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Append AUX mixer for HITL simulation (#5457)

This commit is contained in:
Bart Slinger 2016-09-07 12:09:22 +02:00 committed by Lorenz Meier
parent cbbf5e2e7c
commit 79d8d580b1
4 changed files with 41 additions and 10 deletions
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13
ROMFS/px4fmu_common/init.d/rc.interface
View File

@ -138,7 +138,18 @@ then
then
if fmu mode_$AUX_MODE
then
if [ -e $OUTPUT_AUX_DEV ]
# Append aux mixer to main device
if [ $OUTPUT_MODE == hil ]
then
if mixer append $OUTPUT_DEV $MIXER_AUX_FILE
then
echo "INFO [init] Mixer: $MIXER_AUX_FILE appended to $OUTPUT_DEV"
else
echo "ERROR [init] Error appending mixer: $MIXER_AUX_FILE"
echo "ERROR [init] Could not append mixer: $MIXER_AUX_FILE" >> $LOG_FILE
fi
fi
if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
then
if mixer load $OUTPUT_AUX_DEV $MIXER_AUX_FILE
then

2
ROMFS/px4fmu_common/init.d/rcS
View File

@ -438,7 +438,7 @@ then
if [ $OUTPUT_MODE == hil ]
then
if pwm_out_sim mode_port2_pwm8
if pwm_out_sim mode_pwm16
then
else
tone_alarm $TUNE_ERR

7
src/modules/mavlink/mavlink_messages.cpp
View File

@ -2295,7 +2295,8 @@ protected:
system_type == MAV_TYPE_HEXAROTOR ||
system_type == MAV_TYPE_OCTOROTOR ||
system_type == MAV_TYPE_VTOL_DUOROTOR ||
system_type == MAV_TYPE_VTOL_QUADROTOR) {
system_type == MAV_TYPE_VTOL_QUADROTOR ||
system_type == MAV_TYPE_VTOL_RESERVED2) {
/* multirotors: set number of rotor outputs depending on type */
@ -2318,6 +2319,10 @@ protected:
n = 4;
break;
case MAV_TYPE_VTOL_RESERVED2:
n = 8;
break;
default:
n = 8;
break;

29
src/systemcmds/mixer/mixer.cpp
View File

@ -59,7 +59,7 @@
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);
static int load(const char *devname, const char *fname, bool append);
int
mixer_main(int argc, char *argv[])
@ -75,13 +75,26 @@ mixer_main(int argc, char *argv[])
return 1;
}
int ret = load(argv[2], argv[3]);
int ret = load(argv[2], argv[3], false);
if (ret != 0) {
warnx("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) {
warnx("failed to append mixer");
return 1;
}
} else {
usage("Unknown command");
return 1;
@ -102,7 +115,7 @@ usage(const char *reason)
}
static int
load(const char *devname, const char *fname)
load(const char *devname, const char *fname, bool append)
{
// sleep a while to ensure device has been set up
usleep(20000);
@ -115,10 +128,12 @@ load(const char *devname, const char *fname)
return 1;
}
/* reset mixers on the device */
if (px4_ioctl(dev, MIXERIOCRESET, 0)) {
warnx("can't reset mixers on %s", devname);
return 1;
/* reset mixers on the device, but not if appending */
if (!append) {
if (px4_ioctl(dev, MIXERIOCRESET, 0)) {
warnx("can't reset mixers on %s", devname);
return 1;
}
}
char buf[2048];