From 0a87f1d01ce089e6f6ddba42be6847d5783cbfaf Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Sat, 8 Feb 2014 00:32:57 +0100
Subject: Startup scripts: move X5 attitude parameters back to X5 script and
 only leave airframe independent params in FW defaults script

---
 ROMFS/px4fmu_common/init.d/3032_skywalker_x5 | 29 ++++++++++++++++++++++++++++
 ROMFS/px4fmu_common/init.d/rc.fw_defaults    | 28 +--------------------------
 ROMFS/px4fmu_common/init.d/rc.mc_defaults    |  2 +-
 3 files changed, 31 insertions(+), 28 deletions(-)

(limited to 'ROMFS')

diff --git a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
index 1657e6d36..3f5f79857 100644
--- a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
+++ b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
@@ -7,4 +7,33 @@
 
 sh /etc/init.d/rc.fw_defaults
 
+if [ $DO_AUTOCONFIG == yes ]
+then
+	param set FW_AIRSPD_MIN 15
+	param set FW_AIRSPD_TRIM 20
+	param set FW_AIRSPD_MAX 40
+	param set FW_ATT_TC 0.3
+	param set FW_L1_DAMPING 0.74
+	param set FW_L1_PERIOD 15
+	param set FW_PR_FF 0.8
+	param set FW_PR_I 0
+	param set FW_PR_IMAX 0.2
+	param set FW_PR_P 0.05
+	param set FW_P_LIM_MAX 45
+	param set FW_P_LIM_MIN -45
+	param set FW_P_RMAX_NEG 0
+	param set FW_P_RMAX_POS 0
+	param set FW_P_ROLLFF 0
+	param set FW_RR_FF 0.6
+	param set FW_RR_I 0
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.05
+	param set FW_R_LIM 60
+	param set FW_R_RMAX 0
+	param set FW_T_HRATE_P 0.01
+	param set FW_T_RLL2THR 15
+	param set FW_T_SRATE_P 0.01
+	param set FW_T_TIME_CONST 5
+fi
+
 set MIXER FMU_X5
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
index a28f67b65..3e340699f 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@@ -5,34 +5,8 @@ set VEHICLE_TYPE fw
 if [ $DO_AUTOCONFIG == yes ]
 then
 #
-# Default parameters for this platform
+# Default parameters for FW
 #
-	param set FW_AIRSPD_MIN 15
-	param set FW_AIRSPD_TRIM 20
-	param set FW_AIRSPD_MAX 80
-	param set FW_ATT_TC 0.3
-	param set FW_L1_DAMPING 0.74
-	param set FW_L1_PERIOD 15
-	param set FW_PR_FF 0.8
-	param set FW_PR_I 0
-	param set FW_PR_IMAX 0.2
-	param set FW_PR_P 0.05
-	param set FW_P_LIM_MAX 45
-	param set FW_P_LIM_MIN -45
-	param set FW_P_RMAX_NEG 0
-	param set FW_P_RMAX_POS 0
-	param set FW_P_ROLLFF 0
-	param set FW_RR_FF 0.6
-	param set FW_RR_I 0
-	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.05
-	param set FW_R_LIM 60
-	param set FW_R_RMAX 0
-	param set FW_T_HRATE_P 0.01
-	param set FW_T_RLL2THR 15
-	param set FW_T_SRATE_P 0.01
-	param set FW_T_TIME_CONST 5
-	
 	param set NAV_LAND_ALT 90
 	param set NAV_RTL_ALT 100
 	param set NAV_RTL_LAND_T -1
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
index 13b2c9717..50d02d9e4 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
@@ -5,7 +5,7 @@ set VEHICLE_TYPE fw
 if [ $DO_AUTOCONFIG == yes ]
 then
 	#
-	# Default parameters for this platform
+	# Default parameters for MC
 	#
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.12
-- 
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