Merge remote-tracking branch 'upstream/master' into ros

2026-09-20 18:09:42 +08:00 · 2015-01-08 17:08:30 +01:00
parent bb0d04212f aa2a00b56a
commit fb151a855f
61 changed files with 147 additions and 99 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
+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
@@ -0,0 +1,14 @@
+#!nsh
+#
+# Generic configuration file for BirdsEyeView Aerobotics FireFly6
+#
+# Roman Bapst <romanbapst@yahoo.de>
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+set MIXER firefly6
+
+set PWM_OUT 12345678
+param set VT_MOT_COUNT 6
+param set VT_IDLE_PWM_MC 1080
@@ -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
@@ -13,5 +13,3 @@ ekf_att_pos_estimator start
 #
 fw_att_control start
 fw_pos_control_l1 start
-
-bottle_drop start
@@ -3,20 +3,34 @@
 # Script to configure control interface
 #

+set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
+
 if [ $MIXER != none -a $MIXER != skip ]
 then
 	#
-	# Load mixer
+	# Load main mixer
 	#
-	
-	#Use the mixer file from the SD-card if it exists
-	if [ -f /fs/microsd/etc/mixers/$MIXER.mix ]
+
+	if [ $MIXER_AUX == none ]
 	then
-		set MIXER_FILE /fs/microsd/etc/mixers/$MIXER.mix
-	else
-		set MIXER_FILE /etc/mixers/$MIXER.mix
+		set MIXER_AUX $MIXER.aux
 	fi
-	
+
+	# Use the mixer file from the SD-card if it exists
+	if [ -f $SDCARD_MIXERS_PATH/$MIXER.main.mix ]
+	then
+		set MIXER_FILE $SDCARD_MIXERS_PATH/$MIXER.main.mix
+	# Try out the old convention, for backward compatibility
+	else
+
+		if [ -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
+	fi
+
 	if [ $OUTPUT_MODE == mkblctrl ]
 	then
 		set OUTPUT_DEV /dev/mkblctrl
@@ -28,7 +42,7 @@ then
 	then
 		set OUTPUT_DEV /dev/uavcan/esc
 	fi
-	
+
 	if mixer load $OUTPUT_DEV $MIXER_FILE
 	then
 		echo "[i] Mixer: $MIXER_FILE"
@@ -57,7 +71,7 @@ then
 		then
 			pwm rate -c $PWM_OUT -r $PWM_RATE
 		fi
-		
+
 		#
 		# Set disarmed, min and max PWM values
 		#
@@ -80,3 +94,34 @@ then
 		pwm failsafe -d $OUTPUT_DEV $FAILSAFE
 	fi
 fi
+
+# check if should load secondary mixer
+if [ $MIXER_AUX != none ]
+then
+	#
+	# 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
+	else
+
+		if [ -f /etc/mixers/$MIXER_AUX.mix ]
+		then
+			set MIXER_AUX_FILE /etc/mixers/$MIXER_AUX.mix
+		fi
+	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
@@ -116,6 +116,7 @@ then
 	set HIL no
 	set VEHICLE_TYPE none
 	set MIXER none
+	set MIXER_AUX none
 	set OUTPUT_MODE none
 	set PWM_OUT none
 	set PWM_RATE none
@@ -481,7 +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 ]
@@ -517,27 +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
@@ -576,10 +577,14 @@ 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 == firefly6_rotors ]
+			then
+				set MAV_TYPE 21
+			fi
 		fi

 		# Still no MAV_TYPE found
@@ -0,0 +1,10 @@
+# mixer for the FireFly6 elevons
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 0   7500   7500      0 -10000  10000
+S: 1 1   8000   8000      0 -10000  10000
+
+M: 2
+O:       10000   10000    0 -10000  10000
+S: 1 0    7500    7500    0 -10000  10000
+S: 1 1   -8000   -8000    0 -10000  10000
@@ -0,0 +1,4 @@
+# FireFly6 mixer for PX4FMU
+#
+#===========================
+R: 6c 10000 10000 10000 0
--- a/Show More
+++ b/Show More