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
2026-06-02 11:59:17 +08:00 · 2015-01-07 00:25:06 +02:00
parent 74b63d08e1
commit 08062e6546
56 changed files with 81 additions and 54 deletions
@@ -7,4 +7,4 @@
 sh /etc/init.d/rc.fw_defaults
 set HIL yes
-set MIXER FMU_AERT
+set MIXER AERT
@@ -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
@@ -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
@@ -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
@@ -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
@@ -7,6 +7,6 @@
 sh /etc/init.d/rc.mc_defaults
-set MIXER FMU_quad_x
+set MIXER quad_x
 set HIL yes
@@ -7,6 +7,6 @@
 sh /etc/init.d/rc.mc_defaults
-set MIXER FMU_quad_+
+set MIXER quad_+
 set HIL yes
@@ -9,4 +9,4 @@ sh /etc/init.d/rc.fw_defaults
 set HIL yes
-set MIXER FMU_AERT
+set MIXER AERT
@@ -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
@@ -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
@@ -7,6 +7,6 @@
 sh /etc/init.d/rc.mc_defaults
-set MIXER FMU_octo_cox
+set MIXER octo_cox
 set PWM_OUT 12345678
@@ -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
@@ -7,8 +7,7 @@
 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
 param set VT_MOT_COUNT 6
@@ -2,4 +2,4 @@
 sh /etc/init.d/rc.fw_defaults
-set MIXER FMU_AERT
+set MIXER AERT
@@ -2,4 +2,4 @@
 sh /etc/init.d/rc.fw_defaults
-set MIXER FMU_AET
+set MIXER AET
@@ -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
@@ -28,4 +28,4 @@ then
 	param set FW_R_RMAX 0
 fi
-set MIXER FMU_X5
+set MIXER X5
@@ -7,4 +7,4 @@
 sh /etc/init.d/rc.fw_defaults
-set MIXER FMU_FX79
+set MIXER FX79
@@ -31,4 +31,4 @@ then
 	param set FW_R_RMAX 0
 fi
-set MIXER FMU_Q
+set MIXER Q
@@ -7,6 +7,6 @@
 sh /etc/init.d/rc.mc_defaults
-set MIXER FMU_quad_x
+set MIXER quad_x
 set PWM_OUT 1234
@@ -7,6 +7,6 @@
 sh /etc/init.d/rc.mc_defaults
-set MIXER FMU_quad_+
+set MIXER quad_+
 set PWM_OUT 1234
@@ -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
@@ -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
@@ -7,6 +7,6 @@
 sh /etc/init.d/rc.mc_defaults
-set MIXER FMU_octo_x
+set MIXER octo_x
 set PWM_OUT 12345678
@@ -7,6 +7,6 @@
 sh /etc/init.d/rc.mc_defaults
-set MIXER FMU_octo_+
+set MIXER octo_+
 set PWM_OUT 12345678
@@ -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
+		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 ]
 	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 [ $MIXER_AUX != none ]
 then
-	if fmu mode_pwm
+    #
-	then
+    # Load aux mixer
-		mixer load /dev/pwm_output1 /etc/mixers/$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
@@ -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
--- a/Show More
+++ b/Show More
`@@ -9,4 +9,4 @@ sh /etc/init.d/rc.fw_defaults`

	`set HIL yes`	`set HIL yes`

	`set MIXER FMU_AERT`	`set MIXER AERT`
`@@ -2,4 +2,4 @@`

	`sh /etc/init.d/rc.fw_defaults`	`sh /etc/init.d/rc.fw_defaults`

	`set MIXER FMU_AERT`	`set MIXER AERT`
`@@ -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`