From 01f5f8862a0e1fe19575f6fd1532db2772f63eb5 Mon Sep 17 00:00:00 2001 From: Martin Trgina Date: Thu, 22 Mar 2018 21:47:58 +0100 Subject: [PATCH] Support of HITL simulation for Intel Aero FC (#9132) * Adding pwm_out_sim * pwm_out_sim driver will be by default part of Aero FC PX4 Nuttx drivers * tap_esc is off when SYS_HITL 1 --- ROMFS/px4fmu_common/init.d/4070_aerofc | 10 +++++++--- cmake/configs/nuttx_aerofc-v1_default.cmake | 1 + 2 files changed, 8 insertions(+), 3 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/4070_aerofc b/ROMFS/px4fmu_common/init.d/4070_aerofc index d842b98f78..0eb2d773ba 100644 --- a/ROMFS/px4fmu_common/init.d/4070_aerofc +++ b/ROMFS/px4fmu_common/init.d/4070_aerofc @@ -68,10 +68,14 @@ then param set SYS_LOGGER 1 fi -tap_esc start -d /dev/ttyS0 -n 4 -usleep 300000 +if param compare SYS_HITL 0 +then + tap_esc start -d /dev/ttyS0 -n 4 + usleep 300000 + + set OUTPUT_MODE tap_esc +fi -set OUTPUT_MODE tap_esc set MIXER quad_x set USE_IO no diff --git a/cmake/configs/nuttx_aerofc-v1_default.cmake b/cmake/configs/nuttx_aerofc-v1_default.cmake index 0facb2edb2..aa50d777f3 100644 --- a/cmake/configs/nuttx_aerofc-v1_default.cmake +++ b/cmake/configs/nuttx_aerofc-v1_default.cmake @@ -19,6 +19,7 @@ set(config_module_list drivers/imu/mpu9250 drivers/px4fmu drivers/stm32 + drivers/pwm_out_sim drivers/tap_esc modules/sensors