31 files changed, 159 insertions, 127 deletions
diff --git a/ROMFS/.gitignore b/ROMFS/.gitignore
deleted file mode 100644
index 30d3d7fe5..000000000
--- a/ROMFS/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-/img
diff --git a/ROMFS/Makefile b/ROMFS/Makefile
deleted file mode 100644
index e77668421..000000000
--- a/ROMFS/Makefile
+++ /dev/null
@@ -1,124 +0,0 @@
-#
-# Makefile to generate a PX4FMU ROMFS image.
-#
-# In normal use, 'make install' will generate a new ROMFS header and place it
-# into the px4fmu configuration in the appropriate location.
-#
-
-#
-# Directories of interest
-#
-SRCROOT		?= $(dir $(lastword $(MAKEFILE_LIST)))
-BUILDROOT	?= $(SRCROOT)/img
-ROMFS_HEADER	?= $(SRCROOT)/../nuttx/configs/px4fmu/include/nsh_romfsimg.h
-
-#
-# List of files to install in the ROMFS, specified as <source>~<destination>
-#
-ROMFS_FSSPEC	:= $(SRCROOT)/scripts/rcS~init.d/rcS \
-		   $(SRCROOT)/scripts/rc.sensors~init.d/rc.sensors \
-		   $(SRCROOT)/scripts/rc.logging~init.d/rc.logging \
-		   $(SRCROOT)/scripts/rc.standalone~init.d/rc.standalone \
-		   $(SRCROOT)/scripts/rc.PX4IO~init.d/rc.PX4IO \
-		   $(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR \
-		   $(SRCROOT)/scripts/rc.FMU_quad_x~init.d/rc.FMU_quad_x \
-		   $(SRCROOT)/scripts/rc.usb~init.d/rc.usb \
-		   $(SRCROOT)/scripts/rc.hil~init.d/rc.hil \
-		   $(SRCROOT)/mixers/FMU_pass.mix~mixers/FMU_pass.mix \
-		   $(SRCROOT)/mixers/FMU_Q.mix~mixers/FMU_Q.mix \
-		   $(SRCROOT)/mixers/FMU_X5.mix~mixers/FMU_X5.mix \
-		   $(SRCROOT)/mixers/FMU_AERT.mix~mixers/FMU_AERT.mix \
-		   $(SRCROOT)/mixers/FMU_AET.mix~mixers/FMU_AET.mix \
-		   $(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix \
-		   $(SRCROOT)/mixers/FMU_quad_x.mix~mixers/FMU_quad_x.mix \
-		   $(SRCROOT)/mixers/FMU_quad_+.mix~mixers/FMU_quad_+.mix \
-		   $(SRCROOT)/mixers/FMU_quad_v.mix~mixers/FMU_quad_v.mix \
-		   $(SRCROOT)/mixers/FMU_quad_w.mix~mixers/FMU_quad_w.mix \
-		   $(SRCROOT)/mixers/FMU_hex_x.mix~mixers/FMU_hex_x.mix \
-		   $(SRCROOT)/mixers/FMU_hex_+.mix~mixers/FMU_hex_+.mix \
-		   $(SRCROOT)/mixers/FMU_octo_x.mix~mixers/FMU_octo_x.mix \
-		   $(SRCROOT)/mixers/FMU_octo_+.mix~mixers/FMU_octo_+.mix \
-		   $(SRCROOT)/logging/logconv.m~logging/logconv.m
-
-# the EXTERNAL_SCRIPTS variable is used to add out of tree scripts
-# to ROMFS. 
-ROMFS_FSSPEC += $(EXTERNAL_SCRIPTS)
-
-#
-# Add the PX4IO firmware to the spec if someone has dropped it into the
-# source directory, or otherwise specified its location.
-#
-# Normally this is only something you'd do when working on PX4IO; most
-# users will upgrade with firmware off the microSD card.
-#
-PX4IO_FIRMWARE	?= $(SRCROOT)/px4io.bin
-ifneq ($(wildcard $(PX4IO_FIRMWARE)),)
-ROMFS_FSSPEC	+=  $(PX4IO_FIRMWARE)~px4io.bin
-endif
-
-################################################################################
-# No user-serviceable parts below
-################################################################################
-
-#
-# Just the source files from the ROMFS spec, so that we can fail cleanly if they don't
-# exist
-#
-ROMFS_SRCFILES	 = $(foreach spec,$(ROMFS_FSSPEC),$(firstword $(subst ~, ,$(spec))))
-
-#
-# Just the destination directories from the ROMFS spec
-#
-ROMFS_DIRS	 = $(sort $(dir $(foreach spec,$(ROMFS_FSSPEC),$(lastword $(subst ~, ,$(spec))))))
-
-
-#
-# Intermediate products
-#
-ROMFS_IMG	 = $(BUILDROOT)/romfs.img
-ROMFS_WORKDIR	 = $(BUILDROOT)/romfs
-
-#
-# Convenience target for rebuilding the ROMFS header
-#
-all:		$(ROMFS_HEADER)
-
-$(ROMFS_HEADER): $(ROMFS_IMG) $(dir $(ROMFS_HEADER))
-	@echo Generating the ROMFS header...
-	@(cd $(dir $(ROMFS_IMG)) && xxd -i $(notdir $(ROMFS_IMG))) | sed -e 's/char/const char/' > $@
-
-$(ROMFS_IMG):	$(ROMFS_WORKDIR)
-	@echo Generating the ROMFS image...
-	@genromfs -f $@ -d $(ROMFS_WORKDIR) -V "NSHInitVol"
-
-$(ROMFS_WORKDIR): $(ROMFS_SRCFILES)
-	@echo Rebuilding the ROMFS work area...
-	@rm -rf $(ROMFS_WORKDIR)
-	@mkdir -p $(ROMFS_WORKDIR)
-	@for dir in $(ROMFS_DIRS) ; do mkdir -p $(ROMFS_WORKDIR)/$$dir; done
-	@for spec in $(ROMFS_FSSPEC) ; do \
-		echo $$spec | sed -e 's%^.*~%  %' ;\
-		`echo "cp $$spec" | sed -e 's%~% $(ROMFS_WORKDIR)/%'` ;\
-	 done
-
-$(BUILDROOT):
-	@mkdir -p $(BUILDROOT)
-
-clean:
-	@rm -rf $(BUILDROOT)
-
-distclean:	clean
-	@rm -f $(PX4IO_FIRMWARE) $(ROMFS_HEADER)
-
-.PHONY:	all install clean distclean
-
-#
-# Hacks and fixups
-#
-SYSTYPE			 = $(shell uname)
-
-ifeq ($(SYSTYPE),Darwin)
-# PATH inherited by Eclipse may not include toolchain install location 
-export PATH			 := $(PATH):/usr/local/bin
-endif
-
diff --git a/ROMFS/scripts/rc.FMU_quad_x b/ROMFS/px4fmu_common/init.d/rc.FMU_quad_x
index 8787443ea..8787443ea 100644
--- a/ROMFS/scripts/rc.FMU_quad_x
+++ b/ROMFS/px4fmu_common/init.d/rc.FMU_quad_x
diff --git a/ROMFS/px4fmu_common/init.d/rc.IO_QUAD b/ROMFS/px4fmu_common/init.d/rc.IO_QUAD
new file mode 100644
index 000000000..287cb0483
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.IO_QUAD
@@ -0,0 +1,107 @@
+#!nsh
+ 
+# Disable USB and autostart
+set USB no
+set MODE quad
+ 
+#
+# Start the ORB (first app to start)
+#
+uorb start
+ 
+#
+# Load microSD params
+#
+echo "[init] loading microSD params"
+param select /fs/microsd/parameters
+if [ -f /fs/microsd/parameters ]
+then
+	param load /fs/microsd/parameters
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 2
+ 
+#
+# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
+#
+if [ -f /fs/microsd/px4io.bin ]
+then
+	echo "PX4IO Firmware found. Checking Upgrade.."
+	if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
+	then
+		echo "No newer version, skipping upgrade."
+	else
+		echo "Loading /fs/microsd/px4io.bin"
+		if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
+		then
+			cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
+			echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
+		else
+			echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
+			echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
+		fi
+	fi
+fi
+ 
+#
+# Start MAVLink (depends on orb)
+#
+mavlink start -d /dev/ttyS1 -b 57600
+usleep 5000
+ 
+#
+# Start the commander (depends on orb, mavlink)
+#
+commander start
+ 
+#
+# Start PX4IO interface (depends on orb, commander)
+#
+px4io start
+ 
+#
+# Allow PX4IO to recover from midair restarts.
+# this is very unlikely, but quite safe and robust.
+px4io recovery
+ 
+#
+# Start the sensors (depends on orb, px4io)
+#
+sh /etc/init.d/rc.sensors
+ 
+#
+# Start GPS interface (depends on orb)
+#
+gps start
+ 
+#
+# Start the attitude estimator (depends on orb)
+#
+attitude_estimator_ekf start
+ 
+#
+# Load mixer and start controllers (depends on px4io)
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
+multirotor_att_control start
+ 
+#
+# Start logging
+#
+#sdlog start -s 4
+ 
+#
+# Start system state
+#
+if blinkm start
+then
+	echo "using BlinkM for state indication"
+	blinkm systemstate
+else
+	echo "no BlinkM found, OK."
+fi
+\ No newline at end of file
diff --git a/ROMFS/scripts/rc.PX4IO b/ROMFS/px4fmu_common/init.d/rc.PX4IO
index 625f23bdd..7ae4a5586 100644
--- a/ROMFS/scripts/rc.PX4IO
+++ b/ROMFS/px4fmu_common/init.d/rc.PX4IO
@@ -104,4 +104,4 @@ then
 	blinkm systemstate
 else
 	echo "no BlinkM found, OK."
-fi
-\ No newline at end of file
+fi
diff --git a/ROMFS/scripts/rc.PX4IOAR b/ROMFS/px4fmu_common/init.d/rc.PX4IOAR
index 6af91992e..ab29e21c7 100644
--- a/ROMFS/scripts/rc.PX4IOAR
+++ b/ROMFS/px4fmu_common/init.d/rc.PX4IOAR
@@ -96,4 +96,4 @@ fi
 #
 echo "[init] startup done"
 
-exit
-\ No newline at end of file
+exit
diff --git a/ROMFS/scripts/rc.boarddetect b/ROMFS/px4fmu_common/init.d/rc.boarddetect
index f233e51df..f233e51df 100644
--- a/ROMFS/scripts/rc.boarddetect
+++ b/ROMFS/px4fmu_common/init.d/rc.boarddetect
diff --git a/ROMFS/scripts/rc.hil b/ROMFS/px4fmu_common/init.d/rc.hil
index 980b78edd..980b78edd 100644
--- a/ROMFS/scripts/rc.hil
+++ b/ROMFS/px4fmu_common/init.d/rc.hil
diff --git a/ROMFS/scripts/rc.jig b/ROMFS/px4fmu_common/init.d/rc.jig
index e2b5d8f30..e2b5d8f30 100644
--- a/ROMFS/scripts/rc.jig
+++ b/ROMFS/px4fmu_common/init.d/rc.jig
diff --git a/ROMFS/scripts/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging
index 09c2d00d1..09c2d00d1 100644
--- a/ROMFS/scripts/rc.logging
+++ b/ROMFS/px4fmu_common/init.d/rc.logging
diff --git a/ROMFS/scripts/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 42c2f52e9..42c2f52e9 100644
--- a/ROMFS/scripts/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
diff --git a/ROMFS/scripts/rc.standalone b/ROMFS/px4fmu_common/init.d/rc.standalone
index 67e95215b..67e95215b 100644
--- a/ROMFS/scripts/rc.standalone
+++ b/ROMFS/px4fmu_common/init.d/rc.standalone
diff --git a/ROMFS/scripts/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb
index 31af3991a..31af3991a 100644
--- a/ROMFS/scripts/rc.usb
+++ b/ROMFS/px4fmu_common/init.d/rc.usb
diff --git a/ROMFS/scripts/rcS b/ROMFS/px4fmu_common/init.d/rcS
index c0a70f7dd..c0a70f7dd 100755
--- a/ROMFS/scripts/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
diff --git a/ROMFS/logging/logconv.m b/ROMFS/px4fmu_common/logging/logconv.m
index 3750ddae2..3750ddae2 100644
--- a/ROMFS/logging/logconv.m
+++ b/ROMFS/px4fmu_common/logging/logconv.m
diff --git a/ROMFS/mixers/FMU_AERT.mix b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix
index 75e82bb00..75e82bb00 100644
--- a/ROMFS/mixers/FMU_AERT.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix
diff --git a/ROMFS/mixers/FMU_AET.mix b/ROMFS/px4fmu_common/mixers/FMU_AET.mix
index 20cb88b91..20cb88b91 100644
--- a/ROMFS/mixers/FMU_AET.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_AET.mix
diff --git a/ROMFS/mixers/FMU_Q.mix b/ROMFS/px4fmu_common/mixers/FMU_Q.mix
index ebcb66b24..ebcb66b24 100644
--- a/ROMFS/mixers/FMU_Q.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_Q.mix
diff --git a/ROMFS/mixers/FMU_RET.mix b/ROMFS/px4fmu_common/mixers/FMU_RET.mix
index 95beb8927..95beb8927 100644
--- a/ROMFS/mixers/FMU_RET.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_RET.mix
diff --git a/ROMFS/mixers/FMU_X5.mix b/ROMFS/px4fmu_common/mixers/FMU_X5.mix
index 9f81e1dc3..9f81e1dc3 100644
--- a/ROMFS/mixers/FMU_X5.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_X5.mix
diff --git a/ROMFS/px4fmu_common/mixers/FMU_delta.mix b/ROMFS/px4fmu_common/mixers/FMU_delta.mix
new file mode 100644
index 000000000..981466704
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/FMU_delta.mix
@@ -0,0 +1,50 @@
+Delta-wing mixer for PX4FMU
+===========================
+
+This file defines mixers suitable for controlling a delta wing aircraft using
+PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
+servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Elevon mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two elevon servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+The scaling factor for roll inputs is adjusted to implement differential travel
+for the elevons.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0   3000   5000      0 -10000  10000
+S: 0 1   5000   5000      0 -10000  10000
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0   5000   3000      0 -10000  10000
+S: 0 1  -5000  -5000      0 -10000  10000
+
+Output 2
+--------
+This mixer is empty.
+
+Z:
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
diff --git a/ROMFS/mixers/FMU_hex_+.mix b/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix
index b5e38ce9e..b5e38ce9e 100644
--- a/ROMFS/mixers/FMU_hex_+.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix
diff --git a/ROMFS/mixers/FMU_hex_x.mix b/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix
index 8e8d122ad..8e8d122ad 100644
--- a/ROMFS/mixers/FMU_hex_x.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix
diff --git a/ROMFS/mixers/FMU_octo_+.mix b/ROMFS/px4fmu_common/mixers/FMU_octo_+.mix
index 2cb70e814..2cb70e814 100644
--- a/ROMFS/mixers/FMU_octo_+.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_octo_+.mix
diff --git a/ROMFS/mixers/FMU_octo_x.mix b/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix
index edc71f013..edc71f013 100644
--- a/ROMFS/mixers/FMU_octo_x.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix
diff --git a/ROMFS/mixers/FMU_pass.mix b/ROMFS/px4fmu_common/mixers/FMU_pass.mix
index e9a81f2bb..e9a81f2bb 100644
--- a/ROMFS/mixers/FMU_pass.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_pass.mix
diff --git a/ROMFS/mixers/FMU_quad_+.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix
index dfdf1d58e..dfdf1d58e 100644
--- a/ROMFS/mixers/FMU_quad_+.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix
diff --git a/ROMFS/mixers/FMU_quad_v.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_v.mix
index 2a4a0f341..2a4a0f341 100644
--- a/ROMFS/mixers/FMU_quad_v.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_quad_v.mix
diff --git a/ROMFS/mixers/FMU_quad_w.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix
index 81b4af30b..81b4af30b 100644
--- a/ROMFS/mixers/FMU_quad_w.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix
diff --git a/ROMFS/mixers/FMU_quad_x.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix
index 12a3bee20..12a3bee20 100644
--- a/ROMFS/mixers/FMU_quad_x.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix
diff --git a/ROMFS/mixers/README b/ROMFS/px4fmu_common/mixers/README
index 6649c53c2..6649c53c2 100644
--- a/ROMFS/mixers/README
+++ b/ROMFS/px4fmu_common/mixers/README