From 99068e864beaabf3b2dfabfb2e2f1c6cb7df7095 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Tue, 15 Oct 2013 09:10:40 +0200
Subject: Enable payload channels as direct pass-through from manual control

---
 ROMFS/px4fmu_common/init.d/rcS            |  6 +++---
 ROMFS/px4fmu_common/mixers/FMU_AERT.mix   | 20 ++++++++++++++++++++
 ROMFS/px4fmu_common/mixers/FMU_AET.mix    | 20 ++++++++++++++++++++
 ROMFS/px4fmu_common/mixers/FMU_Q.mix      | 18 ++++++++++++++++++
 ROMFS/px4fmu_common/mixers/FMU_RET.mix    | 20 ++++++++++++++++++++
 ROMFS/px4fmu_common/mixers/FMU_X5.mix     | 19 +++++++++++++++++++
 ROMFS/px4fmu_common/mixers/FMU_delta.mix  | 20 ++++++++++++++++++++
 ROMFS/px4fmu_common/mixers/FMU_hex_+.mix  | 11 +++++++++++
 ROMFS/px4fmu_common/mixers/FMU_hex_x.mix  | 11 +++++++++++
 ROMFS/px4fmu_common/mixers/FMU_quad_+.mix | 20 ++++++++++++++++++++
 ROMFS/px4fmu_common/mixers/FMU_quad_v.mix | 19 +++++++++++++++++++
 ROMFS/px4fmu_common/mixers/FMU_quad_w.mix | 19 +++++++++++++++++++
 ROMFS/px4fmu_common/mixers/FMU_quad_x.mix | 19 +++++++++++++++++++
 13 files changed, 219 insertions(+), 3 deletions(-)

(limited to 'ROMFS/px4fmu_common')

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 93e76184d..e0813b031 100755
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -166,11 +166,11 @@ then
 		set MODE custom
 	fi
 	
-	if param compare SYS_AUTOSTART 10
-	then
+	#if param compare SYS_AUTOSTART 10
+	#then
 		sh /etc/init.d/10_dji_f330
 		set MODE custom
-	fi
+	#fi
 
 	if param compare SYS_AUTOSTART 11
 	then
diff --git a/ROMFS/px4fmu_common/mixers/FMU_AERT.mix b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix
index 75e82bb00..0ec663e35 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_AERT.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix
@@ -62,3 +62,23 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
+
+
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 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
diff --git a/ROMFS/px4fmu_common/mixers/FMU_AET.mix b/ROMFS/px4fmu_common/mixers/FMU_AET.mix
index 20cb88b91..c73cb2a62 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_AET.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_AET.mix
@@ -58,3 +58,23 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
+
+
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 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
diff --git a/ROMFS/px4fmu_common/mixers/FMU_Q.mix b/ROMFS/px4fmu_common/mixers/FMU_Q.mix
index ebcb66b24..17ff71151 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_Q.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_Q.mix
@@ -50,3 +50,21 @@ M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
 
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 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
diff --git a/ROMFS/px4fmu_common/mixers/FMU_RET.mix b/ROMFS/px4fmu_common/mixers/FMU_RET.mix
index 95beb8927..f07c34ac8 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_RET.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_RET.mix
@@ -51,3 +51,23 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
+
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 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
diff --git a/ROMFS/px4fmu_common/mixers/FMU_X5.mix b/ROMFS/px4fmu_common/mixers/FMU_X5.mix
index 9f81e1dc3..610868354 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_X5.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_X5.mix
@@ -48,3 +48,22 @@ M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
 
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 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
+
diff --git a/ROMFS/px4fmu_common/mixers/FMU_delta.mix b/ROMFS/px4fmu_common/mixers/FMU_delta.mix
index 981466704..f0aa6650d 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_delta.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_delta.mix
@@ -48,3 +48,23 @@ M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
 
+
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 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
+
diff --git a/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix b/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix
index b5e38ce9e..f8f9f0e4d 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix
@@ -5,3 +5,14 @@ This file defines a single mixer for a hexacopter in the + configuration. All co
 are mixed 100%.
 
 R: 6+ 10000 10000 10000 0
+
+Gimbal / payload mixer for last two channels
+-----------------------------------------------------
+
+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
diff --git a/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix b/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix
index 8e8d122ad..26b40b9e9 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix
@@ -5,3 +5,14 @@ This file defines a single mixer for a hexacopter in the X configuration.  All c
 are mixed 100%.
 
 R: 6x 10000 10000 10000 0
+
+Gimbal / payload mixer for last two channels
+-----------------------------------------------------
+
+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
diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix
index dfdf1d58e..cd9a9cfab 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix
@@ -5,3 +5,23 @@ This file defines a single mixer for a quadrotor in the + configuration. All con
 are mixed 100%.
 
 R: 4+ 10000 10000 10000 0
+
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 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
diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_v.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_v.mix
index 2a4a0f341..520aba635 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_quad_v.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_quad_v.mix
@@ -5,3 +5,22 @@ This file defines a single mixer for a quadrotor in the V configuration.  All co
 are mixed 100%.
 
 R: 4v 10000 10000 10000 0
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 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
diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix
index 81b4af30b..58e6af74b 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix
@@ -4,3 +4,22 @@ Multirotor mixer for PX4FMU
 This file defines a single mixer for a quadrotor with a wide configuration.  All controls are mixed 100%.
 
 R: 4w 10000 10000 10000 0
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 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
diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix
index 12a3bee20..fa21c8012 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix
@@ -5,3 +5,22 @@ This file defines a single mixer for a quadrotor in the X configuration.  All co
 are mixed 100%.
 
 R: 4x 10000 10000 10000 0
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 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
-- 
cgit v1.2.3


From b5d3355dfb513bbfab362734a672f8c51fc10402 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Tue, 15 Oct 2013 09:22:47 +0200
Subject: Fix accidentally comitted hardcoded autostart

---
 ROMFS/px4fmu_common/init.d/rcS | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

(limited to 'ROMFS/px4fmu_common')

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index e0813b031..93e76184d 100755
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -166,11 +166,11 @@ then
 		set MODE custom
 	fi
 	
-	#if param compare SYS_AUTOSTART 10
-	#then
+	if param compare SYS_AUTOSTART 10
+	then
 		sh /etc/init.d/10_dji_f330
 		set MODE custom
-	#fi
+	fi
 
 	if param compare SYS_AUTOSTART 11
 	then
-- 
cgit v1.2.3


From 6d406968eaba0924fe48945fd8a71b6f8a0adc1b Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 19 Oct 2013 11:11:15 +0200
Subject: Added hexrotor support

---
 ROMFS/px4fmu_common/init.d/12-13_hex | 95 ++++++++++++++++++++++++++++++++++++
 ROMFS/px4fmu_common/init.d/rcS       | 14 ++++++
 2 files changed, 109 insertions(+)
 create mode 100644 ROMFS/px4fmu_common/init.d/12-13_hex

(limited to 'ROMFS/px4fmu_common')

diff --git a/ROMFS/px4fmu_common/init.d/12-13_hex b/ROMFS/px4fmu_common/init.d/12-13_hex
new file mode 100644
index 000000000..0f0bb05ce
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/12-13_hex
@@ -0,0 +1,95 @@
+#!nsh
+
+echo "[init] PX4FMU v1, v2 with or without IO on Hex"
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	param set SYS_AUTOCONFIG 0
+
+	param set MC_ATTRATE_D 0.004
+	param set MC_ATTRATE_I 0.0
+	param set MC_ATTRATE_P 0.12
+	param set MC_ATT_D 0.0
+	param set MC_ATT_I 0.0
+	param set MC_ATT_P 7.0
+	param set MC_YAWPOS_D 0.0
+	param set MC_YAWPOS_I 0.0
+	param set MC_YAWPOS_P 2.0
+	param set MC_YAWRATE_D 0.005
+	param set MC_YAWRATE_I 0.2
+	param set MC_YAWRATE_P 0.3
+	param set NAV_TAKEOFF_ALT 3.0
+	param set MPC_TILT_MAX 0.5
+	param set MPC_THR_MAX 0.7
+	param set MPC_THR_MIN 0.3
+	param set MPC_XY_D 0
+	param set MPC_XY_P 0.5
+	param set MPC_XY_VEL_D 0
+	param set MPC_XY_VEL_I 0
+	param set MPC_XY_VEL_MAX 3
+	param set MPC_XY_VEL_P 0.2
+	param set MPC_Z_D 0
+	param set MPC_Z_P 1
+	param set MPC_Z_VEL_D 0
+	param set MPC_Z_VEL_I 0.1
+	param set MPC_Z_VEL_MAX 2
+	param set MPC_Z_VEL_P 0.20
+
+	param save
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE list: https://pixhawk.ethz.ch/mavlink/
+# 13 = hexarotor
+#
+param set MAV_TYPE 13
+
+set EXIT_ON_END no
+
+#
+# Start and configure PX4IO or FMU interface
+#
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start
+	usleep 5000
+
+	sh /etc/init.d/rc.io
+	# Set PWM values for DJI ESCs
+	px4io idle 900 900 900 900 900 900
+	px4io min 1200 1200 1200 1200 1200 1200
+	px4io max 1900 1900 1900 1900 1900 1900
+else
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS0
+	usleep 5000
+	fmu mode_pwm
+	param set BAT_V_SCALING 0.004593
+	set EXIT_ON_END yes
+fi
+
+#
+# Load mixer
+#
+mixer load /dev/pwm_output $MIXER
+
+#
+# Set PWM output frequency to 400 Hz
+#
+pwm -u 400 -m 0xff
+
+#
+# Start common for all multirotors apps
+#
+sh /etc/init.d/rc.multirotor
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 93e76184d..ced875001 100755
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -177,6 +177,20 @@ then
 		sh /etc/init.d/11_dji_f450
 		set MODE custom
 	fi
+
+	if param compare SYS_AUTOSTART 12
+	then
+		set MIXER /etc/mixers/FMU_hex_x.mix
+		sh /etc/init.d/12-13_hex
+		set MODE custom
+	fi
+
+	if param compare SYS_AUTOSTART 13
+	then
+		set MIXER /etc/mixers/FMU_hex_+.mix
+		sh /etc/init.d/12-13_hex
+		set MODE custom
+	fi
 	
 	if param compare SYS_AUTOSTART 15
 	then
-- 
cgit v1.2.3


From 233a068a7b6eb4851aa47b80a1852851bc851d73 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Tue, 15 Oct 2013 17:54:57 +0200
Subject: quad hil + rotor configuration startup script

---
 ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil | 110 ++++++++++++++++++++++++++
 ROMFS/px4fmu_common/init.d/rcS                |  40 ++++++----
 2 files changed, 135 insertions(+), 15 deletions(-)
 create mode 100644 ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil

(limited to 'ROMFS/px4fmu_common')

diff --git a/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
new file mode 100644
index 000000000..1c85e04f2
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
@@ -0,0 +1,110 @@
+#!nsh
+#
+# USB HIL start
+#
+
+echo "[HIL] HILS quadrotor + starting.."
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+        # Set all params here, then disable autoconfig
+        param set SYS_AUTOCONFIG 0
+
+        param set MC_ATTRATE_D 0.0
+        param set MC_ATTRATE_I 0.0
+        param set MC_ATTRATE_P 0.05
+        param set MC_ATT_D 0.0
+        param set MC_ATT_I 0.0
+        param set MC_ATT_P 3.0
+        param set MC_YAWPOS_D 0.0
+        param set MC_YAWPOS_I 0.0
+        param set MC_YAWPOS_P 2.1
+        param set MC_YAWRATE_D 0.0
+        param set MC_YAWRATE_I 0.0
+        param set MC_YAWRATE_P 0.05
+        param set NAV_TAKEOFF_ALT 3.0
+        param set MPC_TILT_MAX 0.5
+        param set MPC_THR_MAX 0.5
+        param set MPC_THR_MIN 0.1
+        param set MPC_XY_D 0
+        param set MPC_XY_P 0.5
+        param set MPC_XY_VEL_D 0
+        param set MPC_XY_VEL_I 0
+        param set MPC_XY_VEL_MAX 3
+        param set MPC_XY_VEL_P 0.2
+        param set MPC_Z_D 0
+        param set MPC_Z_P 1
+        param set MPC_Z_VEL_D 0
+        param set MPC_Z_VEL_I 0.1
+        param set MPC_Z_VEL_MAX 2
+        param set MPC_Z_VEL_P 0.20
+
+        param save
+fi
+
+# Allow USB some time to come up
+sleep 1
+# Tell MAVLink that this link is "fast"
+mavlink start -b 230400 -d /dev/ttyACM0
+
+# Create a fake HIL /dev/pwm_output interface
+hil mode_pwm
+
+#
+# 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
+
+#
+# Start the commander (depends on orb, mavlink)
+#
+commander start
+
+#
+# Check if we got an IO
+#
+if px4io start
+then
+	echo "IO started"
+else
+	fmu mode_serial
+	echo "FMU started"
+fi
+
+#
+# Start the sensors (depends on orb, px4io)
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start the attitude estimator (depends on orb)
+#
+att_pos_estimator_ekf start
+ 
+#
+# Load mixer and start controllers (depends on px4io)
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
+
+#
+# Start position estimator
+#
+position_estimator_inav start
+
+#
+# Start attitude control
+#
+multirotor_att_control start
+
+#
+# Start position control
+#
+multirotor_pos_control start
+
+echo "[HIL] setup done, running"
+
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index ced875001..fd588017f 100755
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -110,23 +110,33 @@ then
 	then
 		sh /etc/init.d/1000_rc_fw.hil		
 		set MODE custom
-	else
-		if param compare SYS_AUTOSTART 1001
-		then
-			sh /etc/init.d/1001_rc_quad.hil
-			set MODE custom
-		else
-			if param compare SYS_AUTOSTART 1002
-			then
-				sh /etc/init.d/1002_rc_fw_state.hil
-				set MODE custom
-			else
-				# Try to get an USB console
-				nshterm /dev/ttyACM0 &
-			fi	
-		fi
 	fi
 	
+	if param compare SYS_AUTOSTART 1001
+	then
+		sh /etc/init.d/1001_rc_quad.hil
+		set MODE custom
+	fi
+	
+	if param compare SYS_AUTOSTART 1002
+	then
+		sh /etc/init.d/1002_rc_fw_state.hil
+		set MODE custom
+	fi
+	
+	if param compare SYS_AUTOSTART 1003
+	then
+		sh /etc/init.d/1003_rc_quad_+.hil
+		set MODE custom
+	fi
+	
+	if [ $MODE != custom ]
+	then
+		# Try to get an USB console
+		nshterm /dev/ttyACM0 &
+	fi
+
+	
 	#
 	# Upgrade PX4IO firmware
 	#
-- 
cgit v1.2.3


From 5cd675d8cce6a3c35eab1970cfb8668b0a6b24e5 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Sat, 19 Oct 2013 11:42:06 +0200
Subject: The mavlink baudrate was too high in the custom_io_esc startup script

---
 ROMFS/px4fmu_common/init.d/rc.custom_io_esc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'ROMFS/px4fmu_common')

diff --git a/ROMFS/px4fmu_common/init.d/rc.custom_io_esc b/ROMFS/px4fmu_common/init.d/rc.custom_io_esc
index e645d9d54..2bfaed76c 100644
--- a/ROMFS/px4fmu_common/init.d/rc.custom_io_esc
+++ b/ROMFS/px4fmu_common/init.d/rc.custom_io_esc
@@ -58,7 +58,7 @@ usleep 10000
 if px4io detect
 then
 	# Start MAVLink (depends on orb)
-	mavlink start -d /dev/ttyS1 -b 115200
+	mavlink start -d /dev/ttyS1 -b 57600
 	usleep 5000
 
 	sh /etc/init.d/rc.io
@@ -78,7 +78,7 @@ then
 else
 	fmu mode_pwm
 	# Start MAVLink (on UART1 / ttyS0)
-	mavlink start -d /dev/ttyS1 -b 115200
+	mavlink start -d /dev/ttyS1 -b 57600
 	usleep 5000
 	param set BAT_V_SCALING 0.004593
 	set EXIT_ON_END yes
-- 
cgit v1.2.3


From 174c86321cad84589f597cfad1e5f7d6dd3c9136 Mon Sep 17 00:00:00 2001
From: James Goppert <james.goppert@gmail.com>
Date: Tue, 22 Oct 2013 05:04:13 -0400
Subject: Roboclaw encoders/ dutycycledrive complete.

---
 ROMFS/px4fmu_common/init.d/40_io_segway |  16 ++--
 ROMFS/px4fmu_common/init.d/rcS          |   6 ++
 src/drivers/roboclaw/RoboClaw.cpp       | 131 ++++++++++++++++++++++----------
 src/drivers/roboclaw/RoboClaw.hpp       |  11 ++-
 src/drivers/roboclaw/roboclaw_main.cpp  |  28 ++++---
 5 files changed, 130 insertions(+), 62 deletions(-)

(limited to 'ROMFS/px4fmu_common')

diff --git a/ROMFS/px4fmu_common/init.d/40_io_segway b/ROMFS/px4fmu_common/init.d/40_io_segway
index 4b7ed5286..ffe7f695b 100644
--- a/ROMFS/px4fmu_common/init.d/40_io_segway
+++ b/ROMFS/px4fmu_common/init.d/40_io_segway
@@ -21,8 +21,8 @@ param set MAV_TYPE 10
 #
 # Start MAVLink (depends on orb)
 #
-mavlink start -d /dev/ttyS1 -b 57600
-usleep 5000
+#mavlink start -d /dev/ttyS1 -b 57600
+#usleep 5000
  
 #
 # Start and configure PX4IO interface
@@ -32,25 +32,25 @@ sh /etc/init.d/rc.io
 #
 # Start the commander (depends on orb, mavlink)
 #
-commander start
+#commander start
 
 #
 # Start the sensors (depends on orb, px4io)
 #
-sh /etc/init.d/rc.sensors
+#sh /etc/init.d/rc.sensors
  
 #
 # Start GPS interface (depends on orb)
 #
-gps start
+#gps start
  
 #
 # Start the attitude estimator (depends on orb)
 #
-attitude_estimator_ekf start
+#attitude_estimator_ekf start
  
 #
 # Load mixer and start controllers (depends on px4io)
 #
-md25 start 3 0x58
-segway start
+roboclaw test /dev/ttyS2 128
+#segway start
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index fd588017f..3a458286e 100755
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -272,6 +272,12 @@ then
 		sh /etc/init.d/30_io_camflyer
 		set MODE custom
 	fi
+
+	if param compare SYS_AUTOSTART 40
+	then
+		sh /etc/init.d/40_io_segway
+		set MODE custom
+	fi
 	
 	if param compare SYS_AUTOSTART 31
 	then
diff --git a/src/drivers/roboclaw/RoboClaw.cpp b/src/drivers/roboclaw/RoboClaw.cpp
index aecc511ae..3bbd7f48f 100644
--- a/src/drivers/roboclaw/RoboClaw.cpp
+++ b/src/drivers/roboclaw/RoboClaw.cpp
@@ -59,15 +59,19 @@
 
 uint8_t RoboClaw::checksum_mask = 0x7f;
 
-RoboClaw::RoboClaw(const char *deviceName, uint16_t address):
+RoboClaw::RoboClaw(const char *deviceName, uint16_t address,
+		uint16_t pulsesPerRev):
 	_address(address),
+	_pulsesPerRev(pulsesPerRev),
 	_uart(0),
 	_controlPoll(),
 	_actuators(NULL, ORB_ID(actuator_controls_0), 20),
 	_motor1Position(0),
 	_motor1Speed(0),
+	_motor1Overflow(0),
 	_motor2Position(0),
-	_motor2Speed(0)
+	_motor2Speed(0),
+	_motor2Overflow(0)
 {
 	// setup control polling
 	_controlPoll.fd = _actuators.getHandle();
@@ -90,6 +94,13 @@ RoboClaw::RoboClaw(const char *deviceName, uint16_t address):
 
 	// setup default settings, reset encoders
 	resetEncoders();
+
+	// XXX roboclaw gives 128 as first several csums
+	// have to read a couple of messages first
+	for (int i=0;i<5;i++) {
+		if (readEncoder(MOTOR_1) > 0) break;
+		usleep(3000);
+	}	
 }
 
 RoboClaw::~RoboClaw()
@@ -107,8 +118,18 @@ int RoboClaw::readEncoder(e_motor motor)
 	} else if (motor == MOTOR_2) {
 		_sendCommand(CMD_READ_ENCODER_2, nullptr, 0, sum);
 	}
-	uint8_t rbuf[6];
-	int ret = read(_uart, rbuf, 6);
+	uint8_t rbuf[50];
+	usleep(5000);
+	int nread = read(_uart, rbuf, 50);
+	if (nread < 6) { 
+		printf("failed to read\n");
+		return -1;
+	}
+	//printf("received: \n");
+	//for (int i=0;i<nread;i++) {
+		//printf("%d\t", rbuf[i]);
+	//}
+	//printf("\n");
 	uint32_t count = 0;
 	uint8_t * countBytes = (uint8_t *)(&count);
 	countBytes[3] = rbuf[0];
@@ -116,34 +137,46 @@ int RoboClaw::readEncoder(e_motor motor)
 	countBytes[1] = rbuf[2];
 	countBytes[0] = rbuf[3];
 	uint8_t status = rbuf[4];
-	if (((sum + _sumBytes(rbuf,5)) & checksum_mask) 
-			== rbuf[5]) return -1;
+	uint8_t checksum = rbuf[5];
+	uint8_t checksum_computed = (sum + _sumBytes(rbuf, 5)) & 
+		checksum_mask;
+	// check if checksum is valid
+	if (checksum != checksum_computed) {
+		printf("checksum failed: expected %d got %d\n",
+				checksum, checksum_computed);
+		return -1;
+	}
 	int overFlow = 0;
+
+	if (status & STATUS_REVERSE) {
+		//printf("roboclaw: reverse\n");
+	}
+
 	if (status & STATUS_UNDERFLOW) {
-		printf("roboclaw: underflow\n");
+		//printf("roboclaw: underflow\n");
 		overFlow = -1;
 	} else if (status & STATUS_OVERFLOW) {
-		printf("roboclaw: overflow\n");
+		//printf("roboclaw: overflow\n");
 		overFlow = +1;
 	}
+
 	static int64_t overflowAmount = 0x100000000LL;
 	if (motor == MOTOR_1) {
 		_motor1Overflow += overFlow;
-		_motor1Position = count + 
-			_motor1Overflow*_motor1Position;
+		_motor1Position = float(int64_t(count) + 
+			_motor1Overflow*overflowAmount)/_pulsesPerRev;
 	} else if (motor == MOTOR_2) {
 		_motor2Overflow += overFlow;
-		_motor2Position = count + 
-			_motor2Overflow*_motor2Position;
+		_motor2Position = float(int64_t(count) + 
+			_motor2Overflow*overflowAmount)/_pulsesPerRev;
 	}
-	return ret;
+	return 0;
 }
 
 void RoboClaw::printStatus(char *string, size_t n)
 {
 	snprintf(string, n,
-		 "motor 1 position:\t%10.2f\tspeed:\t%10.2f\n"
-		 "motor 2 position:\t%10.2f\tspeed:\t%10.2f\n",
+		 "pos1,spd1,pos2,spd2: %10.2f %10.2f %10.2f %10.2f\n",
 		 double(getMotorPosition(MOTOR_1)),
 		 double(getMotorSpeed(MOTOR_1)),
 		 double(getMotorPosition(MOTOR_2)),
@@ -178,17 +211,18 @@ int RoboClaw::setMotorSpeed(e_motor motor, float value)
 	// send command
 	if (motor == MOTOR_1) {
 		if (value > 0) {
-			_sendCommand(CMD_DRIVE_FWD_1, &speed, 1, sum);
+			return _sendCommand(CMD_DRIVE_FWD_1, &speed, 1, sum);
 		} else {
-			_sendCommand(CMD_DRIVE_REV_1, &speed, 1, sum);
+			return _sendCommand(CMD_DRIVE_REV_1, &speed, 1, sum);
 		}
 	} else if (motor == MOTOR_2) {
 		if (value > 0) {
-			_sendCommand(CMD_DRIVE_FWD_2, &speed, 1, sum);
+			return _sendCommand(CMD_DRIVE_FWD_2, &speed, 1, sum);
 		} else {
-			_sendCommand(CMD_DRIVE_REV_2, &speed, 1, sum);
+			return _sendCommand(CMD_DRIVE_REV_2, &speed, 1, sum);
 		}
 	}
+	return -1;
 }
 
 int RoboClaw::setMotorDutyCycle(e_motor motor, float value)
@@ -200,12 +234,13 @@ int RoboClaw::setMotorDutyCycle(e_motor motor, float value)
 	int16_t duty = 1500*value;
 	// send command
 	if (motor == MOTOR_1) {
-		_sendCommand(CMD_SIGNED_DUTYCYCLE_1,
+		return _sendCommand(CMD_SIGNED_DUTYCYCLE_1,
 				(uint8_t *)(&duty), 2, sum);
 	} else if (motor == MOTOR_2) {
-		_sendCommand(CMD_SIGNED_DUTYCYCLE_2,
+		return _sendCommand(CMD_SIGNED_DUTYCYCLE_2,
 				(uint8_t *)(&duty), 2, sum);
 	}
+	return -1;
 }
 
 int RoboClaw::resetEncoders() 
@@ -215,13 +250,13 @@ int RoboClaw::resetEncoders()
 			nullptr, 0, sum);
 }
 
-void RoboClaw::update()
+int RoboClaw::update()
 {
 	// wait for an actuator publication,
 	// check for exit condition every second
 	// note "::poll" is required to distinguish global
 	// poll from member function for driver
-	if (::poll(&_controlPoll, 1, 1000) < 0) return; // poll error
+	if (::poll(&_controlPoll, 1, 1000) < 0) return -1; // poll error
 
 	// if new data, send to motors
 	if (_actuators.updated()) {
@@ -229,56 +264,68 @@ void RoboClaw::update()
 		setMotorSpeed(MOTOR_1,_actuators.control[CH_VOLTAGE_LEFT]);
 		setMotorSpeed(MOTOR_2,_actuators.control[CH_VOLTAGE_RIGHT]);
 	}
+	return 0;
 }
 
 uint16_t RoboClaw::_sumBytes(uint8_t * buf, size_t n)
 {
 	uint16_t sum = 0;
-	printf("sum\n");
+	//printf("sum\n");
 	for (size_t i=0;i<n;i++) {
 		sum += buf[i];
-		printf("%d\t", buf[i]);
+		//printf("%d\t", buf[i]);
 	}
-	printf("total sum %d\n", sum);
-	printf("\n");
+	//printf("total sum %d\n", sum);
 	return sum;
 }
 
 int RoboClaw::_sendCommand(e_command cmd, uint8_t * data, 
 		size_t n_data, uint16_t & prev_sum)
 {
-	tcflush(_uart, TCIOFLUSH);
+	tcflush(_uart, TCIOFLUSH); // flush  buffers
 	uint8_t buf[n_data + 3];
 	buf[0] = _address;
 	buf[1] = cmd;
-	for (int i=0;i<n_data;i++) {
+	for (size_t i=0;i<n_data;i++) {
 		buf[i+2] = data[n_data - i - 1]; // MSB
 	}
 	uint16_t sum = _sumBytes(buf, n_data + 2);
 	prev_sum += sum;
 	buf[n_data + 2] = sum & checksum_mask;
-	printf("\nmessage:\n");
-	for (int i=0;i<n_data+3;i++) {
-		printf("%d\t", buf[i]);
-	}
-	printf("\n");
+	//printf("\nmessage:\n");
+	//for (size_t i=0;i<n_data+3;i++) {
+		//printf("%d\t", buf[i]);
+	//}
+	//printf("\n");
 	return write(_uart, buf, n_data + 3);
 }
 
-int roboclawTest(const char *deviceName, uint8_t address)
+int roboclawTest(const char *deviceName, uint8_t address, 
+		uint16_t pulsesPerRev)
 {
 	printf("roboclaw test: starting\n");
 
 	// setup
-	RoboClaw roboclaw(deviceName, address);
+	RoboClaw roboclaw(deviceName, address, pulsesPerRev);
+	roboclaw.setMotorDutyCycle(RoboClaw::MOTOR_1, 0.3);
+	roboclaw.setMotorDutyCycle(RoboClaw::MOTOR_2, 0.3);
 	char buf[200];
 	for (int i=0; i<10; i++) {
-		usleep(1000000);
-		roboclaw.setMotorDutyCycle(RoboClaw::MOTOR_1, 0.3);
-		//roboclaw.setMotorSpeed(RoboClaw::MOTOR_1, 0.3);
-		//roboclaw.readEncoder(RoboClaw::MOTOR_1);
-		roboclaw.printStatus(buf, 200);
-		printf("%s\n", buf);
+		usleep(100000);
+		roboclaw.readEncoder(RoboClaw::MOTOR_1);
+		roboclaw.readEncoder(RoboClaw::MOTOR_2);
+		roboclaw.printStatus(buf,200);
+		printf("%s", buf);
+	}
+
+	roboclaw.setMotorDutyCycle(RoboClaw::MOTOR_1, -0.3);
+	roboclaw.setMotorDutyCycle(RoboClaw::MOTOR_2, -0.3);
+	for (int i=0; i<10; i++) {
+		usleep(100000);
+		roboclaw.readEncoder(RoboClaw::MOTOR_1);
+		roboclaw.readEncoder(RoboClaw::MOTOR_2);
+		roboclaw.printStatus(buf,200);
+		printf("%s", buf);
 	}
 
 	printf("Test complete\n");
diff --git a/src/drivers/roboclaw/RoboClaw.hpp b/src/drivers/roboclaw/RoboClaw.hpp
index 619c2289c..e9f35cf95 100644
--- a/src/drivers/roboclaw/RoboClaw.hpp
+++ b/src/drivers/roboclaw/RoboClaw.hpp
@@ -74,8 +74,11 @@ public:
 	 * 	serial port e.g. "/dev/ttyS2"
 	 * @param address the adddress  of the motor
 	 * 	(selectable on roboclaw)
+	 * @param pulsesPerRev # of encoder
+	 *  pulses per revolution of wheel
 	 */
-	RoboClaw(const char *deviceName, uint16_t address);
+	RoboClaw(const char *deviceName, uint16_t address, 
+			uint16_t pulsesPerRev);
 
 	/**
 	 * deconstructor
@@ -112,7 +115,7 @@ public:
 	 * main update loop that updates RoboClaw motor
 	 * dutycycle based on actuator publication
 	 */
-	void update();
+	int update();
 
 	/**
 	 * read data from serial
@@ -158,6 +161,7 @@ private:
 	static uint8_t checksum_mask;
 
 	uint16_t _address;
+	uint16_t _pulsesPerRev;
 
 	int _uart;
 
@@ -182,6 +186,7 @@ private:
 };
 
 // unit testing
-int roboclawTest(const char *deviceName, uint8_t address);
+int roboclawTest(const char *deviceName, uint8_t address,
+		uint16_t pulsesPerRev);
 
 // vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78
diff --git a/src/drivers/roboclaw/roboclaw_main.cpp b/src/drivers/roboclaw/roboclaw_main.cpp
index f37f71aac..44ed03254 100644
--- a/src/drivers/roboclaw/roboclaw_main.cpp
+++ b/src/drivers/roboclaw/roboclaw_main.cpp
@@ -114,17 +114,25 @@ int roboclaw_main(int argc, char *argv[])
 
 	} else if (!strcmp(argv[1], "test")) {
 
-		if (argc < 4) {
-			printf("usage: roboclaw test device address\n");
+		const char * deviceName = "/dev/ttyS2";
+		uint8_t address = 128;
+		uint16_t pulsesPerRev = 1200;
+
+		if (argc == 2) {
+			printf("testing with default settings\n");
+		} else if (argc != 4) {
+			printf("usage: roboclaw test device address pulses_per_rev\n");
 			exit(-1);
+		} else {
+			deviceName = argv[2];
+			address = strtoul(argv[3], nullptr, 0);
+			pulsesPerRev = strtoul(argv[4], nullptr, 0);
 		}
 
-		const char *deviceName = argv[2];
-		uint8_t address = strtoul(argv[3], nullptr, 0);
-
-		printf("device:\t%s\taddress:\t%d\n", deviceName, address);
+		printf("device:\t%s\taddress:\t%d\tpulses per rev:\t%ld\n",
+			deviceName, address, pulsesPerRev);
 
-		roboclawTest(deviceName, address);
+		roboclawTest(deviceName, address, pulsesPerRev);
 		thread_should_exit = true;
 		exit(0);
 
@@ -163,11 +171,13 @@ int roboclaw_thread_main(int argc, char *argv[])
 
 	const char *deviceName = argv[1];
 	uint8_t address = strtoul(argv[2], nullptr, 0);
+	uint16_t pulsesPerRev = strtoul(argv[3], nullptr, 0);
 
-	printf("device:\t%s\taddress:\t%d\n", deviceName, address);
+	printf("device:\t%s\taddress:\t%d\tpulses per rev:\t%ld\n",
+			deviceName, address, pulsesPerRev);
 
 	// start
-	RoboClaw roboclaw(deviceName, address);
+	RoboClaw roboclaw(deviceName, address, pulsesPerRev);
 
 	thread_running = true;
 
-- 
cgit v1.2.3


From d1a4dd240c9b55da72a109f553af2eb9ca2bef73 Mon Sep 17 00:00:00 2001
From: James Goppert <james.goppert@gmail.com>
Date: Tue, 22 Oct 2013 05:08:20 -0400
Subject: Updated script.

---
 ROMFS/px4fmu_common/init.d/40_io_segway | 16 ++++++++--------
 ROMFS/px4fmu_common/init.d/rcS          | 12 ++++++------
 2 files changed, 14 insertions(+), 14 deletions(-)

(limited to 'ROMFS/px4fmu_common')

diff --git a/ROMFS/px4fmu_common/init.d/40_io_segway b/ROMFS/px4fmu_common/init.d/40_io_segway
index ffe7f695b..fb9dec043 100644
--- a/ROMFS/px4fmu_common/init.d/40_io_segway
+++ b/ROMFS/px4fmu_common/init.d/40_io_segway
@@ -21,8 +21,8 @@ param set MAV_TYPE 10
 #
 # Start MAVLink (depends on orb)
 #
-#mavlink start -d /dev/ttyS1 -b 57600
-#usleep 5000
+mavlink start -d /dev/ttyS1 -b 57600
+usleep 5000
  
 #
 # Start and configure PX4IO interface
@@ -32,25 +32,25 @@ sh /etc/init.d/rc.io
 #
 # Start the commander (depends on orb, mavlink)
 #
-#commander start
+commander start
 
 #
 # Start the sensors (depends on orb, px4io)
 #
-#sh /etc/init.d/rc.sensors
+sh /etc/init.d/rc.sensors
  
 #
 # Start GPS interface (depends on orb)
 #
-#gps start
+gps start
  
 #
 # Start the attitude estimator (depends on orb)
 #
-#attitude_estimator_ekf start
+attitude_estimator_ekf start
  
 #
 # Load mixer and start controllers (depends on px4io)
 #
-roboclaw test /dev/ttyS2 128
-#segway start
+roboclaw start /dev/ttyS2 128 1200
+segway start
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 3a458286e..424787d54 100755
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -273,18 +273,18 @@ then
 		set MODE custom
 	fi
 
-	if param compare SYS_AUTOSTART 40
-	then
-		sh /etc/init.d/40_io_segway
-		set MODE custom
-	fi
-	
 	if param compare SYS_AUTOSTART 31
 	then
 		sh /etc/init.d/31_io_phantom
 		set MODE custom
 	fi
 
+	if param compare SYS_AUTOSTART 40
+	then
+		sh /etc/init.d/40_io_segway
+		set MODE custom
+	fi
+	
 	if param compare SYS_AUTOSTART 100
 	then
 		sh /etc/init.d/100_mpx_easystar
-- 
cgit v1.2.3


From 28845c4846e4f225e686f6643b5d2e0851392b2b Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sat, 19 Oct 2013 09:45:34 +0200
Subject: Rascal (AERT) hil startup script

---
 ROMFS/px4fmu_common/init.d/1000_rc_fw.hil          |  92 ------------------
 ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil |  92 ++++++++++++++++++
 .../px4fmu_common/init.d/1004_rc_fw_Rascal110.hil  | 103 +++++++++++++++++++++
 ROMFS/px4fmu_common/init.d/rcS                     |   8 +-
 4 files changed, 202 insertions(+), 93 deletions(-)
 delete mode 100644 ROMFS/px4fmu_common/init.d/1000_rc_fw.hil
 create mode 100644 ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
 create mode 100644 ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil

(limited to 'ROMFS/px4fmu_common')

diff --git a/ROMFS/px4fmu_common/init.d/1000_rc_fw.hil b/ROMFS/px4fmu_common/init.d/1000_rc_fw.hil
deleted file mode 100644
index 5e4028bbb..000000000
--- a/ROMFS/px4fmu_common/init.d/1000_rc_fw.hil
+++ /dev/null
@@ -1,92 +0,0 @@
-#!nsh
-#
-# USB HIL start
-#
-
-echo "[HIL] HILStar starting.."
-
-#
-# Load default params for this platform
-#
-if param compare SYS_AUTOCONFIG 1
-then
-	# Set all params here, then disable autoconfig
-	
-	param set FW_P_D 0
-	param set FW_P_I 0
-	param set FW_P_IMAX 15
-	param set FW_P_LIM_MAX 50
-	param set FW_P_LIM_MIN -50
-	param set FW_P_P 60
-	param set FW_P_RMAX_NEG 0
-	param set FW_P_RMAX_POS 0
-	param set FW_P_ROLLFF 1.1
-	param set FW_R_D 0
-	param set FW_R_I 5
-	param set FW_R_IMAX 20
-	param set FW_R_P 100
-	param set FW_R_RMAX 100
-	param set FW_THR_CRUISE 0.65
-	param set FW_THR_MAX 1
-	param set FW_THR_MIN 0
-	param set FW_T_SINK_MAX 5.0
-	param set FW_T_SINK_MIN 4.0
-	param set FW_Y_ROLLFF 1.1
-	param set FW_L1_PERIOD 16
-	param set RC_SCALE_ROLL 1.0
-	param set RC_SCALE_PITCH 1.0
-
-	param set SYS_AUTOCONFIG 0
-	param save
-fi
-
-# Allow USB some time to come up
-sleep 1
-# Tell MAVLink that this link is "fast"
-mavlink start -b 230400 -d /dev/ttyACM0
-
-# Create a fake HIL /dev/pwm_output interface
-hil mode_pwm
-
-#
-# 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 1
-
-#
-# Start the commander (depends on orb, mavlink)
-#
-commander start
-
-#
-# Check if we got an IO
-#
-if px4io start
-then
-	echo "IO started"
-else
-	fmu mode_serial
-	echo "FMU started"
-fi
-
-#
-# Start the sensors (depends on orb, px4io)
-#
-sh /etc/init.d/rc.sensors
-
-#
-# Start the attitude estimator (depends on orb)
-#
-att_pos_estimator_ekf start
- 
-#
-# Load mixer and start controllers (depends on px4io)
-#
-mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix
-fw_pos_control_l1 start
-fw_att_control start
-
-echo "[HIL] setup done, running"
-
diff --git a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
new file mode 100644
index 000000000..5e4028bbb
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
@@ -0,0 +1,92 @@
+#!nsh
+#
+# USB HIL start
+#
+
+echo "[HIL] HILStar starting.."
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	
+	param set FW_P_D 0
+	param set FW_P_I 0
+	param set FW_P_IMAX 15
+	param set FW_P_LIM_MAX 50
+	param set FW_P_LIM_MIN -50
+	param set FW_P_P 60
+	param set FW_P_RMAX_NEG 0
+	param set FW_P_RMAX_POS 0
+	param set FW_P_ROLLFF 1.1
+	param set FW_R_D 0
+	param set FW_R_I 5
+	param set FW_R_IMAX 20
+	param set FW_R_P 100
+	param set FW_R_RMAX 100
+	param set FW_THR_CRUISE 0.65
+	param set FW_THR_MAX 1
+	param set FW_THR_MIN 0
+	param set FW_T_SINK_MAX 5.0
+	param set FW_T_SINK_MIN 4.0
+	param set FW_Y_ROLLFF 1.1
+	param set FW_L1_PERIOD 16
+	param set RC_SCALE_ROLL 1.0
+	param set RC_SCALE_PITCH 1.0
+
+	param set SYS_AUTOCONFIG 0
+	param save
+fi
+
+# Allow USB some time to come up
+sleep 1
+# Tell MAVLink that this link is "fast"
+mavlink start -b 230400 -d /dev/ttyACM0
+
+# Create a fake HIL /dev/pwm_output interface
+hil mode_pwm
+
+#
+# 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 1
+
+#
+# Start the commander (depends on orb, mavlink)
+#
+commander start
+
+#
+# Check if we got an IO
+#
+if px4io start
+then
+	echo "IO started"
+else
+	fmu mode_serial
+	echo "FMU started"
+fi
+
+#
+# Start the sensors (depends on orb, px4io)
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start the attitude estimator (depends on orb)
+#
+att_pos_estimator_ekf start
+ 
+#
+# Load mixer and start controllers (depends on px4io)
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix
+fw_pos_control_l1 start
+fw_att_control start
+
+echo "[HIL] setup done, running"
+
diff --git a/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
new file mode 100644
index 000000000..8c5e4b6a8
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
@@ -0,0 +1,103 @@
+#!nsh
+#
+# USB HIL start
+#
+
+echo "[HIL] HILStar starting.."
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	
+	param set FW_P_D 0
+	param set FW_P_I 0
+	param set FW_P_IMAX 15
+	param set FW_P_LIM_MAX 50
+	param set FW_P_LIM_MIN -50
+	param set FW_P_P 60
+	param set FW_P_RMAX_NEG 0
+	param set FW_P_RMAX_POS 0
+	param set FW_P_ROLLFF 1.1
+	param set FW_R_D 0
+	param set FW_R_I 5
+	param set FW_R_IMAX 20
+	param set FW_R_P 100
+	param set FW_R_RMAX 100
+	param set FW_THR_CRUISE 0.65
+	param set FW_THR_MAX 1
+	param set FW_THR_MIN 0
+	param set FW_T_SINK_MAX 5.0
+	param set FW_T_SINK_MIN 4.0
+	param set FW_Y_ROLLFF 1.1
+	param set FW_L1_PERIOD 16
+	param set RC_SCALE_ROLL 1.0
+	param set RC_SCALE_PITCH 1.0
+
+	param set SYS_AUTOCONFIG 0
+	param save
+fi
+
+# Allow USB some time to come up
+sleep 1
+# Tell MAVLink that this link is "fast"
+mavlink start -b 230400 -d /dev/ttyACM0
+
+# Create a fake HIL /dev/pwm_output interface
+hil mode_pwm
+
+#
+# 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 1
+
+#
+# Start the commander (depends on orb, mavlink)
+#
+commander start
+
+#
+# Check if we got an IO
+#
+if px4io start
+then
+	echo "IO started"
+else
+	fmu mode_serial
+	echo "FMU started"
+fi
+
+#
+# Start the sensors (depends on orb, px4io)
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start the attitude estimator (depends on orb)
+#
+att_pos_estimator_ekf start
+ 
+#
+# Load mixer and start controllers (depends on px4io)
+#
+set MODE autostart
+mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix
+if [ -f /fs/microsd/etc/mixers/FMU_AERT.mix ]
+then
+	echo "Using /fs/microsd/etc/mixers/FMU_AERT.mix"
+	mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_AERT.mix
+else
+	echo "Using /etc/mixers/FMU_AERT.mix"
+	mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix
+fi
+
+
+fw_pos_control_l1 start
+fw_att_control start
+
+echo "[HIL] setup done, running"
+
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 424787d54..94c01419e 100755
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -108,7 +108,7 @@ then
 
 	if param compare SYS_AUTOSTART 1000
 	then
-		sh /etc/init.d/1000_rc_fw.hil		
+		sh /etc/init.d/1000_rc_fw_easystar.hil		
 		set MODE custom
 	fi
 	
@@ -129,6 +129,12 @@ then
 		sh /etc/init.d/1003_rc_quad_+.hil
 		set MODE custom
 	fi
+
+	if param compare SYS_AUTOSTART 1004
+	then
+		sh /etc/init.d/1004_rc_fw_Rascal110.hil
+		set MODE custom
+	fi
 	
 	if [ $MODE != custom ]
 	then
-- 
cgit v1.2.3


From db1fe9f0fa239c47f88148ec344c28ecdca21198 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sun, 29 Sep 2013 19:00:12 +0200
Subject: adding skywalker x5 startup script

---
 ROMFS/px4fmu_common/init.d/32_skywalker_x5 | 86 ++++++++++++++++++++++++++++++
 ROMFS/px4fmu_common/init.d/rcS             |  6 +++
 2 files changed, 92 insertions(+)
 create mode 100644 ROMFS/px4fmu_common/init.d/32_skywalker_x5

(limited to 'ROMFS/px4fmu_common')

diff --git a/ROMFS/px4fmu_common/init.d/32_skywalker_x5 b/ROMFS/px4fmu_common/init.d/32_skywalker_x5
new file mode 100644
index 000000000..432cbb14e
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/32_skywalker_x5
@@ -0,0 +1,86 @@
+#!nsh
+
+echo "[init] PX4FMU v1, v2 with or without IO on Skywalker X5"
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	# TODO
+	
+	param set SYS_AUTOCONFIG 0
+	param save
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing
+#
+param set MAV_TYPE 1
+
+set EXIT_ON_END no
+
+#
+# Start and configure PX4IO or FMU interface
+#
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start
+
+	commander 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
+
+	commander start
+
+	fmu mode_pwm
+	param set BAT_V_SCALING 0.004593
+	set EXIT_ON_END yes
+fi
+ 
+#
+# Start the sensors and test them.
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start logging (depends on sensors)
+#
+sh /etc/init.d/rc.logging
+
+#
+# Start GPS interface (depends on orb)
+#
+gps start
+ 
+#
+# Start the attitude and position estimator
+#
+att_pos_estimator_ekf start
+
+#
+# Load mixer and start controllers (depends on px4io)
+#
+if [ -f /fs/microsd/etc/mixers/FMU_delta.mix ]
+then
+	echo "Using FMU_delta mixer from sd card"
+	mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_delta.mix
+else
+	echo "Using standard FMU_delta mixer"
+	mixer load /dev/pwm_output /etc/mixers/FMU_delta.mix
+fi
+fw_att_control start
+fw_pos_control_l1 start
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 94c01419e..9d0800eb1 100755
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -284,6 +284,12 @@ then
 		sh /etc/init.d/31_io_phantom
 		set MODE custom
 	fi
+	
+	if param compare SYS_AUTOSTART 32
+	then
+		sh /etc/init.d/32_skywalker_x5
+		set MODE custom
+	fi
 
 	if param compare SYS_AUTOSTART 40
 	then
-- 
cgit v1.2.3


From 8193382ec245ff82ffb30e2d9038c253bc93a099 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Thu, 24 Oct 2013 17:25:14 +0200
Subject: change default mixer for skywalker x5

---
 ROMFS/px4fmu_common/init.d/32_skywalker_x5 | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

(limited to 'ROMFS/px4fmu_common')

diff --git a/ROMFS/px4fmu_common/init.d/32_skywalker_x5 b/ROMFS/px4fmu_common/init.d/32_skywalker_x5
index 432cbb14e..cd7677112 100644
--- a/ROMFS/px4fmu_common/init.d/32_skywalker_x5
+++ b/ROMFS/px4fmu_common/init.d/32_skywalker_x5
@@ -69,13 +69,13 @@ att_pos_estimator_ekf start
 #
 # Load mixer and start controllers (depends on px4io)
 #
-if [ -f /fs/microsd/etc/mixers/FMU_delta.mix ]
+if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ]
 then
-	echo "Using FMU_delta mixer from sd card"
-	mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_delta.mix
+	echo "Using /fs/microsd/etc/mixers/FMU_Q.mix"
+	mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix
 else
-	echo "Using standard FMU_delta mixer"
-	mixer load /dev/pwm_output /etc/mixers/FMU_delta.mix
+	echo "Using /etc/mixers/FMU_Q.mix"
+	mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
 fi
 fw_att_control start
 fw_pos_control_l1 start
-- 
cgit v1.2.3