Merged master into indoor branch

39 files changed, 387 insertions, 137 deletions

diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
index c8379e3a1..c1b366de8 100644
--- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
+++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
@@ -7,7 +7,7 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	# TODO review MC_YAWRATE_I
 	param set MC_ROLL_P 8.0
@@ -26,5 +26,5 @@ fi
 
 set MIXER FMU_quad_w
 
-set PWM_OUTPUTS 1234
+set PWM_OUT 1234
 set PWM_MIN 1200
diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
index 0b422de7e..3879737a8 100644
--- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
@@ -7,7 +7,7 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	# TODO tune roll/pitch separately
 	param set MC_ROLL_P 7.0
@@ -29,7 +29,7 @@ fi
 
 set MIXER FMU_quad_w
 
-set PWM_OUTPUTS 1234
+set PWM_OUT 1234
 
 set PWM_MIN 1200
 set PWM_MAX 1950
diff --git a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
index a621de7ce..57f77754c 100644
--- a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
+++ b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
@@ -7,7 +7,7 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	# TODO tune roll/pitch separately
 	param set MC_ROLL_P 7.0
@@ -31,4 +31,4 @@ set MIXER FMU_quad_w
 set PWM_MIN 1210
 set PWM_MAX 2100
 
-set PWM_OUTPUTS 1234
+set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/10018_tbs_endurance b/ROMFS/px4fmu_common/init.d/10018_tbs_endurance
new file mode 100644
index 000000000..2d5e272bd
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/10018_tbs_endurance
@@ -0,0 +1,31 @@
+#!nsh
+#
+# Team Blacksheep Discovery Long Range Quadcopter
+# 
+# Setup: 15 x 6.5" Props, 6S 4000mAh TBS LiPo, TBS 30A ESCs, TBS 400kV Motors
+#
+# Simon Wilks <simon@px4.io>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.07
+	param set MC_ROLLRATE_I 0.02
+	param set MC_ROLLRATE_D 0.003
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_D 0.003
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.4
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0.0
+fi
+
+set MIXER FMU_quad_w
+
+set PWM_OUTPUTS 1234
+set PWM_MIN 1200
diff --git a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
index 00b97d675..f208b692a 100644
--- a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
+++ b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
@@ -7,7 +7,7 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	param set FW_AIRSPD_MIN 12
 	param set FW_AIRSPD_TRIM 25
diff --git a/ROMFS/px4fmu_common/init.d/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/11001_hexa_cox
index e4d96fbd5..50f717e3d 100644
--- a/ROMFS/px4fmu_common/init.d/11001_hexa_cox
+++ b/ROMFS/px4fmu_common/init.d/11001_hexa_cox
@@ -10,4 +10,4 @@ sh /etc/init.d/rc.mc_defaults
 set MIXER FMU_hexa_cox
 
 # Need to set all 8 channels
-set PWM_OUTPUTS 12345678
+set PWM_OUT 12345678
diff --git a/ROMFS/px4fmu_common/init.d/12001_octo_cox b/ROMFS/px4fmu_common/init.d/12001_octo_cox
index f820251ad..e0a838185 100644
--- a/ROMFS/px4fmu_common/init.d/12001_octo_cox
+++ b/ROMFS/px4fmu_common/init.d/12001_octo_cox
@@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults
 
 set MIXER FMU_octo_cox
 
-set PWM_OUTPUTS 12345678
+set PWM_OUT 12345678
diff --git a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
new file mode 100644
index 000000000..7e9a6d3dc
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
@@ -0,0 +1,16 @@
+#!nsh
+#
+# Generic configuration file for caipirinha VTOL version
+#
+# Roman Bapst <bapstr@ethz.ch>
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+set MIXER FMU_caipirinha_vtol
+
+set PWM_OUT 12
+set PWM_MAX 2000
+set PWM_RATE 400
+param set VT_MOT_COUNT 2
+param set VT_IDLE_PWM_MC  1080
diff --git a/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker b/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker
index dcc5db824..906f4b1cc 100644
--- a/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker
+++ b/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker
@@ -2,4 +2,4 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-set MIXER FMU_AERT
\ No newline at end of file
+set MIXER skywalker
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/3030_io_camflyer b/ROMFS/px4fmu_common/init.d/3030_io_camflyer
index 0f0cb3a89..fe0269557 100644
--- a/ROMFS/px4fmu_common/init.d/3030_io_camflyer
+++ b/ROMFS/px4fmu_common/init.d/3030_io_camflyer
@@ -4,5 +4,5 @@ sh /etc/init.d/rc.fw_defaults
 
 set MIXER FMU_Q
 # Provide ESC a constant 1000 us pulse while disarmed
-set PWM_OUTPUTS 4
+set PWM_OUT 4
 set PWM_DISARMED 1000
diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom
index a7749cba6..c7dd1dfc5 100644
--- a/ROMFS/px4fmu_common/init.d/3031_phantom
+++ b/ROMFS/px4fmu_common/init.d/3031_phantom
@@ -7,7 +7,7 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	param set FW_AIRSPD_MIN 13
 	param set FW_AIRSPD_TRIM 15
@@ -36,5 +36,5 @@ fi
 set MIXER phantom
 
 # Provide ESC a constant 1000 us pulse
-set PWM_OUTPUTS 4
+set PWM_OUT 4
 set PWM_DISARMED 1000
diff --git a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
index 26c7c95e6..94363bf6a 100644
--- a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
+++ b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
@@ -7,7 +7,7 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	param set FW_AIRSPD_MIN 15
 	param set FW_AIRSPD_TRIM 20
diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing
index 919eefb4a..add905b11 100644
--- a/ROMFS/px4fmu_common/init.d/3033_wingwing
+++ b/ROMFS/px4fmu_common/init.d/3033_wingwing
@@ -7,7 +7,7 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	param set BAT_N_CELLS 2
 	param set FW_AIRSPD_MAX 15
@@ -44,5 +44,5 @@ fi
 
 set MIXER wingwing
 # Provide ESC a constant 1000 us pulse
-set PWM_OUTPUTS 4
+set PWM_OUT 4
 set PWM_DISARMED 1000
diff --git a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
index 9bfd9d9ed..9eafac1c5 100644
--- a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
+++ b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
@@ -7,9 +7,9 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
-	
+
 	# TODO: these are the X5 default parameters, update them to the caipi
 
 	param set FW_AIRSPD_MIN 15
diff --git a/ROMFS/px4fmu_common/init.d/4001_quad_x b/ROMFS/px4fmu_common/init.d/4001_quad_x
index 8fe8961c5..4677f9fc3 100644
--- a/ROMFS/px4fmu_common/init.d/4001_quad_x
+++ b/ROMFS/px4fmu_common/init.d/4001_quad_x
@@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults
 
 set MIXER FMU_quad_x
 
-set PWM_OUTPUTS 1234
+set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/4008_ardrone b/ROMFS/px4fmu_common/init.d/4008_ardrone
index 0488e3928..c3358ef4c 100644
--- a/ROMFS/px4fmu_common/init.d/4008_ardrone
+++ b/ROMFS/px4fmu_common/init.d/4008_ardrone
@@ -8,7 +8,7 @@ sh /etc/init.d/rc.mc_defaults
 #
 # Load default params for this platform
 #
-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
     # Set all params here, then disable autoconfig
     param set MC_ROLL_P 6.0
@@ -24,7 +24,7 @@ then
     param set MC_YAWRATE_I 0.2
     param set MC_YAWRATE_D 0.0
     param set MC_YAW_FF 0.8
-    
+
     param set BAT_V_SCALING 0.00838095238
 fi
 
diff --git a/ROMFS/px4fmu_common/init.d/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/4010_dji_f330
index f0cc05207..8e5dc76b1 100644
--- a/ROMFS/px4fmu_common/init.d/4010_dji_f330
+++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330
@@ -7,7 +7,7 @@
 
 sh /etc/init.d/4001_quad_x
 
-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.1
diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450
index 1ca716a6b..ea35b3ba9 100644
--- a/ROMFS/px4fmu_common/init.d/4011_dji_f450
+++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450
@@ -7,7 +7,7 @@
 
 sh /etc/init.d/4001_quad_x
 
-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	# TODO REVIEW
 	param set MC_ROLL_P 7.0
diff --git a/ROMFS/px4fmu_common/init.d/4012_quad_x_can b/ROMFS/px4fmu_common/init.d/4012_quad_x_can
index 5c4a6497a..b1db1dd9a 100644
--- a/ROMFS/px4fmu_common/init.d/4012_quad_x_can
+++ b/ROMFS/px4fmu_common/init.d/4012_quad_x_can
@@ -7,7 +7,7 @@
 
 sh /etc/init.d/4001_quad_x
 
-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	# TODO REVIEW
 	param set MC_ROLL_P 7.0
diff --git a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
index 9fe310dde..a1de19d5d 100644
--- a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
+++ b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
@@ -9,7 +9,7 @@ echo "HK Micro PCB Quad"
 
 sh /etc/init.d/4001_quad_x
 
-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.1
diff --git a/ROMFS/px4fmu_common/init.d/5001_quad_+ b/ROMFS/px4fmu_common/init.d/5001_quad_+
index 5512aa738..c78911391 100644
--- a/ROMFS/px4fmu_common/init.d/5001_quad_+
+++ b/ROMFS/px4fmu_common/init.d/5001_quad_+
@@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults
 
 set MIXER FMU_quad_+
 
-set PWM_OUTPUTS 1234
+set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/6001_hexa_x b/ROMFS/px4fmu_common/init.d/6001_hexa_x
index 1043ad8ad..0df25b11a 100644
--- a/ROMFS/px4fmu_common/init.d/6001_hexa_x
+++ b/ROMFS/px4fmu_common/init.d/6001_hexa_x
@@ -10,4 +10,4 @@ sh /etc/init.d/rc.mc_defaults
 set MIXER FMU_hexa_x
 
 # Need to set all 8 channels
-set PWM_OUTPUTS 12345678
+set PWM_OUT 12345678
diff --git a/ROMFS/px4fmu_common/init.d/7001_hexa_+ b/ROMFS/px4fmu_common/init.d/7001_hexa_+
index 84ab88883..16c772ee1 100644
--- a/ROMFS/px4fmu_common/init.d/7001_hexa_+
+++ b/ROMFS/px4fmu_common/init.d/7001_hexa_+
@@ -10,4 +10,4 @@ sh /etc/init.d/rc.mc_defaults
 set MIXER FMU_hexa_+
 
 # Need to set all 8 channels
-set PWM_OUTPUTS 12345678
+set PWM_OUT 12345678
diff --git a/ROMFS/px4fmu_common/init.d/8001_octo_x b/ROMFS/px4fmu_common/init.d/8001_octo_x
index 74e304cd9..bae36737f 100644
--- a/ROMFS/px4fmu_common/init.d/8001_octo_x
+++ b/ROMFS/px4fmu_common/init.d/8001_octo_x
@@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults
 
 set MIXER FMU_octo_x
 
-set PWM_OUTPUTS 12345678
+set PWM_OUT 12345678
diff --git a/ROMFS/px4fmu_common/init.d/9001_octo_+ b/ROMFS/px4fmu_common/init.d/9001_octo_+
index f7c06c6c8..ca5439f68 100644
--- a/ROMFS/px4fmu_common/init.d/9001_octo_+
+++ b/ROMFS/px4fmu_common/init.d/9001_octo_+
@@ -9,4 +9,4 @@ sh /etc/init.d/rc.mc_defaults
 
 set MIXER FMU_octo_+
 
-set PWM_OUTPUTS 12345678
\ No newline at end of file
+set PWM_OUT 12345678
diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart
index 496a52c5f..20f2be0d9 100644
--- a/ROMFS/px4fmu_common/init.d/rc.autostart
+++ b/ROMFS/px4fmu_common/init.d/rc.autostart
@@ -15,6 +15,7 @@
 # 10000	..	10999		Wide arm / H frame
 # 11000	..	11999		Hexa Cox
 # 12000	..	12999		Octo Cox
+# 13000 ..  13999		VTOL
 
 #
 # Simulation
@@ -220,6 +221,11 @@ then
 	sh /etc/init.d/10017_steadidrone_qu4d
 fi
 
+if param compare SYS_AUTOSTART 10018 18
+then
+	sh /etc/init.d/10018_tbs_endurance
+fi
+
 #
 # Hexa Coaxial
 #
@@ -237,3 +243,13 @@ if param compare SYS_AUTOSTART 12001
 then
 	sh /etc/init.d/12001_octo_cox
 fi
+
+# 13000 is historically reserved for the quadshot
+
+#
+# VTOL caipririnha
+#
+ if param compare SYS_AUTOSTART 13001
+ then
+	 sh /etc/init.d/13001_caipirinha_vtol
+ fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
index 3c336f295..fab2a7f18 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@@ -2,7 +2,7 @@
 
 set VEHICLE_TYPE fw
 
-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 #
 # Default parameters for FW
@@ -15,4 +15,4 @@ then
 	param set FW_T_RLL2THR 15
 	param set FW_T_SRATE_P 0.01
 	param set FW_T_TIME_CONST 5
-fi
\ No newline at end of file
+fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface
index e44cd0953..bab71be93 100644
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -8,12 +8,11 @@ then
 	#
 	# Load mixer
 	#
-	set MIXERSD /fs/microsd/etc/mixers/$MIXER.mix
 	
 	#Use the mixer file from the SD-card if it exists
-	if [ -f $MIXERSD ]
+	if [ -f /fs/microsd/etc/mixers/$MIXER.mix ]
 	then
-		set MIXER_FILE $MIXERSD
+		set MIXER_FILE /fs/microsd/etc/mixers/$MIXER.mix
 	else
 		set MIXER_FILE /etc/mixers/$MIXER.mix
 	fi
@@ -32,30 +31,31 @@ then
 	
 	if mixer load $OUTPUT_DEV $MIXER_FILE
 	then
-		echo "[init] Mixer loaded: $MIXER_FILE"
+		echo "[i] Mixer: $MIXER_FILE"
 	else
-		echo "[init] Error loading mixer: $MIXER_FILE"
-		tone_alarm $TUNE_OUT_ERROR
+		echo "[i] Error loading mixer: $MIXER_FILE"
+		tone_alarm $TUNE_ERR
 	fi
+
+	unset MIXER_FILE
 else
 	if [ $MIXER != skip ]
 	then
-		echo "[init] Mixer not defined"
-		tone_alarm $TUNE_OUT_ERROR
+		echo "[i] Mixer not defined"
+		tone_alarm $TUNE_ERR
 	fi
 fi
 
 if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ]
 then
-	if [ $PWM_OUTPUTS != none ]
+	if [ $PWM_OUT != none ]
 	then
 		#
 		# Set PWM output frequency
 		#
 		if [ $PWM_RATE != none ]
 		then
-			echo "[init] Set PWM rate: $PWM_RATE"
-			pwm rate -c $PWM_OUTPUTS -r $PWM_RATE
+			pwm rate -c $PWM_OUT -r $PWM_RATE
 		fi
 		
 		#
@@ -63,18 +63,15 @@ then
 		#
 		if [ $PWM_DISARMED != none ]
 		then
-			echo "[init] Set PWM disarmed: $PWM_DISARMED"
-			pwm disarmed -c $PWM_OUTPUTS -p $PWM_DISARMED
+			pwm disarmed -c $PWM_OUT -p $PWM_DISARMED
 		fi
 		if [ $PWM_MIN != none ]
 		then
-			echo "[init] Set PWM min: $PWM_MIN"
-			pwm min -c $PWM_OUTPUTS -p $PWM_MIN
+			pwm min -c $PWM_OUT -p $PWM_MIN
 		fi
 		if [ $PWM_MAX != none ]
 		then
-			echo "[init] Set PWM max: $PWM_MAX"
-			pwm max -c $PWM_OUTPUTS -p $PWM_MAX
+			pwm max -c $PWM_OUT -p $PWM_MAX
 		fi
 	fi
 
diff --git a/ROMFS/px4fmu_common/init.d/rc.io b/ROMFS/px4fmu_common/init.d/rc.io
index e23aebd87..e957626ce 100644
--- a/ROMFS/px4fmu_common/init.d/rc.io
+++ b/ROMFS/px4fmu_common/init.d/rc.io
@@ -16,5 +16,5 @@ then
 	set PX4IO_LIMIT 200
 fi
 
-echo "[init] Set PX4IO update rate limit: $PX4IO_LIMIT Hz"
+echo "[i] Set PX4IO update rate limit: $PX4IO_LIMIT Hz"
 px4io limit $PX4IO_LIMIT
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
index 0df320f49..307a64c4d 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
@@ -2,7 +2,7 @@
 
 set VEHICLE_TYPE mc
 
-if [ $DO_AUTOCONFIG == yes ]
+if [ $AUTOCNF == yes ]
 then
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.1
diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 858df4f28..973db9017 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -71,6 +71,10 @@ if px4flow start
 then
 fi
 
+if ll40ls start
+then
+fi
+
 #
 # Start sensors -> preflight_check
 #
diff --git a/ROMFS/px4fmu_common/init.d/rc.uavcan b/ROMFS/px4fmu_common/init.d/rc.uavcan
index 9a470a6b8..08ba86d78 100644
--- a/ROMFS/px4fmu_common/init.d/rc.uavcan
+++ b/ROMFS/px4fmu_common/init.d/rc.uavcan
@@ -10,9 +10,9 @@ then
 		# First sensor publisher to initialize takes lowest instance ID
 		# This delay ensures that UAVCAN-interfaced sensors would be allocated on lowest instance IDs
 		sleep 1
-		echo "[init] UAVCAN started"
+		echo "[i] UAVCAN started"
 	else
-		echo "[init] ERROR: Could not start UAVCAN"
-		tone_alarm $TUNE_OUT_ERROR
+		echo "[i] ERROR: Could not start UAVCAN"
+		tone_alarm $TUNE_ERR
 	fi
 fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_apps b/ROMFS/px4fmu_common/init.d/rc.vtol_apps
new file mode 100644
index 000000000..23ade6d78
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_apps
@@ -0,0 +1,15 @@
+#!nsh
+#
+# Standard apps for vtol:
+# att & pos estimator, att & pos control.
+#
+
+attitude_estimator_ekf start
+#ekf_att_pos_estimator start
+position_estimator_inav start
+
+vtol_att_control start
+mc_att_control start
+mc_pos_control start
+fw_att_control start
+fw_pos_control_l1 start
diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
new file mode 100644
index 000000000..6dc5a65db
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
@@ -0,0 +1,39 @@
+#!nsh
+
+set VEHICLE_TYPE vtol
+
+if [ $AUTOCNF == yes ]
+then
+	#
+	#Default controller parameters for MC
+	#
+	param set MC_ROLL_P 6.0
+	param set MC_ROLLRATE_P 0.1
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.003
+	param set MC_PITCH_P 6.0
+	param set MC_PITCHRATE_P 0.2
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.003
+	param set MC_YAW_P 4
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.3
+
+	#
+	# Default parameters for FW
+	#
+	param set FW_PR_FF 0.3
+	param set FW_PR_I 0.000
+	param set FW_PR_IMAX 0.2
+	param set FW_PR_P 0.02
+	param set FW_RR_FF 0.3
+	param set FW_RR_I 0.00
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.02
+fi
+
+set PWM_DISARMED 900
+set PWM_MIN 1000
+set PWM_MAX 2000
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index e2691ab58..b0e0c2674 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -1,46 +1,46 @@
 #!nsh
 #
 # PX4FMU startup script.
+#
+#  NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
+#
 
 #
 # Default to auto-start mode.
 #
 set MODE autostart
 
-set RC_FILE /fs/microsd/etc/rc.txt
-set CONFIG_FILE /fs/microsd/etc/config.txt
-set EXTRAS_FILE /fs/microsd/etc/extras.txt
+set FRC /fs/microsd/etc/rc.txt
+set FCONFIG /fs/microsd/etc/config.txt
+set FEXTRAS /fs/microsd/etc/extras.txt
 
-set TUNE_OUT_ERROR ML<<CP4CP4CP4CP4CP4
+set TUNE_ERR ML<<CP4CP4CP4CP4CP4
 
 #
 # Try to mount the microSD card.
 #
-echo "[init] Looking for microSD..."
+echo "[i] Looking for microSD..."
 if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
 	set LOG_FILE /fs/microsd/bootlog.txt
-	echo "[init] microSD mounted: /fs/microsd"
+	echo "[i] microSD mounted: /fs/microsd"
 	# Start playing the startup tune
 	tone_alarm start
 else
 	set LOG_FILE /dev/null
-	echo "[init] No microSD card found"
-	# Play SOS
-	tone_alarm error
 fi
 
 #
 # Look for an init script on the microSD card.
 # Disable autostart if the script found.
 #
-if [ -f $RC_FILE ]
+if [ -f $FRC ]
 then
-	echo "[init] Executing init script: $RC_FILE"
-	sh $RC_FILE
+	echo "[i] Executing init script: $FRC"
+	sh $FRC
 	set MODE custom
 else
-	echo "[init] Init script not found: $RC_FILE"
+	echo "[i] Init script not found: $FRC"
 fi
 
 # if this is an APM build then there will be a rc.APM script
@@ -49,17 +49,17 @@ if [ -f /etc/init.d/rc.APM ]
 then
 	if sercon
 	then
-		echo "[init] USB interface connected"
+		echo "[i] USB interface connected"
 	fi
 
-	echo "[init] Running rc.APM"
+	echo "[i] Running rc.APM"
 	# if APM startup is successful then nsh will exit
 	sh /etc/init.d/rc.APM
 fi
 
 if [ $MODE == autostart ]
 then
-	echo "[init] AUTOSTART mode"
+	echo "[i] AUTOSTART mode"
 
 	#
 	# Start CDC/ACM serial driver
@@ -117,31 +117,31 @@ then
 	set VEHICLE_TYPE none
 	set MIXER none
 	set OUTPUT_MODE none
-	set PWM_OUTPUTS none
+	set PWM_OUT none
 	set PWM_RATE none
 	set PWM_DISARMED none
 	set PWM_MIN none
 	set PWM_MAX none
-	set MKBLCTRL_MODE none
+	set MK_MODE none
 	set FMU_MODE pwm
-	set MAVLINK_FLAGS default
+	set MAVLINK_F default
 	set EXIT_ON_END no
 	set MAV_TYPE none
-	set LOAD_DEFAULT_APPS yes
+	set LOAD_DAPPS yes
 	set GPS yes
 	set GPS_FAKE no
 	set FAILSAFE none
 
 	#
-	# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
+	# Set AUTOCNF flag to use it in AUTOSTART scripts
 	#
 	if param compare SYS_AUTOCONFIG 1
 	then
 		# Wipe out params
 		param reset_nostart
-		set DO_AUTOCONFIG yes
+		set AUTOCNF yes
 	else
-		set DO_AUTOCONFIG no
+		set AUTOCNF no
 	fi
 
 	#
@@ -159,7 +159,7 @@ then
 	#
 	if param compare SYS_AUTOSTART 0
 	then
-		echo "[init] No autostart"
+		echo "[i] No autostart"
 	else
 		sh /etc/init.d/rc.autostart
 	fi
@@ -167,18 +167,19 @@ then
 	#
 	# Override parameters from user configuration file
 	#
-	if [ -f $CONFIG_FILE ]
+	if [ -f $FCONFIG ]
 	then
-		echo "[init] Config: $CONFIG_FILE"
-		sh $CONFIG_FILE
+		echo "[i] Config: $FCONFIG"
+		sh $FCONFIG
 	else
-		echo "[init] Config not found: $CONFIG_FILE"
+		echo "[i] Config not found: $FCONFIG"
 	fi
+	unset FCONFIG
 
 	#
 	# If autoconfig parameter was set, reset it and save parameters
 	#
-	if [ $DO_AUTOCONFIG == yes ]
+	if [ $AUTOCNF == yes ]
 	then
 		param set SYS_AUTOCONFIG 0
 		param save
@@ -219,18 +220,18 @@ then
 					set IO_PRESENT yes
 				else
 					echo "PX4IO update failed" >> $LOG_FILE
-					tone_alarm $TUNE_OUT_ERROR
+					tone_alarm $TUNE_ERR
 				fi
 			else
 				echo "PX4IO update failed" >> $LOG_FILE
-				tone_alarm $TUNE_OUT_ERROR
+				tone_alarm $TUNE_ERR
 			fi
 		fi
 
 		if [ $IO_PRESENT == no ]
 		then
-			echo "[init] ERROR: PX4IO not found"
-			tone_alarm $TUNE_OUT_ERROR
+			echo "[i] ERROR: PX4IO not found"
+			tone_alarm $TUNE_ERR
 		fi
 	fi
 
@@ -251,7 +252,7 @@ then
 	then
 		# Need IO for output but it not present, disable output
 		set OUTPUT_MODE none
-		echo "[init] ERROR: PX4IO not found, disabling output"
+		echo "[i] ERROR: PX4IO not found, disabling output"
 
 		# Avoid using ttyS0 for MAVLink on FMUv1
 		if ver hwcmp PX4FMU_V1
@@ -294,33 +295,31 @@ then
 		then
 			if param compare UAVCAN_ENABLE 0
 			then
-				echo "[init] OVERRIDING UAVCAN_ENABLE = 1"
+				echo "[i] OVERRIDING UAVCAN_ENABLE = 1"
 				param set UAVCAN_ENABLE 1
 			fi
 		fi
 
 		if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == uavcan_esc ]
 		then
-			echo "[init] Use PX4IO PWM as primary output"
 			if px4io start
 			then
-				echo "[init] PX4IO started"
+				echo "[i] PX4IO started"
 				sh /etc/init.d/rc.io
 			else
-				echo "[init] ERROR: PX4IO start failed"
-				tone_alarm $TUNE_OUT_ERROR
+				echo "[i] ERROR: PX4IO start failed"
+				tone_alarm $TUNE_ERR
 			fi
 		fi
 
 		if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ]
 		then
-			echo "[init] Use FMU as primary output"
 			if fmu mode_$FMU_MODE
 			then
-				echo "[init] FMU mode_$FMU_MODE started"
+				echo "[i] FMU mode_$FMU_MODE started"
 			else
-				echo "[init] ERROR: FMU mode_$FMU_MODE start failed"
-				tone_alarm $TUNE_OUT_ERROR
+				echo "[i] ERROR: FMU mode_$FMU_MODE start failed"
+				tone_alarm $TUNE_ERR
 			fi
 
 			if ver hwcmp PX4FMU_V1
@@ -338,36 +337,34 @@ then
 
 		if [ $OUTPUT_MODE == mkblctrl ]
 		then
-			echo "[init] Use MKBLCTRL as primary output"
 			set MKBLCTRL_ARG ""
-			if [ $MKBLCTRL_MODE == x ]
+			if [ $MK_MODE == x ]
 			then
 				set MKBLCTRL_ARG "-mkmode x"
 			fi
-			if [ $MKBLCTRL_MODE == + ]
+			if [ $MK_MODE == + ]
 			then
 				set MKBLCTRL_ARG "-mkmode +"
 			fi
 
 			if mkblctrl $MKBLCTRL_ARG
 			then
-				echo "[init] MKBLCTRL started"
+				echo "[i] MK started"
 			else
-				echo "[init] ERROR: MKBLCTRL start failed"
-				tone_alarm $TUNE_OUT_ERROR
+				echo "[i] ERROR: MK start failed"
+				tone_alarm $TUNE_ERR
 			fi
 
 		fi
 
 		if [ $OUTPUT_MODE == hil ]
 		then
-			echo "[init] Use HIL as primary output"
 			if hil mode_port2_pwm8
 			then
-				echo "[init] HIL output started"
+				echo "[i] HIL output started"
 			else
-				echo "[init] ERROR: HIL output start failed"
-				tone_alarm $TUNE_OUT_ERROR
+				echo "[i] ERROR: HIL output start failed"
+				tone_alarm $TUNE_ERR
 			fi
 		fi
 
@@ -380,11 +377,11 @@ then
 			then
 				if px4io start
 				then
-					echo "[init] PX4IO started"
+					echo "[i] PX4IO started"
 					sh /etc/init.d/rc.io
 				else
-					echo "[init] ERROR: PX4IO start failed"
-					tone_alarm $TUNE_OUT_ERROR
+					echo "[i] ERROR: PX4IO start failed"
+					tone_alarm $TUNE_ERR
 				fi
 			fi
 		else
@@ -392,10 +389,10 @@ then
 			then
 				if fmu mode_$FMU_MODE
 				then
-					echo "[init] FMU mode_$FMU_MODE started"
+					echo "[i] FMU mode_$FMU_MODE started"
 				else
-					echo "[init] ERROR: FMU mode_$FMU_MODE start failed"
-					tone_alarm $TUNE_OUT_ERROR
+					echo "[i] ERROR: FMU mode_$FMU_MODE start failed"
+					tone_alarm $TUNE_ERR
 				fi
 
 				if ver hwcmp PX4FMU_V1
@@ -413,23 +410,24 @@ then
 		fi
 	fi
 
-	if [ $MAVLINK_FLAGS == default ]
+	if [ $MAVLINK_F == default ]
 	then
 		# 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"
+			set MAVLINK_F "-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"
+			set MAVLINK_F "-r 1000"
 		fi
 	fi
 
-	mavlink start $MAVLINK_FLAGS
+	mavlink start $MAVLINK_F
+	unset MAVLINK_F
 
 	#
 	# MAVLink onboard / TELEM2
@@ -451,15 +449,16 @@ then
 
 	if [ $GPS == yes ]
 	then
-		echo "[init] Start GPS"
+		echo "[i] Start GPS"
 		if [ $GPS_FAKE == yes ]
 		then
-			echo "[init] Faking GPS"
+			echo "[i] Faking GPS"
 			gps start -f
 		else
 			gps start
 		fi
 	fi
+	unset GPS_FAKE
 
 	#
 	# Start up ARDrone Motor interface
@@ -474,7 +473,7 @@ then
 	#
 	if [ $VEHICLE_TYPE == fw ]
 	then
-		echo "[init] Vehicle type: FIXED WING"
+		echo "[i] FIXED WING"
 
 		if [ $MIXER == none ]
 		then
@@ -494,7 +493,7 @@ then
 		sh /etc/init.d/rc.interface
 
 		# Start standard fixedwing apps
-		if [ $LOAD_DEFAULT_APPS == yes ]
+		if [ $LOAD_DAPPS == yes ]
 		then
 			sh /etc/init.d/rc.fw_apps
 		fi
@@ -505,11 +504,11 @@ then
 	#
 	if [ $VEHICLE_TYPE == mc ]
 	then
-		echo "[init] Vehicle type: MULTICOPTER"
+		echo "[i] MULTICOPTER"
 
 		if [ $MIXER == none ]
 		then
-			echo "Default mixer for multicopter not defined"
+			echo "Mixer undefined"
 		fi
 
 		if [ $MAV_TYPE == none ]
@@ -553,13 +552,52 @@ then
 		sh /etc/init.d/rc.interface
 
 		# Start standard multicopter apps
-		if [ $LOAD_DEFAULT_APPS == yes ]
+		if [ $LOAD_DAPPS == yes ]
 		then
 			sh /etc/init.d/rc.mc_apps
 		fi
 	fi
 
 	#
+	# VTOL setup
+	#
+	if [ $VEHICLE_TYPE == vtol ]
+	then
+		echo "[init] Vehicle type: VTOL"
+
+		if [ $MIXER == none ]
+		then
+			echo "Default mixer for vtol not defined"
+		fi
+
+		if [ $MAV_TYPE == none ]
+		then
+			# Use mixer to detect vehicle type
+			if [ $MIXER == FMU_caipirinha_vtol ]
+			then
+				set MAV_TYPE 19
+			fi
+		fi
+
+		# Still no MAV_TYPE found
+		if [ $MAV_TYPE == none ]
+		then
+			echo "Unknown MAV_TYPE"
+		else
+			param set MAV_TYPE $MAV_TYPE
+		fi
+
+		# Load mixer and configure outputs
+		sh /etc/init.d/rc.interface
+
+		# Start standard vtol apps
+		if [ $LOAD_DAPPS == yes ]
+		then
+			sh /etc/init.d/rc.vtol_apps
+		fi
+	fi
+
+	#
 	# Start the navigator
 	#
 	navigator start
@@ -569,24 +607,38 @@ then
 	#
 	if [ $VEHICLE_TYPE == none ]
 	then
-		echo "[init] Vehicle type: No autostart ID found"
+		echo "[i] No autostart ID found"
 
 	fi
 
 	# Start any custom addons
-	if [ -f $EXTRAS_FILE ]
+	if [ -f $FEXTRAS ]
 	then
-		echo "[init] Starting addons script: $EXTRAS_FILE"
-		sh $EXTRAS_FILE
+		echo "[i] Addons script: $FEXTRAS"
+		sh $FEXTRAS
 	else
-		echo "[init] No addons script: $EXTRAS_FILE"
+		echo "[i] No addons script: $FEXTRAS"
 	fi
+	unset FEXTRAS
 
 	if [ $EXIT_ON_END == yes ]
 	then
-		echo "[init] Exit from nsh"
+		echo "Exit from nsh"
 		exit
 	fi
+	unset EXIT_ON_END
+
+	# Run no SD alarm last
+	if [ $LOG_FILE == /dev/null ]
+	then
+		echo "[i] No microSD card found"
+		# Play SOS
+		tone_alarm error
+	fi
 
 # End of autostart
 fi
+
+# There is no further processing, so we can free some RAM
+# XXX potentially unset all script variables.
+unset TUNE_ERR
diff --git a/ROMFS/px4fmu_common/mixers/FMU_caipirinha_vtol.mix b/ROMFS/px4fmu_common/mixers/FMU_caipirinha_vtol.mix
new file mode 100644
index 000000000..5ae0f5588
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/FMU_caipirinha_vtol.mix
@@ -0,0 +1,16 @@
+#!nsh
+# Caipirinha vtol mixer for PX4FMU
+#
+#===========================
+R: 2- 10000 10000 10000 0
+
+#mixer for the elevons
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 0  10000  10000      0 -10000  10000
+S: 1 1  10000  10000      0 -10000  10000
+
+M: 2
+O:       10000   10000    0 -10000  10000
+S: 1 0   10000   10000    0 -10000  10000
+S: 1 1  -10000  -10000    0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/skywalker.mix b/ROMFS/px4fmu_common/mixers/skywalker.mix
new file mode 100644
index 000000000..04d677e56
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/skywalker.mix
@@ -0,0 +1,64 @@
+Mixer for Skywalker Airframe
+==================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
+assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
+elevator to output 1, the rudder to output 2 and the throttle to output 3.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+Aileron mixer
+-------------
+Two scalers total (output, roll).
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+As there is only one output, if using two servos adjustments to compensate for
+differences between the servos must be made mechanically.  To obtain the correct
+motion using a Y  cable, the servos can be positioned reversed from one another.
+
+M: 1
+O:       10000   10000      0 -10000  10000
+S: 0 0  -10000  -10000      0 -10000  10000
+
+Elevator mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the elevator servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:       10000   10000      0 -10000  10000
+S: 0 1   10000   10000      0 -10000  10000
+
+Rudder mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the rudder servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 2  10000  10000      0 -10000  10000
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
diff --git a/ROMFS/px4fmu_test/init.d/rc.standalone b/ROMFS/px4fmu_test/init.d/rc.standalone
index 67e95215b..5c7470d12 100644
--- a/ROMFS/px4fmu_test/init.d/rc.standalone
+++ b/ROMFS/px4fmu_test/init.d/rc.standalone
@@ -3,11 +3,11 @@
 # Flight startup script for PX4FMU standalone configuration.
 #
 
-echo "[init] doing standalone PX4FMU startup..."
+echo "[i] doing standalone PX4FMU startup..."
 
 #
 # Start the ORB
 #
 uorb start
 
-echo "[init] startup done"
+echo "[i] startup done"
diff --git a/ROMFS/px4fmu_test/init.d/rcS b/ROMFS/px4fmu_test/init.d/rcS
index bc248ac04..ef032de5c 100644
--- a/ROMFS/px4fmu_test/init.d/rcS
+++ b/ROMFS/px4fmu_test/init.d/rcS
@@ -6,7 +6,7 @@ uorb start
 
 if sercon
 then
-	echo "[init] USB interface connected"
+	echo "[i] USB interface connected"
 
 	# Try to get an USB console
 	nshterm /dev/ttyACM0 &
@@ -15,14 +15,14 @@ fi
 #
 # Try to mount the microSD card.
 #
-echo "[init] looking for microSD..."
+echo "[i] looking for microSD..."
 if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
-	echo "[init] card mounted at /fs/microsd"
+	echo "[i] card mounted at /fs/microsd"
 	# Start playing the startup tune
 	tone_alarm start
 else
-	echo "[init] no microSD card found"
+	echo "[i] no microSD card found"
 	# Play SOS
 	tone_alarm error
 fi
@@ -104,4 +104,4 @@ then
 else
 	echo
 	echo "Some Unit Tests FAILED:${unit_test_failure_list}"
-fi
\ No newline at end of file
+fi