Airframe: IFO-S setup is added.

ROMFS/px4fmu_common/init.d/airframes/4071_ifo

@@ -117,6 +117,7 @@ then
 
 	# TELEM1 ttyS1 - Wifi module
 	param set MAV_0_CONFIG 101
+	param set MAV_0_RATE 0
 	param set MAV_0_MODE 2	# onboard
 	param set SER_TEL1_BAUD 921600
 

ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s

@@ -0,0 +1,136 @@
+#!/bin/sh
+#
+# @name UVify IFO
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+#
+# @board px4_fmu-v2 exclude
+# @board px4_fmu-v3 exclude
+# @board px4_fmu-v4pro exclude
+# @board px4_fmu-v5 exclude
+# @board px4_fmu-v5x exclude
+# @board intel_aerofc-v1 exclude
+#
+# @maintainer Hyon Lim <lim@uvify.com>
+#
+
+set VEHICLE_TYPE mc
+set MIXER quad_x
+set PWM_OUT 1234
+
+if [ $AUTOCNF = yes ]
+then
+	# Attitude & rate gains
+	#param set MC_ROLL_P 7.00000
+	param set MC_ROLLRATE_P 0.15000
+	#param set MC_ROLLRATE_I 0.90000
+	param set MC_ROLLRATE_D 0.00130
+
+	#param set MC_PITCH_P 7.00000
+	param set MC_PITCHRATE_P 0.15000
+	#param set MC_PITCHRATE_I 1.10000
+	param set MC_PITCHRATE_D 0.00160
+
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.2
+	#param set MC_YAWRATE_I 0.15
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.5
+
+	#param set MC_ROLL_TC 0.19
+	#param set MC_PITCH_TC 0.16
+
+	# Manual mode settings: Unleash Draco R's power :)
+	#param set MPC_MAN_TILT_MAX 70.00000
+	#param set MC_PITCHRATE_MAX 1600.00000
+	#param set MC_ROLLRATE_MAX 1600.00000
+	#param set MC_YAWRATE_MAX 700.00000
+	param set MPC_MANTHR_MAX 0.90000
+	param set MPC_MANTHR_MIN 0.08000
+	#param set MPC_MAN_TILT_MAX 35.0000
+	#param set MPC_TILTMAX_AIR 20.0000
+
+	# Disable RC filtering
+	param set RC_FLT_CUTOFF 0.00000
+
+	# Filter settings
+	param set MC_DTERM_CUTOFF 90.00000
+	param set IMU_GYRO_CUTOFF 100.00000
+
+	# Thrust curve (avoids the need for TPA)
+	#param set THR_MDL_FAC 0.25
+
+	# System
+	param set PWM_MAX 1950
+	param set PWM_MIN 1100
+	param set PWM_RATE 0
+
+	# Sensors
+	param set SENS_BOARD_ROT 10
+	# Yaw 180
+	param set SENS_FLOW_ROT 4
+	# TELEM3
+	param set SENS_TFMINI_CFG 103
+	param set SENS_EN_PMW3901 1
+
+	# EKF2
+	param set EKF2_AID_MASK 3
+	param set EKF2_GND_EFF_DZ 6.0
+	param set EKF2_HGT_MODE 1
+	param set EKF2_MIN_RNG 0.3
+	param set EKF2_OF_QMIN 50
+	param set EKF2_RNG_AID 1
+
+	# Position control
+	param set MPC_Z_P 1.00000
+	param set MPC_Z_VEL_P 0.20000
+	param set MPC_Z_VEL_I 0.02000
+	param set MPC_Z_VEL_D 0.00000
+
+	param set MPC_THR_MIN 0.06000
+	param set MPC_THR_HOVER 0.3000
+
+	param set MIS_TAKEOFF_ALT 1.1000
+	param set MPC_XY_P 1.7000
+	param set MPC_XY_VEL_P 0.1300
+	param set MPC_XY_VEL_I 0.0600
+	param set MPC_XY_VEL_D 0.0100
+	param set MPC_TKO_RAMP_T 1.0000
+	param set MPC_TKO_SPEED 1.1000
+	param set MPC_VEL_MANUAL 3.0000
+
+	param set BAT_SOURCE 0
+	param set BAT_N_CELLS 4
+	param set BAT_V_DIV 10.14
+	param set BAT_A_PER_V 18.18
+	#param set CBRK_IO_SAFETY 22027
+	param set COM_ARM_EKF_AB 0.00500
+	param set COM_DISARM_LAND 2
+
+	# Filter settings
+	param set IMU_GYRO_CUTOFF 90.00000
+	param set MC_DTERM_CUTOFF 70.00000
+
+	# Don't try to be intelligent on RC loss: just cut the motors
+	param set NAV_RCL_ACT 6
+
+	# enable to use high-rate logging for better rate tracking analysis
+	# param set SDLOG_PROFILE 19
+
+	# TELEM1 ttyS1 - Wifi module
+	param set MAV_0_CONFIG 101
+	param set MAV_0_RATE 0
+	param set MAV_0_MODE 2	# onboard
+	param set SER_TEL1_BAUD 921600
+
+	# TELEM2 ttyS2 - Sub 1-Ghz
+	param set MAV_1_CONFIG 102
+	param set MAV_1_MODE 0	# normal
+	param set SER_TEL2_BAUD 57600
+fi

ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt

@@ -80,6 +80,7 @@ px4_add_romfs_files(
 	4070_aerofc
 	4071_ifo
 	4072_draco
+	4073_ifo-s
 	4080_zmr250
 	4090_nanomind
 	4100_tiltquadrotor

boards/uvify/core/default.cmake

@@ -12,6 +12,7 @@ px4_add_board(
 		GPS1:/dev/ttyS3
 		TEL1:/dev/ttyS1
 		TEL2:/dev/ttyS2
+		TEL3:/dev/ttyS6
 	DRIVERS
 		adc
 		barometer/ms5611

boards/uvify/core/init/rc.board_sensors

@@ -42,3 +42,12 @@ then
 	mpu9250 -s -R 2 start
 	lis3mdl -R 2 -X start
 fi
+
+# IFO-S
+if param compare SYS_AUTOSTART 4073
+then
+	# IFO GPS LED
+	rgbled_ncp5623c start -a 0x38
+	mpu9250 -R 2 start
+	lis3mdl -R 2 -X start
+fi

boards/uvify/core/nuttx-config/nsh/defconfig

@@ -42,7 +42,7 @@ CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_PRODUCTID=0x0012
-CONFIG_CDCACM_PRODUCTSTR="Core"
+CONFIG_CDCACM_PRODUCTSTR="PX4 FMU UVify Core"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=2000
 CONFIG_CDCACM_VENDORID=0x26ac