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Changed ARDRONE to an OUTPUT_MODE setting and added a skip option to mixer. Fewer beeps than before.

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This commit is contained in:
Helen Oleynikova
2014-03-06 12:45:10 +01:00
parent bcdc8c9e1d
commit a897c97d95
3 changed files with 17 additions and 10 deletions
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ROMFS/px4fmu_common/init.d/4008_ardrone
+2 -3
View File
@@ -30,7 +30,6 @@ then
param set MC_YAW_FF 0.15 param set MC_YAW_FF 0.15
fi fi
set FMU_MODE gpio_serial set OUTPUT_MODE ardrone
set OUTPUT_MODE fmu
set ARDRONE yes
set USE_IO no set USE_IO no
set MIXER skip
ROMFS/px4fmu_common/init.d/rc.interface
+4 -1
View File
@@ -3,7 +3,7 @@
# Script to configure control interface # Script to configure control interface
# #
if [ $MIXER != none ] if [ $MIXER != none -a $MIXER != skip]
then then
# #
# Load mixer # Load mixer
@@ -33,9 +33,12 @@ then
tone_alarm $TUNE_OUT_ERROR tone_alarm $TUNE_OUT_ERROR
fi fi
else else
if [ $MIXER != skip ]
then
echo "[init] Mixer not defined" echo "[init] Mixer not defined"
tone_alarm $TUNE_OUT_ERROR tone_alarm $TUNE_OUT_ERROR
fi fi
fi
if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ] if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ]
then then
ROMFS/px4fmu_common/init.d/rcS
+9 -4
View File
@@ -240,6 +240,11 @@ then
fi fi
fi fi
if [ $OUTPUT_MODE == ardrone ]
then
set FMU_MODE gpio_serial
fi
if [ $HIL == yes ] if [ $HIL == yes ]
then then
set OUTPUT_MODE hil set OUTPUT_MODE hil
@@ -277,7 +282,7 @@ then
tone_alarm $TUNE_OUT_ERROR tone_alarm $TUNE_OUT_ERROR
fi fi
fi fi
if [ $OUTPUT_MODE == fmu ] if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE = ardrone ]
then then
echo "[init] Use FMU PWM as primary output" echo "[init] Use FMU PWM as primary output"
if fmu mode_$FMU_MODE if fmu mode_$FMU_MODE
@@ -351,7 +356,7 @@ then
fi fi
fi fi
else else
if [ $OUTPUT_MODE != fmu ] if [ $OUTPUT_MODE != fmu -a $OUTPUT_MODE != ardrone ]
then then
if fmu mode_$FMU_MODE if fmu mode_$FMU_MODE
then then
@@ -387,7 +392,7 @@ then
mavlink start -b 230400 -d /dev/ttyACM0 mavlink start -b 230400 -d /dev/ttyACM0
usleep 5000 usleep 5000
else else
if [ $TTYS1_BUSY == yes -o $ARDRONE == yes ] if [ $TTYS1_BUSY == yes -o $OUTPUT_MODE == ardrone ]
then then
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else # Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
mavlink start -d /dev/ttyS0 mavlink start -d /dev/ttyS0
@@ -430,7 +435,7 @@ then
# #
# Start up ARDrone Motor interface # Start up ARDrone Motor interface
# #
if [ $ARDRONE == yes ] if [ $OUTPUT_MODE == ardrone ]
then then
ardrone_interface start -d /dev/ttyS1 ardrone_interface start -d /dev/ttyS1
fi fi