4 files changed, 20 insertions, 8 deletions
diff --git a/ROMFS/px4fmu_common/init.d/3035_viper b/ROMFS/px4fmu_common/init.d/3035_viper
index a4c1e832d..cb2b26c3c 100644
--- a/ROMFS/px4fmu_common/init.d/3035_viper
+++ b/ROMFS/px4fmu_common/init.d/3035_viper
@@ -8,3 +8,8 @@
 sh /etc/init.d/rc.fw_defaults
 
 set MIXER Viper
+
+pwm failsafe -c 5 -p 1000
+pwm failsafe -c 6 -p 1000
+pwm failsafe -c 7 -p 1000
+pwm failsafe -c 8 -p 1000
diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart
index 9de7d9ecd..78778d806 100644
--- a/ROMFS/px4fmu_common/init.d/rc.autostart
+++ b/ROMFS/px4fmu_common/init.d/rc.autostart
@@ -21,6 +21,12 @@
 # Simulation setups
 #
 
+if param compare SYS_AUTOSTART 901
+then
+	sh /etc/init.d/901_bottle_drop_test.hil
+	set MODE custom
+fi
+
 if param compare SYS_AUTOSTART 1000
 then
 	sh /etc/init.d/1000_rc_fw_easystar.hil
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_apps b/ROMFS/px4fmu_common/init.d/rc.fw_apps
index 9aca3fc5f..767c54629 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_apps
@@ -13,3 +13,7 @@ ekf_att_pos_estimator start
 #
 fw_att_control start
 fw_pos_control_l1 start
+
+bottle_drop start
+fmu mode_pwm
+mixer load /dev/px4fmu /etc/mixers/FMU_pass.mix
diff --git a/ROMFS/px4fmu_common/mixers/Viper.mix b/ROMFS/px4fmu_common/mixers/Viper.mix
index 79c4447be..b05a8c8b0 100755
--- a/ROMFS/px4fmu_common/mixers/Viper.mix
+++ b/ROMFS/px4fmu_common/mixers/Viper.mix
@@ -52,21 +52,18 @@ M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
 
-Gimbal / flaps / payload mixer for last four channels
+Inputs to the mixer come from channel group 2 (payload), channels 0
+(bay servo 1), 1 (bay servo 2) and 3 (drop release).
 -----------------------------------------------------
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0 -10000  10000
+S: 2 4  10000  10000      0 -10000  10000
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
+S: 2 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
+S: 2 6  10000  10000      0 -10000  10000