Added mixer and gazebo model for the tilted-arm hexarotor

ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt

@@ -0,0 +1,33 @@
+#!/bin/sh
+#
+# @name Hexarotor x with tilted arms
+#
+# @url http://theairlab.org/
+#
+# @type Tilt-Hexarotor
+# @class Copter
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Azarakhsh Keipour <keipour@cmu.edu>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set MC_PITCHRATE_P 0.2
+	param set MC_ROLLRATE_P 0.2
+	param set MPC_Z_VEL_I 0.15
+	param set MPC_Z_VEL_P 0.6
+
+	param set RTL_DESCEND_ALT 5.0
+	param set RTL_LAND_DELAY 5
+fi
+
+set MAV_TYPE 13
+
+# Set mixer
+set MIXER hexa_tilt_x

ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt.post

@@ -0,0 +1 @@
+mavlink stream -r 250 -s HIGHRES_IMU -u 14556

ROMFS/px4fmu_common/init.d/airframes/6100_hexa_tilt_x

@@ -13,16 +13,40 @@
 # @output MAIN4 motor 4
 # @output MAIN5 motor 5
 # @output MAIN6 motor 6
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
+
 #
 # @maintainer Azarakhsh Keipour <keipour@cmu.edu>
 #
 
 sh /etc/init.d/rc.mc_defaults
 
+if [ $AUTOCNF == yes ]
+then
+	param set MC_PITCH_P 4.0
+	param set MC_PITCHRATE_P 0.24
+	param set MC_PITCHRATE_I 0.09
+	param set MC_PITCHRATE_D 0.013
+	param set MC_PITCHRATE_MAX 180.0
+
+	param set MC_ROLL_P 4.0
+	param set MC_ROLLRATE_P 0.16
+	param set MC_ROLLRATE_I 0.07
+	param set MC_ROLLRATE_D 0.009
+	param set MC_ROLLRATE_MAX 180.0
+
+	param set MC_YAW_P 3.0
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.5
+
+	param set MPC_HOLD_MAX_XY 0.25
+	param set MPC_THR_MIN 0.15
+	param set MPC_Z_VEL_MAX_DN 2.0
+
+	param set BAT_N_CELLS 4
+fi
+
 # Set mixer
 set MIXER hexa_tilt_x