From 08062e6546f02cb2e819f690d35b485425788cc4 Mon Sep 17 00:00:00 2001
From: Anton Matosov <anton.matosov@gmail.com>
Date: Wed, 7 Jan 2015 00:25:06 +0200
Subject: [PATCH] Changed naming of the mixers to get rid of umbiguity as
 outputs are actually going to be driven by io, not fmu Implemented automatic
 lookup for the .aux.mix file if it exists

---
 .../init.d/1000_rc_fw_easystar.hil            |  2 +-
 .../px4fmu_common/init.d/10015_tbs_discovery  |  2 +-
 ROMFS/px4fmu_common/init.d/10016_3dr_iris     |  2 +-
 .../init.d/10017_steadidrone_qu4d             |  2 +-
 .../px4fmu_common/init.d/10018_tbs_endurance  |  2 +-
 ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil |  2 +-
 ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil |  2 +-
 .../init.d/1004_rc_fw_Rascal110.hil           |  2 +-
 .../init.d/1005_rc_fw_Malolo1.hil             |  2 +-
 ROMFS/px4fmu_common/init.d/11001_hexa_cox     |  2 +-
 ROMFS/px4fmu_common/init.d/12001_octo_cox     |  2 +-
 .../init.d/13001_caipirinha_vtol              |  2 +-
 ROMFS/px4fmu_common/init.d/13002_firefly6     |  3 +-
 ROMFS/px4fmu_common/init.d/2101_hk_bixler     |  2 +-
 .../px4fmu_common/init.d/2103_skyhunter_1800  |  2 +-
 ROMFS/px4fmu_common/init.d/3030_io_camflyer   |  2 +-
 ROMFS/px4fmu_common/init.d/3032_skywalker_x5  |  2 +-
 ROMFS/px4fmu_common/init.d/3034_fx79          |  2 +-
 .../px4fmu_common/init.d/3100_tbs_caipirinha  |  2 +-
 ROMFS/px4fmu_common/init.d/4001_quad_x        |  2 +-
 ROMFS/px4fmu_common/init.d/5001_quad_+        |  2 +-
 ROMFS/px4fmu_common/init.d/6001_hexa_x        |  2 +-
 ROMFS/px4fmu_common/init.d/7001_hexa_+        |  2 +-
 ROMFS/px4fmu_common/init.d/8001_octo_x        |  2 +-
 ROMFS/px4fmu_common/init.d/9001_octo_+        |  2 +-
 ROMFS/px4fmu_common/init.d/rc.interface       | 58 ++++++++++++++-----
 ROMFS/px4fmu_common/init.d/rcS                | 20 +++----
 .../mixers/{FMU_AERT.mix => AERT.main.mix}    |  0
 .../mixers/{FMU_AET.mix => AET.main.mix}      |  0
 .../mixers/{FMU_CCPM.mix => CCPM.main.mix}    |  0
 .../mixers/{FMU_FX79.mix => FX79.main.mix}    |  0
 .../mixers/{FMU_Q.mix => Q.main.mix}          |  0
 .../mixers/{FMU_RET.mix => RET.main.mix}      |  0
 .../mixers/{Viper.mix => Viper.main.mix}      |  0
 .../mixers/{FMU_X5.mix => X5.main.mix}        |  0
 ...inha_vtol.mix => caipirinha_vtol.main.mix} |  0
 .../mixers/{FMU_delta.mix => delta.main.mix}  |  0
 .../{easystar.mix => easystar.main.mix}       |  0
 ..._firefly6_elevons.mix => firefly6.aux.mix} |  0
 ..._firefly6_rotors.mix => firefly6.main.mix} |  0
 .../{FMU_hexa_+.mix => hexa_+.main.mix}       |  0
 .../{FMU_hexa_cox.mix => hexa_cox.main.mix}   |  0
 .../{FMU_hexa_x.mix => hexa_x.main.mix}       |  0
 .../{FMU_octo_+.mix => octo_+.main.mix}       |  0
 .../{FMU_octo_cox.mix => octo_cox.main.mix}   |  0
 .../{FMU_octo_x.mix => octo_x.main.mix}       |  0
 .../mixers/{phantom.mix => phantom.main.mix}  |  0
 .../{FMU_quad_+.mix => quad_+.main.mix}       |  0
 .../{FMU_quad_v.mix => quad_v.main.mix}       |  0
 .../{FMU_quad_w.mix => quad_w.main.mix}       |  0
 .../{FMU_quad_x.mix => quad_x.main.mix}       |  0
 .../{skywalker.mix => skywalker.main.mix}     |  0
 .../{wingwing.mix => wingwing.main.mix}       |  0
 src/systemcmds/tests/test_mixer.cpp           |  2 +-
 unittests/conversion_test.cpp                 |  2 +-
 unittests/mixer_test.cpp                      |  2 +-
 56 files changed, 81 insertions(+), 54 deletions(-)
 rename ROMFS/px4fmu_common/mixers/{FMU_AERT.mix => AERT.main.mix} (100%)
 rename ROMFS/px4fmu_common/mixers/{FMU_AET.mix => AET.main.mix} (100%)
 rename ROMFS/px4fmu_common/mixers/{FMU_CCPM.mix => CCPM.main.mix} (100%)
 rename ROMFS/px4fmu_common/mixers/{FMU_FX79.mix => FX79.main.mix} (100%)
 rename ROMFS/px4fmu_common/mixers/{FMU_Q.mix => Q.main.mix} (100%)
 rename ROMFS/px4fmu_common/mixers/{FMU_RET.mix => RET.main.mix} (100%)
 rename ROMFS/px4fmu_common/mixers/{Viper.mix => Viper.main.mix} (100%)
 rename ROMFS/px4fmu_common/mixers/{FMU_X5.mix => X5.main.mix} (100%)
 rename ROMFS/px4fmu_common/mixers/{FMU_caipirinha_vtol.mix => caipirinha_vtol.main.mix} (100%)
 rename ROMFS/px4fmu_common/mixers/{FMU_delta.mix => delta.main.mix} (100%)
 rename ROMFS/px4fmu_common/mixers/{easystar.mix => easystar.main.mix} (100%)
 rename ROMFS/px4fmu_common/mixers/{FMU_firefly6_elevons.mix => firefly6.aux.mix} (100%)
 rename ROMFS/px4fmu_common/mixers/{FMU_firefly6_rotors.mix => firefly6.main.mix} (100%)
 rename ROMFS/px4fmu_common/mixers/{FMU_hexa_+.mix => hexa_+.main.mix} (100%)
 rename ROMFS/px4fmu_common/mixers/{FMU_hexa_cox.mix => hexa_cox.main.mix} (100%)
 rename ROMFS/px4fmu_common/mixers/{FMU_hexa_x.mix => hexa_x.main.mix} (100%)
 rename ROMFS/px4fmu_common/mixers/{FMU_octo_+.mix => octo_+.main.mix} (100%)
 rename ROMFS/px4fmu_common/mixers/{FMU_octo_cox.mix => octo_cox.main.mix} (100%)
 rename ROMFS/px4fmu_common/mixers/{FMU_octo_x.mix => octo_x.main.mix} (100%)
 rename ROMFS/px4fmu_common/mixers/{phantom.mix => phantom.main.mix} (100%)
 rename ROMFS/px4fmu_common/mixers/{FMU_quad_+.mix => quad_+.main.mix} (100%)
 rename ROMFS/px4fmu_common/mixers/{FMU_quad_v.mix => quad_v.main.mix} (100%)
 rename ROMFS/px4fmu_common/mixers/{FMU_quad_w.mix => quad_w.main.mix} (100%)
 rename ROMFS/px4fmu_common/mixers/{FMU_quad_x.mix => quad_x.main.mix} (100%)
 rename ROMFS/px4fmu_common/mixers/{skywalker.mix => skywalker.main.mix} (100%)
 rename ROMFS/px4fmu_common/mixers/{wingwing.mix => wingwing.main.mix} (100%)

diff --git a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
index 4d6d350b8a0..40b9ed8df5e 100644
--- a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
+++ b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
@@ -7,4 +7,4 @@
 sh /etc/init.d/rc.fw_defaults
 
 set HIL yes
-set MIXER FMU_AERT
+set MIXER AERT
diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
index c1b366de83c..2c7c0d68e2c 100644
--- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
+++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
@@ -24,7 +24,7 @@ then
 	param set MC_YAWRATE_D 0.0
 fi
 
-set MIXER FMU_quad_w
+set MIXER quad_w
 
 set PWM_OUT 1234
 set PWM_MIN 1200
diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
index 3879737a8e9..caa8e28fc50 100644
--- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
@@ -27,7 +27,7 @@ then
 	param set BAT_C_SCALING 0.0124
 fi
 
-set MIXER FMU_quad_w
+set MIXER quad_w
 
 set PWM_OUT 1234
 
diff --git a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
index 57f77754c82..5e41d6957de 100644
--- a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
+++ b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
@@ -26,7 +26,7 @@ then
 	param set BAT_N_CELLS 4
 fi
 
-set MIXER FMU_quad_w
+set MIXER quad_w
 
 set PWM_MIN 1210
 set PWM_MAX 2100
diff --git a/ROMFS/px4fmu_common/init.d/10018_tbs_endurance b/ROMFS/px4fmu_common/init.d/10018_tbs_endurance
index 668026c616b..eeb9b48b29e 100644
--- a/ROMFS/px4fmu_common/init.d/10018_tbs_endurance
+++ b/ROMFS/px4fmu_common/init.d/10018_tbs_endurance
@@ -25,7 +25,7 @@ then
 	param set MC_YAWRATE_D 0.0
 fi
 
-set MIXER FMU_quad_w
+set MIXER quad_w
 
 set PWM_OUTPUTS 1234
 set PWM_MIN 1200
diff --git a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
index 1c4f6803b66..03b6b30d27f 100644
--- a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
+++ b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
@@ -7,6 +7,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_quad_x
+set MIXER quad_x
 
 set HIL yes
diff --git a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
index 0cbdd75bedc..2b418dfc507 100644
--- a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
+++ b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
@@ -7,6 +7,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_quad_+
+set MIXER quad_+
 
 set HIL yes
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
index fb440d2fc7d..0909208478f 100644
--- a/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
+++ b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
@@ -9,4 +9,4 @@ sh /etc/init.d/rc.fw_defaults
 
 set HIL yes
 
-set MIXER FMU_AERT
+set MIXER AERT
diff --git a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
index f208b692a02..15e5cf21d82 100644
--- a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
+++ b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
@@ -35,4 +35,4 @@ fi
 set HIL yes
 
 # Set the AERT mixer for HIL (even if the malolo is a flying wing)
-set MIXER FMU_AERT
+set MIXER AERT
diff --git a/ROMFS/px4fmu_common/init.d/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/11001_hexa_cox
index 50f717e3df2..0bb8cb52eef 100644
--- a/ROMFS/px4fmu_common/init.d/11001_hexa_cox
+++ b/ROMFS/px4fmu_common/init.d/11001_hexa_cox
@@ -7,7 +7,7 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_hexa_cox
+set MIXER hexa_cox
 
 # Need to set all 8 channels
 set PWM_OUT 12345678
diff --git a/ROMFS/px4fmu_common/init.d/12001_octo_cox b/ROMFS/px4fmu_common/init.d/12001_octo_cox
index e0a8381851a..16e86fd5fa1 100644
--- a/ROMFS/px4fmu_common/init.d/12001_octo_cox
+++ b/ROMFS/px4fmu_common/init.d/12001_octo_cox
@@ -7,6 +7,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_octo_cox
+set MIXER octo_cox
 
 set PWM_OUT 12345678
diff --git a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
index 7e9a6d3dc89..87b98a02bc5 100644
--- a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
+++ b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
@@ -7,7 +7,7 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-set MIXER FMU_caipirinha_vtol
+set MIXER caipirinha_vtol
 
 set PWM_OUT 12
 set PWM_MAX 2000
diff --git a/ROMFS/px4fmu_common/init.d/13002_firefly6 b/ROMFS/px4fmu_common/init.d/13002_firefly6
index d5a104b4cf2..551a19928ea 100644
--- a/ROMFS/px4fmu_common/init.d/13002_firefly6
+++ b/ROMFS/px4fmu_common/init.d/13002_firefly6
@@ -7,8 +7,7 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-set MIXER FMU_firefly6_rotors
-set MIXER_SEC FMU_firefly6_elevons
+set MIXER firefly6
 
 set PWM_OUT 12345678
 param set VT_MOT_COUNT 6
diff --git a/ROMFS/px4fmu_common/init.d/2101_hk_bixler b/ROMFS/px4fmu_common/init.d/2101_hk_bixler
index dcc5db824aa..0e6d2481c0d 100644
--- a/ROMFS/px4fmu_common/init.d/2101_hk_bixler
+++ b/ROMFS/px4fmu_common/init.d/2101_hk_bixler
@@ -2,4 +2,4 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-set MIXER FMU_AERT
\ No newline at end of file
+set MIXER AERT
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/2103_skyhunter_1800 b/ROMFS/px4fmu_common/init.d/2103_skyhunter_1800
index 9bc0262d832..2433ab4f40b 100644
--- a/ROMFS/px4fmu_common/init.d/2103_skyhunter_1800
+++ b/ROMFS/px4fmu_common/init.d/2103_skyhunter_1800
@@ -2,4 +2,4 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-set MIXER FMU_AET
+set MIXER AET
diff --git a/ROMFS/px4fmu_common/init.d/3030_io_camflyer b/ROMFS/px4fmu_common/init.d/3030_io_camflyer
index fe0269557f9..18867832499 100644
--- a/ROMFS/px4fmu_common/init.d/3030_io_camflyer
+++ b/ROMFS/px4fmu_common/init.d/3030_io_camflyer
@@ -2,7 +2,7 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-set MIXER FMU_Q
+set MIXER Q
 # Provide ESC a constant 1000 us pulse while disarmed
 set PWM_OUT 4
 set PWM_DISARMED 1000
diff --git a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
index 94363bf6ab8..3d464a4ae97 100644
--- a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
+++ b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
@@ -28,4 +28,4 @@ then
 	param set FW_R_RMAX 0
 fi
 
-set MIXER FMU_X5
+set MIXER X5
diff --git a/ROMFS/px4fmu_common/init.d/3034_fx79 b/ROMFS/px4fmu_common/init.d/3034_fx79
index 4a76ba6ebd0..d46147ede56 100644
--- a/ROMFS/px4fmu_common/init.d/3034_fx79
+++ b/ROMFS/px4fmu_common/init.d/3034_fx79
@@ -7,4 +7,4 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-set MIXER FMU_FX79
+set MIXER FX79
diff --git a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
index 9eafac1c59c..9e1c1c170a0 100644
--- a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
+++ b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
@@ -31,4 +31,4 @@ then
 	param set FW_R_RMAX 0
 fi
 
-set MIXER FMU_Q
+set MIXER Q
diff --git a/ROMFS/px4fmu_common/init.d/4001_quad_x b/ROMFS/px4fmu_common/init.d/4001_quad_x
index 4677f9fc3a1..e0538160f09 100644
--- a/ROMFS/px4fmu_common/init.d/4001_quad_x
+++ b/ROMFS/px4fmu_common/init.d/4001_quad_x
@@ -7,6 +7,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_quad_x
+set MIXER quad_x
 
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/5001_quad_+ b/ROMFS/px4fmu_common/init.d/5001_quad_+
index c7891139199..e51f9cf89d8 100644
--- a/ROMFS/px4fmu_common/init.d/5001_quad_+
+++ b/ROMFS/px4fmu_common/init.d/5001_quad_+
@@ -7,6 +7,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_quad_+
+set MIXER quad_+
 
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/6001_hexa_x b/ROMFS/px4fmu_common/init.d/6001_hexa_x
index 0df25b11a1d..7a6dda648a2 100644
--- a/ROMFS/px4fmu_common/init.d/6001_hexa_x
+++ b/ROMFS/px4fmu_common/init.d/6001_hexa_x
@@ -7,7 +7,7 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_hexa_x
+set MIXER hexa_x
 
 # Need to set all 8 channels
 set PWM_OUT 12345678
diff --git a/ROMFS/px4fmu_common/init.d/7001_hexa_+ b/ROMFS/px4fmu_common/init.d/7001_hexa_+
index 16c772ee1ea..dd9589d614f 100644
--- a/ROMFS/px4fmu_common/init.d/7001_hexa_+
+++ b/ROMFS/px4fmu_common/init.d/7001_hexa_+
@@ -7,7 +7,7 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_hexa_+
+set MIXER hexa_+
 
 # Need to set all 8 channels
 set PWM_OUT 12345678
diff --git a/ROMFS/px4fmu_common/init.d/8001_octo_x b/ROMFS/px4fmu_common/init.d/8001_octo_x
index bae36737f9f..7cbb3ddfcd9 100644
--- a/ROMFS/px4fmu_common/init.d/8001_octo_x
+++ b/ROMFS/px4fmu_common/init.d/8001_octo_x
@@ -7,6 +7,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_octo_x
+set MIXER octo_x
 
 set PWM_OUT 12345678
diff --git a/ROMFS/px4fmu_common/init.d/9001_octo_+ b/ROMFS/px4fmu_common/init.d/9001_octo_+
index ca5439f68ff..5d608d593c6 100644
--- a/ROMFS/px4fmu_common/init.d/9001_octo_+
+++ b/ROMFS/px4fmu_common/init.d/9001_octo_+
@@ -7,6 +7,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_octo_+
+set MIXER octo_+
 
 set PWM_OUT 12345678
diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface
index 98f41b31ecc..d4880ea4209 100644
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -3,19 +3,30 @@
 # Script to configure control interface
 #
 
+set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
+    
 if [ $MIXER != none -a $MIXER != skip ]
 then
 	#
-	# Load mixer
+	# Load main mixer
 	#
+    
+    if [ $MIXER_AUX == none ]
+    then
+        MIXER_AUX = $MIXER.aux
+    fi
 	
 	# Use the mixer file from the SD-card if it exists
-	if [ -f /fs/microsd/etc/mixers/$MIXER.mix ]
+	if [ -f $SDCARD_MIXERS_PATH/$MIXER.main.mix ]
 	then
-		set MIXER_FILE /fs/microsd/etc/mixers/$MIXER.mix
-	else
-		set MIXER_FILE /etc/mixers/$MIXER.mix
-	fi
+		set MIXER_FILE $SDCARD_MIXERS_PATH/$MIXER.main.mix
+	# Try out the old convention, for backward compatibility
+	elif [ -f $SDCARD_MIXERS_PATH/$MIXER.mix ]
+    then
+        set MIXER_FILE $SDCARD_MIXERS_PATH/$MIXER.mix
+    else
+        set MIXER_FILE /etc/mixers/$MIXER.main.mix
+    fi
 	
 	if [ $OUTPUT_MODE == mkblctrl ]
 	then
@@ -80,14 +91,31 @@ then
 		pwm failsafe -d $OUTPUT_DEV $FAILSAFE
 	fi
 fi
-
+   
 # check if should load secondary mixer
-if [ $MIXER_SEC != none ]
+if [ $MIXER_AUX != none ]
 then
-	if fmu mode_pwm
-	then
-		mixer load /dev/pwm_output1 /etc/mixers/$MIXER_SEC.mix
-	else
-		tone_alarm $TUNE_ERR
-	fi
-fi
+    #
+    # Load aux mixer
+    #
+    
+    set MIXER_AUX_FILE none
+    
+    if [ -f $SDCARD_MIXERS_PATH/$MIXER_AUX.mix ]
+    then
+        set MIXER_AUX_FILE $SDCARD_MIXERS_PATH/$MIXER_AUX.mix
+    elif [ -f /etc/mixers/$MIXER_AUX.mix ]
+    then
+        set MIXER_AUX_FILE /etc/mixers/$MIXER_AUX.mix
+    fi
+    
+    if [ $MIXER_AUX_FILE != none -a $FMU_MODE == pwm ]
+    then
+    	if fmu mode_pwm
+    	then
+    		mixer load /dev/pwm_output1 $MIXER_AUX_FILE
+    	else
+    		tone_alarm $TUNE_ERR
+    	fi
+    fi
+fi
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 924f6ebc089..31d6a8a2d11 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -116,7 +116,7 @@ then
 	set HIL no
 	set VEHICLE_TYPE none
 	set MIXER none
-	set MIXER_SEC none
+	set MIXER_AUX none
 	set OUTPUT_MODE none
 	set PWM_OUT none
 	set PWM_RATE none
@@ -482,7 +482,7 @@ then
 		if [ $MIXER == none ]
 		then
 			# Set default mixer for fixed wing if not defined
-			set MIXER FMU_AERT
+			set MIXER AERT
 		fi
 
 		if [ $MAV_TYPE == none ]
@@ -518,27 +518,27 @@ then
 		if [ $MAV_TYPE == none ]
 		then
 			# Use mixer to detect vehicle type
-			if [ $MIXER == FMU_quad_x -o $MIXER == FMU_quad_+ ]
+			if [ $MIXER == quad_x -o $MIXER == quad_+ ]
 			then
 				set MAV_TYPE 2
 			fi
-			if [ $MIXER == FMU_quad_w ]
+			if [ $MIXER == quad_w ]
 			then
 				set MAV_TYPE 2
 			fi
-			if [ $MIXER == FMU_hexa_x -o $MIXER == FMU_hexa_+ ]
+			if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
 			then
 				set MAV_TYPE 13
 			fi
-			if [ $MIXER == FMU_hexa_cox ]
+			if [ $MIXER == hexa_cox ]
 			then
 				set MAV_TYPE 13
 			fi
-			if [ $MIXER == FMU_octo_x -o $MIXER == FMU_octo_+ ]
+			if [ $MIXER == octo_x -o $MIXER == octo_+ ]
 			then
 				set MAV_TYPE 14
 			fi
-			if [ $MIXER == FMU_octo_cox ]
+			if [ $MIXER == octo_cox ]
 			then
 				set MAV_TYPE 14
 			fi
@@ -577,11 +577,11 @@ then
 		if [ $MAV_TYPE == none ]
 		then
 			# Use mixer to detect vehicle type
-			if [ $MIXER == FMU_caipirinha_vtol ]
+			if [ $MIXER == caipirinha_vtol ]
 			then
 				set MAV_TYPE 19
 			fi
-			if [ $MIXER == FMU_firefly6_rotors ]
+			if [ $MIXER == firefly6_rotors ]
 			then
 				set MAV_TYPE 21
 			fi
diff --git a/ROMFS/px4fmu_common/mixers/FMU_AERT.mix b/ROMFS/px4fmu_common/mixers/AERT.main.mix
similarity index 100%
rename from ROMFS/px4fmu_common/mixers/FMU_AERT.mix
rename to ROMFS/px4fmu_common/mixers/AERT.main.mix
diff --git a/ROMFS/px4fmu_common/mixers/FMU_AET.mix b/ROMFS/px4fmu_common/mixers/AET.main.mix
similarity index 100%
rename from ROMFS/px4fmu_common/mixers/FMU_AET.mix
rename to ROMFS/px4fmu_common/mixers/AET.main.mix
diff --git a/ROMFS/px4fmu_common/mixers/FMU_CCPM.mix b/ROMFS/px4fmu_common/mixers/CCPM.main.mix
similarity index 100%
rename from ROMFS/px4fmu_common/mixers/FMU_CCPM.mix
rename to ROMFS/px4fmu_common/mixers/CCPM.main.mix
diff --git a/ROMFS/px4fmu_common/mixers/FMU_FX79.mix b/ROMFS/px4fmu_common/mixers/FX79.main.mix
similarity index 100%
rename from ROMFS/px4fmu_common/mixers/FMU_FX79.mix
rename to ROMFS/px4fmu_common/mixers/FX79.main.mix
diff --git a/ROMFS/px4fmu_common/mixers/FMU_Q.mix b/ROMFS/px4fmu_common/mixers/Q.main.mix
similarity index 100%
rename from ROMFS/px4fmu_common/mixers/FMU_Q.mix
rename to ROMFS/px4fmu_common/mixers/Q.main.mix
diff --git a/ROMFS/px4fmu_common/mixers/FMU_RET.mix b/ROMFS/px4fmu_common/mixers/RET.main.mix
similarity index 100%
rename from ROMFS/px4fmu_common/mixers/FMU_RET.mix
rename to ROMFS/px4fmu_common/mixers/RET.main.mix
diff --git a/ROMFS/px4fmu_common/mixers/Viper.mix b/ROMFS/px4fmu_common/mixers/Viper.main.mix
similarity index 100%
rename from ROMFS/px4fmu_common/mixers/Viper.mix
rename to ROMFS/px4fmu_common/mixers/Viper.main.mix
diff --git a/ROMFS/px4fmu_common/mixers/FMU_X5.mix b/ROMFS/px4fmu_common/mixers/X5.main.mix
similarity index 100%
rename from ROMFS/px4fmu_common/mixers/FMU_X5.mix
rename to ROMFS/px4fmu_common/mixers/X5.main.mix
diff --git a/ROMFS/px4fmu_common/mixers/FMU_caipirinha_vtol.mix b/ROMFS/px4fmu_common/mixers/caipirinha_vtol.main.mix
similarity index 100%
rename from ROMFS/px4fmu_common/mixers/FMU_caipirinha_vtol.mix
rename to ROMFS/px4fmu_common/mixers/caipirinha_vtol.main.mix
diff --git a/ROMFS/px4fmu_common/mixers/FMU_delta.mix b/ROMFS/px4fmu_common/mixers/delta.main.mix
similarity index 100%
rename from ROMFS/px4fmu_common/mixers/FMU_delta.mix
rename to ROMFS/px4fmu_common/mixers/delta.main.mix
diff --git a/ROMFS/px4fmu_common/mixers/easystar.mix b/ROMFS/px4fmu_common/mixers/easystar.main.mix
similarity index 100%
rename from ROMFS/px4fmu_common/mixers/easystar.mix
rename to ROMFS/px4fmu_common/mixers/easystar.main.mix
diff --git a/ROMFS/px4fmu_common/mixers/FMU_firefly6_elevons.mix b/ROMFS/px4fmu_common/mixers/firefly6.aux.mix
similarity index 100%
rename from ROMFS/px4fmu_common/mixers/FMU_firefly6_elevons.mix
rename to ROMFS/px4fmu_common/mixers/firefly6.aux.mix
diff --git a/ROMFS/px4fmu_common/mixers/FMU_firefly6_rotors.mix b/ROMFS/px4fmu_common/mixers/firefly6.main.mix
similarity index 100%
rename from ROMFS/px4fmu_common/mixers/FMU_firefly6_rotors.mix
rename to ROMFS/px4fmu_common/mixers/firefly6.main.mix
diff --git a/ROMFS/px4fmu_common/mixers/FMU_hexa_+.mix b/ROMFS/px4fmu_common/mixers/hexa_+.main.mix
similarity index 100%
rename from ROMFS/px4fmu_common/mixers/FMU_hexa_+.mix
rename to ROMFS/px4fmu_common/mixers/hexa_+.main.mix
diff --git a/ROMFS/px4fmu_common/mixers/FMU_hexa_cox.mix b/ROMFS/px4fmu_common/mixers/hexa_cox.main.mix
similarity index 100%
rename from ROMFS/px4fmu_common/mixers/FMU_hexa_cox.mix
rename to ROMFS/px4fmu_common/mixers/hexa_cox.main.mix
diff --git a/ROMFS/px4fmu_common/mixers/FMU_hexa_x.mix b/ROMFS/px4fmu_common/mixers/hexa_x.main.mix
similarity index 100%
rename from ROMFS/px4fmu_common/mixers/FMU_hexa_x.mix
rename to ROMFS/px4fmu_common/mixers/hexa_x.main.mix
diff --git a/ROMFS/px4fmu_common/mixers/FMU_octo_+.mix b/ROMFS/px4fmu_common/mixers/octo_+.main.mix
similarity index 100%
rename from ROMFS/px4fmu_common/mixers/FMU_octo_+.mix
rename to ROMFS/px4fmu_common/mixers/octo_+.main.mix
diff --git a/ROMFS/px4fmu_common/mixers/FMU_octo_cox.mix b/ROMFS/px4fmu_common/mixers/octo_cox.main.mix
similarity index 100%
rename from ROMFS/px4fmu_common/mixers/FMU_octo_cox.mix
rename to ROMFS/px4fmu_common/mixers/octo_cox.main.mix
diff --git a/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix b/ROMFS/px4fmu_common/mixers/octo_x.main.mix
similarity index 100%
rename from ROMFS/px4fmu_common/mixers/FMU_octo_x.mix
rename to ROMFS/px4fmu_common/mixers/octo_x.main.mix
diff --git a/ROMFS/px4fmu_common/mixers/phantom.mix b/ROMFS/px4fmu_common/mixers/phantom.main.mix
similarity index 100%
rename from ROMFS/px4fmu_common/mixers/phantom.mix
rename to ROMFS/px4fmu_common/mixers/phantom.main.mix
diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix b/ROMFS/px4fmu_common/mixers/quad_+.main.mix
similarity index 100%
rename from ROMFS/px4fmu_common/mixers/FMU_quad_+.mix
rename to ROMFS/px4fmu_common/mixers/quad_+.main.mix
diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_v.mix b/ROMFS/px4fmu_common/mixers/quad_v.main.mix
similarity index 100%
rename from ROMFS/px4fmu_common/mixers/FMU_quad_v.mix
rename to ROMFS/px4fmu_common/mixers/quad_v.main.mix
diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix b/ROMFS/px4fmu_common/mixers/quad_w.main.mix
similarity index 100%
rename from ROMFS/px4fmu_common/mixers/FMU_quad_w.mix
rename to ROMFS/px4fmu_common/mixers/quad_w.main.mix
diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix b/ROMFS/px4fmu_common/mixers/quad_x.main.mix
similarity index 100%
rename from ROMFS/px4fmu_common/mixers/FMU_quad_x.mix
rename to ROMFS/px4fmu_common/mixers/quad_x.main.mix
diff --git a/ROMFS/px4fmu_common/mixers/skywalker.mix b/ROMFS/px4fmu_common/mixers/skywalker.main.mix
similarity index 100%
rename from ROMFS/px4fmu_common/mixers/skywalker.mix
rename to ROMFS/px4fmu_common/mixers/skywalker.main.mix
diff --git a/ROMFS/px4fmu_common/mixers/wingwing.mix b/ROMFS/px4fmu_common/mixers/wingwing.main.mix
similarity index 100%
rename from ROMFS/px4fmu_common/mixers/wingwing.mix
rename to ROMFS/px4fmu_common/mixers/wingwing.main.mix
diff --git a/src/systemcmds/tests/test_mixer.cpp b/src/systemcmds/tests/test_mixer.cpp
index 8ab8fa2d6e0..2896a8e4051 100644
--- a/src/systemcmds/tests/test_mixer.cpp
+++ b/src/systemcmds/tests/test_mixer.cpp
@@ -343,7 +343,7 @@ int test_mixer(int argc, char *argv[])
 	if (argc > 2)
 		filename = argv[2];
 	else
-		filename = "/etc/mixers/FMU_quad_w.mix";
+		filename = "/etc/mixers/quad_w.main.mix";
 
 	load_mixer_file(filename, &buf[0], sizeof(buf));
 	loaded = strlen(buf);
diff --git a/unittests/conversion_test.cpp b/unittests/conversion_test.cpp
index 99e1c7721d4..12d2213e2c6 100644
--- a/unittests/conversion_test.cpp
+++ b/unittests/conversion_test.cpp
@@ -4,6 +4,6 @@
 
 #include "gtest/gtest.h"
 
-TEST(ConversionTest, FMU_quad_w) {
+TEST(ConversionTest, quad_w_main) {
         ASSERT_EQ(test_conv(0, NULL), 0) << "Conversion test failed";
 }
diff --git a/unittests/mixer_test.cpp b/unittests/mixer_test.cpp
index fd3ece7f870..1271dab5e08 100644
--- a/unittests/mixer_test.cpp
+++ b/unittests/mixer_test.cpp
@@ -6,6 +6,6 @@
 
 
 TEST(MixerTest, Mixer) {
-	char* args[] = {"empty", "../ROMFS/px4fmu_common/mixers/IO_pass.mix", "../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"};
+	char* args[] = {"empty", "../ROMFS/px4fmu_common/mixers/IO_pass.mix", "../ROMFS/px4fmu_common/mixers/quad_w.main.mix"};
 	ASSERT_EQ(test_mixer(3, args), 0) << "IO_pass.mix failed";
 }