 us pulse while disarmed
set PWM_OUT 4 set PWM_OUT 4
set PWM_DISARMED 1000 set PWM_DISARMED 1000

2
ROMFS/px4fmu_common/init.d/3032_skywalker_x5
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@ -28,4 +28,4 @@ then
param set FW_R_RMAX 0 param set FW_R_RMAX 0
fi fi
set MIXER FMU_X5 set MIXER X5

2
ROMFS/px4fmu_common/init.d/3034_fx79
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@ -7,4 +7,4 @@
sh /etc/init.d/rc.fw_defaults sh /etc/init.d/rc.fw_defaults
set MIXER FMU_FX79 set MIXER FX79

2
ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
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@ -31,4 +31,4 @@ then
param set FW_R_RMAX 0 param set FW_R_RMAX 0
fi fi
set MIXER FMU_Q set MIXER Q

2
ROMFS/px4fmu_common/init.d/4001_quad_x
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@ -7,6 +7,6 @@
sh /etc/init.d/rc.mc_defaults sh /etc/init.d/rc.mc_defaults
set MIXER FMU_quad_x set MIXER quad_x
set PWM_OUT 1234 set PWM_OUT 1234

2
ROMFS/px4fmu_common/init.d/5001_quad_+
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@ -7,6 +7,6 @@
sh /etc/init.d/rc.mc_defaults sh /etc/init.d/rc.mc_defaults
set MIXER FMU_quad_+ set MIXER quad_+
set PWM_OUT 1234 set PWM_OUT 1234

2
ROMFS/px4fmu_common/init.d/6001_hexa_x
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@ -7,7 +7,7 @@
sh /etc/init.d/rc.mc_defaults sh /etc/init.d/rc.mc_defaults
set MIXER FMU_hexa_x set MIXER hexa_x
# Need to set all 8 channels # Need to set all 8 channels
set PWM_OUT 12345678 set PWM_OUT 12345678

2
ROMFS/px4fmu_common/init.d/7001_hexa_+
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@ -7,7 +7,7 @@
sh /etc/init.d/rc.mc_defaults sh /etc/init.d/rc.mc_defaults
set MIXER FMU_hexa_+ set MIXER hexa_+
# Need to set all 8 channels # Need to set all 8 channels
set PWM_OUT 12345678 set PWM_OUT 12345678

2
ROMFS/px4fmu_common/init.d/8001_octo_x
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@ -7,6 +7,6 @@
sh /etc/init.d/rc.mc_defaults sh /etc/init.d/rc.mc_defaults
set MIXER FMU_octo_x set MIXER octo_x
set PWM_OUT 12345678 set PWM_OUT 12345678

2
ROMFS/px4fmu_common/init.d/9001_octo_+
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@ -7,6 +7,6 @@
sh /etc/init.d/rc.mc_defaults sh /etc/init.d/rc.mc_defaults
set MIXER FMU_octo_+ set MIXER octo_+
set PWM_OUT 12345678 set PWM_OUT 12345678

58
ROMFS/px4fmu_common/init.d/rc.interface
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@ -3,19 +3,30 @@
# Script to configure control interface # Script to configure control interface
# #
set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
if [ $MIXER != none -a $MIXER != skip ] if [ $MIXER != none -a $MIXER != skip ]
then then
# #
# Load mixer # Load main mixer
# #
if [ $MIXER_AUX == none ]
then
MIXER_AUX = $MIXER.aux
fi
# Use the mixer file from the SD-card if it exists # Use the mixer file from the SD-card if it exists
if [ -f /fs/microsd/etc/mixers/$MIXER.mix ] if [ -f $SDCARD_MIXERS_PATH/$MIXER.main.mix ]
then then
set MIXER_FILE /fs/microsd/etc/mixers/$MIXER.mix set MIXER_FILE $SDCARD_MIXERS_PATH/$MIXER.main.mix
else # Try out the old convention, for backward compatibility
set MIXER_FILE /etc/mixers/$MIXER.mix elif [ -f $SDCARD_MIXERS_PATH/$MIXER.mix ]
fi then
set MIXER_FILE $SDCARD_MIXERS_PATH/$MIXER.mix
else
set MIXER_FILE /etc/mixers/$MIXER.main.mix
fi
if [ $OUTPUT_MODE == mkblctrl ] if [ $OUTPUT_MODE == mkblctrl ]
then then
@ -80,14 +91,31 @@ then
pwm failsafe -d $OUTPUT_DEV $FAILSAFE pwm failsafe -d $OUTPUT_DEV $FAILSAFE
fi fi
fi fi
# check if should load secondary mixer # check if should load secondary mixer
if [ $MIXER_SEC != none ] if [ $MIXER_AUX != none ]
then then
if fmu mode_pwm #
then # Load aux mixer
mixer load /dev/pwm_output1 /etc/mixers/$MIXER_SEC.mix #
else
tone_alarm $TUNE_ERR set MIXER_AUX_FILE none
fi
fi 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

20
ROMFS/px4fmu_common/init.d/rcS
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@ -116,7 +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 MIXER_AUX 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
@ -482,7 +482,7 @@ then
if [ $MIXER == none ] if [ $MIXER == none ]
then then
# Set default mixer for fixed wing if not defined # Set default mixer for fixed wing if not defined
set MIXER FMU_AERT set MIXER AERT
fi fi
if [ $MAV_TYPE == none ] if [ $MAV_TYPE == none ]
@ -518,27 +518,27 @@ then
if [ $MAV_TYPE == none ] if [ $MAV_TYPE == none ]
then then
# Use mixer to detect vehicle type # Use mixer to detect vehicle type
if [ $MIXER == FMU_quad_x -o $MIXER == FMU_quad_+ ] if [ $MIXER == quad_x -o $MIXER == quad_+ ]
then then
set MAV_TYPE 2 set MAV_TYPE 2
fi fi
if [ $MIXER == FMU_quad_w ] if [ $MIXER == quad_w ]
then then
set MAV_TYPE 2 set MAV_TYPE 2
fi fi
if [ $MIXER == FMU_hexa_x -o $MIXER == FMU_hexa_+ ] if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
then then
set MAV_TYPE 13 set MAV_TYPE 13
fi fi
if [ $MIXER == FMU_hexa_cox ] if [ $MIXER == hexa_cox ]
then then
set MAV_TYPE 13 set MAV_TYPE 13
fi fi
if [ $MIXER == FMU_octo_x -o $MIXER == FMU_octo_+ ] if [ $MIXER == octo_x -o $MIXER == octo_+ ]
then then
set MAV_TYPE 14 set MAV_TYPE 14
fi fi
if [ $MIXER == FMU_octo_cox ] if [ $MIXER == octo_cox ]
then then
set MAV_TYPE 14 set MAV_TYPE 14
fi fi
@ -577,11 +577,11 @@ then
if [ $MAV_TYPE == none ] if [ $MAV_TYPE == none ]
then then
# Use mixer to detect vehicle type # Use mixer to detect vehicle type
if [ $MIXER == FMU_caipirinha_vtol ] if [ $MIXER == caipirinha_vtol ]
then then
set MAV_TYPE 19 set MAV_TYPE 19
fi fi
if [ $MIXER == FMU_firefly6_rotors ] if [ $MIXER == firefly6_rotors ]
then then
set MAV_TYPE 21 set MAV_TYPE 21
fi fi

0
ROMFS/px4fmu_common/mixers/FMU_AERT.mix → ROMFS/px4fmu_common/mixers/AERT.main.mix
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0
ROMFS/px4fmu_common/mixers/FMU_AET.mix → ROMFS/px4fmu_common/mixers/AET.main.mix
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0
ROMFS/px4fmu_common/mixers/FMU_CCPM.mix → ROMFS/px4fmu_common/mixers/CCPM.main.mix
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0
ROMFS/px4fmu_common/mixers/FMU_FX79.mix → ROMFS/px4fmu_common/mixers/FX79.main.mix
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0
ROMFS/px4fmu_common/mixers/FMU_Q.mix → ROMFS/px4fmu_common/mixers/Q.main.mix
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0
ROMFS/px4fmu_common/mixers/FMU_RET.mix → ROMFS/px4fmu_common/mixers/RET.main.mix
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0
ROMFS/px4fmu_common/mixers/Viper.mix → ROMFS/px4fmu_common/mixers/Viper.main.mix
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0
ROMFS/px4fmu_common/mixers/FMU_X5.mix → ROMFS/px4fmu_common/mixers/X5.main.mix
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0
ROMFS/px4fmu_common/mixers/FMU_caipirinha_vtol.mix → ROMFS/px4fmu_common/mixers/caipirinha_vtol.main.mix
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0
ROMFS/px4fmu_common/mixers/FMU_delta.mix → ROMFS/px4fmu_common/mixers/delta.main.mix
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0
ROMFS/px4fmu_common/mixers/easystar.mix → ROMFS/px4fmu_common/mixers/easystar.main.mix
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0
ROMFS/px4fmu_common/mixers/FMU_firefly6_elevons.mix → ROMFS/px4fmu_common/mixers/firefly6.aux.mix
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0
ROMFS/px4fmu_common/mixers/FMU_firefly6_rotors.mix → ROMFS/px4fmu_common/mixers/firefly6.main.mix
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0
ROMFS/px4fmu_common/mixers/FMU_hexa_+.mix → ROMFS/px4fmu_common/mixers/hexa_+.main.mix
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0
ROMFS/px4fmu_common/mixers/FMU_hexa_cox.mix → ROMFS/px4fmu_common/mixers/hexa_cox.main.mix
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0
ROMFS/px4fmu_common/mixers/FMU_hexa_x.mix → ROMFS/px4fmu_common/mixers/hexa_x.main.mix
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0
ROMFS/px4fmu_common/mixers/FMU_octo_+.mix → ROMFS/px4fmu_common/mixers/octo_+.main.mix
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0
ROMFS/px4fmu_common/mixers/FMU_octo_cox.mix → ROMFS/px4fmu_common/mixers/octo_cox.main.mix
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0
ROMFS/px4fmu_common/mixers/FMU_octo_x.mix → ROMFS/px4fmu_common/mixers/octo_x.main.mix
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0
ROMFS/px4fmu_common/mixers/phantom.mix → ROMFS/px4fmu_common/mixers/phantom.main.mix
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0
ROMFS/px4fmu_common/mixers/FMU_quad_+.mix → ROMFS/px4fmu_common/mixers/quad_+.main.mix
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0
ROMFS/px4fmu_common/mixers/FMU_quad_v.mix → ROMFS/px4fmu_common/mixers/quad_v.main.mix
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0
ROMFS/px4fmu_common/mixers/FMU_quad_w.mix → ROMFS/px4fmu_common/mixers/quad_w.main.mix
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0
ROMFS/px4fmu_common/mixers/FMU_quad_x.mix → ROMFS/px4fmu_common/mixers/quad_x.main.mix
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0
ROMFS/px4fmu_common/mixers/skywalker.mix → ROMFS/px4fmu_common/mixers/skywalker.main.mix
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0
ROMFS/px4fmu_common/mixers/wingwing.mix → ROMFS/px4fmu_common/mixers/wingwing.main.mix
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2
src/systemcmds/tests/test_mixer.cpp
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@ -343,7 +343,7 @@ int test_mixer(int argc, char *argv[])
if (argc > 2) if (argc > 2)
filename = argv[2]; filename = argv[2];
else else
filename = "/etc/mixers/FMU_quad_w.mix"; filename = "/etc/mixers/quad_w.main.mix";
load_mixer_file(filename, &buf[0], sizeof(buf)); load_mixer_file(filename, &buf[0], sizeof(buf));
loaded = strlen(buf); loaded = strlen(buf);

2
unittests/conversion_test.cpp
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@ -4,6 +4,6 @@
#include "gtest/gtest.h" #include "gtest/gtest.h"
TEST(ConversionTest, FMU_quad_w) { TEST(ConversionTest, quad_w_main) {
ASSERT_EQ(test_conv(0, NULL), 0) << "Conversion test failed"; ASSERT_EQ(test_conv(0, NULL), 0) << "Conversion test failed";
} }

2
unittests/mixer_test.cpp
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@ -6,6 +6,6 @@
TEST(MixerTest, Mixer) { 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"; ASSERT_EQ(test_mixer(3, args), 0) << "IO_pass.mix failed";
} }

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