8 files changed, 37 insertions, 18 deletions
diff --git a/ROMFS/px4fmu_common/init.d/3035_viper b/ROMFS/px4fmu_common/init.d/3035_viper
index a4c1e832d..3714b612f 100644
--- a/ROMFS/px4fmu_common/init.d/3035_viper
+++ b/ROMFS/px4fmu_common/init.d/3035_viper
@@ -8,3 +8,5 @@
 sh /etc/init.d/rc.fw_defaults
 
 set MIXER Viper
+
+set FAILSAFE "-c567 -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/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface
index 1de0abb58..e44cd0953 100644
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -77,4 +77,9 @@ then
 			pwm max -c $PWM_OUTPUTS -p $PWM_MAX
 		fi
 	fi
+
+	if [ $FAILSAFE != none ]
+	then
+		pwm failsafe -d $OUTPUT_DEV $FAILSAFE
+	fi
 fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index ecb408a54..739df7ac0 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -68,6 +68,11 @@ else
 	fi
 fi
 
+# Check for flow sensor
+if px4flow start
+then
+fi
+
 #
 # Start the sensor collection task.
 # IMPORTANT: this also loads param offsets
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index c9e6a27ca..c1948460d 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -66,6 +66,9 @@ then
 	#
 	sercon
 
+	# Try to get an USB console
+	nshterm /dev/ttyACM0 &
+
 	#
 	# Start the ORB (first app to start)
 	#
@@ -96,11 +99,9 @@ then
 	#
 	if rgbled start
 	then
-		echo "[init] RGB Led"
 	else
 		if blinkm start
 		then
-			echo "[init] BlinkM"
 			blinkm systemstate
 		fi
 	fi
@@ -129,6 +130,7 @@ then
 	set LOAD_DEFAULT_APPS yes
 	set GPS yes
 	set GPS_FAKE no
+	set FAILSAFE none
 
 	#
 	# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
@@ -279,9 +281,6 @@ then
 		fi
 	fi
 
-	# Try to get an USB console
-	nshterm /dev/ttyACM0 &
-
 	#
 	# Start the datamanager (and do not abort boot if it fails)
 	#
diff --git a/ROMFS/px4fmu_common/mixers/FMU_AERT.mix b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix
index 0ec663e35..7fed488af 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_AERT.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix
@@ -64,21 +64,22 @@ O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
 
 
-Gimbal / flaps / payload mixer for last four channels
+Gimbal / flaps / payload mixer for last four channels,
+using the payload control group
 -----------------------------------------------------
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0 -10000  10000
+S: 2 0  10000  10000      0 -10000  10000
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
+S: 2 1  10000  10000      0 -10000  10000
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
+S: 2 2  10000  10000      0 -10000  10000
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 7  10000  10000      0 -10000  10000
+S: 2 3  10000  10000      0 -10000  10000
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