From 7fe4847b6c78fe094d4f0f3ff23e03d2513a2540 Mon Sep 17 00:00:00 2001
From: Emile Castelnuovo <emile.castelnuovo@gmail.com>
Date: Tue, 8 Apr 2014 14:37:53 +1000
Subject: [PATCH] VRBRAIN: Added NuttX driver vroutput for PWM out

Modified script rc.APM to launch modules vrinput and vroutput
Modified startup scripts to run APM without SD
---
 libraries/AP_HAL_VRBRAIN/RCOutput.cpp | 4 ++--
 mk/VRBRAIN/config_vrbrain-v4_APM.mk   | 7 +++++--
 mk/VRBRAIN/config_vrbrain-v5_APM.mk   | 7 +++++--
 3 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_HAL_VRBRAIN/RCOutput.cpp b/libraries/AP_HAL_VRBRAIN/RCOutput.cpp
index 030a9015f..730a004d2 100644
--- a/libraries/AP_HAL_VRBRAIN/RCOutput.cpp
+++ b/libraries/AP_HAL_VRBRAIN/RCOutput.cpp
@@ -39,9 +39,9 @@ void VRBRAINRCOutput::init(void* unused)
         return;
     }
 
-    _alt_fd = open("/dev/px4fmu", O_RDWR);
+    _alt_fd = open("/dev/vroutput", O_RDWR);
     if (_alt_fd == -1) {
-        hal.console->printf("RCOutput: failed to open /dev/px4fmu");
+        hal.console->printf("RCOutput: failed to open /dev/vroutput");
         return;
     }
 }
diff --git a/mk/VRBRAIN/config_vrbrain-v4_APM.mk b/mk/VRBRAIN/config_vrbrain-v4_APM.mk
index fce317378..7945e7534 100644
--- a/mk/VRBRAIN/config_vrbrain-v4_APM.mk
+++ b/mk/VRBRAIN/config_vrbrain-v4_APM.mk
@@ -18,8 +18,11 @@ MODULES		+= drivers/stm32/adc
 MODULES		+= drivers/stm32/tone_alarm
 MODULES		+= drivers/led
 
-MODULES		+= drivers/px4fmu
+
 MODULES		+= drivers/boards/vrbrain-v4
+MODULES		+= drivers/vrbrain/vroutput
+MODULES		+= drivers/vrbrain/vrinput/controls
+MODULES		+= drivers/vrbrain/vrinput
 
 
 
@@ -53,7 +56,7 @@ MODULES		+= systemcmds/mtd
 
 
 
-
+MODULES		+= systemcmds/top
 
 MODULES		+= systemcmds/tests
 
diff --git a/mk/VRBRAIN/config_vrbrain-v5_APM.mk b/mk/VRBRAIN/config_vrbrain-v5_APM.mk
index ad538aef0..29cab6e9d 100644
--- a/mk/VRBRAIN/config_vrbrain-v5_APM.mk
+++ b/mk/VRBRAIN/config_vrbrain-v5_APM.mk
@@ -18,8 +18,11 @@ MODULES		+= drivers/stm32/adc
 MODULES		+= drivers/stm32/tone_alarm
 MODULES		+= drivers/led
 
-MODULES		+= drivers/px4fmu
+
 MODULES		+= drivers/boards/vrbrain-v5
+MODULES		+= drivers/vrbrain/vroutput
+MODULES		+= drivers/vrbrain/vrinput/controls
+MODULES		+= drivers/vrbrain/vrinput
 
 
 
@@ -53,7 +56,7 @@ MODULES		+= systemcmds/mtd
 
 
 
-
+MODULES		+= systemcmds/top
 
 MODULES		+= systemcmds/tests
 
-- 
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