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dagardagar
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ROMFS: purge old mixing system
 - SYS_USE_IO is now off by default (enabled by default per board)
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‎.gitattributes

-1
Original file line numberDiff line numberDiff line change
@@ -21,7 +21,6 @@
2121

2222
# PX4 mixers, msgs, etc
2323
*.bin binary
24-
*.mix text eol=lf
2524
*.msg text eol=lf
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*.config text eol=lf
2726
*.sdf text eol=lf

‎Makefile

+1
Original file line numberDiff line numberDiff line change
@@ -322,6 +322,7 @@ px4io_update:
322322
# px4_io-v2_default
323323
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/pix32v5/extras/px4_io-v2_default.bin
325+
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21/extras/px4_io-v2_default.bin
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21-777/extras/px4_io-v2_default.bin
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v2/extras/px4_io-v2_default.bin
327328
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v3/extras/px4_io-v2_default.bin

‎ROMFS/px4fmu_common/CMakeLists.txt

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Original file line numberDiff line numberDiff line change
@@ -32,7 +32,6 @@
3232
############################################################################
3333

3434
add_subdirectory(init.d)
35-
add_subdirectory(mixers)
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# TODO: make this configurable from the board config, or better combine
3736
if("${PX4_BOARD}" MATCHES "sitl")
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add_subdirectory(init.d-posix)

‎ROMFS/px4fmu_common/init.d-posix/airframes/4001_x500

-2
Original file line numberDiff line numberDiff line change
@@ -11,8 +11,6 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=ignition}
1111
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
1212
PX4_SIM_WORLD=${PX4_SIM_WORLD:=default}
1313

14-
param set-default SYS_CTRL_ALLOC 1
15-
1614
param set-default CA_AIRFRAME 0
1715
param set-default CA_ROTOR_COUNT 4
1816

‎ROMFS/px4fmu_common/init.d-posix/rcS

+7-13
Original file line numberDiff line numberDiff line change
@@ -23,16 +23,6 @@ then
2323
fi
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2525
# initialize script variables
26-
set IO_PRESENT no
27-
set MIXER skip
28-
set MIXER_AUX none
29-
set MIXER_FILE none
30-
set OUTPUT_MODE sim
31-
set EXTRA_MIXER_MODE none
32-
set PWM_OUT none
33-
set PWM_AUX_OUT none
34-
set SDCARD_MIXERS_PATH etc/mixers
35-
set USE_IO no
3626
set VEHICLE_TYPE none
3727
set LOGGER_ARGS ""
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set LOGGER_BUF 1000
@@ -227,10 +217,14 @@ manual_control start
227217
sensors start
228218
commander start
229219

230-
# Configure vehicle type specific parameters.
231-
# Note: rc.vehicle_setup is the entry point for rc.interface,
232-
# rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
220+
if ! pwm_out_sim start -m sim
221+
then
222+
tune_control play error
223+
fi
224+
233225
#
226+
# Configure vehicle type specific parameters.
227+
# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
234228
. ${R}etc/init.d/rc.vehicle_setup
235229

236230
navigator start

‎ROMFS/px4fmu_common/init.d/CMakeLists.txt

-1
Original file line numberDiff line numberDiff line change
@@ -42,7 +42,6 @@ px4_add_romfs_files(
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rc.fw_apps
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rc.fw_defaults
4444
rc.heli_defaults
45-
rc.interface
4645
rc.logging
4746
rc.mc_apps
4847
rc.mc_defaults

‎ROMFS/px4fmu_common/init.d/airframes/4041_beta75x

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Original file line numberDiff line numberDiff line change
@@ -42,8 +42,6 @@ param set-default MC_YAW_P 4
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param set-default MPC_MANTHR_MIN 0
4343
param set-default MPC_MAN_TILT_MAX 60
4444

45-
param set-default DSHOT_CONFIG 600
46-
4745
param set-default SYS_HAS_BARO 0
4846
param set-default SYS_HAS_MAG 0
4947

‎ROMFS/px4fmu_common/init.d/rc.airship_apps

+4-7
Original file line numberDiff line numberDiff line change
@@ -48,13 +48,10 @@ fi
4848
# End Estimator Group Selection #
4949
###############################################################################
5050

51-
if param compare SYS_CTRL_ALLOC 1
52-
then
53-
#
54-
# Start Control Allocator
55-
#
56-
control_allocator start
57-
fi
51+
#
52+
# Start Control Allocator
53+
#
54+
control_allocator start
5855

5956
#
6057
# Start Airship Attitude Controller.

‎ROMFS/px4fmu_common/init.d/rc.airship_defaults

-6
Original file line numberDiff line numberDiff line change
@@ -9,9 +9,3 @@ set VEHICLE_TYPE airship
99

1010
# MAV_TYPE_AIRSHIP 7
1111
param set-default MAV_TYPE 7
12-
13-
#
14-
# This is the gimbal pass mixer.
15-
#
16-
set MIXER_AUX pass
17-
set PWM_AUX_OUT 1234

‎ROMFS/px4fmu_common/init.d/rc.autostart_ext

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@@ -2,7 +2,6 @@
22
#
33
# External airframe startup script (on SD card)
44
#
5-
set SDCARD_MIXERS_PATH ${SDCARD_EXT_PATH}/mixers
65

76
if [ -e ${SDCARD_EXT_PATH}/rc.autostart ]
87
then

‎ROMFS/px4fmu_common/init.d/rc.boat_defaults

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Original file line numberDiff line numberDiff line change
@@ -20,22 +20,3 @@ param set-default NAV_ACC_RAD 2
2020

2121
# Temporary.
2222
param set-default NAV_FW_ALT_RAD 1000
23-
24-
#
25-
# Enable servo output on pins 3 and 4 (steering and thrust)
26-
# but also include 1+2 as they form together one output group
27-
# and need to be set together.
28-
#
29-
set PWM_OUT 1234
30-
31-
#
32-
# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
33-
# may damage analog servos.
34-
#
35-
set PWM_MAIN_RATE 50
36-
37-
#
38-
# This is the gimbal pass mixer.
39-
#
40-
set MIXER_AUX pass
41-
set PWM_AUX_OUT 1234

‎ROMFS/px4fmu_common/init.d/rc.fw_apps

+4-7
Original file line numberDiff line numberDiff line change
@@ -10,13 +10,10 @@
1010
#
1111
ekf2 start &
1212

13-
if param compare SYS_CTRL_ALLOC 1
14-
then
15-
#
16-
# Start Control Allocator
17-
#
18-
control_allocator start
19-
fi
13+
#
14+
# Start Control Allocator
15+
#
16+
control_allocator start
2017

2118
#
2219
# Start attitude controller.

‎ROMFS/px4fmu_common/init.d/rc.fw_defaults

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Original file line numberDiff line numberDiff line change
@@ -52,11 +52,3 @@ param set-default PWM_MAIN_RATE 50
5252
# FW takeoff acceleration can easily exceed ublox GPS 2G default.
5353
#
5454
param set-default GPS_UBX_DYNMODEL 8
55-
56-
#
57-
# This is the gimbal pass mixer.
58-
#
59-
set MIXER_AUX pass
60-
61-
set PWM_AUX_RATE 50
62-
set PWM_AUX_OUT 1234

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