Merge branch 'beta' of https://github.com/PX4/Firmware into beta

31 files changed, 152 insertions, 574 deletions

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 d7e524b41..36194ad68 100644
--- a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
+++ b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
@@ -5,36 +5,10 @@
 # Lorenz Meier <lm@inf.ethz.ch>
 #
 
-echo "HIL Rascal 110 starting.."
+sh /etc/init.d/rc.fw_defaults
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	# Set all params here, then disable autoconfig
-	
-	param set FW_P_D 0
-	param set FW_P_I 0
-	param set FW_P_IMAX 15
-	param set FW_P_LIM_MAX 50
-	param set FW_P_LIM_MIN -50
-	param set FW_P_P 60
-	param set FW_P_RMAX_NEG 0
-	param set FW_P_RMAX_POS 0
-	param set FW_P_ROLLFF 1.1
-	param set FW_R_D 0
-	param set FW_R_I 5
-	param set FW_R_IMAX 20
-	param set FW_R_P 100
-	param set FW_R_RMAX 100
-	param set FW_THR_CRUISE 0.65
-	param set FW_T_SINK_MAX 5.0
-	param set FW_T_SINK_MIN 4.0
-	param set FW_Y_ROLLFF 1.1
-	param set FW_L1_PERIOD 16
-	param set RC_SCALE_ROLL 1.0
-	param set RC_SCALE_PITCH 1.0
-fi
+echo "HIL Rascal 110 starting.."
 
 set HIL yes
 
-set VEHICLE_TYPE fw
 set MIXER FMU_AERT
diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
index a3d7c3d97..b09765e8e 100644
--- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
+++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
@@ -5,45 +5,8 @@
 # Simon Wilks <sjwilks@gmail.com>
 #
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set MC_ROLL_P 5.0
-	param set MC_ROLLRATE_P 0.17
-	param set MC_ROLLRATE_I 0.0
-	param set MC_ROLLRATE_D 0.006
-	param set MC_PITCH_P 5.0
-	param set MC_PITCHRATE_P 0.17
-	param set MC_PITCHRATE_I 0.0
-	param set MC_PITCHRATE_D 0.006
-	param set MC_YAW_P 0.5
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.0
-	param set MC_YAWRATE_D 0.0
+sh /etc/init.d/rc.mc_defaults
 
-	param set MPC_THR_MAX 1.0
-	param set MPC_THR_MIN 0.1
-	param set MPC_XY_P 1.0
-	param set MPC_XY_VEL_P 0.1
-	param set MPC_XY_VEL_I 0.02
-	param set MPC_XY_VEL_D 0.01
-	param set MPC_XY_VEL_MAX 5
-	param set MPC_XY_FF 0.5
-	param set MPC_Z_P 1.0
-	param set MPC_Z_VEL_P 0.1
-	param set MPC_Z_VEL_I 0.02
-	param set MPC_Z_VEL_D 0.0
-	param set MPC_Z_VEL_MAX 3
-	param set MPC_Z_FF 0.5
-	param set MPC_TILT_MAX 1.0
-	param set MPC_LAND_SPEED 1.0
-	param set MPC_LAND_TILT 0.3
-fi
-
-set VEHICLE_TYPE mc
 set MIXER FMU_quad_w
 
-set PWM_OUTPUTS 1234
-set PWM_RATE 400
+set PWM_OUTPUTS 1234
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
index 1c7ecb712..42d516993 100644
--- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
@@ -5,51 +5,17 @@
 # Anton Babushkin <anton.babushkin@me.com>
 #
 
+sh /etc/init.d/rc.mc_defaults
+
 if [ $DO_AUTOCONFIG == yes ]
 then
 	#
 	# Default parameters for this platform
 	#
-	param set MC_ROLL_P 9.0
-	param set MC_ROLLRATE_P 0.13
-	param set MC_ROLLRATE_I 0.0
-	param set MC_ROLLRATE_D 0.004
-	param set MC_PITCH_P 9.0
-	param set MC_PITCHRATE_P 0.13
-	param set MC_PITCHRATE_I 0.0
-	param set MC_PITCHRATE_D 0.004
-	param set MC_YAW_P 0.5
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.0
-	param set MC_YAWRATE_D 0.0
-	
-	param set MPC_THR_MAX 1.0
-	param set MPC_THR_MIN 0.1
-	param set MPC_XY_P 1.0
-	param set MPC_XY_VEL_P 0.1
-	param set MPC_XY_VEL_I 0.02
-	param set MPC_XY_VEL_D 0.01
-	param set MPC_XY_VEL_MAX 5
-	param set MPC_XY_FF 0.5
-	param set MPC_Z_P 1.0
-	param set MPC_Z_VEL_P 0.1
-	param set MPC_Z_VEL_I 0.02
-	param set MPC_Z_VEL_D 0.0
-	param set MPC_Z_VEL_MAX 3
-	param set MPC_Z_FF 0.5
-	param set MPC_TILT_MAX 1.0
-	param set MPC_LAND_SPEED 1.0
-	param set MPC_LAND_TILT 0.3
-
 	param set BAT_V_SCALING 0.00989
 	param set BAT_C_SCALING 0.0124
 fi
 
-set VEHICLE_TYPE mc
 set MIXER FMU_quad_w
 
 set PWM_OUTPUTS 1234
-set PWM_RATE 400
-set PWM_DISARMED 900
-set PWM_MIN 1000
-set PWM_MAX 2000
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 45880f44b..7a7a9542c 100644
--- a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
+++ b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
@@ -5,6 +5,8 @@
 # Anton Babushkin <anton.babushkin@me.com>
 #
 
-sh /etc/init.d/4001_quad_x
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER FMU_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 2b26810e7..c47500c7a 100644
--- a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
+++ b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
@@ -5,6 +5,8 @@
 # Anton Babushkin <anton.babushkin@me.com>
 #
 
-sh /etc/init.d/1001_rc_quad_x.hil
+sh /etc/init.d/rc.mc_defaults
 
 set MIXER FMU_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 c639bfc25..4e3e18326 100644
--- a/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
+++ b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
@@ -5,38 +5,10 @@
 # Thomas Gubler <thomasgubler@gmail.com>
 #
 
-echo "HIL Rascal 110 starting.."
+sh /etc/init.d/rc.fw_defaults
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	# Set all params here, then disable autoconfig
-	
-	param set FW_P_D 0
-	param set FW_P_I 0
-	param set FW_P_IMAX 15
-	param set FW_P_LIM_MAX 50
-	param set FW_P_LIM_MIN -50
-	param set FW_P_P 60
-	param set FW_P_RMAX_NEG 0
-	param set FW_P_RMAX_POS 0
-	param set FW_P_ROLLFF 1.1
-	param set FW_R_D 0
-	param set FW_R_I 5
-	param set FW_R_IMAX 20
-	param set FW_R_P 100
-	param set FW_R_RMAX 100
-	param set FW_THR_CRUISE 0.65
-	param set FW_THR_MAX 1
-	param set FW_THR_MIN 0
-	param set FW_T_SINK_MAX 5.0
-	param set FW_T_SINK_MIN 4.0
-	param set FW_Y_ROLLFF 1.1
-	param set FW_L1_PERIOD 16
-	param set RC_SCALE_ROLL 1.0
-	param set RC_SCALE_PITCH 1.0
-fi
+echo "HIL Rascal 110 starting.."
 
 set HIL yes
 
-set VEHICLE_TYPE fw
 set MIXER FMU_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 124bf63ab..c753ded23 100644
--- a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
+++ b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
@@ -5,14 +5,13 @@
 # Thomas Gubler <thomasgubler@gmail.com>
 #
 
-echo "HIL Malolo 1 starting.."
+sh /etc/init.d/rc.fw_defaults
 
 if [ $DO_AUTOCONFIG == yes ]
 then
-	# Set all params here, then disable autoconfig
-	
 	param set FW_AIRSPD_MIN 12
 	param set FW_AIRSPD_TRIM 25
+	param set FW_AIRSPD_MAX 40
 	param set FW_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.74
 	param set FW_L1_PERIOD 15
@@ -20,10 +19,6 @@ then
 	param set FW_PR_I 0.05
 	param set FW_PR_IMAX 0.2
 	param set FW_PR_P 0.1
-	param set FW_P_LIM_MAX 45
-	param set FW_P_LIM_MIN -45
-	param set FW_P_RMAX_NEG 0
-	param set FW_P_RMAX_POS 0
 	param set FW_P_ROLLFF 0
 	param set FW_RR_FF 0.6
 	param set FW_RR_I 0.02
@@ -31,9 +26,6 @@ then
 	param set FW_RR_P 0.1
 	param set FW_R_LIM 45
 	param set FW_R_RMAX 0
-	param set FW_THR_CRUISE 0.6
-	param set FW_THR_MAX 1
-	param set FW_THR_MIN 0
 	param set FW_T_CLMB_MAX 5
 	param set FW_T_HRATE_P 0.02
 	param set FW_T_PTCH_DAMP 0
@@ -43,22 +35,13 @@ then
 	param set FW_T_SRATE_P 0.01
 	param set FW_T_TIME_CONST 3
 	param set FW_T_VERT_ACC 7
-	param set FW_YCO_VMIN 1000
 	param set FW_YR_FF 0.0
 	param set FW_YR_I 0
 	param set FW_YR_IMAX 0.2
-	param set FW_YR_P	 0.0
-	param set FW_Y_RMAX 0
-	param set NAV_LAND_ALT 90
-	param set NAV_RTL_ALT 100
-	param set NAV_RTL_LAND_T -1
-
-	param set SYS_AUTOCONFIG 0
-	param save
+	param set FW_YR_P 0.0
 fi
 
 set HIL yes
 
-set VEHICLE_TYPE fw
 # Set the AERT mixer for HIL (even if the malolo is a flying wing)
 set MIXER FMU_AERT
diff --git a/ROMFS/px4fmu_common/init.d/12001_octo_cox b/ROMFS/px4fmu_common/init.d/12001_octo_cox
index 8a813595e..c5d3e7807 100644
--- a/ROMFS/px4fmu_common/init.d/12001_octo_cox
+++ b/ROMFS/px4fmu_common/init.d/12001_octo_cox
@@ -5,6 +5,8 @@
 # Lorenz Meier <lm@inf.ethz.ch>, Anton Babushkin <anton.babushkin@me.com>
 #
 
-sh /etc/init.d/8001_octo_x
+sh /etc/init.d/rc.mc_defaults
 
 set MIXER FMU_octo_cox
+
+set PWM_OUTPUTS 12345678
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/2100_mpx_easystar b/ROMFS/px4fmu_common/init.d/2100_mpx_easystar
index 0e5bf60d6..465a22c53 100644
--- a/ROMFS/px4fmu_common/init.d/2100_mpx_easystar
+++ b/ROMFS/px4fmu_common/init.d/2100_mpx_easystar
@@ -2,38 +2,7 @@
 #
 # MPX EasyStar Plane
 #
-# Maintainers: ???
-#
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set FW_P_D 0
-	param set FW_P_I 0
-	param set FW_P_IMAX 15
-	param set FW_P_LIM_MAX 50
-	param set FW_P_LIM_MIN -50
-	param set FW_P_P 60
-	param set FW_P_RMAX_NEG 0
-	param set FW_P_RMAX_POS 0
-	param set FW_P_ROLLFF 1.1
-	param set FW_R_D 0
-	param set FW_R_I 5
-	param set FW_R_IMAX 20
-	param set FW_R_P 100
-	param set FW_R_RMAX 100
-	param set FW_THR_CRUISE 0.65
-	param set FW_THR_MAX 1
-	param set FW_THR_MIN 0
-	param set FW_T_SINK_MAX 5.0
-	param set FW_T_SINK_MIN 4.0
-	param set FW_Y_ROLLFF 1.1
-	param set FW_L1_PERIOD 16
-	param set RC_SCALE_ROLL 1.0
-	param set RC_SCALE_PITCH 1.0
-fi
+sh /etc/init.d/rc.fw_defaults
  
-set VEHICLE_TYPE fw
 set MIXER FMU_RET
diff --git a/ROMFS/px4fmu_common/init.d/2101_hk_bixler b/ROMFS/px4fmu_common/init.d/2101_hk_bixler
index de5e5a8d3..dcc5db824 100644
--- a/ROMFS/px4fmu_common/init.d/2101_hk_bixler
+++ b/ROMFS/px4fmu_common/init.d/2101_hk_bixler
@@ -1,35 +1,5 @@
 #!nsh
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	# Set all params here, then disable autoconfig
-	param set FW_P_D 0
-	param set FW_P_I 0
-	param set FW_P_IMAX 15
-	param set FW_P_LIM_MAX 50
-	param set FW_P_LIM_MIN -50
-	param set FW_P_P 60
-	param set FW_P_RMAX_NEG 0
-	param set FW_P_RMAX_POS 0
-	param set FW_P_ROLLFF 1.1
-	param set FW_R_D 0
-	param set FW_R_I 5
-	param set FW_R_IMAX 20
-	param set FW_R_P 100
-	param set FW_R_RMAX 100
-	param set FW_THR_CRUISE 0.65
-	param set FW_THR_MAX 1
-	param set FW_THR_MIN 0
-	param set FW_T_SINK_MAX 5.0
-	param set FW_T_SINK_MIN 4.0
-	param set FW_Y_ROLLFF 1.1
-	param set FW_L1_PERIOD 16
-	param set RC_SCALE_ROLL 1.0
-	param set RC_SCALE_PITCH 1.0
-	
-	param set SYS_AUTOCONFIG 0
-	param save
-fi
+sh /etc/init.d/rc.fw_defaults
 
-set VEHICLE_TYPE fw
 set MIXER FMU_AERT
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker b/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker
index 07f215f6c..dcc5db824 100644
--- a/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker
+++ b/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker
@@ -1,33 +1,5 @@
 #!nsh
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	# Set all params here, then disable autoconfig
-	param set FW_P_D 0
-	param set FW_P_I 0
-	param set FW_P_IMAX 15
-	param set FW_P_LIM_MAX 50
-	param set FW_P_LIM_MIN -50
-	param set FW_P_P 60
-	param set FW_P_RMAX_NEG 0
-	param set FW_P_RMAX_POS 0
-	param set FW_P_ROLLFF 1.1
-	param set FW_R_D 0
-	param set FW_R_I 5
-	param set FW_R_IMAX 20
-	param set FW_R_P 100
-	param set FW_R_RMAX 100
-	param set FW_THR_CRUISE 0.65
-	param set FW_T_SINK_MAX 5.0
-	param set FW_T_SINK_MIN 4.0
-	param set FW_Y_ROLLFF 1.1
-	param set FW_L1_PERIOD 16
-	param set RC_SCALE_ROLL 1.0
-	param set RC_SCALE_PITCH 1.0
-	
-	param set SYS_AUTOCONFIG 0
-	param save
-fi
+sh /etc/init.d/rc.fw_defaults
 
-set VEHICLE_TYPE fw
 set MIXER FMU_AERT
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/3030_io_camflyer b/ROMFS/px4fmu_common/init.d/3030_io_camflyer
index 3b7323ac4..83c470234 100644
--- a/ROMFS/px4fmu_common/init.d/3030_io_camflyer
+++ b/ROMFS/px4fmu_common/init.d/3030_io_camflyer
@@ -1,38 +1,5 @@
 #!nsh
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set FW_AIRSPD_MIN 7
-	param set FW_AIRSPD_TRIM 9
-	param set FW_AIRSPD_MAX 14
-	param set FW_L1_PERIOD 10
-	param set FW_P_D 0
-	param set FW_P_I 0
-	param set FW_P_IMAX 20
-	param set FW_P_LIM_MAX 30
-	param set FW_P_LIM_MIN -20
-	param set FW_P_P 30
-	param set FW_P_RMAX_NEG 0
-	param set FW_P_RMAX_POS 0
-	param set FW_P_ROLLFF 2
-	param set FW_R_D 0
-	param set FW_R_I 5
-	param set FW_R_IMAX 20
-	param set FW_R_P 60
-	param set FW_R_RMAX 60
-	param set FW_THR_CRUISE 0.65
-	param set FW_THR_MAX 1.0
-	param set FW_THR_MIN 0
-	param set FW_T_SINK_MAX 5
-	param set FW_T_SINK_MIN 2
-	param set FW_T_TIME_CONST 9
-	param set FW_Y_ROLLFF 2.0
-	param set RC_SCALE_ROLL 1.0
-	param set RC_SCALE_PITCH 1.0
-fi
+sh /etc/init.d/rc.fw_defaults
 
-set VEHICLE_TYPE fw
 set MIXER FMU_Q
diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom
index a4ff61d93..2e2434bb8 100644
--- a/ROMFS/px4fmu_common/init.d/3031_phantom
+++ b/ROMFS/px4fmu_common/init.d/3031_phantom
@@ -5,40 +5,4 @@
 # Simon Wilks <sjwilks@gmail.com>
 #
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set FW_AIRSPD_MIN 11.4
-	param set FW_AIRSPD_TRIM 14
-	param set FW_AIRSPD_MAX 22
-	param set FW_L1_PERIOD 15
-	param set FW_P_D 0
-	param set FW_P_I 0
-	param set FW_P_IMAX 15
-	param set FW_P_LIM_MAX 45
-	param set FW_P_LIM_MIN -45
-	param set FW_P_P 60
-	param set FW_P_RMAX_NEG 0
-	param set FW_P_RMAX_POS 0
-	param set FW_P_ROLLFF 2
-	param set FW_R_D 0
-	param set FW_R_I 5
-	param set FW_R_IMAX 15
-	param set FW_R_P 80
-	param set FW_R_RMAX 60
-	param set FW_THR_CRUISE 0.8
-	param set FW_THR_LND_MAX 0
-	param set FW_THR_MAX 1
-	param set FW_THR_MIN 0.5
-	param set FW_T_SINK_MAX 5.0
-	param set FW_T_SINK_MIN 2.0
-	param set FW_Y_ROLLFF 1.0
-	param set RC_SCALE_ROLL 0.6
-	param set RC_SCALE_PITCH 0.6
-	param set TRIM_PITCH 0.1
-fi
-
-set VEHICLE_TYPE fw
 set MIXER FMU_Q
diff --git a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
index c1e78b6f1..bf5a87068 100644
--- a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
+++ b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
@@ -5,39 +5,35 @@
 # Thomas Gubler <thomasgubler@gmail.com>, Julian Oes <joes@student.ethz.ch>
 #
 
+sh /etc/init.d/rc.fw_defaults
+
 if [ $DO_AUTOCONFIG == yes ]
 then
-	#
-	# Default parameters for this platform
-	#
-	param set FW_AIRSPD_MIN 7
-	param set FW_AIRSPD_TRIM 9
-	param set FW_AIRSPD_MAX 14
-	param set FW_L1_PERIOD 10
-	param set FW_P_D 0
-	param set FW_P_I 0
-	param set FW_P_IMAX 20
-	param set FW_P_LIM_MAX 30
-	param set FW_P_LIM_MIN -20
-	param set FW_P_P 30
+	param set FW_AIRSPD_MIN 15
+	param set FW_AIRSPD_TRIM 20
+	param set FW_AIRSPD_MAX 40
+	param set FW_ATT_TC 0.3
+	param set FW_L1_DAMPING 0.74
+	param set FW_L1_PERIOD 15
+	param set FW_PR_FF 0.3
+	param set FW_PR_I 0
+	param set FW_PR_IMAX 0.2
+	param set FW_PR_P 0.03
+	param set FW_P_LIM_MAX 45
+	param set FW_P_LIM_MIN -45
 	param set FW_P_RMAX_NEG 0
 	param set FW_P_RMAX_POS 0
-	param set FW_P_ROLLFF 2
-	param set FW_R_D 0
-	param set FW_R_I 5
-	param set FW_R_IMAX 20
-	param set FW_R_P 60
-	param set FW_R_RMAX 60
-	param set FW_THR_CRUISE 0.65
-	param set FW_THR_MAX 0.7
-	param set FW_THR_MIN 0
-	param set FW_T_SINK_MAX 5
-	param set FW_T_SINK_MIN 2
-	param set FW_T_TIME_CONST 9
-	param set FW_Y_ROLLFF 2.0
-	param set RC_SCALE_ROLL 1.0
-	param set RC_SCALE_PITCH 1.0
+	param set FW_P_ROLLFF 0
+	param set FW_RR_FF 0.3
+	param set FW_RR_I 0
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.03
+	param set FW_R_LIM 60
+	param set FW_R_RMAX 0
+	param set FW_T_HRATE_P 0.01
+	param set FW_T_RLL2THR 15
+	param set FW_T_SRATE_P 0.01
+	param set FW_T_TIME_CONST 5
 fi
 
-set VEHICLE_TYPE fw
 set MIXER FMU_X5
diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing
index 2f6879799..2af3618d9 100644
--- a/ROMFS/px4fmu_common/init.d/3033_wingwing
+++ b/ROMFS/px4fmu_common/init.d/3033_wingwing
@@ -5,39 +5,6 @@
 # Simon Wilks <sjwilks@gmail.com>
 #
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set FW_AIRSPD_MIN 7
-	param set FW_AIRSPD_TRIM 9
-	param set FW_AIRSPD_MAX 14
-	param set FW_L1_PERIOD 10
-	param set FW_P_D 0
-	param set FW_P_I 0
-	param set FW_P_IMAX 20
-	param set FW_P_LIM_MAX 30
-	param set FW_P_LIM_MIN -20
-	param set FW_P_P 30
-	param set FW_P_RMAX_NEG 0
-	param set FW_P_RMAX_POS 0
-	param set FW_P_ROLLFF 2
-	param set FW_R_D 0
-	param set FW_R_I 5
-	param set FW_R_IMAX 20
-	param set FW_R_P 60
-	param set FW_R_RMAX 60
-	param set FW_THR_CRUISE 0.65
-	param set FW_THR_MAX 0.7
-	param set FW_THR_MIN 0
-	param set FW_T_SINK_MAX 5
-	param set FW_T_SINK_MIN 2
-	param set FW_T_TIME_CONST 9
-	param set FW_Y_ROLLFF 2.0
-	param set RC_SCALE_ROLL 1.0
-	param set RC_SCALE_PITCH 1.0
-fi
+sh /etc/init.d/rc.fw_defaults
 
-set VEHICLE_TYPE fw
 set MIXER FMU_Q
diff --git a/ROMFS/px4fmu_common/init.d/3034_fx79 b/ROMFS/px4fmu_common/init.d/3034_fx79
index bc02d87f3..f4bd18269 100644
--- a/ROMFS/px4fmu_common/init.d/3034_fx79
+++ b/ROMFS/px4fmu_common/init.d/3034_fx79
@@ -5,39 +5,6 @@
 # Simon Wilks <sjwilks@gmail.com>
 #
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set FW_AIRSPD_MAX 20
-	param set FW_AIRSPD_TRIM 12
-	param set FW_AIRSPD_MIN 15
-	param set FW_L1_PERIOD 12
-	param set FW_P_D 0
-	param set FW_P_I 0
-	param set FW_P_IMAX 15
-	param set FW_P_LIM_MAX 50
-	param set FW_P_LIM_MIN -50
-	param set FW_P_P 60
-	param set FW_P_RMAX_NEG 0
-	param set FW_P_RMAX_POS 0
-	param set FW_P_ROLLFF 1.1
-	param set FW_R_D 0
-	param set FW_R_I 5
-	param set FW_R_IMAX 20
-	param set FW_R_P 80
-	param set FW_R_RMAX 100
-	param set FW_THR_CRUISE 0.75
-	param set FW_THR_MAX 1
-	param set FW_THR_MIN 0
-	param set FW_T_SINK_MAX 5.0
-	param set FW_T_SINK_MIN 4.0
-	param set FW_T_TIME_CONST 9
-	param set FW_Y_ROLLFF 1.1	
-	param set RC_SCALE_ROLL 1.0
-	param set RC_SCALE_PITCH 1.0
-fi
+sh /etc/init.d/rc.fw_defaults
 
-set VEHICLE_TYPE fw
 set MIXER FMU_FX79
diff --git a/ROMFS/px4fmu_common/init.d/4001_quad_x b/ROMFS/px4fmu_common/init.d/4001_quad_x
index 0f1288dec..fa751f1e3 100644
--- a/ROMFS/px4fmu_common/init.d/4001_quad_x
+++ b/ROMFS/px4fmu_common/init.d/4001_quad_x
@@ -5,48 +5,8 @@
 # Lorenz Meier <lm@inf.ethz.ch>
 #
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.12
-	param set MC_ROLLRATE_I 0.0
-	param set MC_ROLLRATE_D 0.004
-	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.12
-	param set MC_PITCHRATE_I 0.0
-	param set MC_PITCHRATE_D 0.004
-	param set MC_YAW_P 2.0
-	param set MC_YAWRATE_P 0.3
-	param set MC_YAWRATE_I 0.2
-	param set MC_YAWRATE_D 0.005
-	
-	param set MPC_THR_MAX 1.0
-	param set MPC_THR_MIN 0.1
-	param set MPC_XY_P 1.0
-	param set MPC_XY_VEL_P 0.1
-	param set MPC_XY_VEL_I 0.02
-	param set MPC_XY_VEL_D 0.01
-	param set MPC_XY_VEL_MAX 5
-	param set MPC_XY_FF 0.5
-	param set MPC_Z_P 1.0
-	param set MPC_Z_VEL_P 0.1
-	param set MPC_Z_VEL_I 0.02
-	param set MPC_Z_VEL_D 0.0
-	param set MPC_Z_VEL_MAX 3
-	param set MPC_Z_FF 0.5
-	param set MPC_TILT_MAX 1.0
-	param set MPC_LAND_SPEED 1.0
-	param set MPC_LAND_TILT 0.3
-fi
+sh /etc/init.d/rc.mc_defaults
 
-set VEHICLE_TYPE mc
 set MIXER FMU_quad_x
 
-set PWM_OUTPUTS 1234
-set PWM_RATE 400
-set PWM_DISARMED 900
-set PWM_MIN 1100
-set PWM_MAX 2000
+set PWM_OUTPUTS 1234
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/4010_dji_f330
index 782946033..232af57b4 100644
--- a/ROMFS/px4fmu_common/init.d/4010_dji_f330
+++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330
@@ -5,49 +5,6 @@
 # Anton Babushkin <anton.babushkin@me.com>
 #
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.12
-	param set MC_ROLLRATE_I 0.0
-	param set MC_ROLLRATE_D 0.004
-	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.12
-	param set MC_PITCHRATE_I 0.0
-	param set MC_PITCHRATE_D 0.004
-	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.05
-	param set MC_YAWRATE_D 0.0
-	
-	param set MPC_THR_MAX 1.0
-	param set MPC_THR_MIN 0.1
-	param set MPC_XY_P 1.0
-	param set MPC_XY_VEL_P 0.1
-	param set MPC_XY_VEL_I 0.02
-	param set MPC_XY_VEL_D 0.01
-	param set MPC_XY_VEL_MAX 5
-	param set MPC_XY_FF 0.5
-	param set MPC_Z_P 1.0
-	param set MPC_Z_VEL_P 0.1
-	param set MPC_Z_VEL_I 0.02
-	param set MPC_Z_VEL_D 0.0
-	param set MPC_Z_VEL_MAX 3
-	param set MPC_Z_FF 0.5
-	param set MPC_TILT_MAX 1.0
-	param set MPC_LAND_SPEED 1.0
-	param set MPC_LAND_TILT 0.3
-fi
+sh /etc/init.d/4001_quad_x
 
-set VEHICLE_TYPE mc
-set MIXER FMU_quad_x
-
-set PWM_OUTPUTS 1234
-set PWM_RATE 400
-# DJI ESC range
-set PWM_DISARMED 900
-set PWM_MIN 1200
-set PWM_MAX 1900
+set PWM_MIN 1175
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450
index 8eb53d172..259636acc 100644
--- a/ROMFS/px4fmu_common/init.d/4011_dji_f450
+++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450
@@ -5,49 +5,6 @@
 # Lorenz Meier <lm@inf.ethz.ch>
 #
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.12
-	param set MC_ROLLRATE_I 0.0
-	param set MC_ROLLRATE_D 0.004
-	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.12
-	param set MC_PITCHRATE_I 0.0
-	param set MC_PITCHRATE_D 0.004
-	param set MC_YAW_P 2.0
-	param set MC_YAWRATE_P 0.3
-	param set MC_YAWRATE_I 0.2
-	param set MC_YAWRATE_D 0.005
-	
-	param set MPC_THR_MAX 1.0
-	param set MPC_THR_MIN 0.1
-	param set MPC_XY_P 1.0
-	param set MPC_XY_VEL_P 0.1
-	param set MPC_XY_VEL_I 0.02
-	param set MPC_XY_VEL_D 0.01
-	param set MPC_XY_VEL_MAX 5
-	param set MPC_XY_FF 0.5
-	param set MPC_Z_P 1.0
-	param set MPC_Z_VEL_P 0.1
-	param set MPC_Z_VEL_I 0.02
-	param set MPC_Z_VEL_D 0.0
-	param set MPC_Z_VEL_MAX 3
-	param set MPC_Z_FF 0.5
-	param set MPC_TILT_MAX 1.0
-	param set MPC_LAND_SPEED 1.0
-	param set MPC_LAND_TILT 0.3
-fi
+sh /etc/init.d/4001_quad_x
 
-set VEHICLE_TYPE mc
-set MIXER FMU_quad_x
-
-set PWM_OUTPUTS 1234
-set PWM_RATE 400
-# DJI ESC range
-set PWM_DISARMED 900
-set PWM_MIN 1200
-set PWM_MAX 1900
+set PWM_MIN 1175
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/4012_hk_x550 b/ROMFS/px4fmu_common/init.d/4012_hk_x550
index 3d8e9fcf7..a5c4a8690 100644
--- a/ROMFS/px4fmu_common/init.d/4012_hk_x550
+++ b/ROMFS/px4fmu_common/init.d/4012_hk_x550
@@ -6,9 +6,3 @@
 #
 
 sh /etc/init.d/4001_quad_x
-
-set PWM_OUTPUTS 1234
-set PWM_RATE 400
-set PWM_DISARMED 900
-set PWM_MIN 1000
-set PWM_MAX 2000
diff --git a/ROMFS/px4fmu_common/init.d/5001_quad_+ b/ROMFS/px4fmu_common/init.d/5001_quad_+
index ff11bccfe..2f5ab44d7 100644
--- a/ROMFS/px4fmu_common/init.d/5001_quad_+
+++ b/ROMFS/px4fmu_common/init.d/5001_quad_+
@@ -5,6 +5,8 @@
 # Anton Babushkin <anton.babushkin@me.com>
 #
 
-sh /etc/init.d/4001_quad_x
+sh /etc/init.d/rc.mc_defaults
 
 set MIXER FMU_quad_+
+
+set PWM_OUTPUTS 1234
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/6001_hexa_x b/ROMFS/px4fmu_common/init.d/6001_hexa_x
index fd5756586..73ef12569 100644
--- a/ROMFS/px4fmu_common/init.d/6001_hexa_x
+++ b/ROMFS/px4fmu_common/init.d/6001_hexa_x
@@ -5,10 +5,10 @@
 # Anton Babushkin <anton.babushkin@me.com>
 #
 
-sh /etc/init.d/4001_quad_x
+sh /etc/init.d/rc.mc_defaults
 
 set MIXER FMU_hexa_x
 
 # We only can run one channel group with one rate,
 # so all 8 at 400 Hz
-set PWM_OUTPUTS 12345678
+set PWM_OUTPUTS 12345678
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/7001_hexa_+ b/ROMFS/px4fmu_common/init.d/7001_hexa_+
index 45279ec39..ef4b6297d 100644
--- a/ROMFS/px4fmu_common/init.d/7001_hexa_+
+++ b/ROMFS/px4fmu_common/init.d/7001_hexa_+
@@ -5,6 +5,10 @@
 # Anton Babushkin <anton.babushkin@me.com>
 #
 
-sh /etc/init.d/6001_hexa_x
+sh /etc/init.d/rc.mc_defaults
 
 set MIXER FMU_hexa_+
+
+# We only can run one channel group with one rate,
+# so all 8 at 400 Hz
+set PWM_OUTPUTS 12345678
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/8001_octo_x b/ROMFS/px4fmu_common/init.d/8001_octo_x
index 6fa962668..bb87f89fe 100644
--- a/ROMFS/px4fmu_common/init.d/8001_octo_x
+++ b/ROMFS/px4fmu_common/init.d/8001_octo_x
@@ -5,8 +5,8 @@
 # Anton Babushkin <anton.babushkin@me.com>
 #
 
-sh /etc/init.d/4001_quad_x
+sh /etc/init.d/rc.mc_defaults
 
 set MIXER FMU_octo_x
 
-set PWM_OUTPUTS 12345678
+set PWM_OUTPUTS 12345678
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/9001_octo_+ b/ROMFS/px4fmu_common/init.d/9001_octo_+
index fa3869f9f..81132fd3e 100644
--- a/ROMFS/px4fmu_common/init.d/9001_octo_+
+++ b/ROMFS/px4fmu_common/init.d/9001_octo_+
@@ -5,6 +5,8 @@
 # Anton Babushkin <anton.babushkin@me.com>
 #
 
-sh /etc/init.d/8001_octo_x
+sh /etc/init.d/rc.mc_defaults
 
 set MIXER FMU_octo_+
+
+set PWM_OUTPUTS 12345678
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
new file mode 100644
index 000000000..3e340699f
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@@ -0,0 +1,13 @@
+#!nsh
+
+set VEHICLE_TYPE fw
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+#
+# Default parameters for FW
+#
+	param set NAV_LAND_ALT 90
+	param set NAV_RTL_ALT 100
+	param set NAV_RTL_LAND_T -1
+fi
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
new file mode 100644
index 000000000..52584677b
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
@@ -0,0 +1,45 @@
+#!nsh
+
+set VEHICLE_TYPE mc
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+	#
+	# Default parameters for MC
+	#
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.12
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.004
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.12
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.004
+	param set MC_YAW_P 2.0
+	param set MC_YAWRATE_P 0.3
+	param set MC_YAWRATE_I 0.2
+	param set MC_YAWRATE_D 0.005
+	
+	param set MPC_THR_MAX 1.0
+	param set MPC_THR_MIN 0.1
+	param set MPC_XY_P 1.0
+	param set MPC_XY_VEL_P 0.1
+	param set MPC_XY_VEL_I 0.02
+	param set MPC_XY_VEL_D 0.01
+	param set MPC_XY_VEL_MAX 5
+	param set MPC_XY_FF 0.5
+	param set MPC_Z_P 1.0
+	param set MPC_Z_VEL_P 0.1
+	param set MPC_Z_VEL_I 0.02
+	param set MPC_Z_VEL_D 0.0
+	param set MPC_Z_VEL_MAX 3
+	param set MPC_Z_FF 0.5
+	param set MPC_TILT_MAX 1.0
+	param set MPC_LAND_SPEED 1.0
+	param set MPC_LAND_TILT 0.3
+fi
+
+set PWM_RATE 400
+set PWM_DISARMED 900
+set PWM_MIN 1075
+set PWM_MAX 2000
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 178bcaeba..ede835ab7 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -464,16 +464,20 @@ then
 
 		if [ $MIXER == none ]
 		then
-			# Set default mixer for multicopter if not defined
-			set MIXER quad_x
+			echo "Default mixer for multicopter not defined"
 		fi
 
 		if [ $MAV_TYPE == none ]
 		then
-			# Use MAV_TYPE = 2 (quadcopter) if not defined
-			set MAV_TYPE 2
-			
 			# Use mixer to detect vehicle type
+			if [ $MIXER == FMU_quad_x -o $MIXER == FMU_quad_+ ]
+			then
+				set MAV_TYPE 2
+			fi
+			if [ $MIXER == FMU_quad_w ]
+			then
+				set MAV_TYPE 2
+			fi
 			if [ $MIXER == FMU_hexa_x -o $MIXER == FMU_hexa_+ ]
 			then
 				set MAV_TYPE 13
@@ -487,8 +491,14 @@ then
 				set MAV_TYPE 14
 			fi
 		fi
-
-	    param set MAV_TYPE $MAV_TYPE
+		
+		# Still no MAV_TYPE found
+		if [ $MAV_TYPE == none ]
+		then
+			echo "Unknown MAV_TYPE"
+		else
+			param set MAV_TYPE $MAV_TYPE
+		fi
 		
 		# Load mixer and configure outputs
 		sh /etc/init.d/rc.interface
@@ -502,10 +512,8 @@ then
 	#
 	if [ $VEHICLE_TYPE == none ]
 	then
-		echo "[init] Vehicle type: GENERIC"
+		echo "[init] Vehicle type: No autostart ID found"
 
-		# Load mixer and configure outputs
-		sh /etc/init.d/rc.interface
 	fi
 
 	# Start any custom addons
diff --git a/nuttx-configs/px4fmu-v2/include/board.h b/nuttx-configs/px4fmu-v2/include/board.h
index e56b14ba4..850043ddf 100755
--- a/nuttx-configs/px4fmu-v2/include/board.h
+++ b/nuttx-configs/px4fmu-v2/include/board.h
@@ -209,8 +209,8 @@
 
 #define GPIO_USART3_RX	GPIO_USART3_RX_3
 #define GPIO_USART3_TX	GPIO_USART3_TX_3
-#define GPIO_USART2_RTS	GPIO_USART2_RTS_2
-#define GPIO_USART2_CTS	GPIO_USART2_CTS_2
+#define GPIO_USART3_RTS	GPIO_USART3_RTS_2
+#define GPIO_USART3_CTS	GPIO_USART3_CTS_2
 
 #define GPIO_UART4_RX	GPIO_UART4_RX_1
 #define GPIO_UART4_TX	GPIO_UART4_TX_1
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
index ee8721ff9..512ca7b8a 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
@@ -168,7 +168,7 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);
 PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f);
 PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.05f);
 
-PARAM_DEFINE_FLOAT(FW_LND_ANG, 10.0f);
+PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f);
 PARAM_DEFINE_FLOAT(FW_LND_SLLR, 0.9f);
 PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f);
 PARAM_DEFINE_FLOAT(FW_LND_FLALT, 15.0f);
diff --git a/src/modules/navigator/navigator_params.c b/src/modules/navigator/navigator_params.c
index d5e00e35d..1ba159a8e 100644
--- a/src/modules/navigator/navigator_params.c
+++ b/src/modules/navigator/navigator_params.c
@@ -55,7 +55,7 @@
 
 PARAM_DEFINE_FLOAT(NAV_MIN_ALT, 50.0f);
 PARAM_DEFINE_FLOAT(NAV_ACCEPT_RAD, 10.0f);
-PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 100.0f);
+PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f);
 PARAM_DEFINE_INT32(NAV_ONB_MIS_EN, 0);
 PARAM_DEFINE_FLOAT(NAV_TAKEOFF_ALT, 10.0f);	// default TAKEOFF altitude
 PARAM_DEFINE_FLOAT(NAV_LAND_ALT, 5.0f);		// slow descend from this altitude when landing