From 068cc190e20b8901b8e4128f3c21200724f0cd4f Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Mon, 27 Jan 2014 17:14:18 +0100
Subject: Updated / added all system types that have been available before

---
 ROMFS/px4fmu_common/init.d/3030_io_camflyer | 84 ++++++++++++-----------------
 1 file changed, 33 insertions(+), 51 deletions(-)

(limited to 'ROMFS/px4fmu_common/init.d/3030_io_camflyer')

diff --git a/ROMFS/px4fmu_common/init.d/3030_io_camflyer b/ROMFS/px4fmu_common/init.d/3030_io_camflyer
index 65f01c974..cbcc6189b 100644
--- a/ROMFS/px4fmu_common/init.d/3030_io_camflyer
+++ b/ROMFS/px4fmu_common/init.d/3030_io_camflyer
@@ -2,57 +2,39 @@
 
 echo "[init] PX4FMU v1, v2 with or without IO on Camflyer"
 
-#
-# Load default params for this platform
-#
-if param compare SYS_AUTOCONFIG 1
+if [ $DO_AUTOCONFIG == yes ]
 then
-	# Set all params here, then disable autoconfig
-	# TODO
-	
-	param set SYS_AUTOCONFIG 0
-	param save
+	#
+	# Default parameters for this platform
+	#
+	param set FW_AIRSPD_MIN 7
+	param set FW_AIRSPD_TRIM 9
+	param set FW_AIRSPD_MAX 14
+	param set FW_L1_PERIOD 10
+	param set FW_P_D 0
+	param set FW_P_I 0
+	param set FW_P_IMAX 20
+	param set FW_P_LIM_MAX 30
+	param set FW_P_LIM_MIN -20
+	param set FW_P_P 30
+	param set FW_P_RMAX_NEG 0
+	param set FW_P_RMAX_POS 0
+	param set FW_P_ROLLFF 2
+	param set FW_R_D 0
+	param set FW_R_I 5
+	param set FW_R_IMAX 20
+	param set FW_R_P 60
+	param set FW_R_RMAX 60
+	param set FW_THR_CRUISE 0.65
+	param set FW_THR_MAX 0.7
+	param set FW_THR_MIN 0
+	param set FW_T_SINK_MAX 5
+	param set FW_T_SINK_MIN 2
+	param set FW_T_TIME_CONST 9
+	param set FW_Y_ROLLFF 2.0
+	param set RC_SCALE_ROLL 1.0
+	param set RC_SCALE_PITCH 1.0
 fi
- 
-#
-# Force some key parameters to sane values
-# MAV_TYPE     1 = fixed wing
-#
-param set MAV_TYPE 1
 
-#
-# Start and configure PX4IO or FMU interface
-#
-if px4io detect
-then
-	# Start MAVLink (depends on orb)
-	mavlink start
-
-	sh /etc/init.d/rc.io
-	# Limit to 100 Hz updates and (implicit) 50 Hz PWM
-	px4io limit 100
-else
-	# Start MAVLink (on UART1 / ttyS0)
-	mavlink start -d /dev/ttyS0
-
-	fmu mode_pwm
-	param set BAT_V_SCALING 0.004593
-	set EXIT_ON_END yes
-fi
-
-#
-# Load mixer and start controllers (depends on px4io)
-#
-if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ]
-then
-	echo "Using /fs/microsd/etc/mixers/FMU_Q.mix"
-	mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix
-else
-	echo "Using /etc/mixers/FMU_Q.mix"
-	mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
-fi
-
-#
-# Start common fixedwing apps
-#
-sh /etc/init.d/rc.fixedwing
+set VEHICLE_TYPE fw
+set MIXER FMU_Q
-- 
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