From 6b0ac296b6d5eb089a6b9d41dc57c9b74e49fcbe Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 18 Dec 2016 01:46:59 +0100
Subject: [PATCH] Fix usage of Iris mixer, make space by deleting unused files

---
 ROMFS/px4fmu_common/init.d/10016_3dr_iris     |  2 +-
 ROMFS/px4fmu_common/init.d/rcS                | 20 +++++++++-
 ROMFS/px4fmu_common/mixers/quad_dc.main.mix   |  6 +++
 .../mixers/sk450_deadcat.aux.mix              | 38 -------------------
 .../mixers/sk450_deadcat.main.mix             | 21 ----------
 5 files changed, 26 insertions(+), 61 deletions(-)
 create mode 100644 ROMFS/px4fmu_common/mixers/quad_dc.main.mix
 delete mode 100644 ROMFS/px4fmu_common/mixers/sk450_deadcat.aux.mix
 delete mode 100644 ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix

diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
index a9f65a6479..f3f11fdd3c 100644
--- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
@@ -29,6 +29,6 @@ then
 	param set BAT_A_PER_V 15.39103
 fi
 
-set MIXER quad_w
+set MIXER dc
 
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 6f1409667e..836fabc370 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -4,6 +4,24 @@
 #
 #  NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
 #
+# UART mapping on FMUv1/2/3/4:
+#
+# UART1			/dev/ttyS0		IO debug
+# USART2		/dev/ttyS1		TELEM1 (flow control)
+# USART3		/dev/ttyS2		TELEM2 (flow control)
+# UART4
+# UART
+#
+#
+# UART mapping on FMUv5:
+#
+# UART1			/dev/ttyS0		GPS
+# USART2		/dev/ttyS1		TELEM1 (flow control)
+# USART3		/dev/ttyS2		TELEM2 (flow control)
+# UART4			/dev/ttyS3		?
+# USART6		/dev/ttyS4		TELEM3 (flow control)
+# UART7			/dev/ttyS5		?
+# UART8			/dev/ttyS6		CONSOLE
 
 #
 # Start CDC/ACM serial driver
@@ -792,7 +810,7 @@ then
 			then
 				set MAV_TYPE 2
 			fi
-			if [ $MIXER == quad_w -o $MIXER == sk450_deadcat ]
+			if [ $MIXER == quad_w -o $MIXER == quad_dc ]
 			then
 				set MAV_TYPE 2
 			fi
diff --git a/ROMFS/px4fmu_common/mixers/quad_dc.main.mix b/ROMFS/px4fmu_common/mixers/quad_dc.main.mix
new file mode 100644
index 0000000000..07b99c1e6b
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/quad_dc.main.mix
@@ -0,0 +1,6 @@
+Multirotor mixer
+===========================
+
+This file defines a single mixer for a quadrotor in DC wide arms configuration.  All controls are mixed 100%.
+
+R: 4dc 10000 10000 10000 0
diff --git a/ROMFS/px4fmu_common/mixers/sk450_deadcat.aux.mix b/ROMFS/px4fmu_common/mixers/sk450_deadcat.aux.mix
deleted file mode 100644
index 11f3813ad7..0000000000
--- a/ROMFS/px4fmu_common/mixers/sk450_deadcat.aux.mix
+++ /dev/null
@@ -1,38 +0,0 @@
-Gimbal / payload mixer for PX4FMU
-===========================
-
-Configuration with 2 gimbals:
- - 2 axes inline GoPro gimbal (pitch, roll)
- - 2 axes FPV gimbal (pitch, yaw), physically attached GoPro gimbal's roll stabilization
------------------------------------------------------
-
-# gimbal roll
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 2 0  -11500  -10000  900 -10000  10000
-
-# gimbal pitch
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 2 1  12000  12000   2000 -10000  10000
-
-# FPV gimbal yaw (not implemented, yet)
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 2 2  10000  10000      0 -10000  10000
-
-# FPV gimbal pitch
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 2 1  -12000  -12000 -3000 -10000  10000
-
-# reserved, not used
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 2 4  10000  10000      0 -10000  10000
-
-# parachute
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 2 7  10000  10000      0 -10000  10000
-
diff --git a/ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix b/ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix
deleted file mode 100644
index 03759fb308..0000000000
--- a/ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix
+++ /dev/null
@@ -1,21 +0,0 @@
-Multirotor mixer for PX4IO
-===========================
-
-This file defines a single mixer for a quadrotor in SK450 DeadCat configuration.  All controls are mixed 100%.
-
-R: 4dc 10000 10000 10000 0
-
-Gimbal / payload mixer for last three channels
------------------------------------------------------
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 3 5  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 3 6  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 3 7  10000  10000      0 -10000  10000