ROMFS: MAV_TYPE cleanup

- set MAV_TYPE as a parameter default per vehicle type, or airframe if necessary - cleanup MAV_TYPE param metadata and commander helper to only include what's currently used in PX4
2026-04-14 10:07:39 +08:00 · 2022-03-11 21:23:56 -05:00 · 2022-03-11 21:23:56 -05:00 · 36e6527013
commit 36e6527013
parent cde7b1bc41
69 changed files with 107 additions and 216 deletions
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1020_uuv_generic
@ -8,8 +8,5 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
 set MIXER custom
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1021_uuv_hippocampus
@ -8,8 +8,5 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
 set MIXER custom
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy
@ -67,4 +67,3 @@ param set-default PWM_MAIN_FUNC7 107
 param set-default PWM_MAIN_FUNC8 108

 set MIXER skip
-
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
@ -80,7 +80,5 @@ param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2

-set MAV_TYPE 22
-
 set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
 set MIXER custom
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter
@ -7,6 +7,8 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default MAV_TYPE 20
+
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 4

@ -78,7 +80,5 @@ param set-default VT_TYPE 0

 param set-default WV_EN 0

-set MAV_TYPE 20
-
 set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
 set MIXER custom
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
@ -7,6 +7,8 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default MAV_TYPE 21
+
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 3

@ -88,7 +90,5 @@ param set-default VT_MOT_ID 1234
 param set-default VT_TILT_TRANS 0.6
 param set-default VT_TYPE 1

-set MAV_TYPE 21
-
 set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
 set MIXER custom
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop
@ -51,7 +51,5 @@ param set-default RC_MAP_AUX1 8
 param set-default RC_MAP_AUX2 9
 param set-default RC_MAP_AUX3 10

-set MAV_TYPE 22
-
 set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
 set MIXER custom
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover
@ -37,6 +37,4 @@ param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101

-set MAV_TYPE 10
-
 set MIXER_FILE skip
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover
@ -37,6 +37,4 @@ param set-default PWM_MAIN_FUNC2 101
 param set-default PWM_MAIN_FUNC6 102
 param set-default PWM_MAIN_FUNC7 102

-set MAV_TYPE 10
-
 set MIXER_FILE skip
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1
@ -10,6 +10,8 @@

 . ${R}etc/init.d/rc.rover_defaults

+param set-default MAV_TYPE 10
+
 param set-default GND_L1_DIST 5
 param set-default GND_SP_CTRL_MODE 1
 param set-default GND_SPEED_D 3
@ -33,6 +35,4 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 3.0

-set MAV_TYPE 10
-
 set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat
@ -47,6 +47,4 @@ param set-default CA_R_REV 3
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102

-set MAV_TYPE 11
-
 set MIXER skip
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x
@ -9,6 +9,8 @@

 . ${R}etc/init.d/rc.mc_defaults

+param set-default MAV_TYPE 13
+
 param set-default MC_PITCHRATE_P 0.1
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCH_P 6.0
@ -24,6 +26,4 @@ param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 4
 param set-default MNT_DO_STAB 2

-set MAV_TYPE 13
-
 set MIXER hexa_x
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480
@ -7,6 +7,8 @@

 . ${R}etc/init.d/rc.mc_defaults

+param set-default MAV_TYPE 13
+
 param set-default MC_PITCHRATE_P 0.0800
 param set-default MC_PITCHRATE_I 0.0400
 param set-default MC_PITCHRATE_D 0.0010
@ -26,6 +28,4 @@ param set-default MNT_MODE_IN 4
 param set-default MNT_MODE_OUT 2
 param set-default MAV_PROTO_VER 2

-set MAV_TYPE 13
-
 set MIXER hexa_x
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc
@ -7,6 +7,8 @@

 . ${R}etc/init.d/rc.mc_defaults

+param set-default MAV_TYPE 13
+
 param set-default SYS_CTRL_ALLOC 1

 param set-default MC_PITCHRATE_P 0.0800
@ -58,7 +60,5 @@ param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 105
 param set-default PWM_MAIN_FUNC6 106

-set MAV_TYPE 13
-
 set MIXER skip
 set MIXER_AUX none
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@ -24,7 +24,6 @@ fi

 # initialize script variables
 set IO_PRESENT                  no
-set MAV_TYPE                    none
 set MIXER                       none
 set MIXER_AUX                   none
 set MIXER_FILE                  none
--- a/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d
+++ b/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d
@ -36,4 +36,5 @@ param set-default MC_PITCHRATE_P 0.19
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCHRATE_D 0.004
 param set-default MC_YAW_P 4
+
 set MIXER quad_w
--- a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
@ -104,7 +104,7 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

-set MAV_TYPE 22
+param set-default MAV_TYPE 22

 set MIXER standard_vtol_hitl

--- a/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil
@ -47,7 +47,7 @@ param set-default HIL_ACT_FUNC6 201
 param set-default HIL_ACT_REV 32

 param set-default MAV_TYPE 19
-set MAV_TYPE 19
+
 set MIXER vtol_tailsitter_duo_sat

 set PWM_OUT 1234
--- a/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
+++ b/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
@ -54,7 +54,8 @@ param set-default PWM_AUX_DIS5 950
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
-set MAV_TYPE 22
+
+param set-default MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
--- a/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
+++ b/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
@ -19,7 +19,6 @@

 . ${R}etc/init.d/rc.vtol_defaults

-
 param set-default MAV_TYPE 19

 param set-default MC_ROLL_P 6
@ -38,7 +37,6 @@ param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_ID 12
 param set-default VT_TYPE 0
-set MAV_TYPE 19

 set MIXER vtol_tailsitter_duo

--- a/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
+++ b/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
@ -23,6 +23,7 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default MAV_TYPE 21

 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.19
@ -45,7 +46,6 @@ param set-default VT_TILT_TRANS 0.5
 param set-default VT_TILT_FW 0.9
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21

 set MIXER firefly6
 set MIXER_AUX firefly6
--- a/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
@ -13,6 +13,8 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default MAV_TYPE 20
+
 param set-default CA_AIRFRAME 4
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 0.15
@ -38,7 +40,6 @@ param set-default PWM_MAIN_MAX 2000
 param set-default VT_MOT_ID 1234
 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0
-set MAV_TYPE 20

 set MIXER quad_x_vtol

--- a/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
@ -22,13 +22,13 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default MAV_TYPE 20
+
 param set-default PWM_MAIN_MAX 2000

 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0

-set MAV_TYPE 20
-
 set MIXER quad_+_vtol

 set PWM_OUT 1234
--- a/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
@ -52,7 +52,6 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
-set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
--- a/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
+++ b/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
@ -41,7 +41,6 @@ param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
-set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_delta
--- a/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
@ -33,7 +33,6 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
-set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAVVT
--- a/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
+++ b/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
@ -46,7 +46,6 @@ param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_TYPE 2
-set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
--- a/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
+++ b/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
@ -77,8 +77,6 @@ param set-default VT_TRANS_MIN_TM 5
 param set-default VT_TRANS_TIMEOUT    30
 param set-default VT_TYPE 2

-set MAV_TYPE 22
-
 set MIXER quad_x
 set MIXER_AUX vtol_AAERT

--- a/ROMFS/px4fmu_common/init.d/airframes/13010_claire
+++ b/ROMFS/px4fmu_common/init.d/airframes/13010_claire
@ -13,6 +13,8 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-defualt MAV_TYPE 21
+
 param set-default PWM_AUX_DISARM 1000
 param set-default PWM_AUX_MAX 2000
 param set-default PWM_AUX_MIN 1000
@ -28,7 +30,6 @@ param set-default VT_TILT_MC 0.08
 param set-default VT_TILT_TRANS 0.5
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21

 set MIXER claire
 set MIXER_AUX claire
--- a/ROMFS/px4fmu_common/init.d/airframes/13012_convergence
+++ b/ROMFS/px4fmu_common/init.d/airframes/13012_convergence
@ -22,6 +22,8 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-defualt MAV_TYPE 21
+
 param set-default CBRK_AIRSPD_CHK 162128

 param set-default FW_ARSP_MODE 1
@ -64,7 +66,6 @@ param set-default VT_TRANS_MIN_TM 1.2
 param set-default VT_TRANS_P2_DUR 1.3
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21

 set MIXER vtol_convergence

--- a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
@ -22,6 +22,8 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default MAV_TYPE 22
+
 param set-default BAT1_CAPACITY 23000
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_R_INTERNAL 0.0025
@ -134,7 +136,6 @@ param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4

 param set-default COM_RC_OVERRIDE 0
-set MAV_TYPE 22

 set MIXER deltaquad
 set MIXER_AUX pass
--- a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
+++ b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
@ -23,6 +23,8 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default MAV_TYPE 22
+
 param set-default BAT1_N_CELLS 6

 param set-default FW_AIRSPD_MAX 30
@ -94,8 +96,6 @@ param set-default VT_PSHER_RMP_DT 2
 param set-default VT_TRANS_MIN_TM 4
 param set-default VT_TYPE 2

-set MAV_TYPE 22
-
 set MIXER babyshark
 set MIXER_AUX pass

--- a/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor
+++ b/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor
@ -27,6 +27,8 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default MAV_TYPE 21
+
 param set-default VT_IDLE_PWM_MC 1100
 param set-default VT_TYPE 1
 param set-default VT_MOT_ID 1234
@ -57,8 +59,6 @@ param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_TL_COUNT 4

-set MAV_TYPE 21
-
 set MIXER quad_x
 set MIXER_AUX vtol_TTTTAAER

--- a/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
+++ b/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
@ -31,7 +31,6 @@ param set-default PWM_AUX_DIS5 950
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 12345678
 param set-default VT_FW_MOT_OFFID 12345678
-set MAV_TYPE 22

 set MIXER octo_cox
 set MIXER_AUX vtol_AAERT
--- a/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
@ -19,6 +19,8 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default MAV_TYPE 19
+
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0
@ -37,8 +39,6 @@ param set-default CA_SV_CS1_TRQ_P 0.5
 param set-default CA_SV_CS1_TRQ_Y -0.5
 param set-default CA_SV_CS1_TYPE 6

-param set-default MAV_TYPE 19
-set MAV_TYPE 19
 set MIXER vtol_tailsitter_duo

 set PWM_OUT 1234
--- a/ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+
+++ b/ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+
@ -18,4 +18,7 @@

 . ${R}etc/init.d/rc.mc_defaults

+# MAV_TYPE_TRICOPTER 15
+param set-default MAV_TYPE 15
+
 set MIXER tri_y_yaw+
--- a/ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw-
+++ b/ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw-
@ -18,4 +18,7 @@

 . ${R}etc/init.d/rc.mc_defaults

+# MAV_TYPE_TRICOPTER 15
+param set-default MAV_TYPE 15
+
 set MIXER tri_y_yaw-
--- a/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
+++ b/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
@ -17,7 +17,9 @@
 #

 . ${R}etc/init.d/rc.mc_defaults
-set MIXER coax
+
+# MAV_TYPE_COAXIAL 3
+param set-default MAV_TYPE 3

 param set-default MC_ROLLRATE_P 0.17
 param set-default MC_ROLLRATE_I 0.05
@ -36,6 +38,9 @@ param set-default PWM_MAIN_RATE 400

 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
+
+set MIXER coax
+
 # This is the gimbal pass mixer
 set MIXER_AUX pass

--- a/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
+++ b/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
@ -20,7 +20,7 @@
 . ${R}etc/init.d/rc.mc_defaults

 # Configure as helicopter (number 4 defined in commander_helper.cpp)
-set MAV_TYPE 4
+param set-default MAV_TYPE 4

 set MIXER blade130

--- a/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2
+++ b/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2
@ -41,5 +41,6 @@ param set-default FW_R_LIM 40
 param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
+
 set MIXER TF-G2
 set MIXER_AUX pass
--- a/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1
+++ b/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1
@ -24,8 +24,5 @@ param set-default MAV_0_CONFIG 102
 param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600

-set MAV_TYPE 8
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER IO_pass
 set MIXER_AUX pass
--- a/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
+++ b/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
@ -26,7 +26,7 @@
 # @board px4_fmu-v2 exclude
 #

-set VEHICLE_TYPE mc
+. ${R}etc/init.d/rc.mc_defaults

 param set-default NAV_ACC_RAD 2

@ -39,6 +39,7 @@ param set-default PWM_MAIN_RATE 400

 param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30
+
 set MIXER dodeca_top_cox
 set MIXER_AUX dodeca_bottom_cox

--- a/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
+++ b/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
@ -41,9 +41,6 @@ param set-default FW_RR_P 0.04

 param set-default PWM_MAIN_DISARM 1000

-# Configure this as plane.
-set MAV_TYPE 1
-
 # Set mixer.
 set MIXER fw_generic_wing

--- a/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq
+++ b/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq
@ -24,8 +24,6 @@

 set MIXER quad_s250aq

-set MAV_TYPE 2
-
 param set-default ATT_BIAS_MAX 0

 param set-default CBRK_IO_SAFETY 22027
--- a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo
+++ b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo
@ -21,10 +21,7 @@
 # @board cuav_x7pro exclude
 #

-set VEHICLE_TYPE mc
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_defaults

 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013
--- a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
+++ b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
@ -21,10 +21,7 @@
 # @maintainer Hyon Lim <lim@uvify.com>
 #

-set VEHICLE_TYPE mc
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_defaults

 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013
--- a/ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor
+++ b/ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor
@ -24,10 +24,6 @@

 . ${R}etc/init.d/rc.mc_defaults

-
-# Configure this as Quadrotor
-# set MAV_TYPE 14
-
 # Set mixer
 set MIXER tilt_quad
 set MIXER_AUX tilt_quad
--- a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
+++ b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
@ -48,8 +48,6 @@ param set-default NAV_ACC_RAD 0.5
 param set-default PWM_MAIN_DISARM 1500
 param set-default PWM_MAIN_MAX 2000
 param set-default PWM_MAIN_MIN 1000
-# Configure this as rover
-set MAV_TYPE 10

 # Set mixer
 set MIXER rover_generic
--- a/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover
+++ b/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover
@ -76,9 +76,6 @@ param set-default RBCLW_SER_CFG 104
 # Start this driver after setting parameters, because the driver uses some of those parameters.
 # roboclaw start /dev/ttyS3

-# Configure this as rover
-set MAV_TYPE 10
-
 # Set mixer
 set MIXER generic_diff_rover

--- a/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx
+++ b/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx
@ -65,9 +65,6 @@ param set-default PWM_MAIN_MIN4 970
 # Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-# Configure this as rover
-set MAV_TYPE 10
-
 # Set mixer
 set MIXER rover_diff_and_servo

--- a/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic
+++ b/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic
@ -16,7 +16,4 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER uuv_x
--- a/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus
+++ b/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus
@ -16,7 +16,4 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER uuv_x
--- a/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x
+++ b/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x
@ -23,6 +23,9 @@

 . ${R}etc/init.d/rc.mc_defaults

+# MAV_TYPE_HEXAROTOR 13
+param set-default MAV_TYPE 13
+
 param set-default CA_ROTOR_COUNT 6
 param set-default CA_ROTOR0_PX 0.0
 param set-default CA_ROTOR0_PY 0.5
--- a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
+++ b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
@ -27,9 +27,8 @@

 . ${R}etc/init.d/rc.mc_defaults

-set MIXER hexa_x
-set PWM_OUT 12345678
-
+# MAV_TYPE_HEXAROTOR 13
+param set-default MAV_TYPE 13

 ###############################################
 # Attitude & rate gains
@ -120,3 +119,7 @@ param set-default MAV_1_MODE 2
 param set-default MAV_1_FORWARD 1
 param set-default MAV_1_RATE 800000
 param set-default SER_TEL2_BAUD 921600
+
+
+set MIXER hexa_x
+set PWM_OUT 12345678
--- a/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+
+++ b/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+
@ -23,6 +23,9 @@

 . ${R}etc/init.d/rc.mc_defaults

+# MAV_TYPE_HEXAROTOR 13
+param set-default MAV_TYPE 13
+
 param set-default CA_ROTOR_COUNT 6
 param set-default CA_ROTOR0_PX 0.5
 param set-default CA_ROTOR0_PY 0.0
--- a/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x
+++ b/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x
@ -25,6 +25,9 @@

 . ${R}etc/init.d/rc.mc_defaults

+# MAV_TYPE_OCTOROTOR 14
+param set-default MAV_TYPE 14
+
 param set-default CA_ROTOR_COUNT 8
 param set-default CA_ROTOR0_KM -0.05
 param set-default CA_ROTOR0_PX 0.46
--- a/ROMFS/px4fmu_common/init.d/airframes/9001_octo_+
+++ b/ROMFS/px4fmu_common/init.d/airframes/9001_octo_+
@ -25,6 +25,9 @@

 . ${R}etc/init.d/rc.mc_defaults

+# MAV_TYPE_OCTOROTOR 14
+param set-default MAV_TYPE 14
+
 set MIXER octo_+

 set PWM_OUT 12345678
--- a/ROMFS/px4fmu_common/init.d/rc.airship_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.airship_defaults
@ -7,6 +7,9 @@

 set VEHICLE_TYPE airship

+# MAV_TYPE_AIRSHIP 7
+param set-default MAV_TYPE 7
+
 #
 # This is the gimbal pass mixer.
 #
--- a/ROMFS/px4fmu_common/init.d/rc.balloon_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.balloon_defaults
@ -7,6 +7,9 @@

 set VEHICLE_TYPE fw

+# MAV_TYPE_FREE_BALLOON 8
+param set-default MAV_TYPE 8
+
 #
 # Default parameters for balloon UAVs.
 #
--- a/ROMFS/px4fmu_common/init.d/rc.boat_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.boat_defaults
@ -7,6 +7,9 @@

 set VEHICLE_TYPE rover

+# MAV_TYPE_SURFACE_BOAT 11
+param set-default MAV_TYPE 11
+
 #
 # Default parameters for UGVs.
 #
--- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@ -7,6 +7,9 @@

 set VEHICLE_TYPE fw

+# MAV_TYPE_FIXED_WING 1
+param set-default MAV_TYPE 1
+
 #
 # Default parameters for fixed wing UAVs.
 #
--- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
@ -7,6 +7,9 @@

 set VEHICLE_TYPE mc

+# MAV_TYPE_QUADROTOR 2
+param set-default MAV_TYPE 2
+
 if param compare IMU_GYRO_RATEMAX 400
 then
 	param set-default IMU_GYRO_RATEMAX 800
--- a/ROMFS/px4fmu_common/init.d/rc.rover_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.rover_defaults
@ -7,6 +7,9 @@

 set VEHICLE_TYPE rover

+# MAV_TYPE_GROUND_ROVER 10
+param set-default MAV_TYPE 10
+
 #
 # Default parameters for UGVs.
 #
--- a/ROMFS/px4fmu_common/init.d/rc.uuv_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.uuv_defaults
@ -7,6 +7,9 @@

 set VEHICLE_TYPE uuv

+# MAV_TYPE_SUBMARINE 12
+param set-default MAV_TYPE 12
+
 param set-default PWM_MAIN_MAX 1950
 param set-default PWM_MAIN_MIN 1050
 param set-default PWM_MAIN_DISARM 1500
--- a/ROMFS/px4fmu_common/init.d/rc.vehicle_setup
+++ b/ROMFS/px4fmu_common/init.d/rc.vehicle_setup
@ -12,19 +12,9 @@ if [ $VEHICLE_TYPE = fw ]
 then
 	if [ $MIXER = none ]
 	then
-		# Set default mixer for fixed wing if not defined.
-		set MIXER AERT
+		echo "FW mixer undefined"
 	fi

-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 1 if not defined.
-		set MAV_TYPE 1
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@ -42,41 +32,6 @@ then
 		echo "MC mixer undefined"
 	fi

-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 2 if not defined.
-		set MAV_TYPE 2
-
-		# Use mixer to detect vehicle type
-		if [ $MIXER = coax ]
-		then
-			set MAV_TYPE 3
-		fi
-		if [ $MIXER = hexa_x -o $MIXER = hexa_+ ]
-		then
-			set MAV_TYPE 13
-		fi
-		if [ $MIXER = hexa_cox ]
-		then
-			set MAV_TYPE 13
-		fi
-		if [ $MIXER = octo_x -o $MIXER = octo_+ ]
-		then
-			set MAV_TYPE 14
-		fi
-		if [ $MIXER = octo_cox -o $MIXER = octo_cox_w ]
-		then
-			set MAV_TYPE 14
-		fi
-		if [ $MIXER = tri_y_yaw- -o $MIXER = tri_y_yaw+ ]
-		then
-			set MAV_TYPE 15
-		fi
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@ -91,19 +46,9 @@ if [ $VEHICLE_TYPE = rover ]
 then
 	if [ $MIXER = none ]
 	then
-		# Set default mixer for UGV if not defined.
-		set MIXER rover_generic
+		echo "rover mixer undefined"
 	fi

-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 10 if not defined.
-		set MAV_TYPE 10
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@ -121,25 +66,6 @@ then
 		echo "VTOL mixer undefined"
 	fi

-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 19 if not defined.
-		set MAV_TYPE 19
-
-		# Use mixer to detect vehicle type.
-		if [ $MIXER = firefly6 ]
-		then
-			set MAV_TYPE 21
-		fi
-		if [ $MIXER = quad_x_pusher_vtol ]
-		then
-			set MAV_TYPE 22
-		fi
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@ -157,15 +83,6 @@ then
 		echo "Airship mixer undefined"
 	fi

-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 7 if not defined.
-		set MAV_TYPE 7
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@ -183,19 +100,11 @@ then
 		echo "UUV mixer undefined"
 	fi

-	if [ $MAV_TYPE = none ]
-	then
-		# Set default MAV_TYPE to submarine if not defined
-		set MAV_TYPE 12
-	fi
-
-	param set MAV_TYPE ${MAV_TYPE}
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

 	# Start standard vtol apps.
 	. ${R}etc/init.d/rc.uuv_apps
-
 fi


--- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
@ -7,6 +7,9 @@

 set VEHICLE_TYPE vtol

+# MAV_TYPE_VTOL_RESERVED2 22
+param set-default MAV_TYPE 22
+
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_YAW_TMT 10

--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@ -29,7 +29,6 @@ set IOFW "/etc/extras/px4_io-v2_default.bin"
 set IO_PRESENT no
 set LOGGER_ARGS ""
 set LOGGER_BUF 8
-set MAV_TYPE none
 set MIXER none
 set MIXER_AUX none
 set MIXER_FILE none
@ -573,7 +572,6 @@ unset IO_PRESENT
 unset IOFW
 unset LOGGER_ARGS
 unset LOGGER_BUF
-unset MAV_TYPE
 unset MIXER
 unset MIXER_AUX
 unset MIXER_FILE
--- a/src/modules/commander/commander_helper.cpp
+++ b/src/modules/commander/commander_helper.cpp
@ -69,16 +69,15 @@
 #define VEHICLE_TYPE_COAXIAL 3
 #define VEHICLE_TYPE_HELICOPTER 4
 #define VEHICLE_TYPE_GROUND_ROVER 10
+#define VEHICLE_TYPE_BOAT 11
+#define VEHICLE_TYPE_SUBMARINE 12
 #define VEHICLE_TYPE_HEXAROTOR 13
 #define VEHICLE_TYPE_OCTOROTOR 14
 #define VEHICLE_TYPE_TRICOPTER 15
 #define VEHICLE_TYPE_VTOL_DUOROTOR 19
 #define VEHICLE_TYPE_VTOL_QUADROTOR 20
 #define VEHICLE_TYPE_VTOL_TILTROTOR 21
-#define VEHICLE_TYPE_VTOL_RESERVED2 22
-#define VEHICLE_TYPE_VTOL_RESERVED3 23
-#define VEHICLE_TYPE_VTOL_RESERVED4 24
-#define VEHICLE_TYPE_VTOL_RESERVED5 25
+#define VEHICLE_TYPE_VTOL_RESERVED2 22 // VTOL standard

 #define BLINK_MSG_TIME	700000	// 3 fast blinks (in us)

@ -101,10 +100,7 @@ bool is_vtol(const vehicle_status_s &current_status)
 	return (current_status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR ||
 		current_status.system_type == VEHICLE_TYPE_VTOL_QUADROTOR ||
 		current_status.system_type == VEHICLE_TYPE_VTOL_TILTROTOR ||
-		current_status.system_type == VEHICLE_TYPE_VTOL_RESERVED2 ||
-		current_status.system_type == VEHICLE_TYPE_VTOL_RESERVED3 ||
-		current_status.system_type == VEHICLE_TYPE_VTOL_RESERVED4 ||
-		current_status.system_type == VEHICLE_TYPE_VTOL_RESERVED5);
+		current_status.system_type == VEHICLE_TYPE_VTOL_RESERVED2);
 }

 bool is_vtol_tailsitter(const vehicle_status_s &current_status)
--- a/src/modules/mavlink/mavlink_params.c
+++ b/src/modules/mavlink/mavlink_params.c
@ -75,39 +75,28 @@ PARAM_DEFINE_INT32(MAV_SIK_RADIO_ID, 0);
 /**
 * MAVLink airframe type
 *
- * @min 1
- * @max 27
+ * @min 0
+ * @max 22
 * @value 0 Generic micro air vehicle
 * @value 1 Fixed wing aircraft
 * @value 2 Quadrotor
 * @value 3 Coaxial helicopter
 * @value 4 Normal helicopter with tail rotor
- * @value 5 Ground installation
- * @value 6 Operator control unit / ground control station
 * @value 7 Airship, controlled
 * @value 8 Free balloon, uncontrolled
- * @value 9 Rocket
 * @value 10 Ground rover
 * @value 11 Surface vessel, boat, ship
 * @value 12 Submarine
 * @value 13 Hexarotor
 * @value 14 Octorotor
 * @value 15 Tricopter
- * @value 16 Flapping wing
- * @value 17 Kite
- * @value 18 Onboard companion controller
- * @value 19 Two-rotor VTOL using control surfaces in vertical operation in addition. Tailsitter.
- * @value 20 Quad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter.
- * @value 21 Tiltrotor VTOL
- * @value 22 VTOL reserved 2
- * @value 23 VTOL reserved 3
- * @value 24 VTOL reserved 4
- * @value 25 VTOL reserved 5
- * @value 26 Onboard gimbal
- * @value 27 Onboard ADSB peripheral
+ * @value 19 VTOL Tailsitter Duo
+ * @value 20 VTOL Tailsitter Quad
+ * @value 21 VTOL Tiltrotor
+ * @value 22 VTOL Standard (quadplane)
 * @group MAVLink
 */
-PARAM_DEFINE_INT32(MAV_TYPE, 2);
+PARAM_DEFINE_INT32(MAV_TYPE, 0);

 /**
 * Use/Accept HIL GPS message even if not in HIL mode