Merge branch 'master' of github.com:PX4/Firmware into beta_mavlink2

ROMFS/px4fmu_common/init.d/11001_hexa_cox

@@ -2,7 +2,7 @@
 #
 # UNTESTED UNTESTED!
 #
-# Generic 10” Hexa coaxial geometry
+# Generic 10" Hexa coaxial geometry
 #
 # Lorenz Meier <lm@inf.ethz.ch>
 #

ROMFS/px4fmu_common/init.d/12001_octo_cox

@@ -1,6 +1,6 @@
 #!nsh
 #
-# Generic 10” Octo coaxial geometry
+# Generic 10" Octo coaxial geometry
 #
 # Lorenz Meier <lm@inf.ethz.ch>
 #

ROMFS/px4fmu_common/init.d/3031_phantom

@@ -2,9 +2,38 @@
 #
 # Phantom FPV Flying Wing
 #
-# Simon Wilks <sjwilks@gmail.com>
+# Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com>
 #
 
 sh /etc/init.d/rc.fw_defaults
 
+if [ $DO_AUTOCONFIG == yes ]
+then
+	param set FW_AIRSPD_MIN 13
+	param set FW_AIRSPD_TRIM 18
+	param set FW_AIRSPD_MAX 40
+	param set FW_ATT_TC 0.3
+	param set FW_L1_DAMPING 0.75
+	param set FW_L1_PERIOD 15
+	param set FW_PR_FF 0.2
+	param set FW_PR_I 0.005
+	param set FW_PR_IMAX 0.2
+	param set FW_PR_P 0.03
+	param set FW_P_LIM_MAX 50
+	param set FW_P_LIM_MIN -50
+	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 0.5
+	param set FW_RR_I 0.02
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.08
+	param set FW_R_LIM 70
+	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_Q

ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha

@@ -0,0 +1,42 @@
+#!nsh
+#
+# TBS Caipirinha Flying Wing
+#
+# Thomas Gubler <thomasgubler@gmail.com>
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+	
+	# TODO: these are the X5 default parameters, update them to the caipi
+
+	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 0.3
+	param set FW_PR_I 0
+	param set FW_PR_IMAX 0.2
+	param set FW_PR_P 0.03
+	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 0.3
+	param set FW_RR_I 0
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.03
+	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_Q

ROMFS/px4fmu_common/init.d/4001_quad_x

@@ -1,6 +1,6 @@
 #!nsh
 #
-# Generic 10” Quad X geometry
+# Generic 10" Quad X geometry
 #
 # Lorenz Meier <lm@inf.ethz.ch>
 #

ROMFS/px4fmu_common/init.d/5001_quad_+

@@ -1,6 +1,6 @@
 #!nsh
 #
-# Generic 10” Quad + geometry
+# Generic 10" Quad + geometry
 #
 # Anton Babushkin <anton.babushkin@me.com>
 #

ROMFS/px4fmu_common/init.d/6001_hexa_x

@@ -1,6 +1,6 @@
 #!nsh
 #
-# Generic 10” Hexa X geometry
+# Generic 10" Hexa X geometry
 #
 # Anton Babushkin <anton.babushkin@me.com>
 #

ROMFS/px4fmu_common/init.d/7001_hexa_+

@@ -1,6 +1,6 @@
 #!nsh
 #
-# Generic 10” Hexa + geometry
+# Generic 10" Hexa + geometry
 #
 # Anton Babushkin <anton.babushkin@me.com>
 #

ROMFS/px4fmu_common/init.d/8001_octo_x

@@ -1,6 +1,6 @@
 #!nsh
 #
-# Generic 10” Octo X geometry
+# Generic 10" Octo X geometry
 #
 # Anton Babushkin <anton.babushkin@me.com>
 #

ROMFS/px4fmu_common/init.d/9001_octo_+

@@ -1,6 +1,6 @@
 #!nsh
 #
-# Generic 10” Octo + geometry
+# Generic 10" Octo + geometry
 #
 # Anton Babushkin <anton.babushkin@me.com>
 #

ROMFS/px4fmu_common/init.d/rc.autostart

@@ -97,6 +97,11 @@ then
 	sh /etc/init.d/3034_fx79
 fi
 
+if param compare SYS_AUTOSTART 3100
+then
+	sh /etc/init.d/3100_tbs_caipirinha
+fi
+
 #
 # Quad X
 #