Startup scripts: use rc.fw_defaults for default FW parameters

12 files changed, 47 insertions, 374 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 d7e524b41..36194ad68 100644
--- a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
+++ b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
@@ -5,36 +5,10 @@
 # Lorenz Meier <lm@inf.ethz.ch>
 #
 
-echo "HIL Rascal 110 starting.."
+sh /etc/init.d/rc.fw_defaults
 
-if [ $DO_AUTOCONFIG == yes ]
-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_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
-fi
+echo "HIL Rascal 110 starting.."
 
 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 c639bfc25..4e3e18326 100644
--- a/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
+++ b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
@@ -5,38 +5,10 @@
 # Thomas Gubler <thomasgubler@gmail.com>
 #
 
-echo "HIL Rascal 110 starting.."
+sh /etc/init.d/rc.fw_defaults
 
-if [ $DO_AUTOCONFIG == yes ]
-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
-fi
+echo "HIL Rascal 110 starting.."
 
 set HIL yes
 
-set VEHICLE_TYPE fw
 set MIXER FMU_AERT
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 124bf63ab..abbe626b1 100644
--- a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
+++ b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
@@ -5,60 +5,9 @@
 # Thomas Gubler <thomasgubler@gmail.com>
 #
 
-echo "HIL Malolo 1 starting.."
-
-if [ $DO_AUTOCONFIG == yes ]
-then
-	# Set all params here, then disable autoconfig
-	
-	param set FW_AIRSPD_MIN 12
-	param set FW_AIRSPD_TRIM 25
-	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 0.8
-	param set FW_PR_I 0.05
-	param set FW_PR_IMAX 0.2
-	param set FW_PR_P 0.1
-	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 0.6
-	param set FW_RR_I 0.02
-	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.1
-	param set FW_R_LIM 45
-	param set FW_R_RMAX 0
-	param set FW_THR_CRUISE 0.6
-	param set FW_THR_MAX 1
-	param set FW_THR_MIN 0
-	param set FW_T_CLMB_MAX 5
-	param set FW_T_HRATE_P 0.02
-	param set FW_T_PTCH_DAMP 0
-	param set FW_T_RLL2THR 15
-	param set FW_T_SINK_MAX 5
-	param set FW_T_SINK_MIN 2
-	param set FW_T_SRATE_P 0.01
-	param set FW_T_TIME_CONST 3
-	param set FW_T_VERT_ACC 7
-	param set FW_YCO_VMIN 1000
-	param set FW_YR_FF 0.0
-	param set FW_YR_I 0
-	param set FW_YR_IMAX 0.2
-	param set FW_YR_P	 0.0
-	param set FW_Y_RMAX 0
-	param set NAV_LAND_ALT 90
-	param set NAV_RTL_ALT 100
-	param set NAV_RTL_LAND_T -1
-
-	param set SYS_AUTOCONFIG 0
-	param save
-fi
+sh /etc/init.d/rc.fw_defaults
 
 set HIL yes
 
-set VEHICLE_TYPE fw
 # Set the AERT mixer for HIL (even if the malolo is a flying wing)
 set MIXER FMU_AERT
diff --git a/ROMFS/px4fmu_common/init.d/2100_mpx_easystar b/ROMFS/px4fmu_common/init.d/2100_mpx_easystar
index 0e5bf60d6..465a22c53 100644
--- a/ROMFS/px4fmu_common/init.d/2100_mpx_easystar
+++ b/ROMFS/px4fmu_common/init.d/2100_mpx_easystar
@@ -2,38 +2,7 @@
 #
 # MPX EasyStar Plane
 #
-# Maintainers: ???
-#
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	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
-fi
+sh /etc/init.d/rc.fw_defaults
  
-set VEHICLE_TYPE fw
 set MIXER FMU_RET
diff --git a/ROMFS/px4fmu_common/init.d/2101_hk_bixler b/ROMFS/px4fmu_common/init.d/2101_hk_bixler
index de5e5a8d3..dcc5db824 100644
--- a/ROMFS/px4fmu_common/init.d/2101_hk_bixler
+++ b/ROMFS/px4fmu_common/init.d/2101_hk_bixler
@@ -1,35 +1,5 @@
 #!nsh
 
-if [ $DO_AUTOCONFIG == yes ]
-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
+sh /etc/init.d/rc.fw_defaults
 
-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 07f215f6c..dcc5db824 100644
--- a/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker
+++ b/ROMFS/px4fmu_common/init.d/2102_3dr_skywalker
@@ -1,33 +1,5 @@
 #!nsh
 
-if [ $DO_AUTOCONFIG == yes ]
-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_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
+sh /etc/init.d/rc.fw_defaults
 
-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 3b7323ac4..83c470234 100644
--- a/ROMFS/px4fmu_common/init.d/3030_io_camflyer
+++ b/ROMFS/px4fmu_common/init.d/3030_io_camflyer
@@ -1,38 +1,5 @@
 #!nsh
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# 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 1.0
-	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
+sh /etc/init.d/rc.fw_defaults
 
-set VEHICLE_TYPE fw
 set MIXER FMU_Q
diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom
index a4ff61d93..2e2434bb8 100644
--- a/ROMFS/px4fmu_common/init.d/3031_phantom
+++ b/ROMFS/px4fmu_common/init.d/3031_phantom
@@ -5,40 +5,4 @@
 # Simon Wilks <sjwilks@gmail.com>
 #
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set FW_AIRSPD_MIN 11.4
-	param set FW_AIRSPD_TRIM 14
-	param set FW_AIRSPD_MAX 22
-	param set FW_L1_PERIOD 15
-	param set FW_P_D 0
-	param set FW_P_I 0
-	param set FW_P_IMAX 15
-	param set FW_P_LIM_MAX 45
-	param set FW_P_LIM_MIN -45
-	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 2
-	param set FW_R_D 0
-	param set FW_R_I 5
-	param set FW_R_IMAX 15
-	param set FW_R_P 80
-	param set FW_R_RMAX 60
-	param set FW_THR_CRUISE 0.8
-	param set FW_THR_LND_MAX 0
-	param set FW_THR_MAX 1
-	param set FW_THR_MIN 0.5
-	param set FW_T_SINK_MAX 5.0
-	param set FW_T_SINK_MIN 2.0
-	param set FW_Y_ROLLFF 1.0
-	param set RC_SCALE_ROLL 0.6
-	param set RC_SCALE_PITCH 0.6
-	param set TRIM_PITCH 0.1
-fi
-
-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 c1e78b6f1..1657e6d36 100644
--- a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
+++ b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
@@ -5,39 +5,6 @@
 # Thomas Gubler <thomasgubler@gmail.com>, Julian Oes <joes@student.ethz.ch>
 #
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# 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
+sh /etc/init.d/rc.fw_defaults
 
-set VEHICLE_TYPE fw
 set MIXER FMU_X5
diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing
index 2f6879799..2af3618d9 100644
--- a/ROMFS/px4fmu_common/init.d/3033_wingwing
+++ b/ROMFS/px4fmu_common/init.d/3033_wingwing
@@ -5,39 +5,6 @@
 # Simon Wilks <sjwilks@gmail.com>
 #
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# 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
+sh /etc/init.d/rc.fw_defaults
 
-set VEHICLE_TYPE fw
 set MIXER FMU_Q
diff --git a/ROMFS/px4fmu_common/init.d/3034_fx79 b/ROMFS/px4fmu_common/init.d/3034_fx79
index bc02d87f3..f4bd18269 100644
--- a/ROMFS/px4fmu_common/init.d/3034_fx79
+++ b/ROMFS/px4fmu_common/init.d/3034_fx79
@@ -5,39 +5,6 @@
 # Simon Wilks <sjwilks@gmail.com>
 #
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set FW_AIRSPD_MAX 20
-	param set FW_AIRSPD_TRIM 12
-	param set FW_AIRSPD_MIN 15
-	param set FW_L1_PERIOD 12
-	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 80
-	param set FW_R_RMAX 100
-	param set FW_THR_CRUISE 0.75
-	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_T_TIME_CONST 9
-	param set FW_Y_ROLLFF 1.1	
-	param set RC_SCALE_ROLL 1.0
-	param set RC_SCALE_PITCH 1.0
-fi
+sh /etc/init.d/rc.fw_defaults
 
-set VEHICLE_TYPE fw
 set MIXER FMU_FX79
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
new file mode 100644
index 000000000..0de13af07
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@@ -0,0 +1,35 @@
+#!nsh
+
+set VEHICLE_TYPE fw
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+#
+# Default parameters for this platform
+#
+    param set FW_AIRSPD_MIN 15
+    param set FW_AIRSPD_TRIM 20
+    param set FW_AIRSPD_MAX 80
+    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 0.8
+    param set FW_PR_I 0
+    param set FW_PR_IMAX 0.2
+    param set FW_PR_P 0.05
+    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 0.6
+    param set FW_RR_I 0
+    param set FW_RR_IMAX 0.2
+    param set FW_RR_P 0.05
+    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
\ No newline at end of file