Merge branch 'release_v1.0.0' into beta

ROMFS/px4fmu_common/init.d/2104_fw_AETR

@@ -0,0 +1,5 @@
+#!nsh
+
+sh /etc/init.d/rc.fw_defaults
+
+set MIXER AETR

ROMFS/px4fmu_common/init.d/rc.autostart

@@ -65,7 +65,7 @@ fi
 
 if param compare SYS_AUTOSTART 2101 101
 then
-	sh /etc/init.d/2101_hk_bixler
+	sh /etc/init.d/2101_fw_AERT
 	set MODE custom
 fi
 
@@ -81,6 +81,12 @@ then
         set MODE custom
 fi
 
+if param compare SYS_AUTOSTART 2104
+then
+	sh /etc/init.d/2104_fw_AETR
+	set MODE custom
+fi
+
 #
 # Flying wing
 #

ROMFS/px4fmu_common/mixers/AETR.main.mix

@@ -0,0 +1,84 @@
+Aileron/Elevator/Throttle/Rudder mixer for PX4FMU
+==================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
+assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
+elevator to output 1, the throttle to output 2 and the rudder to output 3.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+Aileron mixer
+-------------
+Two scalers total (output, roll).
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+As there is only one output, if using two servos adjustments to compensate for
+differences between the servos must be made mechanically.  To obtain the correct
+motion using a Y  cable, the servos can be positioned reversed from one another.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 0  10000  10000      0 -10000  10000
+
+Elevator mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the elevator servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:       10000   10000      0 -10000  10000
+S: 0 1  -10000  -10000      0 -10000  10000
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+Rudder mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the rudder servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 2  10000  10000      0 -10000  10000
+
+Gimbal / flaps / payload mixer for last four channels,
+using the payload control group
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 0  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 1  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 2  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 3  10000  10000      0 -10000  10000

src/modules/sdlog2/sdlog2_messages.h

@@ -218,7 +218,6 @@ struct log_ARSP_s {
 /* --- FLOW - OPTICAL FLOW --- */
 #define LOG_FLOW_MSG 15
 struct log_FLOW_s {
-	uint64_t timestamp;
 	uint8_t sensor_id;
 	float pixel_flow_x_integral;
 	float pixel_flow_y_integral;
@@ -508,7 +507,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(OUT0, "ffffffff",		"Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
 	LOG_FORMAT(AIRS, "fff",			"IndSpeed,TrueSpeed,AirTemp"),
 	LOG_FORMAT(ARSP, "fff",			"RollRateSP,PitchRateSP,YawRateSP"),
-	LOG_FORMAT(FLOW, "QBffffffLLHhB",	"IntT,ID,RawX,RawY,RX,RY,RZ,Dist,TSpan,DtSonar,FrmCnt,GT,Qlty"),
+	LOG_FORMAT(FLOW, "BffffffLLHhB",	"ID,RawX,RawY,RX,RY,RZ,Dist,TSpan,DtSonar,FrmCnt,GT,Qlty"),
 	LOG_FORMAT(GPOS, "LLfffffff",		"Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV,TALT"),
 	LOG_FORMAT(GPSP, "BLLffBfbf",		"NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
 	LOG_FORMAT(ESC, "HBBBHHffiffH",		"count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),