Add Steadidrone MAVRIK mixer and gains.

ROMFS/px4fmu_common/init.d/12002_steadidrone_mavrik

@@ -0,0 +1,41 @@
+#!nsh
+#
+# @name Steadidrone MAVRIK
+#
+# @type Octo Coax Wide
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set MC_PITCH_P 4.0
+	param set MC_PITCHRATE_P 0.24
+	param set MC_PITCHRATE_I 0.09
+	param set MC_PITCHRATE_D 0.013
+	param set MC_PITCHRATE_MAX 180.0
+
+	param set MC_ROLL_P 4.0
+	param set MC_ROLLRATE_P 0.16
+	param set MC_ROLLRATE_I 0.07
+	param set MC_ROLLRATE_D 0.009
+	param set MC_ROLLRATE_MAX 180.0
+
+	param set MC_YAW_P 3.0
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.5
+
+	param set MPC_HOLD_MAX_XY 0.25
+	param set MPC_THR_MIN 0.15
+	param set MPC_Z_VEL_MAX 2.0
+
+	param set BAT_N_CELLS 4
+fi
+
+set MIXER octo_cox_w
+
+set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/rcS

@@ -692,7 +692,7 @@ then
 			then
 				set MAV_TYPE 14
 			fi
-			if [ $MIXER == octo_cox ]
+			if [ $MIXER == octo_cox -o $MIXER == octo_cox_w ]
 			then
 				set MAV_TYPE 14
 			fi

ROMFS/px4fmu_common/mixers/octo_cox_w.main.mix

@@ -0,0 +1,3 @@
+# Octo coaxial with wide arms
+
+R: 8cw 10000 10000 10000 0

src/modules/systemlib/mixer/mixer_multirotor.cpp

@@ -180,6 +180,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
 	} else if (!strcmp(geomname, "8c")) {
 		geometry = MultirotorGeometry::OCTA_COX;
 
+	} else if (!strcmp(geomname, "8cw")) {
+		geometry = MultirotorGeometry::OCTA_COX_WIDE;
+
 	} else if (!strcmp(geomname, "2-")) {
 		geometry = MultirotorGeometry::TWIN_ENGINE;
 

src/modules/systemlib/mixer/multi_tables.py

@@ -157,6 +157,17 @@ octa_cox = [
     [-135, CW],
 ]
 
+octa_cox_wide = [
+    [  68, CCW],
+    [ -68, CW],
+    [-129, CCW],
+    [ 129, CW],
+    [ -68, CCW],
+    [  68, CW],
+    [ 129, CCW],
+    [-129, CW],
+]
+
 twin_engine = [
     [ 90, 0.0],
     [-90, 0.0],
@@ -169,7 +180,7 @@ tri_y = [
 ]
 
 
-tables = [quad_x, quad_h, quad_plus, quad_v, quad_wide, quad_deadcat, hex_x, hex_plus, hex_cox, octa_x, octa_plus, octa_cox, twin_engine, tri_y]
+tables = [quad_x, quad_h, quad_plus, quad_v, quad_wide, quad_deadcat, hex_x, hex_plus, hex_cox, octa_x, octa_plus, octa_cox, octa_cox_wide, twin_engine, tri_y]
 
 def variableName(variable):
     for variableName, value in list(globals().items()):