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

Conflicts:
	src/drivers/meas_airspeed/meas_airspeed.cpp

13 files changed, 99 insertions, 12 deletions

diff --git a/ROMFS/px4fmu_common/init.d/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/11001_hexa_cox
index b98ab4774..38e65435b 100644
--- a/ROMFS/px4fmu_common/init.d/11001_hexa_cox
+++ b/ROMFS/px4fmu_common/init.d/11001_hexa_cox
@@ -2,7 +2,7 @@
 #
 # UNTESTED UNTESTED!
 #
-# Generic 10” Hexa coaxial geometry
+# Generic 10" Hexa coaxial geometry
 #
 # Lorenz Meier <lm@inf.ethz.ch>
 #
diff --git a/ROMFS/px4fmu_common/init.d/12001_octo_cox b/ROMFS/px4fmu_common/init.d/12001_octo_cox
index 655cb6226..99f902a6d 100644
--- a/ROMFS/px4fmu_common/init.d/12001_octo_cox
+++ b/ROMFS/px4fmu_common/init.d/12001_octo_cox
@@ -1,6 +1,6 @@
 #!nsh
 #
-# Generic 10” Octo coaxial geometry
+# Generic 10" Octo coaxial geometry
 #
 # Lorenz Meier <lm@inf.ethz.ch>
 #
diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom
index a3004d1e1..6cbd23643 100644
--- a/ROMFS/px4fmu_common/init.d/3031_phantom
+++ b/ROMFS/px4fmu_common/init.d/3031_phantom
@@ -2,9 +2,38 @@
 #
 # Phantom FPV Flying Wing
 #
-# Simon Wilks <sjwilks@gmail.com>
+# Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com>
 #
 
 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_ATT_TC 0.3
+	param set FW_L1_DAMPING 0.75
+	param set FW_L1_PERIOD 15
+	param set FW_PR_FF 0.2
+	param set FW_PR_I 0.005
+	param set FW_PR_IMAX 0.2
+	param set FW_PR_P 0.03
+	param set FW_P_LIM_MAX 50
+	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_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_RMAX 0
+	param set FW_T_HRATE_P 0.01
+	param set FW_T_RLL2THR 15
+	param set FW_T_SRATE_P 0.01
+	param set FW_T_TIME_CONST 5
+fi
+
 set MIXER FMU_Q
diff --git a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
new file mode 100644
index 000000000..7dbda54d3
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
@@ -0,0 +1,42 @@
+#!nsh
+#
+# TBS Caipirinha Flying Wing
+#
+# Thomas Gubler <thomasgubler@gmail.com>
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+	
+	# TODO: these are the X5 default parameters, update them to the caipi
+
+	param set FW_AIRSPD_MIN 15
+	param set FW_AIRSPD_TRIM 20
+	param set FW_AIRSPD_MAX 40
+	param set FW_ATT_TC 0.3
+	param set FW_L1_DAMPING 0.74
+	param set FW_L1_PERIOD 15
+	param set FW_PR_FF 0.3
+	param set FW_PR_I 0
+	param set FW_PR_IMAX 0.2
+	param set FW_PR_P 0.03
+	param set FW_P_LIM_MAX 45
+	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_RR_FF 0.3
+	param set FW_RR_I 0
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.03
+	param set FW_R_LIM 60
+	param set FW_R_RMAX 0
+	param set FW_T_HRATE_P 0.01
+	param set FW_T_RLL2THR 15
+	param set FW_T_SRATE_P 0.01
+	param set FW_T_TIME_CONST 5
+fi
+
+set MIXER FMU_Q
diff --git a/ROMFS/px4fmu_common/init.d/4001_quad_x b/ROMFS/px4fmu_common/init.d/4001_quad_x
index 345b0e3e4..06c54a41d 100644
--- a/ROMFS/px4fmu_common/init.d/4001_quad_x
+++ b/ROMFS/px4fmu_common/init.d/4001_quad_x
@@ -1,6 +1,6 @@
 #!nsh
 #
-# Generic 10” Quad X geometry
+# Generic 10" Quad X geometry
 #
 # Lorenz Meier <lm@inf.ethz.ch>
 #
diff --git a/ROMFS/px4fmu_common/init.d/5001_quad_+ b/ROMFS/px4fmu_common/init.d/5001_quad_+
index 55b31067d..1fb25e5d8 100644
--- a/ROMFS/px4fmu_common/init.d/5001_quad_+
+++ b/ROMFS/px4fmu_common/init.d/5001_quad_+
@@ -1,6 +1,6 @@
 #!nsh
 #
-# Generic 10” Quad + geometry
+# Generic 10" Quad + geometry
 #
 # Anton Babushkin <anton.babushkin@me.com>
 #
diff --git a/ROMFS/px4fmu_common/init.d/6001_hexa_x b/ROMFS/px4fmu_common/init.d/6001_hexa_x
index 7714a508c..34fc6523f 100644
--- a/ROMFS/px4fmu_common/init.d/6001_hexa_x
+++ b/ROMFS/px4fmu_common/init.d/6001_hexa_x
@@ -1,6 +1,6 @@
 #!nsh
 #
-# Generic 10” Hexa X geometry
+# Generic 10" Hexa X geometry
 #
 # Anton Babushkin <anton.babushkin@me.com>
 #
diff --git a/ROMFS/px4fmu_common/init.d/7001_hexa_+ b/ROMFS/px4fmu_common/init.d/7001_hexa_+
index 60db8c069..235e376a6 100644
--- a/ROMFS/px4fmu_common/init.d/7001_hexa_+
+++ b/ROMFS/px4fmu_common/init.d/7001_hexa_+
@@ -1,6 +1,6 @@
 #!nsh
 #
-# Generic 10” Hexa + geometry
+# Generic 10" Hexa + geometry
 #
 # Anton Babushkin <anton.babushkin@me.com>
 #
diff --git a/ROMFS/px4fmu_common/init.d/8001_octo_x b/ROMFS/px4fmu_common/init.d/8001_octo_x
index 411aee114..769217dc7 100644
--- a/ROMFS/px4fmu_common/init.d/8001_octo_x
+++ b/ROMFS/px4fmu_common/init.d/8001_octo_x
@@ -1,6 +1,6 @@
 #!nsh
 #
-# Generic 10” Octo X geometry
+# Generic 10" Octo X geometry
 #
 # Anton Babushkin <anton.babushkin@me.com>
 #
diff --git a/ROMFS/px4fmu_common/init.d/9001_octo_+ b/ROMFS/px4fmu_common/init.d/9001_octo_+
index 81132fd3e..28b074a54 100644
--- a/ROMFS/px4fmu_common/init.d/9001_octo_+
+++ b/ROMFS/px4fmu_common/init.d/9001_octo_+
@@ -1,6 +1,6 @@
 #!nsh
 #
-# Generic 10” Octo + geometry
+# Generic 10" Octo + geometry
 #
 # Anton Babushkin <anton.babushkin@me.com>
 #
diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart
index 7aaf7133e..4ae6a2794 100644
--- a/ROMFS/px4fmu_common/init.d/rc.autostart
+++ b/ROMFS/px4fmu_common/init.d/rc.autostart
@@ -97,6 +97,11 @@ then
 	sh /etc/init.d/3034_fx79
 fi
 
+if param compare SYS_AUTOSTART 3100
+then
+	sh /etc/init.d/3100_tbs_caipirinha
+fi
+
 #
 # Quad X
 #
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
index 3a50fcf56..4cd73e23f 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@@ -11,4 +11,6 @@ then
 	param set NAV_RTL_ALT 100
 	param set NAV_RTL_LAND_T -1
 	param set NAV_ACCEPT_RAD 50
+	param set RC_SCALE_ROLL 1
+	param set RC_SCALE_PITCH 1
 fi
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 55e2a886e..65a66a085 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -108,7 +108,6 @@ then
 	set HIL no
 	set VEHICLE_TYPE none
 	set MIXER none
-	set USE_IO yes
 	set OUTPUT_MODE none
 	set PWM_OUTPUTS none
 	set PWM_RATE none
@@ -129,6 +128,16 @@ then
 	else
 		set DO_AUTOCONFIG no
 	fi
+	
+	#
+	# Set USE_IO flag
+	#
+	if param compare SYS_USE_IO 1
+	then
+		set USE_IO yes
+	else
+		set USE_IO no
+	fi
 		
 	#
 	# Set parameters and env variables for selected AUTOSTART
@@ -466,7 +475,7 @@ then
 		sh /etc/init.d/rc.interface
 		
 		# Start standard fixedwing apps
-		if [ LOAD_DEFAULT_APPS == yes ]
+		if [ $LOAD_DEFAULT_APPS == yes ]
 		then
 			sh /etc/init.d/rc.fw_apps
 		fi
@@ -525,7 +534,7 @@ then
 		sh /etc/init.d/rc.interface
 		
 		# Start standard multicopter apps
-		if [ LOAD_DEFAULT_APPS == yes ]
+		if [ $LOAD_DEFAULT_APPS == yes ]
 		then
 			sh /etc/init.d/rc.mc_apps
 		fi