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PX4: enabling mkblctrl for fmuv1/fmuv2 

See the comments in mk/PX4/ROMFS/init.d/rc.APM for details
This commit is contained in:
NosDE 2014-03-28 19:01:09 +01:00 committed by Andrew Tridgell
parent ac364c93dd
commit 613fda4889
2 changed files with 25 additions and 12 deletions
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33
mk/PX4/ROMFS/init.d/rc.APM
View File

@ -4,6 +4,8 @@
# To disable APM startup add a /fs/microsd/APM/nostart file
# To enable mkblctrl startup add a /fs/microsd/APM/mkblctrl file
# To enable mkblctrl_+ startup add a /fs/microsd/APM/mkblctrl_+ file
# To enable mkblctrl_x startup add a /fs/microsd/APM/mkblctrl_x file
# To enable PWM on FMUv1 on ttyS1 add a /fs/microsd/APM/AUXPWM.en file
set deviceA /dev/ttyACM0
@ -84,6 +86,28 @@ else
sh /etc/init.d/rc.error
fi
# start mkblctrl driver if configured
if [ -f /fs/microsd/APM/mkblctrl ]
then
echo "Setting up mkblctrl driver"
echo "Setting up mkblctrl driver" >> $logfile
mkblctrl -d /dev/pwm_output
fi
if [ -f /fs/microsd/APM/mkblctrl_+ ]
then
echo "Setting up mkblctrl driver +"
echo "Setting up mkblctrl driver +" >> $logfile
mkblctrl -mkmode + -d /dev/pwm_output
fi
if [ -f /fs/microsd/APM/mkblctrl_x ]
then
echo "Setting up mkblctrl driver x"
echo "Setting up mkblctrl driver x" >> $logfile
mkblctrl -mkmode x -d /dev/pwm_output
fi
# try the px4io start twice. Some FMUv2 board don't
# come up the first time
@ -150,15 +174,6 @@ else
then
sh /etc/init.d/rc.error
fi
if [ -f /fs/microsd/APM/mkblctrl ]
then
echo "APM/mkblctrl found - switch to MK I2C ESCs"
echo "APM/mkblctrl found - switch to MK I2C ESCs" >> $logfile
echo "Setting up mkblctrl driver"
echo "Setting up mkblctrl driver" >> $logfile
mkblctrl -mkmode x
fi
fi
if [ $BOARD == FMUv1 -a $deviceD == /dev/ttyS1 ]

4
mk/PX4/config_px4fmu-v2_APM.mk
View File

@ -35,9 +35,7 @@ MODULES += drivers/blinkm
MODULES += drivers/airspeed
MODULES += drivers/ets_airspeed
MODULES += drivers/meas_airspeed
# mkblctrl does not compile on FMUv2 yet
# MODULES += drivers/mkblctrl
MODULES += drivers/mkblctrl
#
# System commands