diff --git a/.gitattributes b/.gitattributes index d5ff4edd8a..6573a35b14 100644 --- a/.gitattributes +++ b/.gitattributes @@ -19,7 +19,7 @@ *.jar binary *.xml text eol=lf -# PX4 mixers, msgs, etc +# PX4 msgs, etc *.bin binary *.msg text eol=lf *.config text eol=lf diff --git a/boards/airmind/mindpx-v2/default.px4board b/boards/airmind/mindpx-v2/default.px4board index 3fcb2b54c6..8e8a89f8e6 100644 --- a/boards/airmind/mindpx-v2/default.px4board +++ b/boards/airmind/mindpx-v2/default.px4board @@ -84,7 +84,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/ark/cannode/default.px4board b/boards/ark/cannode/default.px4board index 14493945ba..a92adda6c3 100644 --- a/boards/ark/cannode/default.px4board +++ b/boards/ark/cannode/default.px4board @@ -27,7 +27,6 @@ CONFIG_NSH_BUILTIN_APPS=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_UORB=y CONFIG_SYSTEMCMDS_PARAM=y CONFIG_SYSTEMCMDS_TOP=y diff --git a/boards/atl/mantis-edu/default.px4board b/boards/atl/mantis-edu/default.px4board index d480dd7a8e..514d8c2366 100644 --- a/boards/atl/mantis-edu/default.px4board +++ b/boards/atl/mantis-edu/default.px4board @@ -38,7 +38,6 @@ CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_LED_CONTROL=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_PARAM=y CONFIG_SYSTEMCMDS_PERF=y diff --git a/boards/av/x-v1/default.px4board b/boards/av/x-v1/default.px4board index 6c567bf628..cfdf80f844 100644 --- a/boards/av/x-v1/default.px4board +++ b/boards/av/x-v1/default.px4board @@ -81,7 +81,6 @@ CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_NETMAN=y CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/beaglebone/blue/default.px4board b/boards/beaglebone/blue/default.px4board index f6a4413029..b66648fc80 100644 --- a/boards/beaglebone/blue/default.px4board +++ b/boards/beaglebone/blue/default.px4board @@ -60,7 +60,6 @@ CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_DYN=y CONFIG_SYSTEMCMDS_LED_CONTROL=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_PARAM=y CONFIG_SYSTEMCMDS_PERF=y diff --git a/boards/bitcraze/crazyflie/default.px4board b/boards/bitcraze/crazyflie/default.px4board index 41509df016..b061cf4b28 100644 --- a/boards/bitcraze/crazyflie/default.px4board +++ b/boards/bitcraze/crazyflie/default.px4board @@ -34,7 +34,6 @@ CONFIG_MODULES_SENSORS=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y CONFIG_SYSTEMCMDS_PARAM=y diff --git a/boards/bitcraze/crazyflie21/default.px4board b/boards/bitcraze/crazyflie21/default.px4board index 5f06c0fef9..8abc2182d1 100644 --- a/boards/bitcraze/crazyflie21/default.px4board +++ b/boards/bitcraze/crazyflie21/default.px4board @@ -33,7 +33,6 @@ CONFIG_MODULES_SENSORS=y # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y CONFIG_SYSTEMCMDS_PARAM=y diff --git a/boards/cuav/nora/default.px4board b/boards/cuav/nora/default.px4board index ab954ada39..0e8c51c25e 100644 --- a/boards/cuav/nora/default.px4board +++ b/boards/cuav/nora/default.px4board @@ -87,7 +87,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/cuav/nora/init/rc.board_defaults b/boards/cuav/nora/init/rc.board_defaults index bbc9316544..5c7fa8deab 100644 --- a/boards/cuav/nora/init/rc.board_defaults +++ b/boards/cuav/nora/init/rc.board_defaults @@ -3,9 +3,6 @@ # board specific defaults #------------------------------------------------------------------------------ -# Enables the 2nd bank of mixers -set AUX_BANK2 yes - param set-default BAT1_V_DIV 18 param set-default BAT2_V_DIV 18 diff --git a/boards/cuav/x7pro/default.px4board b/boards/cuav/x7pro/default.px4board index 175365460f..1d4c518875 100644 --- a/boards/cuav/x7pro/default.px4board +++ b/boards/cuav/x7pro/default.px4board @@ -88,7 +88,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/cuav/x7pro/init/rc.board_defaults b/boards/cuav/x7pro/init/rc.board_defaults index 1c199a4a72..bb6f09ea47 100644 --- a/boards/cuav/x7pro/init/rc.board_defaults +++ b/boards/cuav/x7pro/init/rc.board_defaults @@ -3,9 +3,6 @@ # board specific defaults #------------------------------------------------------------------------------ -# Enables the 2nd bank of mixers -set AUX_BANK2 yes - param set-default BAT1_V_DIV 18 param set-default BAT2_V_DIV 18 diff --git a/boards/cubepilot/cubeorange/default.px4board b/boards/cubepilot/cubeorange/default.px4board index 65bed06d06..9f929c9888 100644 --- a/boards/cubepilot/cubeorange/default.px4board +++ b/boards/cubepilot/cubeorange/default.px4board @@ -82,7 +82,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/cubepilot/cubeyellow/default.px4board b/boards/cubepilot/cubeyellow/default.px4board index 16bbbe3005..27e7607c28 100644 --- a/boards/cubepilot/cubeyellow/default.px4board +++ b/boards/cubepilot/cubeyellow/default.px4board @@ -85,7 +85,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/diatone/mamba-f405-mk2/default.px4board b/boards/diatone/mamba-f405-mk2/default.px4board index 447a60faaf..8a26846ea6 100644 --- a/boards/diatone/mamba-f405-mk2/default.px4board +++ b/boards/diatone/mamba-f405-mk2/default.px4board @@ -38,7 +38,6 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y CONFIG_SYSTEMCMDS_PARAM=y diff --git a/boards/emlid/navio2/default.px4board b/boards/emlid/navio2/default.px4board index 2097cf6f3b..6964c32794 100644 --- a/boards/emlid/navio2/default.px4board +++ b/boards/emlid/navio2/default.px4board @@ -62,7 +62,6 @@ CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_DYN=y CONFIG_SYSTEMCMDS_LED_CONTROL=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_PARAM=y CONFIG_SYSTEMCMDS_PERF=y diff --git a/boards/holybro/durandal-v1/default.px4board b/boards/holybro/durandal-v1/default.px4board index 416ac29059..028a92bf9b 100644 --- a/boards/holybro/durandal-v1/default.px4board +++ b/boards/holybro/durandal-v1/default.px4board @@ -80,7 +80,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/holybro/kakutef7/default.px4board b/boards/holybro/kakutef7/default.px4board index d82f8bb1da..ccab89c6f2 100644 --- a/boards/holybro/kakutef7/default.px4board +++ b/boards/holybro/kakutef7/default.px4board @@ -33,6 +33,5 @@ CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_PARAM=y CONFIG_SYSTEMCMDS_PWM=y diff --git a/boards/holybro/kakuteh7/default.px4board b/boards/holybro/kakuteh7/default.px4board index dc59f6e54e..7304aa2982 100644 --- a/boards/holybro/kakuteh7/default.px4board +++ b/boards/holybro/kakuteh7/default.px4board @@ -74,7 +74,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_NSHTERM=y CONFIG_SYSTEMCMDS_PARAM=y diff --git a/boards/holybro/pix32v5/default.px4board b/boards/holybro/pix32v5/default.px4board index b5a82dbbf9..92b6f5fbdb 100644 --- a/boards/holybro/pix32v5/default.px4board +++ b/boards/holybro/pix32v5/default.px4board @@ -90,7 +90,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/matek/h743-mini/default.px4board b/boards/matek/h743-mini/default.px4board index d7669432a9..e624cd08f1 100644 --- a/boards/matek/h743-mini/default.px4board +++ b/boards/matek/h743-mini/default.px4board @@ -68,7 +68,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=n CONFIG_SYSTEMCMDS_MFT=n -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=n CONFIG_SYSTEMCMDS_MTD=n CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/matek/h743-slim/default.px4board b/boards/matek/h743-slim/default.px4board index 9a6d9ed049..fe8f702a52 100644 --- a/boards/matek/h743-slim/default.px4board +++ b/boards/matek/h743-slim/default.px4board @@ -67,7 +67,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=n CONFIG_SYSTEMCMDS_MFT=n -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=n CONFIG_SYSTEMCMDS_MTD=n CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/matek/h743/default.px4board b/boards/matek/h743/default.px4board index 9a6d9ed049..fe8f702a52 100644 --- a/boards/matek/h743/default.px4board +++ b/boards/matek/h743/default.px4board @@ -67,7 +67,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=n CONFIG_SYSTEMCMDS_MFT=n -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=n CONFIG_SYSTEMCMDS_MTD=n CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/modalai/fc-v1/default.px4board b/boards/modalai/fc-v1/default.px4board index 500ffbac63..3437c6d9b9 100644 --- a/boards/modalai/fc-v1/default.px4board +++ b/boards/modalai/fc-v1/default.px4board @@ -86,7 +86,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/modalai/fc-v2/default.px4board b/boards/modalai/fc-v2/default.px4board index 27711aabd8..d64d4f43a7 100644 --- a/boards/modalai/fc-v2/default.px4board +++ b/boards/modalai/fc-v2/default.px4board @@ -81,7 +81,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/mro/ctrl-zero-classic/default.px4board b/boards/mro/ctrl-zero-classic/default.px4board index e893dc925f..25dc314ade 100644 --- a/boards/mro/ctrl-zero-classic/default.px4board +++ b/boards/mro/ctrl-zero-classic/default.px4board @@ -82,7 +82,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/mro/ctrl-zero-f7-oem/default.px4board b/boards/mro/ctrl-zero-f7-oem/default.px4board index 6aa6f0ee5d..2e06b96802 100644 --- a/boards/mro/ctrl-zero-f7-oem/default.px4board +++ b/boards/mro/ctrl-zero-f7-oem/default.px4board @@ -83,7 +83,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/mro/ctrl-zero-f7/default.px4board b/boards/mro/ctrl-zero-f7/default.px4board index 864b701bca..77f006f3b1 100644 --- a/boards/mro/ctrl-zero-f7/default.px4board +++ b/boards/mro/ctrl-zero-f7/default.px4board @@ -83,7 +83,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/mro/ctrl-zero-h7-oem/default.px4board b/boards/mro/ctrl-zero-h7-oem/default.px4board index e893dc925f..25dc314ade 100644 --- a/boards/mro/ctrl-zero-h7-oem/default.px4board +++ b/boards/mro/ctrl-zero-h7-oem/default.px4board @@ -82,7 +82,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/mro/ctrl-zero-h7/default.px4board b/boards/mro/ctrl-zero-h7/default.px4board index 7c80fa90e4..c5881e8c8a 100644 --- a/boards/mro/ctrl-zero-h7/default.px4board +++ b/boards/mro/ctrl-zero-h7/default.px4board @@ -83,7 +83,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/mro/pixracerpro/default.px4board b/boards/mro/pixracerpro/default.px4board index ef2f5fdecb..a5c2a9682a 100644 --- a/boards/mro/pixracerpro/default.px4board +++ b/boards/mro/pixracerpro/default.px4board @@ -82,7 +82,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/mro/x21-777/default.px4board b/boards/mro/x21-777/default.px4board index 1b23dbdd75..978c8386d5 100644 --- a/boards/mro/x21-777/default.px4board +++ b/boards/mro/x21-777/default.px4board @@ -84,7 +84,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/mro/x21/default.px4board b/boards/mro/x21/default.px4board index 263205aaf8..243d1e8780 100644 --- a/boards/mro/x21/default.px4board +++ b/boards/mro/x21/default.px4board @@ -84,7 +84,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/nxp/fmuk66-e/default.px4board b/boards/nxp/fmuk66-e/default.px4board index 2cc0d927f4..18f465678b 100644 --- a/boards/nxp/fmuk66-e/default.px4board +++ b/boards/nxp/fmuk66-e/default.px4board @@ -78,7 +78,6 @@ CONFIG_SYSTEMCMDS_DUMPFILE=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/nxp/fmuk66-v3/default.px4board b/boards/nxp/fmuk66-v3/default.px4board index 8f15a548a8..2419873d62 100644 --- a/boards/nxp/fmuk66-v3/default.px4board +++ b/boards/nxp/fmuk66-v3/default.px4board @@ -83,7 +83,6 @@ CONFIG_SYSTEMCMDS_DUMPFILE=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/nxp/fmurt1062-v1/default.px4board b/boards/nxp/fmurt1062-v1/default.px4board index 46267c79cd..099529b03e 100644 --- a/boards/nxp/fmurt1062-v1/default.px4board +++ b/boards/nxp/fmurt1062-v1/default.px4board @@ -55,7 +55,6 @@ CONFIG_SYSTEMCMDS_DUMPFILE=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/nxp/ucans32k146/default.px4board b/boards/nxp/ucans32k146/default.px4board index c3f55f93d3..758860694a 100644 --- a/boards/nxp/ucans32k146/default.px4board +++ b/boards/nxp/ucans32k146/default.px4board @@ -19,7 +19,6 @@ CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_PARAM=y CONFIG_SYSTEMCMDS_PWM=y diff --git a/boards/omnibus/f4sd/default.px4board b/boards/omnibus/f4sd/default.px4board index 05506d3c2d..241deb0272 100644 --- a/boards/omnibus/f4sd/default.px4board +++ b/boards/omnibus/f4sd/default.px4board @@ -34,6 +34,5 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_PARAM=y CONFIG_SYSTEMCMDS_PWM=y diff --git a/boards/px4/fmu-v3/default.px4board b/boards/px4/fmu-v3/default.px4board index a6a96b57d1..7fb2edbcf9 100644 --- a/boards/px4/fmu-v3/default.px4board +++ b/boards/px4/fmu-v3/default.px4board @@ -87,7 +87,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/px4/fmu-v4/default.px4board b/boards/px4/fmu-v4/default.px4board index 8289e41b77..bc42098768 100644 --- a/boards/px4/fmu-v4/default.px4board +++ b/boards/px4/fmu-v4/default.px4board @@ -88,7 +88,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/px4/fmu-v4pro/default.px4board b/boards/px4/fmu-v4pro/default.px4board index 8277367bd3..cd4a44f4a6 100644 --- a/boards/px4/fmu-v4pro/default.px4board +++ b/boards/px4/fmu-v4pro/default.px4board @@ -85,7 +85,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/px4/fmu-v5/default.px4board b/boards/px4/fmu-v5/default.px4board index d5d06b2d89..603c2f4e05 100644 --- a/boards/px4/fmu-v5/default.px4board +++ b/boards/px4/fmu-v5/default.px4board @@ -91,7 +91,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/px4/fmu-v5x/default.px4board b/boards/px4/fmu-v5x/default.px4board index 5ef6f7c1d3..e330afce89 100644 --- a/boards/px4/fmu-v5x/default.px4board +++ b/boards/px4/fmu-v5x/default.px4board @@ -93,7 +93,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NETMAN=y diff --git a/boards/px4/fmu-v6c/default.px4board b/boards/px4/fmu-v6c/default.px4board index db8be5ca5d..03a70c970b 100644 --- a/boards/px4/fmu-v6c/default.px4board +++ b/boards/px4/fmu-v6c/default.px4board @@ -72,7 +72,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/px4/fmu-v6u/default.px4board b/boards/px4/fmu-v6u/default.px4board index 029acc4d66..f9e57b24fb 100644 --- a/boards/px4/fmu-v6u/default.px4board +++ b/boards/px4/fmu-v6u/default.px4board @@ -83,7 +83,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/boards/px4/fmu-v6x/default.px4board b/boards/px4/fmu-v6x/default.px4board index 9462ea3f88..9250be421d 100644 --- a/boards/px4/fmu-v6x/default.px4board +++ b/boards/px4/fmu-v6x/default.px4board @@ -78,7 +78,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NETMAN=y diff --git a/boards/px4/raspberrypi/default.px4board b/boards/px4/raspberrypi/default.px4board index ce4f625c93..45d7dc1d41 100644 --- a/boards/px4/raspberrypi/default.px4board +++ b/boards/px4/raspberrypi/default.px4board @@ -59,7 +59,6 @@ CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_DYN=y CONFIG_SYSTEMCMDS_LED_CONTROL=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_PARAM=y CONFIG_SYSTEMCMDS_PERF=y diff --git a/boards/px4/sitl/default.px4board b/boards/px4/sitl/default.px4board index bfb484c686..645734c92a 100644 --- a/boards/px4/sitl/default.px4board +++ b/boards/px4/sitl/default.px4board @@ -48,7 +48,6 @@ CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_DYN=y CONFIG_SYSTEMCMDS_FAILURE=y CONFIG_SYSTEMCMDS_LED_CONTROL=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_PARAM=y CONFIG_SYSTEMCMDS_PERF=y diff --git a/boards/raspberrypi/pico/default.px4board b/boards/raspberrypi/pico/default.px4board index 79b51f5e26..ed93091a03 100644 --- a/boards/raspberrypi/pico/default.px4board +++ b/boards/raspberrypi/pico/default.px4board @@ -37,7 +37,6 @@ CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_NSHTERM=y CONFIG_SYSTEMCMDS_PARAM=y diff --git a/boards/scumaker/pilotpi/default.px4board b/boards/scumaker/pilotpi/default.px4board index 75a0922fb9..022fb0d244 100644 --- a/boards/scumaker/pilotpi/default.px4board +++ b/boards/scumaker/pilotpi/default.px4board @@ -57,7 +57,6 @@ CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_DYN=y CONFIG_SYSTEMCMDS_LED_CONTROL=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_PARAM=y CONFIG_SYSTEMCMDS_PERF=y CONFIG_SYSTEMCMDS_PWM=y diff --git a/boards/sky-drones/smartap-airlink/default.px4board b/boards/sky-drones/smartap-airlink/default.px4board index 686ab82a2e..04c1d706fc 100644 --- a/boards/sky-drones/smartap-airlink/default.px4board +++ b/boards/sky-drones/smartap-airlink/default.px4board @@ -85,7 +85,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NETMAN=y diff --git a/boards/spracing/h7extreme/default.px4board b/boards/spracing/h7extreme/default.px4board index a5680a9669..beb349581d 100644 --- a/boards/spracing/h7extreme/default.px4board +++ b/boards/spracing/h7extreme/default.px4board @@ -47,7 +47,6 @@ CONFIG_SYSTEMCMDS_DUMPFILE=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_NSHTERM=y CONFIG_SYSTEMCMDS_PARAM=y diff --git a/boards/uvify/core/default.px4board b/boards/uvify/core/default.px4board index 766869f685..f1626adfe6 100644 --- a/boards/uvify/core/default.px4board +++ b/boards/uvify/core/default.px4board @@ -69,7 +69,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y -CONFIG_SYSTEMCMDS_MIXER=y CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_MTD=y CONFIG_SYSTEMCMDS_NSHTERM=y diff --git a/platforms/posix/cmake/sitl_tests.cmake b/platforms/posix/cmake/sitl_tests.cmake index 5210940865..5debea1eb9 100644 --- a/platforms/posix/cmake/sitl_tests.cmake +++ b/platforms/posix/cmake/sitl_tests.cmake @@ -18,7 +18,6 @@ set(tests List mathlib matrix - mixer param parameters perf diff --git a/src/drivers/pca9685_pwm_out/main.cpp b/src/drivers/pca9685_pwm_out/main.cpp index c748d526e7..7527f926d9 100644 --- a/src/drivers/pca9685_pwm_out/main.cpp +++ b/src/drivers/pca9685_pwm_out/main.cpp @@ -530,8 +530,6 @@ IIC communication is based on CDev::I2C It is typically started with: $ pca9685_pwm_out start -a 64 -b 1 -Use the `mixer` command to load mixer files. -`mixer load /dev/pwm_outputX etc/mixers/quad_x.main.mix` The number X can be acquired by executing `pca9685_pwm_out status` when this driver is running. )DESCR_STR"); diff --git a/src/systemcmds/mixer/CMakeLists.txt b/src/systemcmds/mixer/CMakeLists.txt deleted file mode 100644 index 56ece05f0a..0000000000 --- a/src/systemcmds/mixer/CMakeLists.txt +++ /dev/null @@ -1,44 +0,0 @@ -############################################################################ -# -# Copyright (c) 2015 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -px4_add_module( - MODULE systemcmds__mixer - MAIN mixer - STACK_MAIN 4096 - STACK_MAX 2100 - COMPILE_FLAGS - SRCS - mixer.cpp - DEPENDS - mixer - ) \ No newline at end of file diff --git a/src/systemcmds/mixer/Kconfig b/src/systemcmds/mixer/Kconfig deleted file mode 100644 index ab76678f6e..0000000000 --- a/src/systemcmds/mixer/Kconfig +++ /dev/null @@ -1,12 +0,0 @@ -menuconfig SYSTEMCMDS_MIXER - bool "mixer" - default n - ---help--- - Enable support for mixer - -menuconfig USER_MIXER - bool "mixer running as userspace module" - default y - depends on BOARD_PROTECTED && SYSTEMCMDS_MIXER - ---help--- - Put mixer in userspace memory diff --git a/src/systemcmds/mixer/mixer.cpp b/src/systemcmds/mixer/mixer.cpp deleted file mode 100644 index c74bcc8dc7..0000000000 --- a/src/systemcmds/mixer/mixer.cpp +++ /dev/null @@ -1,170 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file mixer.cpp - * - * Mixer utility. - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include - -/** - * Mixer utility for loading mixer files to devices - * - * @ingroup apps - */ -extern "C" __EXPORT int mixer_main(int argc, char *argv[]); - -static void usage(const char *reason); -static int load(const char *devname, const char *fname, bool append); - -int -mixer_main(int argc, char *argv[]) -{ - if (argc < 2) { - usage("missing command"); - return 1; - } - - if (!strcmp(argv[1], "load")) { - if (argc < 4) { - usage("missing device or filename"); - return 1; - } - - int ret = load(argv[2], argv[3], false); - - if (ret != 0) { - PX4_ERR("failed to load mixer"); - return 1; - } - - } else if (!strcmp(argv[1], "append")) { - if (argc < 4) { - usage("missing device or filename"); - return 1; - } - - int ret = load(argv[2], argv[3], true); - - if (ret != 0) { - PX4_ERR("failed to append mixer"); - return 1; - } - - } else { - usage("Unknown command"); - return 1; - } - - return 0; -} - -static void -usage(const char *reason) -{ - if (reason && *reason) { - PX4_INFO("%s", reason); - } - - PRINT_MODULE_DESCRIPTION( - R"DESCR_STR( -### Description -Load or append mixer files to the ESC driver. - -Note that the driver must support the used ioctl's, which is the case on NuttX, but for example not on RPi. -)DESCR_STR"); - - - PRINT_MODULE_USAGE_NAME("mixer", "command"); - - PRINT_MODULE_USAGE_COMMAND("load"); - PRINT_MODULE_USAGE_ARG(" ", "Output device (eg. /dev/pwm_output0) and mixer file", false); - PRINT_MODULE_USAGE_COMMAND("append"); - PRINT_MODULE_USAGE_ARG(" ", "Output device (eg. /dev/pwm_output0) and mixer file", false); -} - -static int -load(const char *devname, const char *fname, bool append) -{ - // sleep a while to ensure device has been set up - px4_usleep(20000); - - int dev; - - /* open the device */ - if ((dev = px4_open(devname, 0)) < 0) { - PX4_ERR("can't open %s\n", devname); - return 1; - } - - /* reset mixers on the device, but not if appending */ - if (!append) { - if (px4_ioctl(dev, MIXERIOCRESET, 0)) { - PX4_ERR("can't reset mixers on %s", devname); - return 1; - } - } - - char buf[2048]; - - if (load_mixer_file(fname, &buf[0], sizeof(buf)) < 0) { - PX4_ERR("can't load mixer file: %s", fname); - return 1; - } - - /* Pass the buffer to the device */ - int ret = px4_ioctl(dev, MIXERIOCLOADBUF, (unsigned long)buf); - - if (ret < 0) { - PX4_ERR("failed to load mixers from %s", fname); - return 1; - } - - return 0; -} diff --git a/src/systemcmds/tests/CMakeLists.txt b/src/systemcmds/tests/CMakeLists.txt index 4201964f96..ab948cf8a2 100644 --- a/src/systemcmds/tests/CMakeLists.txt +++ b/src/systemcmds/tests/CMakeLists.txt @@ -50,7 +50,6 @@ set(srcs test_IntrusiveSortedList.cpp test_mathlib.cpp test_matrix.cpp - test_mixer.cpp test_param.c test_parameters.cpp test_perf.c diff --git a/src/systemcmds/tests/test_mixer.cpp b/src/systemcmds/tests/test_mixer.cpp deleted file mode 100644 index 7a23a2c8fc..0000000000 --- a/src/systemcmds/tests/test_mixer.cpp +++ /dev/null @@ -1,359 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2013-2019 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file test_mixer.cpp - * Mixer load test - */ - -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include - -#include - -#include - -#include "tests_main.h" - -#include - -static int mixer_callback(uintptr_t handle, - uint8_t control_group, - uint8_t control_index, - float &control); - -static const unsigned output_max = 8; -static float actuator_controls[output_max]; -static bool should_prearm = false; - -#ifdef __PX4_DARWIN -#define MIXER_DIFFERENCE_THRESHOLD 30 -#else -#define MIXER_DIFFERENCE_THRESHOLD 2 -#endif - -#ifndef PATH_MAX -#ifdef __PX4_NUTTX -#define PATH_MAX 512 -#else -#define PATH_MAX 4096 -#endif -#endif - -#if defined(CONFIG_ARCH_BOARD_PX4_SITL) -#define MIXER_PATH(_file) "etc/mixers/"#_file -#define MIXER_ONBOARD_PATH "etc/mixers" -#else -#define MIXER_ONBOARD_PATH "/etc/mixers" -#define MIXER_PATH(_file) MIXER_ONBOARD_PATH"/"#_file -#endif - - -#define MIXER_VERBOSE - -class MixerTest : public UnitTest -{ -public: - virtual bool run_tests(); - MixerTest() = default; - -private: - bool loadIOPass(); - bool loadVTOL1Test(); - bool loadVTOL2Test(); - bool loadQuadTest(); - bool loadComplexTest(); - bool loadAllTest(); - bool load_mixer(const char *filename, unsigned expected_count, bool verbose = false); - bool load_mixer(const char *filename, const char *buf, unsigned loaded, unsigned expected_count, - const unsigned chunk_size, bool verbose); - - MixerGroup mixer_group; -}; - -bool MixerTest::run_tests() -{ - ut_run_test(loadIOPass); - ut_run_test(loadQuadTest); - ut_run_test(loadVTOL1Test); - ut_run_test(loadVTOL2Test); - ut_run_test(loadComplexTest); - ut_run_test(loadAllTest); - - return (_tests_failed == 0); -} - -ut_declare_test_c(test_mixer, MixerTest) - -bool MixerTest::loadIOPass() -{ - return load_mixer(MIXER_PATH(IO_pass.mix), 8); -} - -bool MixerTest::loadQuadTest() -{ - return load_mixer(MIXER_PATH(quad_test.mix), 5); -} - -bool MixerTest::loadVTOL1Test() -{ - return load_mixer(MIXER_PATH(vtol1_test.mix), 4); -} - -bool MixerTest::loadVTOL2Test() -{ - return load_mixer(MIXER_PATH(vtol2_test.mix), 6); -} - -bool MixerTest::loadComplexTest() -{ - return load_mixer(MIXER_PATH(complex_test.mix), 8); -} - -bool MixerTest::loadAllTest() -{ - PX4_INFO("Testing all mixers in %s", MIXER_ONBOARD_PATH); - - DIR *dp = opendir(MIXER_ONBOARD_PATH); - - if (dp == nullptr) { - PX4_ERR("File open failed"); - return false; - } - - struct dirent *result = nullptr; - - for (;;) { - errno = 0; - result = readdir(dp); - - // read the directory entry - if (result == nullptr) { - if (errno) { - PX4_ERR("readdir failed"); - closedir(dp); - - return false; - } - - // We are just at the last directory entry - break; - } - - // Determine the directory entry type - switch (result->d_type) { -#ifdef __PX4_NUTTX - - case DTYPE_FILE: -#else - case DT_REG: -#endif - if (strncmp(result->d_name, ".", 1) != 0) { - - char buf[PATH_MAX]; - - if (snprintf(buf, PATH_MAX, "%s/%s", MIXER_ONBOARD_PATH, result->d_name) >= PATH_MAX) { - PX4_ERR("mixer path too long %s", result->d_name); - closedir(dp); - return false; - } - - bool ret = load_mixer(buf, 0); - - if (!ret) { - PX4_ERR("Error testing mixer %s", buf); - closedir(dp); - return false; - } - } - - break; - - default: - break; - } - } - - closedir(dp); - - return true; -} - -bool MixerTest::load_mixer(const char *filename, unsigned expected_count, bool verbose) -{ - char buf[2048]; - - load_mixer_file(filename, &buf[0], sizeof(buf)); - unsigned loaded = strlen(buf); - - if (verbose) { - PX4_INFO("loaded: \n\"%s\"\n (file: %s, %d chars)", &buf[0], filename, loaded); - } - - // Test a number of chunk sizes - for (unsigned chunk_size = 6; chunk_size < PX4IO_MAX_TRANSFER_LEN + 1; chunk_size++) { - bool ret = load_mixer(filename, buf, loaded, expected_count, chunk_size, verbose); - - if (!ret) { - PX4_ERR("Mixer load failed with chunk size %u", chunk_size); - return ret; - } - } - - return true; -} - -bool MixerTest::load_mixer(const char *filename, const char *buf, unsigned loaded, unsigned expected_count, - const unsigned chunk_size, bool verbose) -{ - /* load the mixer in chunks, like - * in the case of a remote load, - * e.g. on PX4IO. - */ - - /* load at once test */ - unsigned xx = loaded; - mixer_group.reset(); - mixer_group.load_from_buf(mixer_callback, 0, &buf[0], xx); - - if (expected_count > 0) { - ut_compare("check number of mixers loaded", mixer_group.count(), expected_count); - } - - unsigned empty_load = 2; - char empty_buf[2]; - empty_buf[0] = ' '; - empty_buf[1] = '\0'; - mixer_group.reset(); - mixer_group.load_from_buf(mixer_callback, 0, &empty_buf[0], empty_load); - - if (verbose) { - PX4_INFO("empty buffer load: loaded %u mixers, used: %u", mixer_group.count(), empty_load); - } - - ut_compare("empty buffer load", empty_load, 0); - - /* reset, load in chunks */ - mixer_group.reset(); - char mixer_text[330]; /* large enough for one mixer */ - - unsigned mixer_text_length = 0; - unsigned transmitted = 0; - unsigned resid = 0; - - while (transmitted < loaded) { - - unsigned text_length = (loaded - transmitted > chunk_size) ? chunk_size : loaded - transmitted; - - /* check for overflow - this would be really fatal */ - if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) { - PX4_ERR("Mixer text length overflow for file: %s. Is PX4IO_MAX_MIXER_LENGTH too small? (curr len: %d)", filename, - 330); - return false; - } - - /* append mixer text and nul-terminate */ - memcpy(&mixer_text[mixer_text_length], &buf[transmitted], text_length); - mixer_text_length += text_length; - mixer_text[mixer_text_length] = '\0'; - //fprintf(stderr, "buflen %u, text:\n\"%s\"\n", mixer_text_length, &mixer_text[0]); - - /* process the text buffer, adding new mixers as their descriptions can be parsed */ - resid = mixer_text_length; - mixer_group.load_from_buf(mixer_callback, 0, &mixer_text[0], resid); - - /* if anything was parsed */ - if (resid != mixer_text_length) { - //PX4_INFO("loaded %d mixers, used %u\n", mixer_group.count(), mixer_text_length - resid); - - /* copy any leftover text to the base of the buffer for re-use */ - if (resid > 0) { - memmove(&mixer_text[0], &mixer_text[mixer_text_length - resid], resid); - /* enforce null termination */ - mixer_text[resid] = '\0'; - } - - mixer_text_length = resid; - } - - transmitted += text_length; - - if (verbose) { - PX4_INFO("transmitted: %d, loaded: %d", transmitted, loaded); - } - } - - if (verbose) { - PX4_INFO("chunked load: loaded %u mixers", mixer_group.count()); - } - - if (expected_count > 0 && mixer_group.count() != expected_count) { - PX4_ERR("Load of mixer failed, last chunk: %s, transmitted: %u, text length: %u, resid: %u", mixer_text, transmitted, - mixer_text_length, resid); - ut_compare("check number of mixers loaded (chunk)", mixer_group.count(), expected_count); - } - - return true; -} - -static int -mixer_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &control) -{ - control = 0.0f; - - if (control_group != 0) { - return -1; - } - - if (control_index >= (sizeof(actuator_controls) / sizeof(actuator_controls[0]))) { - return -1; - } - - control = actuator_controls[control_index]; - - if (should_prearm && control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE && - control_index == actuator_controls_s::INDEX_THROTTLE) { - control = NAN; - } - - return 0; -} diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c index 56044d9d87..8a895c157a 100644 --- a/src/systemcmds/tests/tests_main.c +++ b/src/systemcmds/tests/tests_main.c @@ -93,7 +93,6 @@ const struct { {"List", test_List, 0}, {"mathlib", test_mathlib, 0}, {"matrix", test_matrix, 0}, - {"mixer", test_mixer, OPT_NOJIGTEST}, {"param", test_param, 0}, {"parameters", test_parameters, 0}, {"perf", test_perf, OPT_NOJIGTEST}, diff --git a/src/systemcmds/tests/tests_main.h b/src/systemcmds/tests/tests_main.h index ed0b5179ca..0e5a14743c 100644 --- a/src/systemcmds/tests/tests_main.h +++ b/src/systemcmds/tests/tests_main.h @@ -61,7 +61,6 @@ extern int test_IntrusiveSortedList(int argc, char *argv[]); extern int test_List(int argc, char *argv[]); extern int test_mathlib(int argc, char *argv[]); extern int test_matrix(int argc, char *argv[]); -extern int test_mixer(int argc, char *argv[]); extern int test_mount(int argc, char *argv[]); extern int test_param(int argc, char *argv[]); extern int test_parameters(int argc, char *argv[]);