Merge branch 'beta' into stable

ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha

@@ -30,6 +30,9 @@ then
 	param set SYS_COMPANION 157600
 	param set PWM_MAIN_REV0 1
 	param set PWM_MAIN_REV1 1
+	param set PWM_DISARMED 0
+	param set PWM_MIN 900
+	param set PWM_MAX 2100
 fi
 
 set PWM_DISARMED p:PWM_DISARMED

ROMFS/px4fmu_common/init.d/4010_dji_f330

@@ -26,6 +26,20 @@ then
 	param set PWM_MAX 1950
 fi
 
+# Transitional support: ensure suitable PWM min/max param values
+if param compare PWM_MIN 1000
+then
+	param set PWM_MIN 1230
+fi
+if param compare PWM_MAX 2000
+then
+	param set PWM_MAX 1950
+fi
+if param compare PWM_DISARMED 0
+then
+	param set PWM_DISARMED 900
+fi
+
 set PWM_DISARMED p:PWM_DISARMED
 set PWM_MIN p:PWM_MIN
 set PWM_MAX p:PWM_MAX

ROMFS/px4fmu_common/init.d/4011_dji_f450

@@ -27,6 +27,20 @@ then
 	param set PWM_MAX 1950
 fi
 
+# Transitional support: ensure suitable PWM min/max param values
+if param compare PWM_MIN 1000
+then
+	param set PWM_MIN 1230
+fi
+if param compare PWM_MAX 2000
+then
+	param set PWM_MAX 1950
+fi
+if param compare PWM_DISARMED 0
+then
+	param set PWM_DISARMED 900
+fi
+
 set PWM_DISARMED p:PWM_DISARMED
 set PWM_MIN p:PWM_MIN
 set PWM_MAX p:PWM_MAX

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -16,6 +16,7 @@ then
 	param set RTL_DESCEND_ALT 10.0
 fi
 
+# set environment variables (!= parameters)
 set PWM_RATE 400
 set PWM_DISARMED 900
 set PWM_MIN 1075

src/modules/sensors/sensor_params.c

@@ -2273,7 +2273,7 @@ PARAM_DEFINE_INT32(SENS_EN_LL40LS, 0);
  * REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE
  * THE SYSTEM TO PUT CHANGES INTO EFFECT.
  *
- * Set to 1000 for default or 900 to increase servo travel
+ * Set to 1000 for industry default or 900 to increase servo travel.
  *
  * @min 800
  * @max 1400
@@ -2289,7 +2289,7 @@ PARAM_DEFINE_INT32(PWM_MIN, 1000);
  * REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE
  * THE SYSTEM TO PUT CHANGES INTO EFFECT.
  *
- * Set to 2000 for default or 2100 to increase servo travel
+ * Set to 2000 for industry default or 2100 to increase servo travel.
  *
  * @min 1600
  * @max 2200