forked from Archive/PX4-Autopilot
163 lines
2.9 KiB
Plaintext
163 lines
2.9 KiB
Plaintext
#!nsh
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#
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# Script to configure control interface
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#
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set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
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if [ $MIXER != none -a $MIXER != skip ]
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then
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#
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# Load main mixer
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#
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if [ $MIXER_AUX == none -a $USE_IO == yes ]
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then
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set MIXER_AUX $MIXER.aux
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fi
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# Use the mixer file from the SD-card if it exists
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if [ -f $SDCARD_MIXERS_PATH/$MIXER.main.mix ]
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then
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set MIXER_FILE $SDCARD_MIXERS_PATH/$MIXER.main.mix
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# Try out the old convention, for backward compatibility
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else
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if [ -f $SDCARD_MIXERS_PATH/$MIXER.mix ]
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then
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set MIXER_FILE $SDCARD_MIXERS_PATH/$MIXER.mix
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else
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set MIXER_FILE /etc/mixers/$MIXER.main.mix
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fi
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fi
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if [ $OUTPUT_MODE == mkblctrl ]
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then
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set OUTPUT_DEV /dev/mkblctrl0
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else
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set OUTPUT_DEV /dev/pwm_output0
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fi
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if [ $OUTPUT_MODE == uavcan_esc ]
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then
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set OUTPUT_DEV /dev/uavcan/esc
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fi
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if mixer load $OUTPUT_DEV $MIXER_FILE
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then
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echo "[i] Mixer: $MIXER_FILE"
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else
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echo "[i] Error loading mixer: $MIXER_FILE"
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tone_alarm $TUNE_ERR
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fi
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unset MIXER_FILE
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else
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if [ $MIXER != skip ]
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then
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echo "[i] Mixer not defined"
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tone_alarm $TUNE_ERR
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fi
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fi
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if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ]
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then
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if [ $PWM_OUT != none ]
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then
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#
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# Set PWM output frequency
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#
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if [ $PWM_RATE != none ]
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then
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pwm rate -c $PWM_OUT -r $PWM_RATE
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fi
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#
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# Set disarmed, min and max PWM values
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#
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if [ $PWM_DISARMED != none ]
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then
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pwm disarmed -c $PWM_OUT -p $PWM_DISARMED
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fi
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if [ $PWM_MIN != none ]
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then
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pwm min -c $PWM_OUT -p $PWM_MIN
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fi
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if [ $PWM_MAX != none ]
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then
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pwm max -c $PWM_OUT -p $PWM_MAX
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fi
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fi
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if [ $FAILSAFE != none ]
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then
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pwm failsafe -d $OUTPUT_DEV $FAILSAFE
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fi
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fi
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# check if should load secondary mixer
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if [ $MIXER_AUX != none ]
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then
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#
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# Load aux mixer
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#
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set MIXER_AUX_FILE none
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set OUTPUT_AUX_DEV /dev/pwm_output1
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if [ -f $SDCARD_MIXERS_PATH/$MIXER_AUX.mix ]
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then
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set MIXER_AUX_FILE $SDCARD_MIXERS_PATH/$MIXER_AUX.mix
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else
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if [ -f /etc/mixers/$MIXER_AUX.mix ]
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then
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set MIXER_AUX_FILE /etc/mixers/$MIXER_AUX.mix
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fi
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fi
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if [ $MIXER_AUX_FILE != none -a $FMU_MODE == pwm ]
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then
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if fmu mode_pwm
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then
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mixer load $OUTPUT_AUX_DEV $MIXER_AUX_FILE
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else
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tone_alarm $TUNE_ERR
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fi
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if [ $PWM_AUX_OUT != none ]
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then
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#
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# Set PWM_AUX output frequency
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#
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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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#
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# Set disarmed, min and max PWM_AUX values
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#
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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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if [ $FAILSAFE_AUX != none ]
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then
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pwm failsafe -d $OUTPUT_AUX_DEV $FAILSAFE
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fi
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fi
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fi
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unset OUTPUT_DEV
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