Autostart: some fixed wing setups added

9 files changed, 145 insertions, 267 deletions

diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
index 24f1099d3..53140caff 100644
--- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
+++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
@@ -24,9 +24,7 @@ then
 	param set MC_YAWRATE_D 0.0
 fi
 
-set FRAME_TYPE mc
+set VEHICLE_TYPE mc
 set FRAME_GEOMETRY quad_w
+
 set PWM_RATE 400
-set PWM_DISARMED 900
-set PWM_MIN 1100
-set PWM_MAX 1900
diff --git a/ROMFS/px4fmu_common/init.d/2100_mpx_easystar b/ROMFS/px4fmu_common/init.d/2100_mpx_easystar
index 9bf01c60c..43f911a78 100644
--- a/ROMFS/px4fmu_common/init.d/2100_mpx_easystar
+++ b/ROMFS/px4fmu_common/init.d/2100_mpx_easystar
@@ -1,6 +1,9 @@
 #!nsh
-
-echo "[init] EasyStar"
+#
+# MPX EasyStar Plane
+#
+# Maintainers: ???
+#
 
 if [ $DO_AUTOCONFIG == yes ]
 then
@@ -32,5 +35,5 @@ then
 	param set RC_SCALE_PITCH 1.0
 fi
  
-set FRAME_TYPE fw
+set VEHICLE_TYPE fw
 set FRAME_GEOMETRY RET
diff --git a/ROMFS/px4fmu_common/init.d/3031_io_phantom b/ROMFS/px4fmu_common/init.d/3031_io_phantom
deleted file mode 100644
index 0cf6ee39a..000000000
--- a/ROMFS/px4fmu_common/init.d/3031_io_phantom
+++ /dev/null
@@ -1,85 +0,0 @@
-#!nsh
-
-echo "[init] PX4FMU v1, v2 with or without IO on Phantom FPV"
-
-#
-# Load default params for this platform
-#
-if param compare SYS_AUTOCONFIG 1
-then
-	# Set all params here, then disable autoconfig
-	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
-
-	param set SYS_AUTOCONFIG 0
-	param save
-fi
- 
-#
-# Force some key parameters to sane values
-# MAV_TYPE     1 = fixed wing
-#
-param set MAV_TYPE 1
-
-#
-# Start and configure PX4IO or FMU interface
-#
-if px4io detect
-then
-	# Start MAVLink (depends on orb)
-	mavlink start
-
-	sh /etc/init.d/rc.io
-	# Limit to 100 Hz updates and (implicit) 50 Hz PWM
-	px4io limit 100
-else
-	# Start MAVLink (on UART1 / ttyS0)
-	mavlink start -d /dev/ttyS0
-
-	fmu mode_pwm
-	param set BAT_V_SCALING 0.004593
-	set EXIT_ON_END yes
-fi
-
-#
-# Load mixer and start controllers (depends on px4io)
-#
-if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ]
-then
-	echo "Using /fs/microsd/etc/mixers/FMU_Q.mix"
-	mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix
-else
-	echo "Using /etc/mixers/FMU_Q.mix"
-	mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
-fi
-
-#
-# Start common fixedwing apps
-#
-sh /etc/init.d/rc.fixedwing
diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom
new file mode 100644
index 000000000..29af48ec6
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/3031_phantom
@@ -0,0 +1,44 @@
+#!nsh
+#
+# Phantom FPV Flying Wing
+#
+# Maintainers: 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 FRAME_GEOMETRY Q
diff --git a/ROMFS/px4fmu_common/init.d/3033_io_wingwing b/ROMFS/px4fmu_common/init.d/3033_io_wingwing
deleted file mode 100644
index 82ff425e6..000000000
--- a/ROMFS/px4fmu_common/init.d/3033_io_wingwing
+++ /dev/null
@@ -1,84 +0,0 @@
-#!nsh
-
-echo "[init] PX4FMU v1, v2 with or without IO on the Wing Wing (aka Z-84)"
-
-#
-# Load default params for this platform
-#
-if param compare SYS_AUTOCONFIG 1
-then
-   # Set all params here, then disable autoconfig
-   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
-
-   param set SYS_AUTOCONFIG 0
-   param save
-fi
- 
-#
-# Force some key parameters to sane values
-# MAV_TYPE     1 = fixed wing
-#
-param set MAV_TYPE 1
-
-#
-# Start and configure PX4IO or FMU interface
-#
-if px4io detect
-then
-   # Start MAVLink (depends on orb)
-   mavlink start
-
-   sh /etc/init.d/rc.io
-   # Limit to 100 Hz updates and (implicit) 50 Hz PWM
-   px4io limit 100
-else
-   # Start MAVLink (on UART1 / ttyS0)
-   mavlink start -d /dev/ttyS0
-
-   fmu mode_pwm
-   param set BAT_V_SCALING 0.004593
-   set EXIT_ON_END yes
-fi
-
-#
-# Load mixer and start controllers (depends on px4io)
-#
-if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ]
-then
-   echo "Using /fs/microsd/etc/mixers/FMU_Q.mix"
-   mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix
-else
-   echo "Using /etc/mixers/FMU_Q.mix"
-   mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
-fi
-
-#
-# Start common fixedwing apps
-#
-sh /etc/init.d/rc.fixedwing
diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing
new file mode 100644
index 000000000..e0340a8d9
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/3033_wingwing
@@ -0,0 +1,43 @@
+#!nsh
+#
+# Wing Wing (aka Z-84) Flying Wing
+#
+# Maintainers: 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
+
+set VEHICLE_TYPE fw
+set FRAME_GEOMETRY Q
diff --git a/ROMFS/px4fmu_common/init.d/3034_fx79 b/ROMFS/px4fmu_common/init.d/3034_fx79
new file mode 100644
index 000000000..c4dab7ba6
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/3034_fx79
@@ -0,0 +1,43 @@
+#!nsh
+#
+# FX-79 Buffalo Flying Wing
+#
+# Maintainers: 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
+
+set VEHICLE_TYPE fw
+set FRAME_GEOMETRY Q
diff --git a/ROMFS/px4fmu_common/init.d/3034_io_fx79 b/ROMFS/px4fmu_common/init.d/3034_io_fx79
deleted file mode 100644
index 759c17bb4..000000000
--- a/ROMFS/px4fmu_common/init.d/3034_io_fx79
+++ /dev/null
@@ -1,84 +0,0 @@
-#!nsh
-
-echo "[init] PX4FMU v1, v2 with or without IO on FX-79 Buffalo"
-
-#
-# Load default params for this platform
-#
-if param compare SYS_AUTOCONFIG 1
-then
-	# Set all params here, then disable autoconfig
-	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
-	
-	param set SYS_AUTOCONFIG 0
-	param save
-fi
- 
-#
-# Force some key parameters to sane values
-# MAV_TYPE     1 = fixed wing
-#
-param set MAV_TYPE 1
-
-#
-# Start and configure PX4IO or FMU interface
-#
-if px4io detect
-then
-	# Start MAVLink (depends on orb)
-	mavlink start
-
-	sh /etc/init.d/rc.io
-	# Limit to 100 Hz updates and (implicit) 50 Hz PWM
-	px4io limit 100
-else
-	# Start MAVLink (on UART1 / ttyS0)
-	mavlink start -d /dev/ttyS0
-
-	fmu mode_pwm
-	param set BAT_V_SCALING 0.004593
-	set EXIT_ON_END yes
-fi
-
-#
-# Load mixer and start controllers (depends on px4io)
-#
-if [ -f /fs/microsd/etc/mixers/FMU_FX79.mix ]
-then
-	echo "Using /fs/microsd/etc/mixers/FMU_FX79.mix"
-	mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_FX79.mix
-else
-	echo "Using /etc/mixers/FMU_FX79.mix"
-	mixer load /dev/pwm_output /etc/mixers/FMU_FX79.mix
-fi
-
-#
-# Start common fixedwing apps
-#
-sh /etc/init.d/rc.fixedwing
diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart
index 352a916ac..69e88fcd0 100644
--- a/ROMFS/px4fmu_common/init.d/rc.autostart
+++ b/ROMFS/px4fmu_common/init.d/rc.autostart
@@ -77,24 +77,24 @@ then
 	#sh /etc/init.d/3030_io_camflyer
 fi
 
-if param compare SYS_AUTOSTART 3031 31
+if param compare SYS_AUTOSTART 3031
 then
-	#sh /etc/init.d/3031_io_phantom
+	sh /etc/init.d/3031_phantom
 fi
 
-if param compare SYS_AUTOSTART 3032 32
+if param compare SYS_AUTOSTART 3032
 then
 	#sh /etc/init.d/3032_skywalker_x5
 fi
 
-if param compare SYS_AUTOSTART 3033 33
+if param compare SYS_AUTOSTART 3033
 then
-	#sh /etc/init.d/3033_io_wingwing
+	sh /etc/init.d/3033_wingwing
 fi
 
-if param compare SYS_AUTOSTART 3034 34
+if param compare SYS_AUTOSTART 3034
 then
-	#sh /etc/init.d/3034_io_fx79
+	sh /etc/init.d/3034_fx79
 fi
 
 #