6 files changed, 40 insertions, 61 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
index fab2a7f18..e6de64054 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@@ -10,7 +10,7 @@ then
 	param set NAV_LAND_ALT 90
 	param set NAV_RTL_ALT 100
 	param set NAV_RTL_LAND_T -1
-	param set NAV_ACCEPT_RAD 50
+	param set NAV_ACC_RAD 50
 	param set FW_T_HRATE_P 0.01
 	param set FW_T_RLL2THR 15
 	param set FW_T_SRATE_P 0.01
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
index 307a64c4d..24d9650a0 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
@@ -41,7 +41,9 @@ then
 	param set PE_POSNE_NOISE 0.5
 	param set PE_POSD_NOISE 1.0
 
-	param set NAV_ACCEPT_RAD 2.0
+	param set NAV_ACC_RAD 2.0
+	param set RTL_RETURN_ALT 30.0
+	param set RTL_DESCEND_ALT 10.0
 fi
 
 set PWM_RATE 400
diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 973db9017..ad84f44f5 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -52,6 +52,10 @@ then
 	if lsm303d start
 	then
 	fi
+
+	if ms5611 -X start
+	then
+	fi
 fi
 
 if meas_airspeed start
diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb
index b3de8e590..2dfe11ce6 100644
--- a/ROMFS/px4fmu_common/init.d/rc.usb
+++ b/ROMFS/px4fmu_common/init.d/rc.usb
@@ -26,6 +26,8 @@ usleep 100000
 mavlink stream -d /dev/ttyACM0 -s POSITION_TARGET_GLOBAL_INT -r 10
 usleep 100000
 mavlink stream -d /dev/ttyACM0 -s LOCAL_POSITION_NED -r 30
+usleep 100000
+mavlink stream -d /dev/ttyACM0 -s MANUAL_CONTROL -r 5
 
 # Exit shell to make it available to MAVLink
 exit
diff --git a/ROMFS/px4fmu_common/mixers/README b/ROMFS/px4fmu_common/mixers/README.md
index 60311232e..b766d05aa 100644
--- a/ROMFS/px4fmu_common/mixers/README
+++ b/ROMFS/px4fmu_common/mixers/README.md
@@ -1,61 +1,12 @@
-PX4 mixer definitions
-=====================
+## PX4 mixer definitions ##
 
 Files in this directory implement example mixers that can be used as a basis
 for customisation, or for general testing purposes.
 
-Mixer basics
-------------
+For a detailed description of the mixing architecture and examples see:
+http://px4.io/dev/mixing
 
-Mixers combine control values from various sources (control tasks, user inputs,
-etc.) and produce output values suitable for controlling actuators; servos,
-motors, switches and so on.
-
-An actuator derives its value from the combination of one or more control
-values. Each of the control values is scaled according to the actuator's
-configuration and then combined to produce the actuator value, which may then be
-further scaled to suit the specific output type.
-
-Internally, all scaling is performed using floating point values. Inputs and
-outputs are clamped to the range -1.0 to 1.0.
-
-control    control   control
-   |          |         |
-   v          v         v
- scale      scale     scale
-   |          |         |
-   |          v         |
-   +-------> mix <------+
-              |
-            scale
-              |
-              v
-             out
-
-Scaling
--------
-
-Basic scalers provide linear scaling of the input to the output.
-
-Each scaler allows the input value to be scaled independently for inputs
-greater/less than zero. An offset can be applied to the output, and lower and
-upper boundary constraints can be applied. Negative scaling factors cause the
-output to be inverted (negative input produces positive output).
-
-Scaler pseudocode:
-
-if (input < 0)
-    output = (input * NEGATIVE_SCALE) + OFFSET
-else
-    output = (input * POSITIVE_SCALE) + OFFSET
-
-if (output < LOWER_LIMIT)
-    output = LOWER_LIMIT
-if (output > UPPER_LIMIT)
-    output = UPPER_LIMIT
-
-Syntax
-------
+### Syntax ###
 
 Mixer definitions are text files; lines beginning with a single capital letter
 followed by a colon are significant. All other lines are ignored, meaning that
@@ -65,6 +16,9 @@ Each file may define more than one mixer; the allocation of mixers to actuators
 is specific to the device reading the mixer definition, and the number of
 actuator outputs generated by a mixer is specific to the mixer.
 
+For example: each simple or null mixer is assigned to outputs 1 to x
+in the order they appear in the mixer file.
+
 A mixer begins with a line of the form
 
 	<tag>: <mixer arguments>
@@ -72,8 +26,7 @@ A mixer begins with a line of the form
 The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a 
 multirotor mixer, etc.
 
-Null Mixer
-..........
+#### Null Mixer ####
 
 A null mixer consumes no controls and generates a single actuator output whose
 value is always zero.  Typically a null mixer is used as a placeholder in a
@@ -83,8 +36,7 @@ The null mixer definition has the form:
 
   Z:
 
-Simple Mixer
-............
+#### Simple Mixer ####
 
 A simple mixer combines zero or more control inputs into a single actuator
 output.  Inputs are scaled, and the mixing function sums the result before
@@ -122,8 +74,7 @@ discussed above. Whilst the calculations are performed as floating-point
 operations, the values stored in the definition file are scaled by a factor of
 10000; i.e. an offset of -0.5 is encoded as -5000.
 
-Multirotor Mixer
-................
+#### Multirotor Mixer ####
 
 The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust)
 into a set of actuator outputs intended to drive motor speed controllers.
diff --git a/ROMFS/px4fmu_test/init.d/rcS b/ROMFS/px4fmu_test/init.d/rcS
index ef032de5c..40b3500e0 100644
--- a/ROMFS/px4fmu_test/init.d/rcS
+++ b/ROMFS/px4fmu_test/init.d/rcS
@@ -97,6 +97,26 @@ else
 	set unit_test_failure_list "${unit_test_failure_list} commander_tests"
 fi
 
+if hmc5883 -I start
+then
+	# This is an FMUv3
+	echo "FMUv3"
+	ms5611 start
+	mpu6000 -X start
+	mpu6000 start
+	lsm303d -X start
+	l3gd20 -X start
+	echo "EVALUATION ONLY SENSORS (not used in production)"
+	ms5611 -X start
+else
+	# This is an FMUv1 or FMUv2
+	echo "FMUv2 (or FMUv3 where 'hmc5883 -I start' failed)"
+	ms5611 start
+	mpu6000 start
+	lsm303d start
+	l3gd20 start
+fi
+
 if [ $unit_test_failure == 0 ]
 then
 	echo