Merge branch 'master' of github.com:PX4/Firmware into beta

15 files changed, 386 insertions, 267 deletions

diff --git a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
index 40a13b5d1..ebe8a1a1e 100644
--- a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
+++ b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
@@ -1,14 +1,13 @@
 #!nsh
 #
-# USB HIL start
+# HILStar / X-Plane
+#
+# Maintainers: Thomas Gubler <thomasgubler@gmail.com>
 #
 
-echo "[HIL] HILStar starting.."
+echo "HIL Rascal 110 starting.."
 
-#
-# Load default params for this platform
-#
-if param compare SYS_AUTOCONFIG 1
+if [ $DO_AUTOCONFIG == yes ]
 then
 	# Set all params here, then disable autoconfig
 	
@@ -40,48 +39,7 @@ then
 	param save
 fi
 
-# Allow USB some time to come up
-sleep 1
-# Tell MAVLink that this link is "fast"
-mavlink start -b 230400 -d /dev/ttyACM0
-
-# Create a fake HIL /dev/pwm_output interface
-hil mode_pwm
-
-#
-# Force some key parameters to sane values
-# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
-#              see https://pixhawk.ethz.ch/mavlink/
-#
-param set MAV_TYPE 1
-
-#
-# Check if we got an IO
-#
-if px4io start
-then
-	echo "IO started"
-else
-	fmu mode_serial
-	echo "FMU started"
-fi
-
-#
-# Start the sensors (depends on orb, px4io)
-#
-sh /etc/init.d/rc.sensors
-
-#
-# Start the attitude estimator (depends on orb)
-#
-att_pos_estimator_ekf start
- 
-#
-# Load mixer and start controllers (depends on px4io)
-#
-mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix
-fw_pos_control_l1 start
-fw_att_control start
-
-echo "[HIL] setup done, running"
+set HIL yes
 
+set VEHICLE_TYPE fw
+set MIXER FMU_AERT
diff --git a/ROMFS/px4fmu_common/init.d/1002_rc_fw_state.hil b/ROMFS/px4fmu_common/init.d/1002_rc_fw_state.hil
index 7b9f41bf6..46da24d35 100644
--- a/ROMFS/px4fmu_common/init.d/1002_rc_fw_state.hil
+++ b/ROMFS/px4fmu_common/init.d/1002_rc_fw_state.hil
@@ -1,14 +1,13 @@
 #!nsh
 #
-# USB HIL start
+# HIL Rascal 110 (Flightgear)
+#
+# Maintainers: Thomas Gubler <thomasgubler@gmail.com>
 #
 
-echo "[HIL] HILStar starting in state-HIL mode.."
+echo "HIL Rascal 110 starting.."
 
-#
-# Load default params for this platform
-#
-if param compare SYS_AUTOCONFIG 1
+if [ $DO_AUTOCONFIG == yes ]
 then
 	# Set all params here, then disable autoconfig
 	
@@ -32,48 +31,15 @@ then
 	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
 
-# Allow USB some time to come up
-sleep 1
-# Tell MAVLink that this link is "fast"
-mavlink start -b 230400 -d /dev/ttyACM0
-
-# Create a fake HIL /dev/pwm_output interface
-hil mode_pwm
-
-#
-# Force some key parameters to sane values
-# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
-#              see https://pixhawk.ethz.ch/mavlink/
-#
-param set MAV_TYPE 1
-
-#
-# Check if we got an IO
-#
-if px4io start
-then
-	echo "IO started"
-else
-	fmu mode_serial
-	echo "FMU started"
-fi
-
-#
-# Start the sensors (depends on orb, px4io)
-#
-sh /etc/init.d/rc.sensors
- 
-#
-# Load mixer and start controllers (depends on px4io)
-#
-mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix
-fw_pos_control_l1 start
-fw_att_control start
-
-echo "[HIL] setup done, running"
+set HIL yes
 
+set VEHICLE_TYPE fw
+set MIXER FMU_AERT
diff --git a/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
index 75a00a675..46da24d35 100644
--- a/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
+++ b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
@@ -43,4 +43,3 @@ set HIL yes
 
 set VEHICLE_TYPE fw
 set MIXER FMU_AERT
-
diff --git a/ROMFS/px4fmu_common/init.d/12001_octo_cox_pwm b/ROMFS/px4fmu_common/init.d/12001_octo_cox_pwm
new file mode 100644
index 000000000..5f3cec4e0
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/12001_octo_cox_pwm
@@ -0,0 +1,37 @@
+#!nsh
+#
+# Generic 10” Octo coaxial geometry
+#
+# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
+#
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+	#
+	# Default parameters for this platform
+	#
+	param set MC_ATT_P 7.0
+	param set MC_ATT_I 0.0
+	param set MC_ATT_D 0.0
+	param set MC_ATTRATE_P 0.12
+	param set MC_ATTRATE_I 0.0
+	param set MC_ATTRATE_D 0.004
+	param set MC_YAWPOS_P 2.0
+	param set MC_YAWPOS_I 0.0
+	param set MC_YAWPOS_D 0.0
+	param set MC_YAWRATE_P 0.3
+	param set MC_YAWRATE_I 0.2
+	param set MC_YAWRATE_D 0.005
+	
+	# TODO add default MPC parameters
+fi
+
+set VEHICLE_TYPE mc
+set MIXER FMU_octo_cox
+
+set PWM_OUTPUTS 1234
+set PWM_RATE 400
+# DJI ESC range
+set PWM_DISARMED 900
+set PWM_MIN 1200
+set PWM_MAX 1900
diff --git a/ROMFS/px4fmu_common/init.d/2101_hk_bixler b/ROMFS/px4fmu_common/init.d/2101_hk_bixler
index 995d3ba07..1ed923b19 100644
--- a/ROMFS/px4fmu_common/init.d/2101_hk_bixler
+++ b/ROMFS/px4fmu_common/init.d/2101_hk_bixler
@@ -1,11 +1,11 @@
 #!nsh
 
-echo "[init] PX4FMU v1, v2 with or without IO on HK Bixler"
+echo "[init] PX4FMU v1, v2 with or without IO on 3DR SkyWalker"
 
 #
 # Load default params for this platform
 #
-if param compare SYS_AUTOCONFIG 1
+if [ $DO_AUTOCONFIG == yes ]
 then
 	# Set all params here, then disable autoconfig
 	param set FW_P_D 0
@@ -35,46 +35,6 @@ then
 	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
-
-#
-# 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
-
-#
-# 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_AERT.mix
-else
-	echo "Using /etc/mixers/FMU_Q.mix"
-	mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix
-fi
 
-#
-# Start common fixedwing apps
-#
-sh /etc/init.d/rc.fixedwing
+set VEHICLE_TYPE fw
+set MIXER FMU_AERT
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker b/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker
index a6d2ace96..1ed923b19 100644
--- a/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker
+++ b/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker
@@ -5,7 +5,7 @@ echo "[init] PX4FMU v1, v2 with or without IO on 3DR SkyWalker"
 #
 # Load default params for this platform
 #
-if param compare SYS_AUTOCONFIG 1
+if [ $DO_AUTOCONFIG == yes ]
 then
 	# Set all params here, then disable autoconfig
 	param set FW_P_D 0
@@ -35,48 +35,6 @@ then
 	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
-
-#
-# 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
+set VEHICLE_TYPE fw
+set MIXER FMU_AERT
\ 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 65f01c974..cbcc6189b 100644
--- a/ROMFS/px4fmu_common/init.d/3030_io_camflyer
+++ b/ROMFS/px4fmu_common/init.d/3030_io_camflyer
@@ -2,57 +2,39 @@
 
 echo "[init] PX4FMU v1, v2 with or without IO on Camflyer"
 
-#
-# Load default params for this platform
-#
-if param compare SYS_AUTOCONFIG 1
+if [ $DO_AUTOCONFIG == yes ]
 then
-	# Set all params here, then disable autoconfig
-	# TODO
-	
-	param set SYS_AUTOCONFIG 0
-	param save
+	#
+	# Default parameters for this platform
+	#
+	param set FW_AIRSPD_MIN 7
+	param set FW_AIRSPD_TRIM 9
+	param set FW_AIRSPD_MAX 14
+	param set FW_L1_PERIOD 10
+	param set FW_P_D 0
+	param set FW_P_I 0
+	param set FW_P_IMAX 20
+	param set FW_P_LIM_MAX 30
+	param set FW_P_LIM_MIN -20
+	param set FW_P_P 30
+	param set FW_P_RMAX_NEG 0
+	param set FW_P_RMAX_POS 0
+	param set FW_P_ROLLFF 2
+	param set FW_R_D 0
+	param set FW_R_I 5
+	param set FW_R_IMAX 20
+	param set FW_R_P 60
+	param set FW_R_RMAX 60
+	param set FW_THR_CRUISE 0.65
+	param set FW_THR_MAX 0.7
+	param set FW_THR_MIN 0
+	param set FW_T_SINK_MAX 5
+	param set FW_T_SINK_MIN 2
+	param set FW_T_TIME_CONST 9
+	param set FW_Y_ROLLFF 2.0
+	param set RC_SCALE_ROLL 1.0
+	param set RC_SCALE_PITCH 1.0
 fi
- 
-#
-# Force some key parameters to sane values
-# MAV_TYPE     1 = fixed wing
-#
-param set MAV_TYPE 1
 
-#
-# 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
-
-#
-# Load mixer and start controllers (depends on px4io)
-#
-if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ]
-then
-	echo "Using /fs/microsd/etc/mixers/FMU_Q.mix"
-	mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix
-else
-	echo "Using /etc/mixers/FMU_Q.mix"
-	mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
-fi
-
-#
-# Start common fixedwing apps
-#
-sh /etc/init.d/rc.fixedwing
+set VEHICLE_TYPE fw
+set MIXER FMU_Q
diff --git a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
index 03f282237..143310af9 100644
--- a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
+++ b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
@@ -7,8 +7,37 @@
 
 if [ $DO_AUTOCONFIG == yes ]
 then
-	# TODO
+	#
+	# Default parameters for this platform
+	#
+	param set FW_AIRSPD_MIN 7
+	param set FW_AIRSPD_TRIM 9
+	param set FW_AIRSPD_MAX 14
+	param set FW_L1_PERIOD 10
+	param set FW_P_D 0
+	param set FW_P_I 0
+	param set FW_P_IMAX 20
+	param set FW_P_LIM_MAX 30
+	param set FW_P_LIM_MIN -20
+	param set FW_P_P 30
+	param set FW_P_RMAX_NEG 0
+	param set FW_P_RMAX_POS 0
+	param set FW_P_ROLLFF 2
+	param set FW_R_D 0
+	param set FW_R_I 5
+	param set FW_R_IMAX 20
+	param set FW_R_P 60
+	param set FW_R_RMAX 60
+	param set FW_THR_CRUISE 0.65
+	param set FW_THR_MAX 0.7
+	param set FW_THR_MIN 0
+	param set FW_T_SINK_MAX 5
+	param set FW_T_SINK_MIN 2
+	param set FW_T_TIME_CONST 9
+	param set FW_Y_ROLLFF 2.0
+	param set RC_SCALE_ROLL 1.0
+	param set RC_SCALE_PITCH 1.0
 fi
 
 set VEHICLE_TYPE fw
-set MIXER FMU_Q
+set MIXER FMU_X5
diff --git a/ROMFS/px4fmu_common/init.d/5001_quad_+_pwm b/ROMFS/px4fmu_common/init.d/5001_quad_+_pwm
new file mode 100644
index 000000000..2e5f6ca4f
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/5001_quad_+_pwm
@@ -0,0 +1,37 @@
+#!nsh
+#
+# Generic 10” Quad + geometry
+#
+# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
+#
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+	#
+	# Default parameters for this platform
+	#
+	param set MC_ATT_P 7.0
+	param set MC_ATT_I 0.0
+	param set MC_ATT_D 0.0
+	param set MC_ATTRATE_P 0.12
+	param set MC_ATTRATE_I 0.0
+	param set MC_ATTRATE_D 0.004
+	param set MC_YAWPOS_P 2.0
+	param set MC_YAWPOS_I 0.0
+	param set MC_YAWPOS_D 0.0
+	param set MC_YAWRATE_P 0.3
+	param set MC_YAWRATE_I 0.2
+	param set MC_YAWRATE_D 0.005
+	
+	# TODO add default MPC parameters
+fi
+
+set VEHICLE_TYPE mc
+set MIXER FMU_quad_+
+
+set PWM_OUTPUTS 1234
+set PWM_RATE 400
+# DJI ESC range
+set PWM_DISARMED 900
+set PWM_MIN 1200
+set PWM_MAX 1900
diff --git a/ROMFS/px4fmu_common/init.d/6001_hexa_x_pwm b/ROMFS/px4fmu_common/init.d/6001_hexa_x_pwm
new file mode 100644
index 000000000..ddec8f36e
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/6001_hexa_x_pwm
@@ -0,0 +1,37 @@
+#!nsh
+#
+# Generic 10” Hexa X geometry
+#
+# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
+#
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+	#
+	# Default parameters for this platform
+	#
+	param set MC_ATT_P 7.0
+	param set MC_ATT_I 0.0
+	param set MC_ATT_D 0.0
+	param set MC_ATTRATE_P 0.12
+	param set MC_ATTRATE_I 0.0
+	param set MC_ATTRATE_D 0.004
+	param set MC_YAWPOS_P 2.0
+	param set MC_YAWPOS_I 0.0
+	param set MC_YAWPOS_D 0.0
+	param set MC_YAWRATE_P 0.3
+	param set MC_YAWRATE_I 0.2
+	param set MC_YAWRATE_D 0.005
+	
+	# TODO add default MPC parameters
+fi
+
+set VEHICLE_TYPE mc
+set MIXER FMU_hexa_x
+
+set PWM_OUTPUTS 1234
+set PWM_RATE 400
+# DJI ESC range
+set PWM_DISARMED 900
+set PWM_MIN 1200
+set PWM_MAX 1900
diff --git a/ROMFS/px4fmu_common/init.d/7001_hexa_+_pwm b/ROMFS/px4fmu_common/init.d/7001_hexa_+_pwm
new file mode 100644
index 000000000..106e0fb54
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/7001_hexa_+_pwm
@@ -0,0 +1,37 @@
+#!nsh
+#
+# Generic 10” Hexa + geometry
+#
+# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
+#
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+	#
+	# Default parameters for this platform
+	#
+	param set MC_ATT_P 7.0
+	param set MC_ATT_I 0.0
+	param set MC_ATT_D 0.0
+	param set MC_ATTRATE_P 0.12
+	param set MC_ATTRATE_I 0.0
+	param set MC_ATTRATE_D 0.004
+	param set MC_YAWPOS_P 2.0
+	param set MC_YAWPOS_I 0.0
+	param set MC_YAWPOS_D 0.0
+	param set MC_YAWRATE_P 0.3
+	param set MC_YAWRATE_I 0.2
+	param set MC_YAWRATE_D 0.005
+	
+	# TODO add default MPC parameters
+fi
+
+set VEHICLE_TYPE mc
+set MIXER FMU_hexa_+
+
+set PWM_OUTPUTS 1234
+set PWM_RATE 400
+# DJI ESC range
+set PWM_DISARMED 900
+set PWM_MIN 1200
+set PWM_MAX 1900
diff --git a/ROMFS/px4fmu_common/init.d/8001_octo_x_pwm b/ROMFS/px4fmu_common/init.d/8001_octo_x_pwm
new file mode 100644
index 000000000..f0eea339b
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/8001_octo_x_pwm
@@ -0,0 +1,37 @@
+#!nsh
+#
+# Generic 10” Octo X geometry
+#
+# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
+#
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+	#
+	# Default parameters for this platform
+	#
+	param set MC_ATT_P 7.0
+	param set MC_ATT_I 0.0
+	param set MC_ATT_D 0.0
+	param set MC_ATTRATE_P 0.12
+	param set MC_ATTRATE_I 0.0
+	param set MC_ATTRATE_D 0.004
+	param set MC_YAWPOS_P 2.0
+	param set MC_YAWPOS_I 0.0
+	param set MC_YAWPOS_D 0.0
+	param set MC_YAWRATE_P 0.3
+	param set MC_YAWRATE_I 0.2
+	param set MC_YAWRATE_D 0.005
+	
+	# TODO add default MPC parameters
+fi
+
+set VEHICLE_TYPE mc
+set MIXER FMU_octo_x
+
+set PWM_OUTPUTS 1234
+set PWM_RATE 400
+# DJI ESC range
+set PWM_DISARMED 900
+set PWM_MIN 1200
+set PWM_MAX 1900
diff --git a/ROMFS/px4fmu_common/init.d/9001_octo_+_pwm b/ROMFS/px4fmu_common/init.d/9001_octo_+_pwm
new file mode 100644
index 000000000..992a7aeba
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/9001_octo_+_pwm
@@ -0,0 +1,37 @@
+#!nsh
+#
+# Generic 10” Octo + geometry
+#
+# Maintainers: Lorenz Meier <lm@inf.ethz.ch>
+#
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+	#
+	# Default parameters for this platform
+	#
+	param set MC_ATT_P 7.0
+	param set MC_ATT_I 0.0
+	param set MC_ATT_D 0.0
+	param set MC_ATTRATE_P 0.12
+	param set MC_ATTRATE_I 0.0
+	param set MC_ATTRATE_D 0.004
+	param set MC_YAWPOS_P 2.0
+	param set MC_YAWPOS_I 0.0
+	param set MC_YAWPOS_D 0.0
+	param set MC_YAWRATE_P 0.3
+	param set MC_YAWRATE_I 0.2
+	param set MC_YAWRATE_D 0.005
+	
+	# TODO add default MPC parameters
+fi
+
+set VEHICLE_TYPE mc
+set MIXER FMU_octo_+
+
+set PWM_OUTPUTS 1234
+set PWM_RATE 400
+# DJI ESC range
+set PWM_DISARMED 900
+set PWM_MIN 1200
+set PWM_MAX 1900
diff --git a/ROMFS/px4fmu_common/init.d/cmp_test b/ROMFS/px4fmu_common/init.d/cmp_test
deleted file mode 100644
index f86f4f85b..000000000
--- a/ROMFS/px4fmu_common/init.d/cmp_test
+++ /dev/null
@@ -1,9 +0,0 @@
-#!nsh
-
-cp /etc/extras/px4io-v2_default.bin /fs/microsd/px4io.loaded
-if cmp /etc/extras/px4io-v2_default.bin /fs/microsd/px4io.loaded
-then
-	echo "CMP returned true"
-else
-	echo "CMP returned false"
-fi
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart
index 325520dd0..34da2dfef 100644
--- a/ROMFS/px4fmu_common/init.d/rc.autostart
+++ b/ROMFS/px4fmu_common/init.d/rc.autostart
@@ -33,7 +33,7 @@ fi
 
 if param compare SYS_AUTOSTART 1002
 then
-	#sh /etc/init.d/1002_rc_fw_state.hil
+	sh /etc/init.d/1002_rc_fw_state.hil
 fi
 
 if param compare SYS_AUTOSTART 1003
@@ -52,47 +52,47 @@ fi
 
 if param compare SYS_AUTOSTART 2100 100
 then
-	#sh /etc/init.d/2100_mpx_easystar
-	#set MODE custom
+	sh /etc/init.d/2100_mpx_easystar
+	set MODE custom
 fi
 
 if param compare SYS_AUTOSTART 2101 101
 then
-	#sh /etc/init.d/2101_hk_bixler
-	#set MODE custom
+	sh /etc/init.d/2101_hk_bixler
+	set MODE custom
 fi
 
 if param compare SYS_AUTOSTART 2102 102
 then
-	#sh /etc/init.d/2102_3dr_skywalker
-	#set MODE custom
+	sh /etc/init.d/2102_3dr_skywalker
+	set MODE custom
 fi
 
 #
 # Flying wing
 #
 
-if param compare SYS_AUTOSTART 3030
+if param compare SYS_AUTOSTART 3030 30
 then
-	#sh /etc/init.d/3030_io_camflyer
+	sh /etc/init.d/3030_io_camflyer
 fi
 
-if param compare SYS_AUTOSTART 3031
+if param compare SYS_AUTOSTART 3031 31
 then
 	sh /etc/init.d/3031_phantom
 fi
 
-if param compare SYS_AUTOSTART 3032
+if param compare SYS_AUTOSTART 3032 32
 then
 	sh /etc/init.d/3032_skywalker_x5
 fi
 
-if param compare SYS_AUTOSTART 3033
+if param compare SYS_AUTOSTART 3033 33
 then
 	sh /etc/init.d/3033_wingwing
 fi
 
-if param compare SYS_AUTOSTART 3034
+if param compare SYS_AUTOSTART 3034 34
 then
 	sh /etc/init.d/3034_fx79
 fi
@@ -101,41 +101,95 @@ fi
 # Quad X
 #
 
-if param compare SYS_AUTOSTART 4008
+if param compare SYS_AUTOSTART 4008 8
 then
 	#sh /etc/init.d/4008_ardrone
 fi
 
-if param compare SYS_AUTOSTART 4009
+if param compare SYS_AUTOSTART 4009 9
 then
 	#sh /etc/init.d/4009_ardrone_flow
 fi
 
-if param compare SYS_AUTOSTART 4010
+if param compare SYS_AUTOSTART 4010 10
 then
 	sh /etc/init.d/4010_dji_f330
 fi
 
-if param compare SYS_AUTOSTART 4011
+if param compare SYS_AUTOSTART 4011 11
 then
 	sh /etc/init.d/4011_dji_f450
 fi
 
-if param compare SYS_AUTOSTART 4012
+if param compare SYS_AUTOSTART 4012 12
 then
 	sh /etc/init.d/4012_hk_x550
 fi
 
 #
+# Quad +
+#
+
+if param compare SYS_AUTOSTART 5001
+then
+	sh /etc/init.d/5001_quad_+_pwm
+fi
+
+#
+# Hexa X
+#
+
+if param compare SYS_AUTOSTART 6001
+then
+	sh /etc/init.d/6001_hexa_x_pwm
+fi
+
+#
+# Hexa +
+#
+
+if param compare SYS_AUTOSTART 7001
+then
+	sh /etc/init.d/7001_hexa_+_pwm
+fi
+
+#
+# Octo X
+#
+
+if param compare SYS_AUTOSTART 8001
+then
+	sh /etc/init.d/8001_octo_x_pwm
+fi
+
+#
+# Octo +
+#
+
+if param compare SYS_AUTOSTART 9001
+then
+	sh /etc/init.d/9001_octo_+_pwm
+fi
+
+#
 # Wide arm / H frame
 #
 
-if param compare SYS_AUTOSTART 10015
+if param compare SYS_AUTOSTART 10015 15
 then
 	sh /etc/init.d/10015_tbs_discovery
 fi
 
-if param compare SYS_AUTOSTART 10016
+if param compare SYS_AUTOSTART 10016 16
 then
 	sh /etc/init.d/10016_3dr_iris
 fi
+
+#
+# Octo Coaxial
+#
+
+if param compare SYS_AUTOSTART 12001
+then
+	sh /etc/init.d/12001_octo_cox_pwm
+fi