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Merge pull request #1321 from PX4/startup_payload 

Improve startup and payload handling
This commit is contained in:
Lorenz Meier 2014-08-26 21:00:21 +02:00
parent f2683c23e9 65dab36910
commit 0f571a18a2
5 changed files with 23 additions and 17 deletions
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2
ROMFS/px4fmu_common/init.d/3035_viper
View File

@ -8,3 +8,5 @@
sh /etc/init.d/rc.fw_defaults
set MIXER Viper
set FAILSAFE "-c567 -p 1000"

5
ROMFS/px4fmu_common/init.d/rc.interface
View File

@ -77,4 +77,9 @@ then
pwm max -c $PWM_OUTPUTS -p $PWM_MAX
fi
fi
if [ $FAILSAFE != none ]
then
pwm failsafe -d $OUTPUT_DEV $FAILSAFE
fi
fi

9
ROMFS/px4fmu_common/init.d/rcS
View File

@ -66,6 +66,9 @@ then
#
sercon
# Try to get an USB console
nshterm /dev/ttyACM0 &
#
# Start the ORB (first app to start)
#
@ -96,11 +99,9 @@ then
#
if rgbled start
then
echo "[init] RGB Led"
else
if blinkm start
then
echo "[init] BlinkM"
blinkm systemstate
fi
fi
@ -129,6 +130,7 @@ then
set LOAD_DEFAULT_APPS yes
set GPS yes
set GPS_FAKE no
set FAILSAFE none
#
# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
@ -279,9 +281,6 @@ then
fi
fi
# Try to get an USB console
nshterm /dev/ttyACM0 &
#
# Start the datamanager (and do not abort boot if it fails)
#

11
ROMFS/px4fmu_common/mixers/FMU_AERT.mix
View File

@ -64,21 +64,22 @@ O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Gimbal / flaps / payload mixer for last four channels
Gimbal / flaps / payload mixer for last four channels,
using the payload control group
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
S: 2 0 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
S: 2 1 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
S: 2 2 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000
S: 2 3 10000 10000 0 -10000 10000

13
ROMFS/px4fmu_common/mixers/Viper.mix
View File

@ -52,21 +52,20 @@ M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Gimbal / flaps / payload mixer for last four channels
Inputs to the mixer come from channel group 2 (payload), channels 0
(bay servo 1), 1 (bay servo 2) and 3 (drop release).
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
S: 2 0 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
S: 2 1 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
S: 2 2 -10000 -10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000