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56 lines
952 B
56 lines
952 B
#!nsh |
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# |
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# Script to set PWM min / max limits and mixer |
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# |
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echo "Rotors count: $FRAME_COUNT" |
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if [ $FRAME_COUNT == 4 ] |
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then |
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set FRAME_COUNT_STR quad |
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set OUTPUTS 1234 |
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param set MAV_TYPE 2 |
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fi |
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if [ $FRAME_COUNT == 6 ] |
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then |
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set FRAME_COUNT_STR hex |
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set OUTPUTS 123456 |
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param set MAV_TYPE 13 |
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fi |
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if [ $FRAME_COUNT == 8 ] |
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then |
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set FRAME_COUNT_STR octo |
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set OUTPUTS 12345678 |
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param set MAV_TYPE 14 |
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fi |
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# |
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# Load mixer |
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# |
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echo "Frame geometry: ${FRAME_GEOMETRY}" |
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set MIXER /etc/mixers/FMU_${FRAME_GEOMETRY_STR}_${FRAME_GEOMETRY}.mix |
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echo "Loading mixer: ${MIXER}" |
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mixer load /dev/pwm_output ${MIXER} |
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# |
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# Set PWM output frequency |
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# |
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if [ $PWM_RATE != none ] |
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then |
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pwm rate -c $OUTPUTS -r $PWM_RATE |
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fi |
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# |
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# Set disarmed, min and max PWM values |
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# |
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if [ $PWM_DISARMED != none ] |
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then |
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pwm disarmed -c $OUTPUTS -p $PWM_DISARMED |
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fi |
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if [ $PWM_MIN != none ] |
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then |
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pwm min -c $OUTPUTS -p $PWM_MIN |
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fi |
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if [ $PWM_MAX != none ] |
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then |
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pwm max -c $OUTPUTS -p $PWM_MAX |
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fi
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