ROMFS reshuffling / cleanup, in sync with QGC

10 files changed, 269 insertions, 142 deletions

diff --git a/ROMFS/px4fmu_common/init.d/01_fmu_quad_x b/ROMFS/px4fmu_common/init.d/01_fmu_quad_x
deleted file mode 100644
index b106a974f..000000000
--- a/ROMFS/px4fmu_common/init.d/01_fmu_quad_x
+++ /dev/null
@@ -1,64 +0,0 @@
-#!nsh
-
-echo "[init] 01_fmu_quad_x: PX4FMU Quad X with PWM outputs"
-
-#
-# Load default params for this platform
-#
-if param compare SYS_AUTOCONFIG 1
-then
-	# Set all params here, then disable autoconfig
-	param set MC_ATTRATE_P                0.14
-	param set MC_ATTRATE_I                0
-	param set MC_ATTRATE_D                0.006
-	param set MC_ATT_P                    5.5
-	param set MC_ATT_I                    0
-	param set MC_ATT_D                    0
-	param set MC_YAWPOS_D                 0
-	param set MC_YAWPOS_I                 0
-	param set MC_YAWPOS_P                 0.6
-	param set MC_YAWRATE_D                0
-	param set MC_YAWRATE_I                0
-	param set MC_YAWRATE_P                0.08
-	param set RC_SCALE_PITCH              1
-	param set RC_SCALE_ROLL               1
-	param set RC_SCALE_YAW                3
-
-	param set SYS_AUTOCONFIG 0
-	param save
-fi
-
-#
-# Force some key parameters to sane values
-# MAV_TYPE     2 = quadrotor
-#
-param set MAV_TYPE 2
-
-#
-# Start MAVLink
-#
-mavlink start -d /dev/ttyS0 -b 57600
-usleep 5000
-
-#
-# Start PWM output
-#
-fmu mode_pwm
-
-#
-# Load mixer
-#
-mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
-
-#
-# Set PWM output frequency
-#
-pwm -u 400 -m 0xff
-
-#
-# Start common for all multirotors apps
-#
-sh /etc/init.d/rc.multirotor
- 
-# Exit, because /dev/ttyS0 is needed for MAVLink
-exit
diff --git a/ROMFS/px4fmu_common/init.d/02_io_quad_x b/ROMFS/px4fmu_common/init.d/02_io_quad_x
deleted file mode 100644
index a37c26ad1..000000000
--- a/ROMFS/px4fmu_common/init.d/02_io_quad_x
+++ /dev/null
@@ -1,47 +0,0 @@
-#!nsh
-
-echo "[init] 02_io_quad_x: PX4FMU+PX4IO Quad X with PWM outputs"
-
-#
-# Load default params for this platform
-#
-if param compare SYS_AUTOCONFIG 1
-then
-	# Set all params here, then disable autoconfig
-	# TODO
-	
-	param set SYS_AUTOCONFIG 0
-	param save /fs/microsd/params
-fi
-
-#
-# Force some key parameters to sane values
-# MAV_TYPE     2 = quadrotor
-#
-param set MAV_TYPE 2
- 
-#
-# Start MAVLink
-#
-mavlink start -d /dev/ttyS1 -b 57600
-usleep 5000
-
-#
-# Start and configure PX4IO interface
-#
-sh /etc/init.d/rc.io
-
-#
-# Load mixer
-#
-mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
-
-#
-# Set PWM output frequency
-#
-pwm -u 400 -m 0xff
-
-#
-# Start common for all multirotors apps
-#
-sh /etc/init.d/rc.multirotor
diff --git a/ROMFS/px4fmu_common/init.d/100_mpx_easystar b/ROMFS/px4fmu_common/init.d/100_mpx_easystar
new file mode 100644
index 000000000..e1cefdb99
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/100_mpx_easystar
@@ -0,0 +1,68 @@
+#!nsh
+
+echo "[init] Multiplex Easystar"
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	# TODO
+	
+	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 MAVLink (depends on orb)
+#
+mavlink start -d /dev/ttyS1 -b 57600
+usleep 5000
+
+#
+# Start and configure PX4IO interface
+#
+sh /etc/init.d/rc.io
+
+#
+# Set actuator limit to 100 Hz update (50 Hz PWM)
+px4io limit 100
+ 
+#
+# Start the commander
+#
+commander start
+ 
+#
+# Start the sensors
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start logging (depends on sensors)
+#
+sh /etc/init.d/rc.logging
+ 
+#
+# Start GPS interface
+#
+gps start
+ 
+#
+# Start the attitude and position estimator
+#
+att_pos_estimator_ekf start
+ 
+#
+# Load mixer and start controllers (depends on px4io)
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_RET.mix
+fw_att_control start
+fw_pos_control_l1 start
diff --git a/ROMFS/px4fmu_common/init.d/10_io_f330 b/ROMFS/px4fmu_common/init.d/10_dji_f330
index 5af4f97b5..5af4f97b5 100644
--- a/ROMFS/px4fmu_common/init.d/10_io_f330
+++ b/ROMFS/px4fmu_common/init.d/10_dji_f330
diff --git a/ROMFS/px4fmu_common/init.d/11_dji_f450 b/ROMFS/px4fmu_common/init.d/11_dji_f450
new file mode 100644
index 000000000..5af4f97b5
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/11_dji_f450
@@ -0,0 +1,78 @@
+#!nsh
+
+echo "[init] PX4FMU v1, v2 with or without IO on DJI F330"
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	param set SYS_AUTOCONFIG 0
+
+	param set MC_ATTRATE_D	         0.004
+	param set MC_ATTRATE_I	         0.0
+	param set MC_ATTRATE_P	         0.12
+	param set MC_ATT_D	         0.0
+	param set MC_ATT_I	         0.0
+	param set MC_ATT_P	         7.0
+	param set MC_RCLOSS_THR	         0.0
+	param set MC_YAWPOS_D	         0.0
+	param set MC_YAWPOS_I	         0.0
+	param set MC_YAWPOS_P	         2.0
+	param set MC_YAWRATE_D	         0.005
+	param set MC_YAWRATE_I	         0.2
+	param set MC_YAWRATE_P	         0.3
+
+	param save
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     2 = quadrotor
+#
+param set MAV_TYPE 2
+
+set EXIT_ON_END no
+
+#
+# Start and configure PX4IO or FMU interface
+#
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start
+	usleep 5000
+
+	sh /etc/init.d/rc.io
+	# Set PWM values for DJI ESCs
+	px4io idle 900 900 900 900
+	px4io min 1200 1200 1200 1200
+	px4io max 1800 1800 1800 1800
+else
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS0
+	usleep 5000
+	fmu mode_pwm
+	set EXIT_ON_END yes
+fi
+
+#
+# Load mixer
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+
+#
+# Set PWM output frequency
+#
+pwm -u 400 -m 0xff
+
+#
+# Start common for all multirotors apps
+#
+sh /etc/init.d/rc.multirotor
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi
diff --git a/ROMFS/px4fmu_common/init.d/15_tbs_discovery b/ROMFS/px4fmu_common/init.d/15_tbs_discovery
new file mode 100644
index 000000000..4e7406b66
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/15_tbs_discovery
@@ -0,0 +1,78 @@
+#!nsh
+
+echo "[init] Team Blacksheep Discovery Quad"
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	param set SYS_AUTOCONFIG 0
+
+	param set MC_ATTRATE_D	         0.006
+	param set MC_ATTRATE_I	         0.0
+	param set MC_ATTRATE_P	         0.17
+	param set MC_ATT_D	         0.0
+	param set MC_ATT_I	         0.0
+	param set MC_ATT_P	         5.0
+	param set MC_RCLOSS_THR	         0.0
+	param set MC_YAWPOS_D	         0.0
+	param set MC_YAWPOS_I	         0.15
+	param set MC_YAWPOS_P	         0.5
+	param set MC_YAWRATE_D	         0.0
+	param set MC_YAWRATE_I	         0.0
+	param set MC_YAWRATE_P	         0.2
+
+	param save
+fi
+
+#
+# Force some key parameters to sane values
+# MAV_TYPE     2 = quadrotor
+#
+param set MAV_TYPE 2
+ 
+set EXIT_ON_END no
+
+#
+# Start and configure PX4IO or FMU interface
+#
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start
+	usleep 5000
+
+	sh /etc/init.d/rc.io
+	# Set PWM values for DJI ESCs
+	px4io idle 900 900 900 900
+	px4io min 1200 1200 1200 1200
+	px4io max 1800 1800 1800 1800
+else
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS0
+	usleep 5000
+	fmu mode_pwm
+	set EXIT_ON_END yes
+fi
+
+#
+# Load the mixer for a quad with wide arms
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix
+
+#
+# Set PWM output frequency
+#
+pwm -u 400 -m 0xff
+
+#
+# Start common for all multirotors apps
+#
+sh /etc/init.d/rc.multirotor
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi
diff --git a/ROMFS/px4fmu_common/init.d/15_io_tbs b/ROMFS/px4fmu_common/init.d/16_3dr_iris
index 3fce39403..5bcaaaac1 100644
--- a/ROMFS/px4fmu_common/init.d/15_io_tbs
+++ b/ROMFS/px4fmu_common/init.d/16_3dr_iris
@@ -1,6 +1,6 @@
 #!nsh
 
-echo "[init] 15_io_tbs: PX4FMU+PX4IO on a Team Blacksheep Discovery quad"
+echo "[init] 3DR Iris Quad"
 
 #
 # Load default params for this platform
@@ -33,23 +33,29 @@ fi
 #
 param set MAV_TYPE 2
  
-#
-# Start MAVLink (depends on orb)
-#
-mavlink start
-usleep 5000
+set EXIT_ON_END no
 
 #
-# Start and configure PX4IO interface
+# Start and configure PX4IO or FMU interface
 #
-sh /etc/init.d/rc.io
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start
+	usleep 5000
 
-#
-# Set PWM values for DJI ESCs
-#
-px4io idle 900 900 900 900
-px4io min 1180 1180 1180 1180
-px4io max 1800 1800 1800 1800
+	sh /etc/init.d/rc.io
+	# Set PWM values for DJI ESCs
+	px4io idle 900 900 900 900
+	px4io min 1200 1200 1200 1200
+	px4io max 1800 1800 1800 1800
+else
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS0
+	usleep 5000
+	fmu mode_pwm
+	set EXIT_ON_END yes
+fi
 
 #
 # Load the mixer for a quad with wide arms
@@ -65,3 +71,8 @@ pwm -u 400 -m 0xff
 # Start common for all multirotors apps
 #
 sh /etc/init.d/rc.multirotor
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi
diff --git a/ROMFS/px4fmu_common/init.d/30_io_camflyer b/ROMFS/px4fmu_common/init.d/30_io_camflyer
index 390649f89..f7e653362 100644
--- a/ROMFS/px4fmu_common/init.d/30_io_camflyer
+++ b/ROMFS/px4fmu_common/init.d/30_io_camflyer
@@ -61,12 +61,13 @@ sh /etc/init.d/rc.logging
 gps start
  
 #
-# Start the attitude estimator (depends on orb)
+# Start the attitude and position estimator
 #
-kalman_demo start
+att_pos_estimator_ekf start
  
 #
 # Load mixer and start controllers (depends on px4io)
 #
 mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
 fw_att_control start
+fw_pos_control_l1 start
diff --git a/ROMFS/px4fmu_common/init.d/31_io_phantom b/ROMFS/px4fmu_common/init.d/31_io_phantom
index 45563310c..e1e609927 100644
--- a/ROMFS/px4fmu_common/init.d/31_io_phantom
+++ b/ROMFS/px4fmu_common/init.d/31_io_phantom
@@ -56,12 +56,13 @@ sh /etc/init.d/rc.logging
 gps start
  
 #
-# Start the attitude estimator
+# Start the attitude and position estimator
 #
-kalman_demo start
+att_pos_estimator_ekf start
  
 #
 # Load mixer and start controllers (depends on px4io)
 #
 mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
 fw_att_control start
+fw_pos_control_l1 start
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 6da03402e..3ef6eb75e 100755
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -125,17 +125,6 @@ then
 	# Check if auto-setup from one of the standard scripts is wanted
 	# SYS_AUTOSTART = 0 means no autostart (default)
 	#
-	if param compare SYS_AUTOSTART 1
-	then
-		sh /etc/init.d/01_fmu_quad_x
-		set MODE custom
-	fi
-	
-	if param compare SYS_AUTOSTART 2
-	then
-		sh /etc/init.d/02_io_quad_x
-		set MODE custom
-	fi
 	
 	if param compare SYS_AUTOSTART 8
 	then
@@ -151,13 +140,25 @@ then
 	
 	if param compare SYS_AUTOSTART 10
 	then
-		sh /etc/init.d/10_io_f330
+		sh /etc/init.d/10_dji_f330
+		set MODE custom
+	fi
+
+	if param compare SYS_AUTOSTART 11
+	then
+		sh /etc/init.d/11_dji_f450
 		set MODE custom
 	fi
 	
 	if param compare SYS_AUTOSTART 15
 	then
-		sh /etc/init.d/15_io_tbs
+		sh /etc/init.d/15_tbs_discovery
+		set MODE custom
+	fi
+
+	if param compare SYS_AUTOSTART 16
+	then
+		sh /etc/init.d/16_3dr_iris
 		set MODE custom
 	fi