Merged master

7 files changed, 41 insertions, 10 deletions

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/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 c1f9db7d1..b6b0a5b4e 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
 
 	param set PE_VELNE_NOISE 0.5
 	param set PE_VELNE_NOISE 0.7
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 492afcb4c..756ee8ef8 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -248,7 +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
@@ -262,7 +262,7 @@ 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
@@ -308,7 +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
@@ -383,7 +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
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