Merge remote-tracking branch 'origin/master' into obcfailsafe

5 files changed, 98 insertions, 6 deletions

diff --git a/ROMFS/px4fmu_common/init.d/3035_viper b/ROMFS/px4fmu_common/init.d/3035_viper
new file mode 100644
index 000000000..a4c1e832d
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/3035_viper
@@ -0,0 +1,10 @@
+#!nsh
+#
+# Viper
+#
+# Simon Wilks <sjwilks@gmail.com>
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+set MIXER Viper
diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart
index 17541e680..9de7d9ecd 100644
--- a/ROMFS/px4fmu_common/init.d/rc.autostart
+++ b/ROMFS/px4fmu_common/init.d/rc.autostart
@@ -103,6 +103,11 @@ then
 	sh /etc/init.d/3034_fx79
 fi
 
+if param compare SYS_AUTOSTART 3035 35
+then
+	sh /etc/init.d/3035_viper
+fi
+
 if param compare SYS_AUTOSTART 3100
 then
 	sh /etc/init.d/3100_tbs_caipirinha
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 24b2a299a..c9e6a27ca 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -83,9 +83,12 @@ then
 	param select $PARAM_FILE
 	if param load
 	then
-		echo "[init] Params loaded: $PARAM_FILE"
+		echo "[param] Loaded: $PARAM_FILE"
 	else
-		echo "[init] ERROR: Params loading failed: $PARAM_FILE"
+		echo "[param] FAILED loading $PARAM_FILE"
+		if param reset
+		then
+		fi
 	fi
 
 	#
@@ -280,9 +283,11 @@ then
 	nshterm /dev/ttyACM0 &
 
 	#
-	# Start the datamanager
+	# Start the datamanager (and do not abort boot if it fails)
 	#
-	dataman start
+	if dataman start
+	then
+	fi
 
 	#
 	# Start the Commander (needs to be this early for in-air-restarts)
diff --git a/ROMFS/px4fmu_common/mixers/FMU_FX79.mix b/ROMFS/px4fmu_common/mixers/FMU_FX79.mix
index 0a1dca98d..112d9b891 100755
--- a/ROMFS/px4fmu_common/mixers/FMU_FX79.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_FX79.mix
@@ -27,12 +27,12 @@ for the elevons.
 
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 0 0   5000   8000      0 -10000  10000
+S: 0 0   7500   7500      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 0   7500   7500      0 -10000  10000
 S: 0 1  -8000  -8000      0 -10000  10000
 
 Output 2
diff --git a/ROMFS/px4fmu_common/mixers/Viper.mix b/ROMFS/px4fmu_common/mixers/Viper.mix
new file mode 100755
index 000000000..79c4447be
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/Viper.mix
@@ -0,0 +1,72 @@
+Viper Delta-wing mixer
+=================================
+
+Designed for Viper.
+
+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   7500   7500      0 -10000  10000
+S: 0 1   8000   8000      0 -10000  10000
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0   7500   7500      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