Add support for a 'standard' VTOL with pusher/tractor motor.

ROMFS/px4fmu_common/init.d/13005_vtol_AERT_quad

@@ -0,0 +1,50 @@
+#!nsh
+#
+# @name Generic AERT with Quad VTOL.
+#
+# @type Standard VTOL
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set VT_TYPE 2
+	param set VT_MOT_COUNT 4
+	param set VT_TRANS_THR 0.75
+
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.002
+	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_FF 0.0
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.12
+	param set MC_PITCHRATE_I 0.002
+	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_FF 0.0
+	param set MC_YAW_P 2.8
+	param set MC_YAW_FF 0.5
+	param set MC_YAWRATE_P 0.22
+	param set MC_YAWRATE_I 0.02
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_FF 0.0
+fi
+
+set MIXER vtol_quad_x
+set PWM_OUT 12345678
+
+set MIXER_AUX vtol_AERT
+set PWM_AUX_RATE 50
+set PWM_AUX_OUT 1234
+set PWM_AUX_DISARMED 1000
+set PWM_AUX_MIN 1000
+set PWM_AUX_MAX 2000
+
+set MAV_TYPE 22
+
+param set VT_MOT_COUNT 4
+param set VT_IDLE_PWM_MC 1080
+param set VT_TYPE 2

ROMFS/px4fmu_common/init.d/rcS

@@ -637,6 +637,10 @@ then
 			then
 				set MAV_TYPE 21
 			fi
+			if [ $MIXER == quad_x_pusher_vtol ]
+			then
+				set MAV_TYPE 22
+			fi
 		fi
 
 		# Still no MAV_TYPE found

ROMFS/px4fmu_common/mixers/vtol_AERT.aux.mix

@@ -0,0 +1,30 @@
+Mixer for a horizontal format with X-Quad and tractor AERT plane configuration
+==============================================================================
+
+Motor speed mixer
+-----------------
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 3      0  20000 -10000 -10000  10000
+
+Aileron mixers
+--------------
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 0  -7500  -7500      0 -10000  10000
+
+M: 1
+O:       10000   10000    0 -10000  10000
+S: 1 0   -7500   -7500    0 -10000  10000
+
+Elevator mixer
+--------------
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 1  10000  10000      0 -10000  10000
+
+Rudder mixer
+------------
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 2 -10000 -10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/vtol_quad_x.main.mix

@@ -0,0 +1,4 @@
+# VTOL quad X mixer for PX4FMU
+#=============================
+
+R: 4x 10000 10000 10000 0