Merge remote-tracking branch 'px4/master' into pwm_ioctls

Conflicts:
	src/drivers/px4io/px4io.cpp

7 files changed, 210 insertions, 3 deletions

diff --git a/ROMFS/px4fmu_common/init.d/1000_rc_fw.hil b/ROMFS/px4fmu_common/init.d/1000_rc_fw.hil
index 11318023c..6e29bd6f8 100644
--- a/ROMFS/px4fmu_common/init.d/1000_rc_fw.hil
+++ b/ROMFS/px4fmu_common/init.d/1000_rc_fw.hil
@@ -32,6 +32,7 @@ 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 SYS_AUTOCONFIG 0
 	param save
diff --git a/ROMFS/px4fmu_common/init.d/100_mpx_easystar b/ROMFS/px4fmu_common/init.d/100_mpx_easystar
index 75437f404..828540ad9 100644
--- a/ROMFS/px4fmu_common/init.d/100_mpx_easystar
+++ b/ROMFS/px4fmu_common/init.d/100_mpx_easystar
@@ -8,7 +8,27 @@ echo "[init] PX4FMU v1, v2 with or without IO on EasyStar"
 if param compare SYS_AUTOCONFIG 1
 then
 	# Set all params here, then disable autoconfig
-	# TODO
+	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 SYS_AUTOCONFIG 0
 	param save
diff --git a/ROMFS/px4fmu_common/init.d/101_hk_bixler b/ROMFS/px4fmu_common/init.d/101_hk_bixler
index 89b3185ad..5a9cb2171 100644
--- a/ROMFS/px4fmu_common/init.d/101_hk_bixler
+++ b/ROMFS/px4fmu_common/init.d/101_hk_bixler
@@ -8,7 +8,27 @@ echo "[init] PX4FMU v1, v2 with or without IO on HK Bixler"
 if param compare SYS_AUTOCONFIG 1
 then
 	# Set all params here, then disable autoconfig
-	# TODO
+	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 SYS_AUTOCONFIG 0
 	param save
diff --git a/ROMFS/px4fmu_common/init.d/31_io_phantom b/ROMFS/px4fmu_common/init.d/31_io_phantom
index 7e0127e79..8fe94452f 100644
--- a/ROMFS/px4fmu_common/init.d/31_io_phantom
+++ b/ROMFS/px4fmu_common/init.d/31_io_phantom
@@ -8,7 +8,27 @@ 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
-	# TODO
+	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 17
 	
 	param set SYS_AUTOCONFIG 0
 	param save
diff --git a/ROMFS/px4fmu_common/init.d/cmp_test b/ROMFS/px4fmu_common/init.d/cmp_test
new file mode 100644
index 000000000..f86f4f85b
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/cmp_test
@@ -0,0 +1,9 @@
+#!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.custom_io_esc b/ROMFS/px4fmu_common/init.d/rc.custom_io_esc
new file mode 100644
index 000000000..e645d9d54
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.custom_io_esc
@@ -0,0 +1,120 @@
+#!nsh
+
+#
+# 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 set MC_ATTRATE_D 0.002
+	param set MC_ATTRATE_I 0.0
+	param set MC_ATTRATE_P 0.09
+	param set MC_ATT_D 0.0
+	param set MC_ATT_I 0.0
+	param set MC_ATT_P 6.8
+	param set MC_YAWPOS_D 0.0
+	param set MC_YAWPOS_I 0.0
+	param set MC_YAWPOS_P 2.0
+	param set MC_YAWRATE_D 0.005
+	param set MC_YAWRATE_I 0.2
+	param set MC_YAWRATE_P 0.3
+	param set NAV_TAKEOFF_ALT 3.0
+	param set MPC_TILT_MAX 0.5
+	param set MPC_THR_MAX 0.7
+	param set MPC_THR_MIN 0.3
+	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 save
+fi
+
+echo "RC script for PX4FMU + PX4IO + PPM-ESCs running"
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     2 = quadrotor
+#
+param set MAV_TYPE 2
+
+set EXIT_ON_END no
+
+usleep 10000
+
+#
+# Start and configure PX4IO or FMU interface
+#
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start -d /dev/ttyS1 -b 115200
+	usleep 5000
+
+	sh /etc/init.d/rc.io
+
+	if [ $ESC_MAKER = afro ]
+	then
+		# Set PWM values for Afro ESCs
+		px4io idle 1050 1050 1050 1050 
+		px4io min 1080 1080 1080 1080
+		px4io max 1860 1860 1860 1860
+	else
+		# Set PWM values for typical ESCs
+        	px4io idle 900 900 900 900
+        	px4io min 1110 1100 1100 1100
+        	px4io max 1800 1800 1800 1800
+	fi
+else
+	fmu mode_pwm
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS1 -b 115200
+	usleep 5000
+	param set BAT_V_SCALING 0.004593
+	set EXIT_ON_END yes
+fi
+
+#
+# Load mixer
+#
+if [ $FRAME_GEOMETRY == x ]
+then
+    echo "Frame geometry X"
+    mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+else
+    if [ $FRAME_GEOMETRY == w ]
+    then
+	echo "Frame geometry W"
+	mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix
+    else
+	echo "Frame geometry +"
+    	mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
+    fi
+fi
+
+#
+# Set PWM output frequency
+#
+pwm -u 400 -m 0xff
+
+#
+# Start common for all multirotors apps
+#
+sh /etc/init.d/rc.multirotor
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi
+
+echo "Script end"
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 9ec346465..93e76184d 100755
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -225,6 +225,23 @@ then
 		sh /etc/init.d/rc.custom_dji_f330_mkblctrl
 		set MODE custom
 	fi
+
+	# PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame
+	if param compare SYS_AUTOSTART 21
+	then
+		set FRAME_GEOMETRY x
+		set ESC_MAKER afro
+		sh /etc/init.d/rc.custom_io_esc
+		set MODE custom
+	fi
+
+        # PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame
+        if param compare SYS_AUTOSTART 22
+        then
+                set FRAME_GEOMETRY w
+                sh /etc/init.d/rc.custom_io_esc
+                set MODE custom
+        fi
 	
 	if param compare SYS_AUTOSTART 30
 	then