From 7d528330d570fa4900b1a24c2a1f851c3a7dcba0 Mon Sep 17 00:00:00 2001
From: Anton Matosov <anton.matosov@gmail.com>
Date: Tue, 6 Jan 2015 00:57:54 +0200
Subject: Implemented SK450 DeadCat frame support Implemented the way to
 specify motor output scale which is required for SK450 DeadCat as it has
 asymetrical arms (front arms are longer than back ones)

---
 ROMFS/px4fmu_common/init.d/10019_sk450_deadcat  | 32 +++++++++++++++++++++++++
 ROMFS/px4fmu_common/init.d/rc.autostart         |  5 ++++
 ROMFS/px4fmu_common/mixers/FMU_quad_deadcat.mix | 25 +++++++++++++++++++
 3 files changed, 62 insertions(+)
 create mode 100644 ROMFS/px4fmu_common/init.d/10019_sk450_deadcat
 create mode 100644 ROMFS/px4fmu_common/mixers/FMU_quad_deadcat.mix

(limited to 'ROMFS')

diff --git a/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat b/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat
new file mode 100644
index 000000000..96463d5ef
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat
@@ -0,0 +1,32 @@
+#!nsh
+#
+# HobbyKing SK450 DeadCat modification
+#
+# Anton Matosov <anton.matosov@gmail.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set MC_ROLL_P 6.0
+	param set MC_ROLLRATE_P 0.04
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLLRATE_D 0.0015
+	
+	param set MC_PITCH_P 6.0
+	param set MC_PITCHRATE_P 0.08
+	param set MC_PITCHRATE_I 0.2
+	param set MC_PITCHRATE_D 0.0015
+	
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.1
+	param set MC_YAWRATE_I 0.07
+	param set MC_YAWRATE_D 0.0
+fi
+
+set VEHICLE_TYPE mc
+set MIXER FMU_quad_deadcat
+
+set PWM_OUTPUTS 1234
+set PWM_MIN 1075
diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart
index 20f2be0d9..b83687fbd 100644
--- a/ROMFS/px4fmu_common/init.d/rc.autostart
+++ b/ROMFS/px4fmu_common/init.d/rc.autostart
@@ -226,6 +226,11 @@ then
 	sh /etc/init.d/10018_tbs_endurance
 fi
 
+if param compare SYS_AUTOSTART 10019
+then
+	sh /etc/init.d/10019_sk450_deadcat
+fi
+
 #
 # Hexa Coaxial
 #
diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_deadcat.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_deadcat.mix
new file mode 100644
index 000000000..a8c5b716d
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/FMU_quad_deadcat.mix
@@ -0,0 +1,25 @@
+Multirotor mixer for PX4FMU
+===========================
+
+This file defines a single mixer for a quadrotor in SK450 DeadCat configuration.  All controls are mixed 100%.
+
+R: 4dc 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
-- 
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