Merge pull request #924 from PX4/qu4d

Steadidrone Qu4d startup script

ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d

@@ -0,0 +1,35 @@
+#!nsh
+#
+# Steadidrone QU4D
+#
+# Thomas Gubler <thomasgubler@gmail.com>
+# Lorenz Meier <lm@inf.ethz.ch>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+	# TODO tune roll/pitch separately
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.13
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.004
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.13
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.004
+	param set MC_YAW_P 0.5
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_D 0.0
+
+	param set BAT_N_CELLS 4
+fi
+
+set MIXER FMU_quad_w
+
+set PWM_MIN 1210
+set PWM_MAX 2100
+
+set PWM_OUTPUTS 1234

ROMFS/px4fmu_common/init.d/rc.autostart

@@ -195,6 +195,11 @@ then
 	sh /etc/init.d/10016_3dr_iris
 fi
 
+if param compare SYS_AUTOSTART 10017
+then
+	sh /etc/init.d/10017_steadidrone_qu4d
+fi
+
 #
 # Hexa Coaxial
 #