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

18 files changed, 178 insertions, 63 deletions

diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
index d691a6f2e..f11aa704e 100644
--- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
@@ -10,11 +10,11 @@ sh /etc/init.d/rc.mc_defaults
 if [ $DO_AUTOCONFIG == yes ]
 then
 	# TODO tune roll/pitch separately
-	param set MC_ROLL_P 9.0
+	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.13
 	param set MC_ROLLRATE_I 0.0
 	param set MC_ROLLRATE_D 0.004
-	param set MC_PITCH_P 9.0
+	param set MC_PITCH_P 7.0
 	param set MC_PITCHRATE_P 0.13
 	param set MC_PITCHRATE_I 0.0
 	param set MC_PITCHRATE_D 0.004
diff --git a/ROMFS/px4fmu_common/init.d/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/11001_hexa_cox
index b98ab4774..38e65435b 100644
--- a/ROMFS/px4fmu_common/init.d/11001_hexa_cox
+++ b/ROMFS/px4fmu_common/init.d/11001_hexa_cox
@@ -2,7 +2,7 @@
 #
 # UNTESTED UNTESTED!
 #
-# Generic 10” Hexa coaxial geometry
+# Generic 10" Hexa coaxial geometry
 #
 # Lorenz Meier <lm@inf.ethz.ch>
 #
diff --git a/ROMFS/px4fmu_common/init.d/12001_octo_cox b/ROMFS/px4fmu_common/init.d/12001_octo_cox
index 655cb6226..99f902a6d 100644
--- a/ROMFS/px4fmu_common/init.d/12001_octo_cox
+++ b/ROMFS/px4fmu_common/init.d/12001_octo_cox
@@ -1,6 +1,6 @@
 #!nsh
 #
-# Generic 10” Octo coaxial geometry
+# Generic 10" Octo coaxial geometry
 #
 # Lorenz Meier <lm@inf.ethz.ch>
 #
diff --git a/ROMFS/px4fmu_common/init.d/2103_skyhunter_1800 b/ROMFS/px4fmu_common/init.d/2103_skyhunter_1800
new file mode 100644
index 000000000..9bc0262d8
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/2103_skyhunter_1800
@@ -0,0 +1,5 @@
+#!nsh
+
+sh /etc/init.d/rc.fw_defaults
+
+set MIXER FMU_AET
diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom
index a3004d1e1..6cbd23643 100644
--- a/ROMFS/px4fmu_common/init.d/3031_phantom
+++ b/ROMFS/px4fmu_common/init.d/3031_phantom
@@ -2,9 +2,38 @@
 #
 # Phantom FPV Flying Wing
 #
-# Simon Wilks <sjwilks@gmail.com>
+# Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com>
 #
 
 sh /etc/init.d/rc.fw_defaults
 
+if [ $DO_AUTOCONFIG == yes ]
+then
+	param set FW_AIRSPD_MIN 13
+	param set FW_AIRSPD_TRIM 18
+	param set FW_AIRSPD_MAX 40
+	param set FW_ATT_TC 0.3
+	param set FW_L1_DAMPING 0.75
+	param set FW_L1_PERIOD 15
+	param set FW_PR_FF 0.2
+	param set FW_PR_I 0.005
+	param set FW_PR_IMAX 0.2
+	param set FW_PR_P 0.03
+	param set FW_P_LIM_MAX 50
+	param set FW_P_LIM_MIN -50
+	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 0.5
+	param set FW_RR_I 0.02
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.08
+	param set FW_R_LIM 70
+	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
+
 set MIXER FMU_Q
diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing
index 2af3618d9..6e1a531cf 100644
--- a/ROMFS/px4fmu_common/init.d/3033_wingwing
+++ b/ROMFS/px4fmu_common/init.d/3033_wingwing
@@ -7,4 +7,29 @@
 
 sh /etc/init.d/rc.fw_defaults
 
+if [ $DO_AUTOCONFIG == yes ]
+then
+	param set BAT_N_CELLS 2
+	param set FW_AIRSPD_MAX 15
+	param set FW_AIRSPD_MIN 7
+	param set FW_AIRSPD_TRIM 11
+	param set FW_ATT_TC 0.3
+	param set FW_L1_DAMPING 0.74
+	param set FW_L1_PERIOD 12
+	param set FW_LND_ANG 15
+	param set FW_LND_FLALT 5
+	param set FW_LND_HHDIST 15
+	param set FW_LND_HVIRT 13
+	param set FW_LND_TLALT 5
+	param set FW_THR_LND_MAX 0
+	param set FW_P_ROLLFF 2
+	param set FW_PR_FF 0.6
+	param set FW_PR_IMAX 0.2
+	param set FW_PR_P 0.06
+	param set FW_RR_FF 0.6
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.09
+	param set FW_THR_CRUISE 0.65
+fi
+
 set MIXER FMU_Q
diff --git a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
new file mode 100644
index 000000000..7dbda54d3
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
@@ -0,0 +1,42 @@
+#!nsh
+#
+# TBS Caipirinha Flying Wing
+#
+# Thomas Gubler <thomasgubler@gmail.com>
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+	
+	# TODO: these are the X5 default parameters, update them to the caipi
+
+	param set FW_AIRSPD_MIN 15
+	param set FW_AIRSPD_TRIM 20
+	param set FW_AIRSPD_MAX 40
+	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 0.3
+	param set FW_PR_I 0
+	param set FW_PR_IMAX 0.2
+	param set FW_PR_P 0.03
+	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 0.3
+	param set FW_RR_I 0
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.03
+	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
+
+set MIXER FMU_Q
diff --git a/ROMFS/px4fmu_common/init.d/4001_quad_x b/ROMFS/px4fmu_common/init.d/4001_quad_x
index 345b0e3e4..06c54a41d 100644
--- a/ROMFS/px4fmu_common/init.d/4001_quad_x
+++ b/ROMFS/px4fmu_common/init.d/4001_quad_x
@@ -1,6 +1,6 @@
 #!nsh
 #
-# Generic 10” Quad X geometry
+# Generic 10" Quad X geometry
 #
 # Lorenz Meier <lm@inf.ethz.ch>
 #
diff --git a/ROMFS/px4fmu_common/init.d/4008_ardrone b/ROMFS/px4fmu_common/init.d/4008_ardrone
index 0f98f7b6c..14786f210 100644
--- a/ROMFS/px4fmu_common/init.d/4008_ardrone
+++ b/ROMFS/px4fmu_common/init.d/4008_ardrone
@@ -23,13 +23,15 @@ then
     param set MC_PITCHRATE_I 0.0
     param set MC_PITCHRATE_D 0.0
     param set MC_YAW_P 1.0
-    param set MC_YAW_D 0.1
     param set MC_YAWRATE_P 0.15
     param set MC_YAWRATE_I 0.0
     param set MC_YAWRATE_D 0.0
     param set MC_YAW_FF 0.15
+    param set BAT_V_SCALING 0.00838095238
 fi
 
 set OUTPUT_MODE ardrone
 set USE_IO no
 set MIXER skip
+# set MAV_TYPE because no specific mixer is set
+set MAV_TYPE 2
diff --git a/ROMFS/px4fmu_common/init.d/5001_quad_+ b/ROMFS/px4fmu_common/init.d/5001_quad_+
index 55b31067d..1fb25e5d8 100644
--- a/ROMFS/px4fmu_common/init.d/5001_quad_+
+++ b/ROMFS/px4fmu_common/init.d/5001_quad_+
@@ -1,6 +1,6 @@
 #!nsh
 #
-# Generic 10” Quad + geometry
+# Generic 10" Quad + geometry
 #
 # Anton Babushkin <anton.babushkin@me.com>
 #
diff --git a/ROMFS/px4fmu_common/init.d/6001_hexa_x b/ROMFS/px4fmu_common/init.d/6001_hexa_x
index 7714a508c..34fc6523f 100644
--- a/ROMFS/px4fmu_common/init.d/6001_hexa_x
+++ b/ROMFS/px4fmu_common/init.d/6001_hexa_x
@@ -1,6 +1,6 @@
 #!nsh
 #
-# Generic 10” Hexa X geometry
+# Generic 10" Hexa X geometry
 #
 # Anton Babushkin <anton.babushkin@me.com>
 #
diff --git a/ROMFS/px4fmu_common/init.d/7001_hexa_+ b/ROMFS/px4fmu_common/init.d/7001_hexa_+
index 60db8c069..235e376a6 100644
--- a/ROMFS/px4fmu_common/init.d/7001_hexa_+
+++ b/ROMFS/px4fmu_common/init.d/7001_hexa_+
@@ -1,6 +1,6 @@
 #!nsh
 #
-# Generic 10” Hexa + geometry
+# Generic 10" Hexa + geometry
 #
 # Anton Babushkin <anton.babushkin@me.com>
 #
diff --git a/ROMFS/px4fmu_common/init.d/8001_octo_x b/ROMFS/px4fmu_common/init.d/8001_octo_x
index 411aee114..769217dc7 100644
--- a/ROMFS/px4fmu_common/init.d/8001_octo_x
+++ b/ROMFS/px4fmu_common/init.d/8001_octo_x
@@ -1,6 +1,6 @@
 #!nsh
 #
-# Generic 10” Octo X geometry
+# Generic 10" Octo X geometry
 #
 # Anton Babushkin <anton.babushkin@me.com>
 #
diff --git a/ROMFS/px4fmu_common/init.d/9001_octo_+ b/ROMFS/px4fmu_common/init.d/9001_octo_+
index 81132fd3e..28b074a54 100644
--- a/ROMFS/px4fmu_common/init.d/9001_octo_+
+++ b/ROMFS/px4fmu_common/init.d/9001_octo_+
@@ -1,6 +1,6 @@
 #!nsh
 #
-# Generic 10” Octo + geometry
+# Generic 10" Octo + geometry
 #
 # Anton Babushkin <anton.babushkin@me.com>
 #
diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart
index 7aaf7133e..5ec735d39 100644
--- a/ROMFS/px4fmu_common/init.d/rc.autostart
+++ b/ROMFS/px4fmu_common/init.d/rc.autostart
@@ -68,6 +68,12 @@ then
 	set MODE custom
 fi
 
+if param compare SYS_AUTOSTART 2103 103
+then
+        sh /etc/init.d/2103_skyhunter_1800
+        set MODE custom
+fi
+
 #
 # Flying wing
 #
@@ -97,6 +103,11 @@ then
 	sh /etc/init.d/3034_fx79
 fi
 
+if param compare SYS_AUTOSTART 3100
+then
+	sh /etc/init.d/3100_tbs_caipirinha
+fi
+
 #
 # Quad X
 #
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
index 3a50fcf56..4cd73e23f 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@@ -11,4 +11,6 @@ then
 	param set NAV_RTL_ALT 100
 	param set NAV_RTL_LAND_T -1
 	param set NAV_ACCEPT_RAD 50
+	param set RC_SCALE_ROLL 1
+	param set RC_SCALE_PITCH 1
 fi
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb
index 0cd8a0e04..9f80219b1 100644
--- a/ROMFS/px4fmu_common/init.d/rc.usb
+++ b/ROMFS/px4fmu_common/init.d/rc.usb
@@ -5,38 +5,12 @@
 
 echo "Starting MAVLink on this USB console"
 
-# Stop tone alarm
-tone_alarm stop
-
-#
-# Check for UORB
-#
-if uorb start
-then
-	echo "uORB started"
-fi
-
-# Tell MAVLink that this link is "fast"
-if mavlink stop
-then
-	echo "stopped other MAVLink instance"
-fi
-mavlink start -b 230400 -d /dev/ttyACM0
-
-# Stop commander
-if commander stop
-then
-	echo "Commander stopped"
-fi
-sleep 1
-
-# Start the commander
-if commander start
-then
-	echo "Commander started"
-fi
-
-echo "MAVLink started, exiting shell.."
+mavlink start -r 10000 -d /dev/ttyACM0
+# Enable a number of interesting streams we want via USB
+mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10
+mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW -r 10
+mavlink stream -d /dev/ttyACM0 -s ATTITUDE_CONTROLS -r 30
+mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 10
 
 # Exit shell to make it available to MAVLink
-exit 
+exit
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 763f9be60..c8272a59e 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -108,7 +108,6 @@ then
 	set HIL no
 	set VEHICLE_TYPE none
 	set MIXER none
-	set USE_IO yes
 	set OUTPUT_MODE none
 	set PWM_OUTPUTS none
 	set PWM_RATE none
@@ -117,7 +116,10 @@ then
 	set PWM_MAX none
 	set MKBLCTRL_MODE none
 	set FMU_MODE pwm
+	set MAVLINK_FLAGS default
+	set EXIT_ON_END no
 	set MAV_TYPE none
+	set LOAD_DEFAULT_APPS yes
 	
 	#
 	# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
@@ -128,6 +130,16 @@ then
 	else
 		set DO_AUTOCONFIG no
 	fi
+	
+	#
+	# Set USE_IO flag
+	#
+	if param compare SYS_USE_IO 1
+	then
+		set USE_IO yes
+	else
+		set USE_IO no
+	fi
 		
 	#
 	# Set parameters and env variables for selected AUTOSTART
@@ -390,28 +402,34 @@ then
 	#
 	# MAVLink
 	#
-	set EXIT_ON_END no
 	
-	if [ $HIL == yes ]
+	if [ $MAVLINK_FLAGS == default ]
 	then
-		sleep 1
-		mavlink start -b 230400 -d /dev/ttyACM0 
-		usleep 5000
-	else
-		if [ $TTYS1_BUSY == yes ]
+		if [ $HIL == yes ]
 		then
-			# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
-			mavlink start -d /dev/ttyS0
+			sleep 1
+			set MAVLINK_FLAGS "-r 10000 -d /dev/ttyACM0"
 			usleep 5000
-			
-			# Exit from nsh to free port for mavlink
-			set EXIT_ON_END yes
 		else
-			# Start MAVLink on default port: ttyS1
-			mavlink start
-			usleep 5000
+			# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
+			if [ $TTYS1_BUSY == yes ]
+			then
+				# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
+				set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0"
+				usleep 5000
+				
+				# Exit from nsh to free port for mavlink
+				set EXIT_ON_END yes
+			else
+				# Start MAVLink on default port: ttyS1
+				set MAVLINK_FLAGS "-r 1000"
+				usleep 5000
+			fi
 		fi
 	fi
+
+	mavlink start $MAVLINK_FLAGS
+	usleep 5000
 	
 	#
 	# Start the datamanager
@@ -471,7 +489,10 @@ then
 		sh /etc/init.d/rc.interface
 		
 		# Start standard fixedwing apps
-		sh /etc/init.d/rc.fw_apps
+		if [ $LOAD_DEFAULT_APPS == yes ]
+		then
+			sh /etc/init.d/rc.fw_apps
+		fi
 	fi
 
 	#
@@ -527,7 +548,10 @@ then
 		sh /etc/init.d/rc.interface
 		
 		# Start standard multicopter apps
-		sh /etc/init.d/rc.mc_apps
+		if [ $LOAD_DEFAULT_APPS == yes ]
+		then
+			sh /etc/init.d/rc.mc_apps
+		fi
 	fi
 
 	#
@@ -550,6 +574,7 @@ then
 
 	if [ $EXIT_ON_END == yes ]
 	then
+		echo "[init] Exit from nsh"
 		exit
 	fi