autostart fixes

7 files changed, 40 insertions, 94 deletions

diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
index 63798bb3c..5740e863c 100644
--- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
+++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
@@ -12,13 +12,11 @@ then
 	#
 	param set MC_ATT_P 5.0
 	param set MC_ATT_I 0.0
-	param set MC_ATT_D 0.0
 	param set MC_ATTRATE_P 0.17
 	param set MC_ATTRATE_I 0.0
 	param set MC_ATTRATE_D 0.006
 	param set MC_YAWPOS_P 0.5
 	param set MC_YAWPOS_I 0.15
-	param set MC_YAWPOS_D 0.0
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.0
 	param set MC_YAWRATE_D 0.0
diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
index 67c24fab3..62a794299 100644
--- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
@@ -12,32 +12,28 @@ then
 	#
 	param set MC_ATT_P 9.0
 	param set MC_ATT_I 0.0
-	param set MC_ATT_D 0.0
 	param set MC_ATTRATE_P 0.13
 	param set MC_ATTRATE_I 0.0
 	param set MC_ATTRATE_D 0.004
 	param set MC_YAWPOS_P 0.5
 	param set MC_YAWPOS_I 0.15
-	param set MC_YAWPOS_D 0.0
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.0
 	param set MC_YAWRATE_D 0.0
 	
-	param set MPC_TILT_MAX 0.5
-	param set MPC_THR_MAX 0.8
-	param set MPC_THR_MIN 0.2
-	param set MPC_XY_D 0
-	param set MPC_XY_P 0.5
-	param set MPC_XY_VEL_D 0
-	param set MPC_XY_VEL_I 0
-	param set MPC_XY_VEL_MAX 3
-	param set MPC_XY_VEL_P 0.2
-	param set MPC_Z_D 0
-	param set MPC_Z_P 1
-	param set MPC_Z_VEL_D 0
-	param set MPC_Z_VEL_I 0.1
-	param set MPC_Z_VEL_MAX 2
-	param set MPC_Z_VEL_P 0.20
+	param set MPC_TILT_MAX 1.0
+	param set MPC_THR_MAX 1.0
+	param set MPC_THR_MIN 0.1
+	param set MPC_XY_P 1.0
+	param set MPC_XY_VEL_D 0.01
+	param set MPC_XY_VEL_I 0.02
+	param set MPC_XY_VEL_MAX 5
+	param set MPC_XY_VEL_P 0.1
+	param set MPC_Z_P 1.0
+	param set MPC_Z_VEL_D 0.0
+	param set MPC_Z_VEL_I 0.02
+	param set MPC_Z_VEL_MAX 3
+	param set MPC_Z_VEL_P 0.1
 
 	param set BAT_V_SCALING 0.00989
 	param set BAT_C_SCALING 0.0124
diff --git a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
index 8c0797d7c..9e098093e 100644
--- a/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
+++ b/ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
@@ -15,29 +15,25 @@ then
 	param set MC_ATTRATE_D 0.004
 	param set MC_ATT_P 7.0
 	param set MC_ATT_I 0.0
-	param set MC_ATT_D 0.0
 	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
 	
-	param set MPC_TILT_MAX 0.5
-	param set MPC_THR_MAX 0.8
-	param set MPC_THR_MIN 0.2
-	param set MPC_XY_D 0
-	param set MPC_XY_P 0.5
-	param set MPC_XY_VEL_D 0
-	param set MPC_XY_VEL_I 0
-	param set MPC_XY_VEL_MAX 3
-	param set MPC_XY_VEL_P 0.2
-	param set MPC_Z_D 0
-	param set MPC_Z_P 1
-	param set MPC_Z_VEL_D 0
-	param set MPC_Z_VEL_I 0.1
-	param set MPC_Z_VEL_MAX 2
-	param set MPC_Z_VEL_P 0.20
+	param set MPC_TILT_MAX 1.0
+	param set MPC_THR_MAX 1.0
+	param set MPC_THR_MIN 0.1
+	param set MPC_XY_P 1.0
+	param set MPC_XY_VEL_D 0.01
+	param set MPC_XY_VEL_I 0.02
+	param set MPC_XY_VEL_MAX 5
+	param set MPC_XY_VEL_P 0.1
+	param set MPC_Z_P 1.0
+	param set MPC_Z_VEL_D 0.0
+	param set MPC_Z_VEL_I 0.02
+	param set MPC_Z_VEL_MAX 3
+	param set MPC_Z_VEL_P 0.1
 fi
 
 set HIL yes
diff --git a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
index bce3015fc..297082b79 100644
--- a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
+++ b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
@@ -5,42 +5,6 @@
 # Maintainers: Anton Babushkin <anton.babushkin@me.com>
 #
 
-if [ $DO_AUTOCONFIG == yes ]
-then
-	#
-	# Default parameters for this platform
-	#
-	param set MC_ATTRATE_P 0.12
-	param set MC_ATTRATE_I 0.0
-	param set MC_ATTRATE_D 0.004
-	param set MC_ATT_P 7.0
-	param set MC_ATT_I 0.0
-	param set MC_ATT_D 0.0
-	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
-	
-	param set MPC_TILT_MAX 0.5
-	param set MPC_THR_MAX 0.8
-	param set MPC_THR_MIN 0.2
-	param set MPC_XY_D 0
-	param set MPC_XY_P 0.5
-	param set MPC_XY_VEL_D 0
-	param set MPC_XY_VEL_I 0
-	param set MPC_XY_VEL_MAX 3
-	param set MPC_XY_VEL_P 0.2
-	param set MPC_Z_D 0
-	param set MPC_Z_P 1
-	param set MPC_Z_VEL_D 0
-	param set MPC_Z_VEL_I 0.1
-	param set MPC_Z_VEL_MAX 2
-	param set MPC_Z_VEL_P 0.20
-fi
+sh /etc/ini.d/1001_rc_quad_x.hil
 
-set HIL yes
-
-set VEHICLE_TYPE mc
 set MIXER FMU_quad_+
diff --git a/ROMFS/px4fmu_common/init.d/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/4010_dji_f330
index ab1db94d0..5ce86f593 100644
--- a/ROMFS/px4fmu_common/init.d/4010_dji_f330
+++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330
@@ -12,32 +12,28 @@ then
 	#
 	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 2.8
 	param set MC_YAWPOS_I 0.0
-	param set MC_YAWPOS_D 0.0
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.05
 	param set MC_YAWRATE_D 0.0
 	
-	param set MPC_TILT_MAX 0.5
-	param set MPC_THR_MAX 0.8
-	param set MPC_THR_MIN 0.2
-	param set MPC_XY_D 0
-	param set MPC_XY_P 0.5
-	param set MPC_XY_VEL_D 0
-	param set MPC_XY_VEL_I 0
-	param set MPC_XY_VEL_MAX 3
-	param set MPC_XY_VEL_P 0.2
-	param set MPC_Z_D 0
-	param set MPC_Z_P 1
-	param set MPC_Z_VEL_D 0
-	param set MPC_Z_VEL_I 0.1
-	param set MPC_Z_VEL_MAX 2
-	param set MPC_Z_VEL_P 0.20
+	param set MPC_TILT_MAX 1.0
+	param set MPC_THR_MAX 1.0
+	param set MPC_THR_MIN 0.1
+	param set MPC_XY_P 1.0
+	param set MPC_XY_VEL_D 0.01
+	param set MPC_XY_VEL_I 0.02
+	param set MPC_XY_VEL_MAX 5
+	param set MPC_XY_VEL_P 0.1
+	param set MPC_Z_P 1.0
+	param set MPC_Z_VEL_D 0.0
+	param set MPC_Z_VEL_I 0.02
+	param set MPC_Z_VEL_MAX 3
+	param set MPC_Z_VEL_P 0.1
 fi
 
 set VEHICLE_TYPE mc
diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450
index 299771c1d..1ff5c796a 100644
--- a/ROMFS/px4fmu_common/init.d/4011_dji_f450
+++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450
@@ -12,13 +12,11 @@ then
 	#
 	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
diff --git a/ROMFS/px4fmu_common/init.d/4012_hk_x550 b/ROMFS/px4fmu_common/init.d/4012_hk_x550
index 7e020cf59..673043c14 100644
--- a/ROMFS/px4fmu_common/init.d/4012_hk_x550
+++ b/ROMFS/px4fmu_common/init.d/4012_hk_x550
@@ -12,13 +12,11 @@ then
 	#
 	param set MC_ATT_P 5.5
 	param set MC_ATT_I 0
-	param set MC_ATT_D 0
 	param set MC_ATTRATE_P 0.14
 	param set MC_ATTRATE_I 0
 	param set MC_ATTRATE_D 0.006
 	param set MC_YAWPOS_P 0.6
 	param set MC_YAWPOS_I 0
-	param set MC_YAWPOS_D 0
 	param set MC_YAWRATE_P 0.08
 	param set MC_YAWRATE_I 0
 	param set MC_YAWRATE_D 0