updated from remote

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -0,0 +1,15 @@
+#!nsh
+#
+# Standard apps for vtol:
+# att & pos estimator, att & pos control.
+#
+
+attitude_estimator_ekf start
+#ekf_att_pos_estimator start
+position_estimator_inav start
+
+vtol_att_control start
+mc_att_control start
+mc_pos_control start
+fw_att_control start
+fw_pos_control_l1 start

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -0,0 +1,63 @@
+#!nsh
+
+set VEHICLE_TYPE vtol
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+	#Default parameters for MC
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.1
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.003
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.003
+	param set MC_YAW_P 2.8
+	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_THR_MAX 1.0
+	param set MPC_THR_MIN 0.1
+	param set MPC_XY_P 1.0
+	param set MPC_XY_VEL_P 0.1
+	param set MPC_XY_VEL_I 0.02
+	param set MPC_XY_VEL_D 0.01
+	param set MPC_XY_VEL_MAX 5
+	param set MPC_XY_FF 0.5
+	param set MPC_Z_P 1.0
+	param set MPC_Z_VEL_P 0.1
+	param set MPC_Z_VEL_I 0.02
+	param set MPC_Z_VEL_D 0.0
+	param set MPC_Z_VEL_MAX 3
+	param set MPC_Z_FF 0.5
+	param set MPC_TILTMAX_AIR 45.0
+	param set MPC_TILTMAX_LND 15.0
+	param set MPC_LAND_SPEED 1.0
+
+	param set PE_VELNE_NOISE 0.5
+	param set PE_VELD_NOISE 0.7
+	param set PE_POSNE_NOISE 0.5
+	param set PE_POSD_NOISE 1.0
+
+	param set NAV_ACCEPT_RAD 2.0
+	
+	#
+	# Default parameters for FW
+	#
+	param set NAV_LAND_ALT 90
+	param set NAV_RTL_ALT 100
+	param set NAV_RTL_LAND_T -1
+	param set NAV_ACCEPT_RAD 50
+	param set FW_T_HRATE_P 0.01
+	param set FW_T_RLL2THR 15
+	param set FW_T_SRATE_P 0.01
+	param set FW_T_TIME_CONST 5
+fi
+
+set PWM_RATE 400
+set PWM_DISARMED 900
+set PWM_MIN 1075
+set PWM_MAX 2000

ROMFS/px4fmu_common/mixers/FMU_quadshot.mix

@@ -0,0 +1,15 @@
+#!nsh
+#Quadshot mixer for PX4FMU
+#===========================
+R: 4v 10000 10000 10000 0
+
+#mixer for the elevons
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 0   7500   7500      0 -10000  10000
+S: 1 1   8000   8000      0 -10000  10000
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 0   7500   7500      0 -10000  10000
+S: 1 1  -8000  -8000      0 -10000  10000