I’ve started to add new code to mixer.h and mixer_group.cpp along with a new file that will eventually hold the new mixer type mixer_v22_osprey.cpp. I also added a rotormast_osprey.main.mix and 16002_osprey files. I’m using a Pixhawk 2.1. Here is the output from the console…
sercon: Registering CDC/ACM serial driver
sercon: Successfully registered the CDC/ACM serial driver
WARN [param] selected parameter default file /fs/mtd_params
WARN [rgbled] no RGB led on bus #2
WARN [blinkm] I2C init failed
WARN [blinkm] init failed
INFO [dataman] Power on restart, data manager file ‘/fs/microsd/dataman’ size is 47640 bytes
MS5611_SPI on SPI bus 4 at 2 (20000 KHz)
MS5611_SPI on SPI bus 1 at 3 (20000 KHz)
WARN [bst] no devices found
INFO [ver] match: PX4FMU_V2
WARN [hmc5883] no device on bus 2
WARN [lis3mdl] no device on bus 2
WARN [hmc5883] no device on bus 1
WARN [mpu6000] no device on bus 3
WARN [mpu6000] no device on bus 4
WARN [mpu6000] no device on bus 4
MPU9250 on SPI bus 4 at 1 (1000 KHz)
L3GD20 on SPI bus 4 at 4 (11000 KHz)
LSM303D on SPI bus 4 at 3 (11000 KHz)
WARN [mpu6000] no device on bus 3
WARN [mpu6000] no device on bus 4
MPU9250 on SPI bus 1 at 4 (1000 KHz)
HMC5883_SPI on SPI bus 1 at 5 (11000 KHz)
WARN [hmc5883] no device on bus 3
ERROR [meas_airspeed] no MS4525 airspeed sensor connected
ERROR [meas_airspeed] no MS4525 airspeed sensor connected
ERROR [ets_airspeed] no ETS airspeed sensor connected
ERROR [ets_airspeed] no ETS airspeed sensor connected
INFO [sensors] Mag sensor switch from #-1
WARN [commander] No RGB LED found at /dev/rgbled0
INFO [px4io] default PWM output device
INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS1 @ 57600B
INFO [mavlink] mode: OSD, data rate: 1000 B/s on /dev/ttyS2 @ 57600B
INFO [ver] match: PX4FMU_V2
px4flow [206:100]
WARN [px4flow] scanning I2C buses for device…
INFO [mavlink] mode: Config, data rate: 800000 B/s on /dev/ttyACM0 @ 57600B
INFO [init] Mixer: /etc/mixers/rotormast_osprey.main.mix on /dev/pwm_output0
*******mixer type M
*******mixer type M
*******mixer type M
*******mixer type M
INFO [init] Mixer: /etc/mixers/pass.aux.mix on /dev/pwm_output1
INFO [lib__ecl] EKF IMU buffer length = 21
INFO [lib__ecl] EKF observation buffer length = 16
NuttShell (NSH)
nsh> e[KINFO [lib__ecl] EKF using pressure height - commencing alignment
WARN [mavlink] Disabling hardware flow control
WARN [mavlink] Disabling hardware flow control
INFO [lib__ecl] EKF alignment complete
WARN [commander_tests] Not ready to fly: Sensors not set up correctly
WARN [commander_tests] PREFLIGHT FAIL: MAG #0 UNCALIBRATED
WARN [commander_tests] PREFLIGHT FAIL: MAG #1 UNCALIBRATED
WARN [commander_tests] PREFLIGHT FAIL: MAG #2 UNCALIBRATED
WARN [commander_tests] PREFLIGHT FAIL: ACCEL #0 UNCALIBRATED
WARN [commander_tests] PREFLIGHT FAIL: ACCEL #1 UNCALIBRATED
WARN [commander_tests] PREFLIGHT FAIL: ACCEL #2 UNCALIBRATED
WARN [commander_tests] PREFLIGHT FAIL: GYRO #0 UNCALIBRATED
WARN [commander_tests] PREFLIGHT FAIL: GYRO #1 UNCALIBRATED
WARN [commander_tests] PREFLIGHT FAIL: GYRO #2 UNCALIBRATED
WARN [commander_tests] PREFLIGHT FAIL: ACCEL SENSORS INCONSISTENT - CHECK CALIBRATION
I can see where it is trying to load the correct mixer file, but it also shows my printf lines where I print the mixer type. My type was changed to “A”, but it shows that it loaded 4 “M” type mixers which is wrong. (it looks like a quad).
My mixer file only has “A:” in it.
Any clues as to what is wrong? Any help would be appreciated.