Merge branch 'fw_autoland_att_tecs_navigator_termination_controlgroups' into bottle_drop_navigator

Conflicts:
	src/drivers/px4fmu/fmu.cpp
	src/modules/dataman/dataman.c
	src/modules/dataman/dataman.h
	src/modules/mavlink/orb_listener.c
	src/modules/mavlink/waypoints.c
	src/modules/navigator/navigator_main.cpp
	src/modules/navigator/navigator_mission.cpp
	src/modules/navigator/navigator_mission.h
	src/modules/uORB/topics/mission.h

5 files changed, 145 insertions, 19 deletions

diff --git a/ROMFS/px4fmu_common/init.d/102_3dr_skywalker b/ROMFS/px4fmu_common/init.d/102_3dr_skywalker
new file mode 100644
index 000000000..e5d21c321
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/102_3dr_skywalker
@@ -0,0 +1,89 @@
+#!nsh
+
+echo "[init] PX4FMU v1, v2 with or without IO on 3DR SkyWalker"
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+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
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing
+#
+param set MAV_TYPE 1
+
+set EXIT_ON_END no
+
+#
+# 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
+
+pwm disarmed -c 3 -p 1056
+
+#
+# Load mixer and start controllers (depends on px4io)
+#
+if [ -f /fs/microsd/etc/mixers/FMU_AERT.mix ]
+then
+	echo "Using /fs/microsd/etc/mixers/FMU_AERT.mix"
+	mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_AETR.mix
+else
+	echo "Using /etc/mixers/FMU_Q.mix"
+	mixer load /dev/pwm_output /etc/mixers/FMU_AETR.mix
+fi
+
+#
+# Start common fixedwing apps
+#
+sh /etc/init.d/rc.fixedwing
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi
diff --git a/ROMFS/px4fmu_common/init.d/12-13_hex b/ROMFS/px4fmu_common/init.d/12-13_hex
index f83f6cfd0..a7578bcaf 100644
--- a/ROMFS/px4fmu_common/init.d/12-13_hex
+++ b/ROMFS/px4fmu_common/init.d/12-13_hex
@@ -78,7 +78,7 @@ mixer load /dev/pwm_output /etc/mixers/FMU_hex_x.mix
 #
 # Set PWM output frequency to 400 Hz
 #
-pwm rate -c 123456 -r 400
+pwm rate -a -r 400
 
 #
 # Set disarmed, min and max PWM signals
diff --git a/ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl b/ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl
index 8e0914d63..40b2ee68b 100644
--- a/ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl
+++ b/ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl
@@ -97,9 +97,9 @@ fi
 #
 if [ $MKBLCTRL_FRAME == x ]
 then
-    mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+    mixer load /dev/mkblctrl /etc/mixers/FMU_quad_x.mix
 else
-    mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
+    mixer load /dev/mkblctrl /etc/mixers/FMU_quad_+.mix
 fi
 
 #
diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index f17b650bc..070a4e7e3 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -19,12 +19,18 @@ fi
 if mpu6000 start
 then
 	echo "using MPU6000"
-	set BOARD fmuv1
-else
-	echo "using L3GD20 and LSM303D"
-	l3gd20 start
-	lsm303d start
+fi
+
+if l3gd20 start
+then
+	echo "using L3GD20(H)"
+fi
+
+if lsm303d start
+then
 	set BOARD fmuv2
+else
+	set BOARD fmuv1
 fi
 
 # Start airspeed sensors
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index f318d2134..59d8cbc3a 100755..100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -8,6 +8,8 @@
 #
 set MODE autostart
 
+set logfile /fs/microsd/bootlog.txt
+
 #
 # Try to mount the microSD card.
 #
@@ -163,26 +165,49 @@ then
 		nshterm /dev/ttyACM0 &
 	fi
 
-	
 	#
 	# Upgrade PX4IO firmware
 	#
-	if px4io detect
+
+	if [ -f /etc/extras/px4io-v2_default.bin ]
+	then
+		set io_file /etc/extras/px4io-v2_default.bin
+	else
+		set io_file /etc/extras/px4io-v1_default.bin
+	fi
+
+	if px4io start
+	then
+		echo "PX4IO OK"
+		echo "PX4IO OK" >> $logfile
+	fi
+	
+	if px4io checkcrc $io_file
 	then
-		echo "PX4IO running, not upgrading"
+		echo "PX4IO CRC OK"
+		echo "PX4IO CRC OK" >> $logfile
 	else
-		echo "Attempting to upgrade PX4IO"
-		if px4io update
+		echo "PX4IO CRC failure"
+		echo "PX4IO CRC failure" >> $logfile
+		tone_alarm MBABGP
+		if px4io forceupdate 14662 $io_file
 		then
-			if [ -d /fs/microsd ]
+			usleep 200000
+			if px4io start
 			then
-				echo "Flashed PX4IO Firmware OK" > /fs/microsd/px4io.log
+				echo "PX4IO restart OK"
+				echo "PX4IO restart OK" >> $logfile
+				tone_alarm MSPAA
+			else
+				echo "PX4IO restart failed"
+				echo "PX4IO restart failed" >> $logfile
+				tone_alarm MNGGG
+				sh /etc/init.d/rc.error
 			fi
-
-			# Allow IO to safely kick back to app
-			usleep 200000
 		else
-			echo "No PX4IO to upgrade here"
+			echo "PX4IO update failed"
+			echo "PX4IO update failed" >> $logfile
+			tone_alarm MNGGG
 		fi
 	fi
 	
@@ -329,6 +354,12 @@ then
 		sh /etc/init.d/101_hk_bixler
 		set MODE custom
 	fi
+
+	if param compare SYS_AUTOSTART 102
+	then
+		sh /etc/init.d/102_3dr_skywalker
+		set MODE custom
+	fi
 	
 	if param compare SYS_AUTOSTART 900
 	then