ROMFS reshuffling / cleanup, in sync with QGC

ROMFS/px4fmu_common/init.d/16_3dr_iris

@@ -0,0 +1,78 @@
+#!nsh
+
+echo "[init] 3DR Iris Quad"
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	param set SYS_AUTOCONFIG 0
+
+	param set MC_ATTRATE_D	         0.006
+	param set MC_ATTRATE_I	         0.0
+	param set MC_ATTRATE_P	         0.17
+	param set MC_ATT_D	         0.0
+	param set MC_ATT_I	         0.0
+	param set MC_ATT_P	         5.0
+	param set MC_RCLOSS_THR	         0.0
+	param set MC_YAWPOS_D	         0.0
+	param set MC_YAWPOS_I	         0.15
+	param set MC_YAWPOS_P	         0.5
+	param set MC_YAWRATE_D	         0.0
+	param set MC_YAWRATE_I	         0.0
+	param set MC_YAWRATE_P	         0.2
+
+	param save
+fi
+
+#
+# Force some key parameters to sane values
+# MAV_TYPE     2 = quadrotor
+#
+param set MAV_TYPE 2
+ 
+set EXIT_ON_END no
+
+#
+# Start and configure PX4IO or FMU interface
+#
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start
+	usleep 5000
+
+	sh /etc/init.d/rc.io
+	# Set PWM values for DJI ESCs
+	px4io idle 900 900 900 900
+	px4io min 1200 1200 1200 1200
+	px4io max 1800 1800 1800 1800
+else
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS0
+	usleep 5000
+	fmu mode_pwm
+	set EXIT_ON_END yes
+fi
+
+#
+# Load the mixer for a quad with wide arms
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix
+
+#
+# Set PWM output frequency
+#
+pwm -u 400 -m 0xff
+
+#
+# Start common for all multirotors apps
+#
+sh /etc/init.d/rc.multirotor
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi