ROMFS: purge old mixing system

 - SYS_USE_IO is now off by default (enabled by default per board)

.gitattributes

@@ -21,7 +21,6 @@
 
 # PX4 mixers, msgs, etc
 *.bin    binary
-*.mix    text eol=lf
 *.msg    text eol=lf
 *.config text eol=lf
 *.sdf    text eol=lf

Makefile

@@ -322,6 +322,7 @@ px4io_update:
 	# px4_io-v2_default
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/pix32v5/extras/px4_io-v2_default.bin
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21-777/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v2/extras/px4_io-v2_default.bin
 	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

@@ -32,7 +32,6 @@
 ############################################################################
 
 add_subdirectory(init.d)
-add_subdirectory(mixers)
 # TODO: make this configurable from the board config, or better combine
 if("${PX4_BOARD}" MATCHES "sitl")
 	add_subdirectory(init.d-posix)

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

@@ -11,8 +11,6 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=ignition}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
 PX4_SIM_WORLD=${PX4_SIM_WORLD:=default}
 
-param set-default SYS_CTRL_ALLOC 1
-
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 4
 

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -23,16 +23,6 @@ then
 fi
 
 # initialize script variables
-set IO_PRESENT                  no
-set MIXER                       skip
-set MIXER_AUX                   none
-set MIXER_FILE                  none
-set OUTPUT_MODE                 sim
-set EXTRA_MIXER_MODE            none
-set PWM_OUT                     none
-set PWM_AUX_OUT                 none
-set SDCARD_MIXERS_PATH          etc/mixers
-set USE_IO                      no
 set VEHICLE_TYPE                none
 set LOGGER_ARGS                 ""
 set LOGGER_BUF                  1000
@@ -227,10 +217,14 @@ manual_control start
 sensors start
 commander start
 
-# Configure vehicle type specific parameters.
-# Note: rc.vehicle_setup is the entry point for rc.interface,
-#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+if ! pwm_out_sim start -m sim
+then
+	tune_control play error
+fi
+
 #
+# Configure vehicle type specific parameters.
+# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
 . ${R}etc/init.d/rc.vehicle_setup
 
 navigator start

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -42,7 +42,6 @@ px4_add_romfs_files(
 	rc.fw_apps
 	rc.fw_defaults
 	rc.heli_defaults
-	rc.interface
 	rc.logging
 	rc.mc_apps
 	rc.mc_defaults

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

@@ -42,8 +42,6 @@ param set-default MC_YAW_P 4
 param set-default MPC_MANTHR_MIN 0
 param set-default MPC_MAN_TILT_MAX 60
 
-param set-default DSHOT_CONFIG 600
-
 param set-default SYS_HAS_BARO 0
 param set-default SYS_HAS_MAG 0
 

ROMFS/px4fmu_common/init.d/rc.airship_apps

@@ -48,13 +48,10 @@ fi
 #                        End Estimator Group Selection                        #
 ###############################################################################
 
-if param compare SYS_CTRL_ALLOC 1
-then
-	#
-	# Start Control Allocator
-	#
-	control_allocator start
-fi
+#
+# Start Control Allocator
+#
+control_allocator start
 
 #
 # Start Airship Attitude Controller.

ROMFS/px4fmu_common/init.d/rc.airship_defaults

@@ -9,9 +9,3 @@ set VEHICLE_TYPE airship
 
 # MAV_TYPE_AIRSHIP 7
 param set-default MAV_TYPE 7
-
-#
-# This is the gimbal pass mixer.
-#
-set MIXER_AUX pass
-set PWM_AUX_OUT 1234

ROMFS/px4fmu_common/init.d/rc.autostart_ext

@@ -2,7 +2,6 @@
 #
 # External airframe startup script (on SD card)
 #
-set SDCARD_MIXERS_PATH ${SDCARD_EXT_PATH}/mixers
 
 if [ -e ${SDCARD_EXT_PATH}/rc.autostart ]
 then

ROMFS/px4fmu_common/init.d/rc.boat_defaults

@@ -20,22 +20,3 @@ param set-default NAV_ACC_RAD 2
 
 # Temporary.
 param set-default NAV_FW_ALT_RAD 1000
-
-#
-# Enable servo output on pins 3 and 4 (steering and thrust)
-# but also include 1+2 as they form together one output group
-# and need to be set together.
-#
-set PWM_OUT 1234
-
-#
-# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
-# may damage analog servos.
-#
-set PWM_MAIN_RATE 50
-
-#
-# This is the gimbal pass mixer.
-#
-set MIXER_AUX pass
-set PWM_AUX_OUT 1234

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -10,13 +10,10 @@
 #
 ekf2 start &
 
-if param compare SYS_CTRL_ALLOC 1
-then
-	#
-	# Start Control Allocator
-	#
-	control_allocator start
-fi
+#
+# Start Control Allocator
+#
+control_allocator start
 
 #
 # Start attitude controller.

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -52,11 +52,3 @@ param set-default PWM_MAIN_RATE 50
 # FW takeoff acceleration can easily exceed ublox GPS 2G default.
 #
 param set-default GPS_UBX_DYNMODEL 8
-
-#
-# This is the gimbal pass mixer.
-#
-set MIXER_AUX pass
-
-set PWM_AUX_RATE 50
-set PWM_AUX_OUT 1234