px4-firmware/ROMFS/px4fmu_common/init.d/rc.interface

#!nsh
#
# Script to configure control interface
#

if [ $MIXER != none -a $MIXER != skip ]
then
	#
	# Load mixer
	#
	
	#Use the mixer file from the SD-card if it exists
	if [ -f /fs/microsd/etc/mixers/$MIXER.mix ]
	then
		set MIXER_FILE /fs/microsd/etc/mixers/$MIXER.mix
	else
		set MIXER_FILE /etc/mixers/$MIXER.mix
	fi
	
	if [ $OUTPUT_MODE == mkblctrl ]
	then
		set OUTPUT_DEV /dev/mkblctrl
	else
		set OUTPUT_DEV /dev/pwm_output
	fi

	if [ $OUTPUT_MODE == uavcan_esc ]
	then
		set OUTPUT_DEV /dev/uavcan/esc
	fi
	
	if mixer load $OUTPUT_DEV $MIXER_FILE
	then
		echo "[i] Mixer: $MIXER_FILE"
	else
		echo "[i] Error loading mixer: $MIXER_FILE"
		tone_alarm $TUNE_ERR
	fi

	unset MIXER_FILE
else
	if [ $MIXER != skip ]
	then
		echo "[i] Mixer not defined"
		tone_alarm $TUNE_ERR
	fi
fi

if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ]
then
	if [ $PWM_OUT != none ]
	then
		#
		# Set PWM output frequency
		#
		if [ $PWM_RATE != none ]
		then
			echo "[i] PWM rate: $PWM_RATE"
			pwm rate -c $PWM_OUT -r $PWM_RATE
		fi
		
		#
		# Set disarmed, min and max PWM values
		#
		if [ $PWM_DISARMED != none ]
		then
			echo "[i] PWM disarmed: $PWM_DISARMED"
			pwm disarmed -c $PWM_OUT -p $PWM_DISARMED
		fi
		if [ $PWM_MIN != none ]
		then
			echo "[i] PWM min: $PWM_MIN"
			pwm min -c $PWM_OUT -p $PWM_MIN
		fi
		if [ $PWM_MAX != none ]
		then
			echo "[i] PWM max: $PWM_MAX"
			pwm max -c $PWM_OUT -p $PWM_MAX
		fi
	fi

	if [ $FAILSAFE != none ]
	then
		pwm failsafe -d $OUTPUT_DEV $FAILSAFE
	fi
fi