forked from Archive/PX4-Autopilot
ROMFS: add dshot startup support
This commit is contained in:
Beat Küng
parent
a161be6ec8
commit
d8ef1b59b9
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@ -9,6 +9,7 @@
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# Otherwise, the variable name goes to the end of the argument.
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#
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set FMU_CMD fmu
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set MIXER_AUX_FILE none
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set OUTPUT_AUX_DEV /dev/pwm_output1
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set OUTPUT_DEV none
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@ -42,9 +43,19 @@ then
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if [ $IO_PRESENT = yes ]
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then
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set OUTPUT_MODE io
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if param greater DSHOT_CONFIG 0
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then
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set FMU_CMD dshot
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fi
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fi
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else
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set OUTPUT_MODE fmu
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if param greater DSHOT_CONFIG 0
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then
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set OUTPUT_MODE dshot
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set FMU_CMD dshot
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else
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set OUTPUT_MODE fmu
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fi
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fi
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fi
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@ -80,11 +91,11 @@ then
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fi
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fi
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if [ $OUTPUT_MODE = fmu ]
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if [ $OUTPUT_MODE = $FMU_CMD ]
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then
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if ! fmu mode_$FMU_MODE $FMU_ARGS
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if ! $FMU_CMD mode_$FMU_MODE
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then
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echo "FMU start failed" >> $LOG_FILE
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echo "$FMU_CMD start failed" >> $LOG_FILE
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# Error tune.
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tune_control play -t 2
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fi
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@ -195,7 +206,7 @@ then
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if [ $MIXER_AUX_FILE != none ]
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then
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if fmu mode_${AUX_MODE} $FMU_ARGS
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if $FMU_CMD mode_${AUX_MODE}
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then
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# Append aux mixer to main device.
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if param greater SYS_HITL 0
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@ -228,82 +239,86 @@ then
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set FAILSAFE_AUX none
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fi
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# Set min / max for aux out and rates.
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if [ $PWM_AUX_OUT != none ]
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# for DShot do not configure pwm values
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if [ $FMU_CMD != dshot ]
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then
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# Set PWM_AUX output frequency.
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if [ $PWM_AUX_RATE != none ]
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# Set min / max for aux out and rates.
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if [ $PWM_AUX_OUT != none ]
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then
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pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
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# Set PWM_AUX output frequency.
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if [ $PWM_AUX_RATE != none ]
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then
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pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
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fi
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# Set disarmed, min and max PWM_AUX values.
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if [ $PWM_AUX_DISARMED != none ]
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then
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pwm disarmed -c ${PWM_AUX_OUT} -p ${PWM_AUX_DISARMED} -d ${OUTPUT_AUX_DEV}
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fi
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if [ $PWM_AUX_MIN != none ]
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then
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pwm min -c ${PWM_AUX_OUT} -p ${PWM_AUX_MIN} -d ${OUTPUT_AUX_DEV}
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fi
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if [ $PWM_AUX_MAX != none ]
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then
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pwm max -c ${PWM_AUX_OUT} -p ${PWM_AUX_MAX} -d ${OUTPUT_AUX_DEV}
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fi
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fi
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# Set disarmed, min and max PWM_AUX values.
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if [ $PWM_AUX_DISARMED != none ]
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#
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# Per channel disarmed settings.
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#
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pwm disarmed -c 1 -p p:PWM_AUX_DIS1 -d ${OUTPUT_AUX_DEV}
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pwm disarmed -c 2 -p p:PWM_AUX_DIS2 -d ${OUTPUT_AUX_DEV}
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pwm disarmed -c 3 -p p:PWM_AUX_DIS3 -d ${OUTPUT_AUX_DEV}
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pwm disarmed -c 4 -p p:PWM_AUX_DIS4 -d ${OUTPUT_AUX_DEV}
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pwm disarmed -c 5 -p p:PWM_AUX_DIS5 -d ${OUTPUT_AUX_DEV}
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pwm disarmed -c 6 -p p:PWM_AUX_DIS6 -d ${OUTPUT_AUX_DEV}
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pwm disarmed -c 7 -p p:PWM_AUX_DIS7 -d ${OUTPUT_AUX_DEV}
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pwm disarmed -c 8 -p p:PWM_AUX_DIS8 -d ${OUTPUT_AUX_DEV}
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#
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# Per channel min settings.
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#
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pwm min -c 1 -p p:PWM_AUX_MIN1 -d ${OUTPUT_AUX_DEV}
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pwm min -c 2 -p p:PWM_AUX_MIN2 -d ${OUTPUT_AUX_DEV}
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pwm min -c 3 -p p:PWM_AUX_MIN3 -d ${OUTPUT_AUX_DEV}
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pwm min -c 4 -p p:PWM_AUX_MIN4 -d ${OUTPUT_AUX_DEV}
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pwm min -c 5 -p p:PWM_AUX_MIN5 -d ${OUTPUT_AUX_DEV}
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pwm min -c 6 -p p:PWM_AUX_MIN6 -d ${OUTPUT_AUX_DEV}
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pwm min -c 7 -p p:PWM_AUX_MIN7 -d ${OUTPUT_AUX_DEV}
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pwm min -c 8 -p p:PWM_AUX_MIN8 -d ${OUTPUT_AUX_DEV}
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#
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# Per channel max settings.
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#
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pwm max -c 1 -p p:PWM_AUX_MAX1 -d ${OUTPUT_AUX_DEV}
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pwm max -c 2 -p p:PWM_AUX_MAX2 -d ${OUTPUT_AUX_DEV}
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pwm max -c 3 -p p:PWM_AUX_MAX3 -d ${OUTPUT_AUX_DEV}
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pwm max -c 4 -p p:PWM_AUX_MAX4 -d ${OUTPUT_AUX_DEV}
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pwm max -c 5 -p p:PWM_AUX_MAX5 -d ${OUTPUT_AUX_DEV}
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pwm max -c 6 -p p:PWM_AUX_MAX6 -d ${OUTPUT_AUX_DEV}
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pwm max -c 7 -p p:PWM_AUX_MAX7 -d ${OUTPUT_AUX_DEV}
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pwm max -c 8 -p p:PWM_AUX_MAX8 -d ${OUTPUT_AUX_DEV}
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if [ $FAILSAFE_AUX != none ]
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then
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pwm disarmed -c ${PWM_AUX_OUT} -p ${PWM_AUX_DISARMED} -d ${OUTPUT_AUX_DEV}
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fi
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if [ $PWM_AUX_MIN != none ]
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then
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pwm min -c ${PWM_AUX_OUT} -p ${PWM_AUX_MIN} -d ${OUTPUT_AUX_DEV}
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fi
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if [ $PWM_AUX_MAX != none ]
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then
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pwm max -c ${PWM_AUX_OUT} -p ${PWM_AUX_MAX} -d ${OUTPUT_AUX_DEV}
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pwm failsafe -c ${PWM_AUX_OUT} -p ${FAILSAFE} -d ${OUTPUT_AUX_DEV}
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fi
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#
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# Per channel failsafe settings.
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#
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pwm failsafe -c 1 -p p:PWM_AUX_FAIL1 -d ${OUTPUT_AUX_DEV}
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pwm failsafe -c 2 -p p:PWM_AUX_FAIL2 -d ${OUTPUT_AUX_DEV}
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pwm failsafe -c 3 -p p:PWM_AUX_FAIL3 -d ${OUTPUT_AUX_DEV}
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pwm failsafe -c 4 -p p:PWM_AUX_FAIL4 -d ${OUTPUT_AUX_DEV}
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pwm failsafe -c 5 -p p:PWM_AUX_FAIL5 -d ${OUTPUT_AUX_DEV}
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pwm failsafe -c 6 -p p:PWM_AUX_FAIL6 -d ${OUTPUT_AUX_DEV}
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pwm failsafe -c 7 -p p:PWM_AUX_FAIL7 -d ${OUTPUT_AUX_DEV}
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pwm failsafe -c 8 -p p:PWM_AUX_FAIL8 -d ${OUTPUT_AUX_DEV}
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fi
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#
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# Per channel disarmed settings.
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#
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pwm disarmed -c 1 -p p:PWM_AUX_DIS1 -d ${OUTPUT_AUX_DEV}
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pwm disarmed -c 2 -p p:PWM_AUX_DIS2 -d ${OUTPUT_AUX_DEV}
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pwm disarmed -c 3 -p p:PWM_AUX_DIS3 -d ${OUTPUT_AUX_DEV}
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pwm disarmed -c 4 -p p:PWM_AUX_DIS4 -d ${OUTPUT_AUX_DEV}
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pwm disarmed -c 5 -p p:PWM_AUX_DIS5 -d ${OUTPUT_AUX_DEV}
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pwm disarmed -c 6 -p p:PWM_AUX_DIS6 -d ${OUTPUT_AUX_DEV}
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pwm disarmed -c 7 -p p:PWM_AUX_DIS7 -d ${OUTPUT_AUX_DEV}
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pwm disarmed -c 8 -p p:PWM_AUX_DIS8 -d ${OUTPUT_AUX_DEV}
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#
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# Per channel min settings.
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#
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pwm min -c 1 -p p:PWM_AUX_MIN1 -d ${OUTPUT_AUX_DEV}
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pwm min -c 2 -p p:PWM_AUX_MIN2 -d ${OUTPUT_AUX_DEV}
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pwm min -c 3 -p p:PWM_AUX_MIN3 -d ${OUTPUT_AUX_DEV}
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pwm min -c 4 -p p:PWM_AUX_MIN4 -d ${OUTPUT_AUX_DEV}
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pwm min -c 5 -p p:PWM_AUX_MIN5 -d ${OUTPUT_AUX_DEV}
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pwm min -c 6 -p p:PWM_AUX_MIN6 -d ${OUTPUT_AUX_DEV}
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pwm min -c 7 -p p:PWM_AUX_MIN7 -d ${OUTPUT_AUX_DEV}
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pwm min -c 8 -p p:PWM_AUX_MIN8 -d ${OUTPUT_AUX_DEV}
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#
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# Per channel max settings.
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#
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pwm max -c 1 -p p:PWM_AUX_MAX1 -d ${OUTPUT_AUX_DEV}
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pwm max -c 2 -p p:PWM_AUX_MAX2 -d ${OUTPUT_AUX_DEV}
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pwm max -c 3 -p p:PWM_AUX_MAX3 -d ${OUTPUT_AUX_DEV}
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pwm max -c 4 -p p:PWM_AUX_MAX4 -d ${OUTPUT_AUX_DEV}
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pwm max -c 5 -p p:PWM_AUX_MAX5 -d ${OUTPUT_AUX_DEV}
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pwm max -c 6 -p p:PWM_AUX_MAX6 -d ${OUTPUT_AUX_DEV}
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pwm max -c 7 -p p:PWM_AUX_MAX7 -d ${OUTPUT_AUX_DEV}
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pwm max -c 8 -p p:PWM_AUX_MAX8 -d ${OUTPUT_AUX_DEV}
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if [ $FAILSAFE_AUX != none ]
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then
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pwm failsafe -c ${PWM_AUX_OUT} -p ${FAILSAFE} -d ${OUTPUT_AUX_DEV}
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fi
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#
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# Per channel failsafe settings.
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#
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pwm failsafe -c 1 -p p:PWM_AUX_FAIL1 -d ${OUTPUT_AUX_DEV}
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pwm failsafe -c 2 -p p:PWM_AUX_FAIL2 -d ${OUTPUT_AUX_DEV}
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pwm failsafe -c 3 -p p:PWM_AUX_FAIL3 -d ${OUTPUT_AUX_DEV}
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pwm failsafe -c 4 -p p:PWM_AUX_FAIL4 -d ${OUTPUT_AUX_DEV}
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pwm failsafe -c 5 -p p:PWM_AUX_FAIL5 -d ${OUTPUT_AUX_DEV}
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pwm failsafe -c 6 -p p:PWM_AUX_FAIL6 -d ${OUTPUT_AUX_DEV}
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pwm failsafe -c 7 -p p:PWM_AUX_FAIL7 -d ${OUTPUT_AUX_DEV}
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pwm failsafe -c 8 -p p:PWM_AUX_FAIL8 -d ${OUTPUT_AUX_DEV}
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fi
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fi
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@ -386,6 +401,7 @@ then
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pwm failsafe -c 8 -p p:PWM_MAIN_FAIL8
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fi
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unset FMU_CMD
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unset MIXER_AUX_FILE
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unset OUTPUT_AUX_DEV
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unset OUTPUT_DEV
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@ -27,7 +27,6 @@ set FAILSAFE none
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set FAILSAFE_AUX none
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set FCONFIG /fs/microsd/etc/config.txt
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set FEXTRAS /fs/microsd/etc/extras.txt
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set FMU_ARGS ""
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set FMU_MODE pwm
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set FRC /fs/microsd/etc/rc.txt
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set IOFW "/etc/extras/px4_io-v2_default.bin"
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@ -521,7 +520,6 @@ unset FAILSAFE
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unset FAILSAFE_AUX
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unset FCONFIG
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unset FEXTRAS
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unset FMU_ARGS
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unset FMU_MODE
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unset FRC
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unset IO_PRESENT
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