From d04d62c37ef72914454a99036ff5f675e24f626f Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 25 Sep 2017 11:17:50 -0400
Subject: [PATCH] airframe metadata sort by SYS_AUTOSTART and minor cleanup
 (#8009)

---
 ROMFS/px4fmu_common/init.d/11001_hexa_cox     |  2 +-
 .../init.d/13000_generic_vtol_standard        | 38 ++++++++++++
 ROMFS/px4fmu_common/init.d/3000_generic_wing  | 18 ++++++
 ROMFS/px4fmu_common/init.d/3030_io_camflyer   |  3 +-
 ROMFS/px4fmu_common/init.d/3032_skywalker_x5  |  2 +-
 ROMFS/px4fmu_common/init.d/4001_quad_x        |  2 +-
 ROMFS/px4fmu_common/init.d/4002_quad_x_mount  |  2 +-
 .../init.d/{10021_H4_680mm => 4004_H4_680mm}  |  0
 .../init.d/{4030_solo => 4030_3dr_solo}       |  0
 .../init.d/{10020_3dr_quad => 4031_3dr_quad}  |  0
 .../init.d/50000_generic_ground_vehicle       | 61 +++++++++++++++++++
 .../init.d/50002_traxxas_stampede_2wd         |  3 +-
 .../init.d/{rc.gnd_apps => rc.ugv_apps}       |  0
 .../{rc.gnd_defaults => rc.ugv_defaults}      |  2 +-
 ROMFS/px4fmu_common/init.d/rcS                |  4 +-
 ROMFS/px4fmu_common/mixers/Q.main.mix         | 51 ----------------
 .../{X5.main.mix => fw_generic_wing.main.mix} |  8 +--
 .../px4fmu_common/mixers/ugv_generic.main.mix | 37 +++++++++++
 Tools/px4airframes/srcparser.py               | 29 +--------
 Tools/px4airframes/xmlout.py                  |  1 +
 20 files changed, 173 insertions(+), 90 deletions(-)
 create mode 100644 ROMFS/px4fmu_common/init.d/13000_generic_vtol_standard
 create mode 100644 ROMFS/px4fmu_common/init.d/3000_generic_wing
 rename ROMFS/px4fmu_common/init.d/{10021_H4_680mm => 4004_H4_680mm} (100%)
 rename ROMFS/px4fmu_common/init.d/{4030_solo => 4030_3dr_solo} (100%)
 rename ROMFS/px4fmu_common/init.d/{10020_3dr_quad => 4031_3dr_quad} (100%)
 create mode 100644 ROMFS/px4fmu_common/init.d/50000_generic_ground_vehicle
 rename ROMFS/px4fmu_common/init.d/{rc.gnd_apps => rc.ugv_apps} (100%)
 rename ROMFS/px4fmu_common/init.d/{rc.gnd_defaults => rc.ugv_defaults} (99%)
 delete mode 100644 ROMFS/px4fmu_common/mixers/Q.main.mix
 rename ROMFS/px4fmu_common/mixers/{X5.main.mix => fw_generic_wing.main.mix} (85%)
 create mode 100644 ROMFS/px4fmu_common/mixers/ugv_generic.main.mix

diff --git a/ROMFS/px4fmu_common/init.d/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/11001_hexa_cox
index 708b172b41..a61f5eac08 100644
--- a/ROMFS/px4fmu_common/init.d/11001_hexa_cox
+++ b/ROMFS/px4fmu_common/init.d/11001_hexa_cox
@@ -1,6 +1,6 @@
 #!nsh
 #
-# @name Generic Hexa coaxial geometry
+# @name Generic Hexarotor coaxial geometry
 #
 # @type Hexarotor Coaxial
 # @class Copter
diff --git a/ROMFS/px4fmu_common/init.d/13000_generic_vtol_standard b/ROMFS/px4fmu_common/init.d/13000_generic_vtol_standard
new file mode 100644
index 0000000000..674fc40910
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/13000_generic_vtol_standard
@@ -0,0 +1,38 @@
+#!nsh
+#
+# @name Generic Quadplane VTOL
+#
+# @type Standard VTOL
+# @class VTOL
+#
+# @maintainer
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output AUX1 Aileron 1
+# @output AUX2 Aileron 2
+# @output AUX3 Elevator
+# @output AUX4 Rudder
+# @output AUX5 Throttle
+#
+# @board px4fmu-v1 exclude
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set VT_TYPE 2
+	param set VT_MOT_COUNT 4
+fi
+
+set MIXER quad_x
+set PWM_OUT 1234
+set PWM_RATE 400
+
+set MIXER_AUX vtol_AAERT
+set PWM_ACHDIS 5
+set PWM_AUX_DISARMED 950
+
+set MAV_TYPE 22
diff --git a/ROMFS/px4fmu_common/init.d/3000_generic_wing b/ROMFS/px4fmu_common/init.d/3000_generic_wing
new file mode 100644
index 0000000000..8ce2d55f83
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/3000_generic_wing
@@ -0,0 +1,18 @@
+#!nsh
+#
+# @name Generic Flying Wing
+#
+# @type Flying Wing
+# @class Plane
+#
+# @maintainer
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF == yes ]
+then
+
+fi
+
+set MIXER fw_generic_wing
diff --git a/ROMFS/px4fmu_common/init.d/3030_io_camflyer b/ROMFS/px4fmu_common/init.d/3030_io_camflyer
index 2e88892795..f5cee7b918 100644
--- a/ROMFS/px4fmu_common/init.d/3030_io_camflyer
+++ b/ROMFS/px4fmu_common/init.d/3030_io_camflyer
@@ -43,7 +43,8 @@ then
 	param set FW_RR_P 0.04
 fi
 
-set MIXER Q
+set MIXER fw_generic_wing
+
 # Provide ESC a constant 1000 us pulse while disarmed
 set PWM_OUT 4
 set PWM_DISARMED 1000
diff --git a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
index 4e24659351..5ee10c2c4a 100644
--- a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
+++ b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
@@ -40,4 +40,4 @@ then
 	param set FW_RR_P 0.04
 fi
 
-set MIXER X5
+set MIXER fw_generic_wing
diff --git a/ROMFS/px4fmu_common/init.d/4001_quad_x b/ROMFS/px4fmu_common/init.d/4001_quad_x
index cac569c01b..f122cece3d 100644
--- a/ROMFS/px4fmu_common/init.d/4001_quad_x
+++ b/ROMFS/px4fmu_common/init.d/4001_quad_x
@@ -1,6 +1,6 @@
 #!nsh
 #
-# @name Generic Quadrotor X config
+# @name Generic Quadrotor x
 #
 # @type Quadrotor x
 # @class Copter
diff --git a/ROMFS/px4fmu_common/init.d/4002_quad_x_mount b/ROMFS/px4fmu_common/init.d/4002_quad_x_mount
index 646907c0c2..d4f7b8b501 100644
--- a/ROMFS/px4fmu_common/init.d/4002_quad_x_mount
+++ b/ROMFS/px4fmu_common/init.d/4002_quad_x_mount
@@ -1,6 +1,6 @@
 #!nsh
 #
-# @name Generic Quadrotor X config with mount (e.g. gimbal)
+# @name Generic Quadrotor x with mount (e.g. gimbal)
 #
 # @type Quadrotor x
 # @class Copter
diff --git a/ROMFS/px4fmu_common/init.d/10021_H4_680mm b/ROMFS/px4fmu_common/init.d/4004_H4_680mm
similarity index 100%
rename from ROMFS/px4fmu_common/init.d/10021_H4_680mm
rename to ROMFS/px4fmu_common/init.d/4004_H4_680mm
diff --git a/ROMFS/px4fmu_common/init.d/4030_solo b/ROMFS/px4fmu_common/init.d/4030_3dr_solo
similarity index 100%
rename from ROMFS/px4fmu_common/init.d/4030_solo
rename to ROMFS/px4fmu_common/init.d/4030_3dr_solo
diff --git a/ROMFS/px4fmu_common/init.d/10020_3dr_quad b/ROMFS/px4fmu_common/init.d/4031_3dr_quad
similarity index 100%
rename from ROMFS/px4fmu_common/init.d/10020_3dr_quad
rename to ROMFS/px4fmu_common/init.d/4031_3dr_quad
diff --git a/ROMFS/px4fmu_common/init.d/50000_generic_ground_vehicle b/ROMFS/px4fmu_common/init.d/50000_generic_ground_vehicle
new file mode 100644
index 0000000000..165b34b039
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/50000_generic_ground_vehicle
@@ -0,0 +1,61 @@
+#!nsh
+#
+# @name Generic Ground Vehicle
+#
+# @type Rover
+# @class Rover
+#
+# @output MAIN2 steering
+# @output MAIN4 throttle
+#
+# @maintainer
+#
+
+sh /etc/init.d/rc.ugv_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set BAT_N_CELLS 2
+
+	param set FW_AIRSPD_MIN 0
+	param set FW_AIRSPD_TRIM 1
+	param set FW_AIRSPD_MAX 3
+
+	param set NAV_ACC_RAD 0.5
+
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+
+	param set EKF2_GBIAS_INIT 0.01
+	param set EKF2_ANGERR_INIT 0.01
+	param set EKF2_MAG_TYPE 1
+
+	param set GND_WR_P 2
+	param set GND_WR_I 0.9674
+	param set GND_WR_IMAX 0.1
+	param set GND_WR_D 1.2
+	param set GND_SP_CTRL_MODE 1
+	param set GND_L1_DIST 10
+	param set GND_THR_IDLE 0
+	param set GND_THR_CRUISE 0
+	param set GND_THR_MAX 0.5
+	param set GND_THR_MIN 0
+	param set GND_SPEED_P 0.25
+	param set GND_SPEED_I 0.001
+	param set GND_SPEED_D 3
+	param set GND_SPEED_IMAX 0.125
+	param set GND_SPEED_THR_SC 1
+
+fi
+
+# Configure this as ugv
+set MAV_TYPE 10
+
+# Set mixer
+set MIXER ugv_generic
+
+# Provide ESC a constant 1500 us pulse
+set PWM_DISARMED 1500
+set PWM_MAIN_REV2 1
+set PWM_MAX 2000
+set PWM_MIN 1000
diff --git a/ROMFS/px4fmu_common/init.d/50002_traxxas_stampede_2wd b/ROMFS/px4fmu_common/init.d/50002_traxxas_stampede_2wd
index c229b1453c..11f837c71b 100644
--- a/ROMFS/px4fmu_common/init.d/50002_traxxas_stampede_2wd
+++ b/ROMFS/px4fmu_common/init.d/50002_traxxas_stampede_2wd
@@ -13,7 +13,7 @@
 # @maintainer Marco Zorzi
 #
 
-sh /etc/init.d/rc.gnd_defaults
+sh /etc/init.d/rc.ugv_defaults
 
 if [ $AUTOCNF == yes ]
 then
@@ -52,6 +52,7 @@ fi
 
 # Configure this as ugv
 set MAV_TYPE 10
+
 # Set mixer
 set MIXER stampede
 
diff --git a/ROMFS/px4fmu_common/init.d/rc.gnd_apps b/ROMFS/px4fmu_common/init.d/rc.ugv_apps
similarity index 100%
rename from ROMFS/px4fmu_common/init.d/rc.gnd_apps
rename to ROMFS/px4fmu_common/init.d/rc.ugv_apps
diff --git a/ROMFS/px4fmu_common/init.d/rc.gnd_defaults b/ROMFS/px4fmu_common/init.d/rc.ugv_defaults
similarity index 99%
rename from ROMFS/px4fmu_common/init.d/rc.gnd_defaults
rename to ROMFS/px4fmu_common/init.d/rc.ugv_defaults
index 556098f924..1af7920217 100644
--- a/ROMFS/px4fmu_common/init.d/rc.gnd_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.ugv_defaults
@@ -9,7 +9,7 @@ then
 #
 	param set NAV_DLL_ACT 0
 	param set NAV_ACC_RAD 2.0
-	
+
 	# temporary
 	param set NAV_FW_ALT_RAD 1000
 
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 9349126c2a..79d5bc2d1b 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -865,7 +865,7 @@ then
 		if [ $MIXER == none ]
 		then
 			# Set default mixer for UGV if not defined
-			set MIXER stampede
+			set MIXER ugv_generic
 		fi
 
 		if [ $MAV_TYPE == none ]
@@ -880,7 +880,7 @@ then
 		sh /etc/init.d/rc.interface
 
 		# Start standard UGV apps
-		sh /etc/init.d/rc.gnd_apps
+		sh /etc/init.d/rc.ugv_apps
 	fi
 
 	#
diff --git a/ROMFS/px4fmu_common/mixers/Q.main.mix b/ROMFS/px4fmu_common/mixers/Q.main.mix
deleted file mode 100644
index 95a3d226d3..0000000000
--- a/ROMFS/px4fmu_common/mixers/Q.main.mix
+++ /dev/null
@@ -1,51 +0,0 @@
-Delta-wing mixer for PX4FMU
-===========================
-
-Designed for Bormatec Camflyer Q
-
-This file defines mixers suitable for controlling a delta wing aircraft using
-PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
-servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
-assumed to be unused.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-See the README for more information on the scaler format.
-
-Elevon mixers
--------------
-Three scalers total (output, roll, pitch).
-
-On the assumption that the two elevon servos are physically reversed, the pitch
-input is inverted between the two servos.
-
-The scaling factor for roll inputs is adjusted to implement differential travel
-for the elevons.
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 0 0  -8000  -8000      0 -10000  10000
-S: 0 1   6000   6000      0 -10000  10000
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 0 0  -8000  -8000      0 -10000  10000
-S: 0 1  -6000  -6000      0 -10000  10000
-
-Output 2
---------
-This mixer is empty.
-
-Z:
-
-Motor speed mixer
------------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/X5.main.mix b/ROMFS/px4fmu_common/mixers/fw_generic_wing.main.mix
similarity index 85%
rename from ROMFS/px4fmu_common/mixers/X5.main.mix
rename to ROMFS/px4fmu_common/mixers/fw_generic_wing.main.mix
index 4a3093c2e6..b33afc15fe 100644
--- a/ROMFS/px4fmu_common/mixers/X5.main.mix
+++ b/ROMFS/px4fmu_common/mixers/fw_generic_wing.main.mix
@@ -1,9 +1,9 @@
-Delta-wing mixer for PX4FMU
+Generic wing mixer
 ===========================
 
-This file defines mixers suitable for controlling a delta wing aircraft using
-PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
-servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
+This file defines mixers suitable for controlling a delta wing aircraft.
+The configuration assumes the elevon servos are connected to servo
+outputs 0 and 1 and the motor speed control to output 3. Output 2 is
 assumed to be unused.
 
 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
diff --git a/ROMFS/px4fmu_common/mixers/ugv_generic.main.mix b/ROMFS/px4fmu_common/mixers/ugv_generic.main.mix
new file mode 100644
index 0000000000..aacfef1f5b
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/ugv_generic.main.mix
@@ -0,0 +1,37 @@
+Generic car mixer (eg Traxxas Stampede RC Car)
+===========================
+
+Designed for Traxxas Stampede
+
+This file defines mixers suitable for controlling a Traxxas Stampede rover using
+PX4FMU. The configuration assumes the steering is connected to PX4FMU
+servo outputs  1 and the motor speed control to output 3. Output 0 and 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 2 (yaw), and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+
+Output 0
+---------------------------------------
+Z:
+
+Steering mixer using roll on output 1
+---------------------------------------
+M: 1
+O:       10000   10000      0 -10000  10000
+S: 0 2   10000   10000      0 -10000  10000
+
+
+Output 2
+---------------------------------------
+This mixer is empty.
+Z:
+
+
+Output 3
+---------------------------------------
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3  10000  10000      0 -10000  10000
diff --git a/Tools/px4airframes/srcparser.py b/Tools/px4airframes/srcparser.py
index 6704352158..eec9dffb11 100644
--- a/Tools/px4airframes/srcparser.py
+++ b/Tools/px4airframes/srcparser.py
@@ -90,16 +90,14 @@ class ParameterGroup(object):
             return "Boat"
         return "AirframeUnknown"
 
-
-        
     def GetParams(self):
         """
         Returns the parsed list of parameters. Every parameter is a Parameter
         object. Note that returned object is not a copy. Modifications affect
         state of the parser.
         """
-        return sorted(self.params,
-                key=lambda x: x.GetFieldValue("code"))
+
+        return sorted(self.params, key=lambda x: x.GetId())
 
 class Parameter(object):
     """
@@ -443,28 +441,7 @@ class SourceParser(object):
                         sys.stderr.write("Duplicate parameter definition: {0}\n".format(name_plus_board))
                         return False
                 seenParamNames.append(name_plus_board)
-                # Validate values
-                default = param.GetDefault()
-                min = param.GetFieldValue("min")
-                max = param.GetFieldValue("max")
-                #sys.stderr.write("{0} default:{1} min:{2} max:{3}\n".format(name, default, min, max))
-                if default != "" and not self.IsNumber(default):
-                    sys.stderr.write("Default value not number: {0} {1}\n".format(name, default))
-                    return False
-                if min != "":
-                    if not self.IsNumber(min):
-                        sys.stderr.write("Min value not number: {0} {1}\n".format(name, min))
-                        return False
-                    if default != "" and float(default) < float(min):
-                        sys.stderr.write("Default value is smaller than min: {0} default:{1} min:{2}\n".format(name, default, min))
-                        return False
-                if max != "":
-                    if not self.IsNumber(max):
-                        sys.stderr.write("Max value not number: {0} {1}\n".format(name, max))
-                        return False
-                    if default != "" and float(default) > float(max):
-                        sys.stderr.write("Default value is larger than max: {0} default:{1} max:{2}\n".format(name, default, max))
-                        return False
+
         return True
 
     def GetParamGroups(self):
diff --git a/Tools/px4airframes/xmlout.py b/Tools/px4airframes/xmlout.py
index 6d9ba02ac5..6de2e1b920 100644
--- a/Tools/px4airframes/xmlout.py
+++ b/Tools/px4airframes/xmlout.py
@@ -57,6 +57,7 @@ class XMLOutput():
                             attribstrs = attrib.split(":")
                             xml_field.attrib[attribstrs[0].strip()] = attribstrs[1].strip()
                         xml_field.text = valstrs[0]
+
         indent(xml_parameters)
         self.xml_document = ET.ElementTree(xml_parameters)