Add generic quad airframes for 250, 450, and 650 size quadrotors.

Move set PWM_OUT 1234 to rc.mc_defaults for multicopter airframe files that call that script. Move contents of 4050_generic_250 to 4250_generic_quad_250 and delete 4050_generic_250.
PX4 · Jan 8, 2020 · 5d4afe4 · 5d4afe4
1 parent 7cf1bb7
commit 5d4afe4
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Showing 31 changed files with 117 additions and 102 deletions.
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x b/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x
@@ -23,5 +23,3 @@
 sh /etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
-
-set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4002_quad_x_mount b/ROMFS/px4fmu_common/init.d/airframes/4002_quad_x_mount
@@ -28,7 +28,5 @@ then
 fi
 
 set MIXER quad_x
-set PWM_OUT 1234
-
 set MIXER_AUX mount
 set PWM_AUX_OUT 123456
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5 b/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5
@@ -12,9 +12,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
 if [ $AUTOCNF = yes ]
 then
 	param set MC_ROLL_P 8
@@ -37,3 +34,5 @@ then
 
 	param set PWM_MIN 1075
 fi
+
+set MIXER quad_x
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4004_H4_680mm b/ROMFS/px4fmu_common/init.d/airframes/4004_H4_680mm
@@ -12,12 +12,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
-set MIXER_AUX mount
-set PWM_AUX_OUT 123456
-
 # The Z1 Tiny2 can handle up to 400Hz
 # and works with min 1020us, middle 1520us, max 2020us
 # see http://www.zhiyun-tech.com/uploadfile/datedown/instruction/Tiny2_English_instructionV1.03.pdf
@@ -31,5 +25,9 @@ then
 	param set PWM_AUX_RATE 400
 fi
 
+set MIXER quad_x
+set MIXER_AUX mount
+set PWM_AUX_OUT 123456
+
 # Start FrSky telemetry on SERIAL4 (ttyS6, designated "SERIAL4/5" on the case)
 frsky_telemetry start -d /dev/ttyS6
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4009_qav250 b/ROMFS/px4fmu_common/init.d/airframes/4009_qav250
@@ -10,9 +10,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
 if [ $AUTOCNF = yes ]
 then
 	param set ATT_BIAS_MAX 0
@@ -39,3 +36,5 @@ then
 
 	param set PWM_MIN 1075
 fi
+
+set MIXER quad_x
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330
@@ -10,9 +10,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
 if [ $AUTOCNF = yes ]
 then
 	param set MC_ROLL_P 7
@@ -31,3 +28,5 @@ then
 	# DJI ESCs do not support calibration and need a higher min
 	param set PWM_MIN 1230
 fi
+
+set MIXER quad_x
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450
@@ -10,9 +10,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
 if [ $AUTOCNF = yes ]
 then
 	param set MC_ROLL_P 7
@@ -31,3 +28,5 @@ then
 	# DJI ESCs do not support calibration and need a higher min
 	param set PWM_MIN 1230
 fi
+
+set MIXER quad_x
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4012_quad_x_can b/ROMFS/px4fmu_common/init.d/airframes/4012_quad_x_can
@@ -12,9 +12,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
 if [ $AUTOCNF = yes ]
 then
 	param set MC_ROLL_P 7

diff --git a/ROMFS/px4fmu_common/init.d/airframes/4014_s500 b/ROMFS/px4fmu_common/init.d/airframes/4014_s500
@@ -10,9 +10,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
 if [ $AUTOCNF = yes ]
 then
 	param set MC_ROLLRATE_P 0.18
@@ -22,3 +19,5 @@ then
 	param set MC_ROLLRATE_D 0.003
 	param set MC_PITCHRATE_D 0.003
 fi
+
+set MIXER quad_x
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500 b/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500
@@ -10,9 +10,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
 if [ $AUTOCNF = yes ]
 then
 	param set IMU_GYRO_CUTOFF 80
@@ -24,3 +21,5 @@ then
 	param set MC_ROLLRATE_D 0.004
 	param set MC_PITCHRATE_D 0.004
 fi
+
+set MIXER quad_x
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb b/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb
@@ -18,9 +18,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
 if [ $AUTOCNF = yes ]
 then
 	param set MC_ROLL_P 7
@@ -38,3 +35,5 @@ then
 
 	param set PWM_MIN 1200
 fi
+
+set MIXER quad_x
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo b/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo
@@ -88,7 +88,4 @@ then
 fi
 
 set MIXER quad_x
-
-set PWM_OUT 1234
 set MIXER_AUX none
-
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad b/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad
@@ -10,8 +10,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
 
 if [ $AUTOCNF = yes ]
 then
@@ -25,3 +23,5 @@ then
 	param set MC_PITCHRATE_D 0.004
 	param set MC_YAW_P 4
 fi
+
+set MIXER quad_x
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4040_reaper b/ROMFS/px4fmu_common/init.d/airframes/4040_reaper
@@ -42,9 +42,3 @@ then
 fi
 
 set MIXER quad_h
-
-set PWM_OUT 1234
-
-set MIXER_AUX pass
-
-set PWM_AUX_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
@@ -62,5 +62,3 @@ fi
 
 # The Whoop uses reversed props
 set MIXER quad_h
-set PWM_OUT 1234
-
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq b/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq
@@ -21,11 +21,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER quad_s250aq
-set MAV_TYPE 2
-
-set PWM_OUT 1234
-
 if [ $AUTOCNF = yes ]
 then
 	param set ATT_BIAS_MAX 0
@@ -61,3 +56,6 @@ then
 
 	param set PWM_MIN 1075
 fi
+
+set MAV_TYPE 2
+set MIXER quad_s250aq
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 b/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
@@ -13,9 +13,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
 if [ $AUTOCNF = yes ]
 then
 	# The set does not include a battery, but most people will probably use 4S
@@ -55,3 +52,4 @@ then
 	param set THR_MDL_FAC 0.3
 fi
 
+set MIXER quad_x
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2 b/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2
@@ -12,9 +12,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
 if [ $AUTOCNF = yes ]
 then
 	param set BAT_N_CELLS 4
@@ -59,3 +56,4 @@ then
 	param set EV_TSK_RC_LOSS 1
 fi
 
+set MIXER quad_x
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100 b/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100
@@ -10,9 +10,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
 if [ $AUTOCNF = yes ]
 then
 	param set BAT_N_CELLS 6
@@ -31,3 +28,5 @@ then
 
 	param set PWM_MIN 1200
 fi
+
+set MIXER quad_x
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo
@@ -20,10 +20,6 @@
 # @maintainer Hyon Lim <[email protected]>
 #
 
-set VEHICLE_TYPE mc
-set MIXER quad_x
-set PWM_OUT 1234
-
 if [ $AUTOCNF = yes ]
 then
 	# Attitude & rate gains
@@ -124,3 +120,6 @@ then
 	param set MAV_1_MODE 0	# normal
 	param set SER_TEL2_BAUD 57600
 fi
+
+set MIXER quad_x
+set VEHICLE_TYPE mc
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4072_draco b/ROMFS/px4fmu_common/init.d/airframes/4072_draco
@@ -22,9 +22,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
 if [ $AUTOCNF = yes ]
 then
 	# use the Q attitude estimator, it works w/o mag or GPS.
@@ -101,3 +98,5 @@ then
 	# TELEM2 ttyS2
 	#param set MAV_1_CONFIG 0
 fi
+
+set MIXER quad_x
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250 b/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250
@@ -13,9 +13,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER zmr250
-set PWM_OUT 1234
-
 if [ $AUTOCNF = yes ]
 then
 	param set CBRK_IO_SAFETY 22027
@@ -52,3 +49,5 @@ then
 	param set PWM_RATE 400
 	param set PWM_DISARMED 900
 fi
+
+set MIXER zmr250
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind b/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind
@@ -17,9 +17,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
-set PWM_OUT 1234
-
 if [ $AUTOCNF = yes ]
 then
 	param set BAT_N_CELLS 1
@@ -41,3 +38,5 @@ then
 	param set PWM_MIN 500
 	param set PWM_MAX 2200
 fi
+
+set MIXER quad_x
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor b/ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor
@@ -31,5 +31,3 @@ param set LED_RGB_MAXBRT 8
 # Set mixer
 set MIXER tilt_quad
 set MIXER_AUX tilt_quad
-
-set PWM_OUT 1234
Original file line number	Diff line number	Diff line change
Expand Up		@@ -23,5 +23,3 @@
		sh /etc/init.d/rc.mc_defaults

		set MIXER quad_x

		set PWM_OUT 1234
Original file line number	Diff line number	Diff line change
Expand Up		@@ -62,5 +62,3 @@ fi

		# The Whoop uses reversed props
		set MIXER quad_h
		set PWM_OUT 1234