Further cleanup, added octos

4 files changed, 121 insertions, 7 deletions

diff --git a/ROMFS/px4fmu_common/init.d/#!nsh b/ROMFS/px4fmu_common/init.d/#!nsh
deleted file mode 100644
index 69b718282..000000000
--- a/ROMFS/px4fmu_common/init.d/#!nsh
+++ /dev/null
@@ -1,4 +0,0 @@
-#!nsh
-#
-# Script to set PWM min / max limits and mixer
-#
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/12-13_hex b/ROMFS/px4fmu_common/init.d/rc.hexa
index a7578bcaf..c49de3e0d 100644
--- a/ROMFS/px4fmu_common/init.d/12-13_hex
+++ b/ROMFS/px4fmu_common/init.d/rc.hexa
@@ -73,7 +73,7 @@ fi
 #
 # Load mixer
 #
-mixer load /dev/pwm_output /etc/mixers/FMU_hex_x.mix
+mixer load /dev/pwm_output $MIXER
 
 #
 # Set PWM output frequency to 400 Hz
diff --git a/ROMFS/px4fmu_common/init.d/rc.octo b/ROMFS/px4fmu_common/init.d/rc.octo
new file mode 100644
index 000000000..2c50d266c
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.octo
@@ -0,0 +1,98 @@
+#!nsh
+
+echo "[init] PX4FMU v1, v2 with or without IO on Hex"
+
+#
+# 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 0.004
+	param set MC_ATTRATE_I 0.0
+	param set MC_ATTRATE_P 0.12
+	param set MC_ATT_D 0.0
+	param set MC_ATT_I 0.0
+	param set MC_ATT_P 7.0
+	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
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE list: https://pixhawk.ethz.ch/mavlink/
+# 13 = hexarotor
+#
+param set MAV_TYPE 13
+
+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
+
+	sh /etc/init.d/rc.io
+else
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS0
+	usleep 5000
+	fmu mode_pwm
+	param set BAT_V_SCALING 0.004593
+	set EXIT_ON_END yes
+fi
+
+#
+# Load mixer
+#
+mixer load /dev/pwm_output $MIXER
+
+#
+# Set PWM output frequency to 400 Hz
+#
+pwm rate -a -r 400
+
+#
+# Set disarmed, min and max PWM signals
+#
+pwm disarmed -c 12345678 -p 900
+pwm min -c 12345678 -p 1100
+pwm max -c 12345678 -p 1900
+
+#
+# Start common for all multirotors apps
+#
+sh /etc/init.d/rc.multirotor
+
+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 3b780f9e7..05657b03e 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -243,17 +243,37 @@ then
 		set MODE custom
 	fi
 
+	if param compare SYS_AUTOSTART 4012
+	then
+		sh /etc/init.d/666_fmu_q_x550
+		set MODE custom
+	fi
+
 	if param compare SYS_AUTOSTART 6012 12
 	then
 		set MIXER /etc/mixers/FMU_hex_x.mix
-		sh /etc/init.d/12-13_hex
+		sh /etc/init.d/rc.hexa
 		set MODE custom
 	fi
 
 	if param compare SYS_AUTOSTART 7013 13
 	then
 		set MIXER /etc/mixers/FMU_hex_+.mix
-		sh /etc/init.d/12-13_hex
+		sh /etc/init.d/rc.hexa
+		set MODE custom
+	fi
+
+	if param compare SYS_AUTOSTART 8001
+	then
+		set MIXER /etc/mixers/FMU_octo_x.mix
+		sh /etc/init.d/rc.octo
+		set MODE custom
+	fi
+
+	if param compare SYS_AUTOSTART 9001
+	then
+		set MIXER /etc/mixers/FMU_octo_+.mix
+		sh /etc/init.d/rc.octo
 		set MODE custom
 	fi