From ee3e34cd0690cd76b6f9df77c15bf52ca2eb15bd Mon Sep 17 00:00:00 2001 From: mcsauder Date: Fri, 20 Jul 2018 11:19:12 -0600 Subject: [PATCH] Move UART mapping comments back to top level rcS script. Deprecate PWM_ACHDIS and replace with PWM_AUX_OUT and set PWM_AUX_DIS value directly in vtol airframe config files. Replace tone_alarm instances with tune_control and default tune enums, and relocate an OUTPUT_MODE == fmu logic block in rcS. --- .../init.d/13000_generic_vtol_standard | 11 ++- .../init.d/13005_vtol_AAERT_quad | 12 +-- .../init.d/13006_vtol_standard_delta | 12 +-- .../init.d/13007_vtol_AAVVT_quad | 12 +-- ROMFS/px4fmu_common/init.d/13008_QuadRanger | 12 +-- .../init.d/13009_vtol_spt_ranger | 12 +-- ROMFS/px4fmu_common/init.d/13010_claire | 23 +++--- ROMFS/px4fmu_common/init.d/13012_convergence | 5 +- ROMFS/px4fmu_common/init.d/13013_deltaquad | 14 ++-- ROMFS/px4fmu_common/init.d/rc.interface | 17 ----- ROMFS/px4fmu_common/init.d/rc.mavlink | 31 -------- ROMFS/px4fmu_common/init.d/rcS | 75 ++++++++++++++----- 12 files changed, 113 insertions(+), 123 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/13000_generic_vtol_standard b/ROMFS/px4fmu_common/init.d/13000_generic_vtol_standard index 588307f9d1..7665383e31 100644 --- a/ROMFS/px4fmu_common/init.d/13000_generic_vtol_standard +++ b/ROMFS/px4fmu_common/init.d/13000_generic_vtol_standard @@ -24,14 +24,13 @@ if [ $AUTOCNF == yes ] then param set VT_TYPE 2 param set VT_MOT_COUNT 4 + param set PWM_AUX_DIS5 950 fi +set MAV_TYPE 22 + set MIXER quad_x +set MIXER_AUX vtol_AAERT + set PWM_OUT 1234 set PWM_RATE 400 - -set MIXER_AUX vtol_AAERT -set PWM_ACHDIS 5 -set PWM_AUX_DISARMED 950 - -set MAV_TYPE 22 diff --git a/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad b/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad index 1fc37ebd04..6fac177b70 100644 --- a/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad +++ b/ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad @@ -59,14 +59,14 @@ then param set VT_MOT_COUNT 4 param set VT_IDLE_PWM_MC 1080 param set VT_TYPE 2 + + param set PWM_AUX_DIS5 950 fi +set MAV_TYPE 22 + set MIXER quad_x +set MIXER_AUX vtol_AAERT + set PWM_OUT 1234 set PWM_RATE 400 - -set MIXER_AUX vtol_AAERT -set PWM_ACHDIS 5 -set PWM_AUX_DISARMED 950 - -set MAV_TYPE 22 diff --git a/ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta b/ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta index 26d138b54c..f9833f417d 100644 --- a/ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta +++ b/ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta @@ -49,14 +49,14 @@ then param set VT_MOT_COUNT 4 param set VT_IDLE_PWM_MC 1080 param set VT_TYPE 2 + + param set PWM_AUX_DIS3 950 fi +set MAV_TYPE 22 + set MIXER quad_x +set MIXER_AUX vtol_delta + set PWM_OUT 1234 set PWM_RATE 400 - -set MIXER_AUX vtol_delta -set PWM_ACHDIS 3 -set PWM_AUX_DISARMED 950 - -set MAV_TYPE 22 diff --git a/ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad b/ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad index 5efcf70fbc..909459ac60 100644 --- a/ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad +++ b/ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad @@ -37,14 +37,14 @@ then param set VT_MOT_COUNT 4 param set VT_IDLE_PWM_MC 1080 param set VT_TYPE 2 + + param set PWM_AUX_DIS5 950 fi +set MAV_TYPE 22 + set MIXER quad_x +set MIXER_AUX vtol_AAVVT + set PWM_OUT 1234 set PWM_RATE 400 - -set MIXER_AUX vtol_AAVVT -set PWM_ACHDIS 5 -set PWM_AUX_DISARMED 950 - -set MAV_TYPE 22 diff --git a/ROMFS/px4fmu_common/init.d/13008_QuadRanger b/ROMFS/px4fmu_common/init.d/13008_QuadRanger index 23b2e50358..e3b73538ac 100644 --- a/ROMFS/px4fmu_common/init.d/13008_QuadRanger +++ b/ROMFS/px4fmu_common/init.d/13008_QuadRanger @@ -57,14 +57,14 @@ then param set VT_MOT_COUNT 4 param set VT_IDLE_PWM_MC 1080 param set VT_TYPE 2 + + param set PWM_AUX_DIS5 950 fi +set MAV_TYPE 22 + set MIXER quad_x +set MIXER_AUX vtol_AAERT + set PWM_OUT 1234 set PWM_RATE 400 - -set MIXER_AUX vtol_AAERT -set PWM_ACHDIS 5 -set PWM_AUX_DISARMED 950 - -set MAV_TYPE 22 diff --git a/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger b/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger index 7dc69193eb..64ab0ea1f0 100644 --- a/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger +++ b/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger @@ -74,14 +74,14 @@ then param set PWM_AUX_REV2 1 param set PWM_AUX_REV3 1 param set PWM_AUX_REV4 1 + + param set PWM_AUX_DIS5 950 fi +set MAV_TYPE 22 + set MIXER quad_x +set MIXER_AUX vtol_AAERT + set PWM_OUT 1234 set PWM_RATE 400 - -set MIXER_AUX vtol_AAERT -set PWM_ACHDIS 5 -set PWM_AUX_DISARMED 950 - -set MAV_TYPE 22 diff --git a/ROMFS/px4fmu_common/init.d/13010_claire b/ROMFS/px4fmu_common/init.d/13010_claire index 917f550b73..15a0ce31e9 100644 --- a/ROMFS/px4fmu_common/init.d/13010_claire +++ b/ROMFS/px4fmu_common/init.d/13010_claire @@ -14,27 +14,28 @@ sh /etc/init.d/rc.vtol_defaults if [ $AUTOCNF == yes ] then -param set VT_TYPE 1 -param set VT_TILT_MC 0.08 -param set VT_TILT_TRANS 0.5 -param set VT_TILT_FW 0.9 + param set VT_TYPE 1 + param set VT_TILT_MC 0.08 + param set VT_TILT_TRANS 0.5 + param set VT_TILT_FW 0.9 -param set VT_MOT_COUNT 4 -param set VT_FW_MOT_OFFID 13 -param set VT_IDLE_PWM_MC 1080 -param set VT_TYPE 1 + param set VT_MOT_COUNT 4 + param set VT_FW_MOT_OFFID 13 + param set VT_IDLE_PWM_MC 1080 + param set VT_TYPE 1 fi +set MAV_TYPE 21 + set MIXER claire +set MIXER_AUX claire + set PWM_OUT 1234 set PWM_RATE 400 set PWM_MAX 2000 -set MIXER_AUX claire set PWM_AUX_RATE 50 set PWM_AUX_RATE 123 set PWM_AUX_MIN 1000 set PWM_AUX_MAX 2000 set PWM_AUX_DISARMED 1000 - -set MAV_TYPE 21 diff --git a/ROMFS/px4fmu_common/init.d/13012_convergence b/ROMFS/px4fmu_common/init.d/13012_convergence index 9928af42e4..8859c7effa 100644 --- a/ROMFS/px4fmu_common/init.d/13012_convergence +++ b/ROMFS/px4fmu_common/init.d/13012_convergence @@ -75,8 +75,9 @@ then param set SENS_BOARD_ROT 8 fi +set MAV_TYPE 21 + set MIXER vtol_convergence + set PWM_OUT 1234 set PWM_RATE 400 - -set MAV_TYPE 21 diff --git a/ROMFS/px4fmu_common/init.d/13013_deltaquad b/ROMFS/px4fmu_common/init.d/13013_deltaquad index 01e49cefb8..581eaa949b 100644 --- a/ROMFS/px4fmu_common/init.d/13013_deltaquad +++ b/ROMFS/px4fmu_common/init.d/13013_deltaquad @@ -131,7 +131,6 @@ then param set MIS_DIST_WPS 100000 param set MIS_TAKEOFF_ALT 15 - param set NAV_DLL_ACT 0 param set NAV_LOITER_RAD 100 @@ -139,17 +138,18 @@ then param set SENS_BOARD_ROT 18 fi -set MIXER deltaquad -set PWM_OUT 1234 -set PWM_RATE 400 - param set PWM_MAIN_DIS5 1500 param set PWM_MAIN_DIS6 1500 param set PWM_MAIN_DIS7 900 param set PWM_MAIN_DIS8 900 +set MAV_TYPE 22 + +set MIXER deltaquad set MIXER_AUX pass + +set PWM_OUT 1234 +set PWM_RATE 400 + set PWM_AUX_OUT 12345 set PWM_AUX_DISARMED 950 - -set MAV_TYPE 22 diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface index 2b08c52417..4f9bfdeef3 100644 --- a/ROMFS/px4fmu_common/init.d/rc.interface +++ b/ROMFS/px4fmu_common/init.d/rc.interface @@ -166,23 +166,6 @@ then fi fi - # - # Set disarmed values for aux out. - # Transitional support until all configs are updated. - # - if [ $PWM_ACHDIS == none ] - then - set PWM_ACHDIS ${PWM_AUX_OUT} - fi - - # - # Set disarmed, min and max PWM_AUX values. - # - if [ $PWM_AUX_DISARMED != none -a $PWM_ACHDIS != none ] - then - pwm disarmed -c ${PWM_ACHDIS} -p ${PWM_AUX_DISARMED} -d ${OUTPUT_AUX_DEV} - fi - # # Per channel disarmed settings. # diff --git a/ROMFS/px4fmu_common/init.d/rc.mavlink b/ROMFS/px4fmu_common/init.d/rc.mavlink index b4860b11df..7e04548cfc 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mavlink +++ b/ROMFS/px4fmu_common/init.d/rc.mavlink @@ -6,37 +6,6 @@ # # NOTE: Normal mode uses baud rate of 57600 (default) and data rate of 1000 bytes/s. # -#------------------------------------------------------------------------------ -# -# UART mapping on FMUv2/3/4: -# -# UART1 /dev/ttyS0 IO debug (except v4, there ttyS0 is the wifi) -# USART2 /dev/ttyS1 TELEM1 (flow control) -# USART3 /dev/ttyS2 TELEM2 (flow control) -# UART4 -# UART7 CONSOLE -# UART8 SERIAL4 -# -#------------------------------------------------------------------------------ -# -# UART mapping on FMUv5: -# -# UART1 /dev/ttyS0 GPS -# USART2 /dev/ttyS1 TELEM1 (flow control) -# USART3 /dev/ttyS2 TELEM2 (flow control) -# UART4 /dev/ttyS3 TELEM4 -# USART6 /dev/ttyS4 TELEM3 (flow control) -# UART7 /dev/ttyS5 -# UART8 /dev/ttyS6 CONSOLE -# -#------------------------------------------------------------------------------ -# -# UART mapping on OMNIBUSF4SD: -# -# USART1 /dev/ttyS0 SerialRX -# USART4 /dev/ttyS1 TELEM1 -# USART6 /dev/ttyS2 GPS -# ############################################################################### # Begin Setup for board specific configurations. # diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 4f1e43965c..8f0593ac06 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -13,6 +13,37 @@ set +e # # NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS. # +#------------------------------------------------------------------------------ +# +# UART mapping on FMUv2/3/4: +# +# UART1 /dev/ttyS0 IO debug (except v4, there ttyS0 is the wifi) +# USART2 /dev/ttyS1 TELEM1 (flow control) +# USART3 /dev/ttyS2 TELEM2 (flow control) +# UART4 +# UART7 CONSOLE +# UART8 SERIAL4 +# +#------------------------------------------------------------------------------ +# +# UART mapping on FMUv5: +# +# UART1 /dev/ttyS0 GPS +# USART2 /dev/ttyS1 TELEM1 (flow control) +# USART3 /dev/ttyS2 TELEM2 (flow control) +# UART4 /dev/ttyS3 TELEM4 +# USART6 /dev/ttyS4 TELEM3 (flow control) +# UART7 /dev/ttyS5 +# UART8 /dev/ttyS6 CONSOLE +# +#------------------------------------------------------------------------------ +# +# UART mapping on OMNIBUSF4SD: +# +# USART1 /dev/ttyS0 SerialRX +# USART4 /dev/ttyS1 TELEM1 +# USART6 /dev/ttyS2 GPS +# # # Set default paramter values @@ -38,7 +69,6 @@ set MK_MODE none set MKBLCTRL_ARG "" set OUTPUT_MODE none set PARAM_FILE /fs/microsd/params -set PWM_ACHDIS none set PWM_AUX_DISARMED p:PWM_AUX_DISARMED set PWM_AUX_MAX p:PWM_AUX_MAX set PWM_AUX_MIN p:PWM_AUX_MIN @@ -49,7 +79,6 @@ set PWM_MAX p:PWM_MAX set PWM_MIN p:PWM_MIN set PWM_OUT none set PWM_RATE p:PWM_RATE -set TUNE_ERR "ML<> $LOG_FILE - tone_alarm MLL8CDE + tune_control play -m MLL8CDE set IO_PRESENT yes else echo "PX4IO update failed" >> $LOG_FILE - tone_alarm ${TUNE_ERR} + # Error tune. + tune_control play -t 2 fi else echo "PX4IO update failed" >> $LOG_FILE - tune_control play -m ${TUNE_ERR} + # Error tune. + tune_control play -t 2 fi fi fi @@ -361,7 +394,8 @@ else if [ $USE_IO == yes -a $IO_PRESENT == no ] then echo "PX4IO not found" >> $LOG_FILE - tune_control play -m ${TUNE_ERR} + # Error tune. + tune_control play -t 2 fi # @@ -429,7 +463,8 @@ else fi fi else - tone_alarm ${TUNE_ERR} + # Error tune. + tune_control play -t 2 fi fi @@ -475,7 +510,8 @@ else if mkblctrl $MKBLCTRL_ARG then else - tune_control play -m ${TUNE_ERR} + # Error tune. + tune_control play -t 2 fi fi @@ -484,7 +520,8 @@ else if pwm_out_sim start then else - tune_control play -m ${TUNE_ERR} + # Error tune. + tune_control play -t 2 fi fi @@ -499,7 +536,8 @@ else then else echo "FMU start failed" >> $LOG_FILE - tune_control play -m ${TUNE_ERR} + # Error tune. + tune_control play -t 2 fi fi @@ -524,7 +562,8 @@ else then else echo "FMU mode_${FMU_MODE} start failed" >> $LOG_FILE - tune_control play -m ${TUNE_ERR} + # Error tune. + tune_control play -t 2 fi fi fi @@ -612,7 +651,6 @@ unset MKBLCTRL_ARG unset OUTPUT_DEV unset OUTPUT_MODE unset PARAM_FILE -unset PWM_ACHDIS unset PWM_AUX_DISARMED unset PWM_AUX_MAX unset PWM_AUX_MIN @@ -623,7 +661,6 @@ unset PWM_RATE unset PWM_DISARMED unset PWM_MAX unset PWM_MIN -unset TUNE_ERR unset USE_IO unset VEHICLE_TYPE