Merge commit '95bdc1a9bd364ce95abe06b097579cc8a9162e33' into navigator_new_vector

6 files changed, 351 insertions, 14 deletions

diff --git a/ROMFS/px4fmu_common/init.d/31_io_phantom b/ROMFS/px4fmu_common/init.d/31_io_phantom
index 63cd7f9b2..62cfe1a9c 100644
--- a/ROMFS/px4fmu_common/init.d/31_io_phantom
+++ b/ROMFS/px4fmu_common/init.d/31_io_phantom
@@ -8,30 +8,35 @@ echo "[init] PX4FMU v1, v2 with or without IO on Phantom FPV"
 if param compare SYS_AUTOCONFIG 1
 then
 	# Set all params here, then disable autoconfig
+	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 50
-	param set FW_P_LIM_MIN -50
+	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 1.1
+	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 100
-	param set FW_R_RMAX 100
-	param set FW_THR_CRUISE 0.65
+	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
+	param set FW_THR_MIN 0.5
 	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 17
-	param set RC_SCALE_ROLL 1.0
-	param set RC_SCALE_PITCH 1.0
-	
+	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
+
 	param set SYS_AUTOCONFIG 0
 	param save
 fi
diff --git a/ROMFS/px4fmu_common/init.d/33_io_wingwing b/ROMFS/px4fmu_common/init.d/33_io_wingwing
new file mode 100644
index 000000000..538c69711
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/33_io_wingwing
@@ -0,0 +1,91 @@
+#!nsh
+
+echo "[init] PX4FMU v1, v2 with or without IO on the Wing Wing (aka Z-84)"
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+   # Set all params here, then disable autoconfig
+   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
+
+   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
+
+set EXIT_ON_END no
+
+#
+# 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
+
+if [ $EXIT_ON_END == yes ]
+then
+   exit
+fi
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/34_io_fx79 b/ROMFS/px4fmu_common/init.d/34_io_fx79
new file mode 100644
index 000000000..989204952
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/34_io_fx79
@@ -0,0 +1,91 @@
+#!nsh
+
+echo "[init] PX4FMU v1, v2 with or without IO on FX-79 Buffalo"
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	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
+	
+	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
+
+set EXIT_ON_END no
+
+#
+# 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_FX79.mix ]
+then
+	echo "Using /fs/microsd/etc/mixers/FMU_FX79.mix"
+	mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_FX79.mix
+else
+	echo "Using /etc/mixers/FMU_FX79.mix"
+	mixer load /dev/pwm_output /etc/mixers/FMU_FX79.mix
+fi
+
+#
+# Start common fixedwing apps
+#
+sh /etc/init.d/rc.fixedwing
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi
diff --git a/ROMFS/px4fmu_common/init.d/800_sdlogger b/ROMFS/px4fmu_common/init.d/800_sdlogger
new file mode 100644
index 000000000..955fe0e2a
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/800_sdlogger
@@ -0,0 +1,60 @@
+#!nsh
+
+echo "[init] PX4FMU v1, v2 init to log only
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	param set SYS_AUTOCONFIG 0
+	
+	param save
+fi
+
+set EXIT_ON_END no
+
+#
+# Start and configure PX4IO or FMU interface
+#
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start
+	usleep 5000
+
+	commander start
+
+	sh /etc/init.d/rc.io
+	# Set PWM values for DJI ESCs
+else
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS0
+	usleep 5000
+	param set BAT_V_SCALING 0.004593
+	set EXIT_ON_END yes
+fi
+
+sh /etc/init.d/rc.sensors
+
+gps start
+
+attitude_estimator_ekf start
+
+position_estimator_inav start
+
+if [ -d /fs/microsd ]
+then
+	if [ $BOARD == fmuv1 ]
+	then
+		sdlog2 start -r 50 -e -b 16
+	else
+		sdlog2 start -r 200 -e -b 16
+	fi
+fi
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 14bb820fa..6eac00d0c 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -331,6 +331,18 @@ then
 		set MODE custom
 	fi
 
+	if param compare SYS_AUTOSTART 33
+	then
+		sh /etc/init.d/33_io_wingwing
+		set MODE custom
+	fi
+
+        if param compare SYS_AUTOSTART 34
+        then
+                sh /etc/init.d/34_io_fx79
+                set MODE custom
+        fi
+
 	if param compare SYS_AUTOSTART 40
 	then
 		sh /etc/init.d/40_io_segway
@@ -355,6 +367,12 @@ then
 		set MODE custom
 	fi
 	
+	if param compare SYS_AUTOSTART 800
+	then
+		sh /etc/init.d/800_sdlogger
+		set MODE custom
+	fi
+	
 	# Start any custom extensions that might be missing
 	if [ -f /fs/microsd/etc/rc.local ]
 	then
diff --git a/ROMFS/px4fmu_common/mixers/FMU_FX79.mix b/ROMFS/px4fmu_common/mixers/FMU_FX79.mix
new file mode 100755
index 000000000..0a1dca98d
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/FMU_FX79.mix
@@ -0,0 +1,72 @@
+FX-79 Delta-wing mixer for PX4FMU
+=================================
+
+Designed for FX-79.
+
+TODO (sjwilks): Add mixers for flaps.
+
+This file defines mixers suitable for controlling a delta wing aircraft using
+PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
+servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Elevon mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two elevon servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+The scaling factor for roll inputs is adjusted to implement differential travel
+for the elevons.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0   5000   8000      0 -10000  10000
+S: 0 1   8000   8000      0 -10000  10000
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0   8000   5000      0 -10000  10000
+S: 0 1  -8000  -8000      0 -10000  10000
+
+Output 2
+--------
+This mixer is empty.
+
+Z:
+
+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
+
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000