Merge remote-tracking branch 'upstream/master' into qu4d

12 files changed, 82 insertions, 47 deletions

diff --git a/ROMFS/px4fmu_common/init.d/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/11001_hexa_cox
index 38e65435b..df2e609bc 100644
--- a/ROMFS/px4fmu_common/init.d/11001_hexa_cox
+++ b/ROMFS/px4fmu_common/init.d/11001_hexa_cox
@@ -9,7 +9,7 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER hexa_cox
+set MIXER FMU_hexa_cox
 
 # We only can run one channel group with one rate, so set all 8 channels
 set PWM_OUTPUTS 12345678
diff --git a/ROMFS/px4fmu_common/init.d/12001_octo_cox b/ROMFS/px4fmu_common/init.d/12001_octo_cox
index 99f902a6d..8703f5f2f 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 octo_cox
+set MIXER FMU_octo_cox
 
 set PWM_OUTPUTS 12345678
diff --git a/ROMFS/px4fmu_common/init.d/2100_mpx_easystar b/ROMFS/px4fmu_common/init.d/2100_mpx_easystar
index 465a22c53..db0e40fc2 100644
--- a/ROMFS/px4fmu_common/init.d/2100_mpx_easystar
+++ b/ROMFS/px4fmu_common/init.d/2100_mpx_easystar
@@ -5,4 +5,4 @@
 
 sh /etc/init.d/rc.fw_defaults
  
-set MIXER FMU_RET
+set MIXER easystar.mix
diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom
index 6cbd23643..24372bddc 100644
--- a/ROMFS/px4fmu_common/init.d/3031_phantom
+++ b/ROMFS/px4fmu_common/init.d/3031_phantom
@@ -10,8 +10,8 @@ sh /etc/init.d/rc.fw_defaults
 if [ $DO_AUTOCONFIG == yes ]
 then
 	param set FW_AIRSPD_MIN 13
-	param set FW_AIRSPD_TRIM 18
-	param set FW_AIRSPD_MAX 40
+	param set FW_AIRSPD_TRIM 15
+	param set FW_AIRSPD_MAX 25
 	param set FW_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.75
 	param set FW_L1_PERIOD 15
@@ -23,12 +23,12 @@ then
 	param set FW_P_LIM_MIN -50
 	param set FW_P_RMAX_NEG 0
 	param set FW_P_RMAX_POS 0
-	param set FW_P_ROLLFF 0
+	param set FW_P_ROLLFF 1
 	param set FW_RR_FF 0.5
 	param set FW_RR_I 0.02
 	param set FW_RR_IMAX 0.2
 	param set FW_RR_P 0.08
-	param set FW_R_LIM 70
+	param set FW_R_LIM 50
 	param set FW_R_RMAX 0
 	param set FW_T_HRATE_P 0.01
 	param set FW_T_RLL2THR 15
diff --git a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
index bf5a87068..465166f25 100644
--- a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
+++ b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
@@ -23,7 +23,7 @@ then
 	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_P_ROLLFF 1
 	param set FW_RR_FF 0.3
 	param set FW_RR_I 0
 	param set FW_RR_IMAX 0.2
diff --git a/ROMFS/px4fmu_common/init.d/rc.io b/ROMFS/px4fmu_common/init.d/rc.io
index 6e8fdbc0f..e23aebd87 100644
--- a/ROMFS/px4fmu_common/init.d/rc.io
+++ b/ROMFS/px4fmu_common/init.d/rc.io
@@ -11,7 +11,7 @@ px4io recovery
 # Adjust PX4IO update rate limit
 #
 set PX4IO_LIMIT 400
-if hw_ver compare PX4FMU_V1
+if ver hwcmp PX4FMU_V1
 then
 	set PX4IO_LIMIT 200
 fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging
index c5aef8273..3469d5f5f 100644
--- a/ROMFS/px4fmu_common/init.d/rc.logging
+++ b/ROMFS/px4fmu_common/init.d/rc.logging
@@ -5,7 +5,7 @@
 
 if [ -d /fs/microsd ]
 then
-	if hw_ver compare PX4FMU_V1
+	if ver hwcmp PX4FMU_V1
 	then
 		echo "Start sdlog2 at 50Hz"
 		sdlog2 start -r 50 -a -b 8 -t
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
index 4db62607a..a8c6dc811 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
@@ -32,9 +32,9 @@ then
 	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_TILTMAX_AIR 45.0
+	param set MPC_TILTMAX_LND 15.0
 	param set MPC_LAND_SPEED 1.0
-	param set MPC_LAND_TILT 0.3
 fi
 
 set PWM_RATE 400
diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 235be2431..1e14930fe 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -22,7 +22,7 @@ then
 	echo "[init] Using L3GD20(H)"
 fi
 
-if hw_ver compare PX4FMU_V2
+if ver hwcmp PX4FMU_V2
 then
 	if lsm303d start
 	then
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 0cb6d281a..756ee8ef8 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -20,7 +20,7 @@ echo "[init] Looking for microSD..."
 if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
 	set LOG_FILE /fs/microsd/bootlog.txt
-	echo "[init] microSD card mounted at /fs/microsd"
+	echo "[init] microSD mounted: /fs/microsd"
 	# Start playing the startup tune
 	tone_alarm start
 else
@@ -83,9 +83,9 @@ then
 	param select $PARAM_FILE
 	if param load
 	then
-		echo "[init] Parameters loaded: $PARAM_FILE"
+		echo "[init] Params loaded: $PARAM_FILE"
 	else
-		echo "[init] ERROR: Parameters loading failed: $PARAM_FILE"
+		echo "[init] ERROR: Params loading failed: $PARAM_FILE"
 	fi
 	
 	#
@@ -120,6 +120,8 @@ then
 	set EXIT_ON_END no
 	set MAV_TYPE none
 	set LOAD_DEFAULT_APPS yes
+	set GPS yes
+	set GPS_FAKE no
 	
 	#
 	# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
@@ -146,7 +148,7 @@ then
 	#
 	if param compare SYS_AUTOSTART 0
 	then
-		echo "[init] Don't try to find autostart script"
+		echo "[init] No autostart"
 	else
 		sh /etc/init.d/rc.autostart
 	fi
@@ -156,10 +158,10 @@ then
 	#
 	if [ -f $CONFIG_FILE ]
 	then
-		echo "[init] Reading config: $CONFIG_FILE"
+		echo "[init] Config: $CONFIG_FILE"
 		sh $CONFIG_FILE
 	else
-		echo "[init] Config file not found: $CONFIG_FILE"
+		echo "[init] Config not found: $CONFIG_FILE"
 	fi
 
 	#
@@ -246,7 +248,7 @@ then
 		echo "[init] ERROR: PX4IO not found, disabling output"
 		
 		# Avoid using ttyS0 for MAVLink on FMUv1
-		if hw_ver compare PX4FMU_V1
+		if ver hwcmp PX4FMU_V1
 		then
 			set FMU_MODE serial
 		fi
@@ -260,14 +262,14 @@ then
 	if [ $HIL == yes ]
 	then
 		set OUTPUT_MODE hil
-		if hw_ver compare PX4FMU_V1
+		if ver hwcmp PX4FMU_V1
 		then
 			set FMU_MODE serial
 		fi
-	else
-		# Try to get an USB console if not in HIL mode
-		nshterm /dev/ttyACM0 &
 	fi
+
+	# Try to get an USB console
+	nshterm /dev/ttyACM0 &
 	
 	#
 	# Start the Commander (needs to be this early for in-air-restarts)
@@ -306,7 +308,7 @@ then
 				tone_alarm $TUNE_OUT_ERROR
 			fi
 			
-			if hw_ver compare PX4FMU_V1
+			if ver hwcmp PX4FMU_V1
 			then
 				if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
 				then
@@ -381,7 +383,7 @@ then
 					tone_alarm $TUNE_OUT_ERROR
 				fi
 	
-				if hw_ver compare PX4FMU_V1
+				if ver hwcmp PX4FMU_V1
 				then
 					if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
 					then
@@ -401,23 +403,17 @@ then
 	#
 	if [ $MAVLINK_FLAGS == default ]
 	then
-		if [ $HIL == yes ]
+		# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
+		if [ $TTYS1_BUSY == yes ]
 		then
-			sleep 1
-			set MAVLINK_FLAGS "-r 10000 -d /dev/ttyACM0"
+			# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
+			set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0"
+
+			# Exit from nsh to free port for mavlink
+			set EXIT_ON_END yes
 		else
-			# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
-			if [ $TTYS1_BUSY == yes ]
-			then
-				# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
-				set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0"
-				
-				# Exit from nsh to free port for mavlink
-				set EXIT_ON_END yes
-			else
-				# Start MAVLink on default port: ttyS1
-				set MAVLINK_FLAGS "-r 1000"
-			fi
+			# Start MAVLink on default port: ttyS1
+			set MAVLINK_FLAGS "-r 1000"
 		fi
 	fi
 
@@ -436,18 +432,26 @@ then
 	#
 	# Sensors, Logging, GPS
 	#
-	echo "[init] Start sensors"
 	sh /etc/init.d/rc.sensors
 
 	if [ $HIL == no ]
 	then
 		echo "[init] Start logging"
 		sh /etc/init.d/rc.logging
-		
-		echo "[init] Start GPS"
-		gps start
 	fi
 	
+	if [ $GPS == yes ]
+	then
+		echo "[init] Start GPS"
+		if [ $GPS_FAKE == yes ]
+		then
+			echo "[init] Faking GPS"
+			gps start -f
+		else
+			gps start
+		fi		
+	fi
+
 	#
 	# Start up ARDrone Motor interface
 	#
@@ -514,7 +518,7 @@ then
 			then
 				set MAV_TYPE 13
 			fi
-			if [ $MIXER == hexa_cox ]
+			if [ $MIXER == FMU_hexa_cox ]
 			then
 				set MAV_TYPE 13
 			fi
@@ -561,7 +565,7 @@ then
 		echo "[init] Starting addons script: $EXTRAS_FILE"
 		sh $EXTRAS_FILE
 	else
-		echo "[init] Addons script not found: $EXTRAS_FILE"
+		echo "[init] No addons script: $EXTRAS_FILE"
 	fi
 
 	if [ $EXIT_ON_END == yes ]
diff --git a/ROMFS/px4fmu_common/mixers/hexa_cox.mix b/ROMFS/px4fmu_common/mixers/FMU_hexa_cox.mix
index 497786feb..497786feb 100644
--- a/ROMFS/px4fmu_common/mixers/hexa_cox.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_hexa_cox.mix
diff --git a/ROMFS/px4fmu_common/mixers/easystar.mix b/ROMFS/px4fmu_common/mixers/easystar.mix
new file mode 100644
index 000000000..0051ffdbb
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/easystar.mix
@@ -0,0 +1,31 @@
+EASYSTAR / EASYSTAR II MIXER
+============================
+
+Aileron mixer
+-------------
+One output - would be easy to add support for 2 servos
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 0  10000  10000      0 -10000  10000
+
+Elevator mixer
+------------
+
+M: 1
+O:       10000   10000      0 -10000  10000
+S: 0 1  -10000  -10000      0 -10000  10000
+
+Rudder mixer
+------------
+
+M: 1
+O:       10000   10000      0 -10000  10000
+S: 0 2  -10000  -10000      0 -10000  10000
+
+Motor speed mixer
+-----------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000