Merge remote-tracking branch 'upstream/master' into ros

Conflicts:
	src/platforms/px4_middleware.h

ROMFS/px4fmu_common/init.d/10018_tbs_endurance

@@ -2,7 +2,7 @@
 #
 # Team Blacksheep Discovery Long Range Quadcopter
 # 
-# Setup: 15 x 6.5" Props, 6S 4000mAh TBS LiPo, TBS 30A ESCs, TBS 400kV Motors
+# Setup: 15 x 5" Props, 6S 4000mAh TBS LiPo, TBS 30A ESCs, TBS 400kV Motors
 #
 # Simon Wilks <simon@px4.io>
 #
@@ -11,21 +11,27 @@ sh /etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF == yes ]
 then
+	param set BAT_N_CELLS 6
+	param set BAT_V_EMPTY 3.5
+
 	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.07
+	param set MC_ROLLRATE_P 0.08
 	param set MC_ROLLRATE_I 0.02
 	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 0.05
-	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_P 0.13
+	param set MC_PITCHRATE_I 0.02
+	param set MC_PITCHRATE_D 0.005
 	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.4
+	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
+
+	param set MPC_XY_FF 0.2
+	param set MPC_XY_VEL_MAX 2
 fi
 
 set MIXER quad_w
 
-set PWM_OUTPUTS 1234
-set PWM_MIN 1200
+set PWM_OUT 1234
+set PWM_MIN 1080

ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol

@@ -1,4 +1,3 @@
-#!nsh
 #
 # Generic configuration file for caipirinha VTOL version
 #

ROMFS/px4fmu_common/init.d/rc.autostart

@@ -252,9 +252,17 @@ fi
 # 13000 is historically reserved for the quadshot
 
 #
-# VTOL caipririnha
+# VTOL Caipririnha (Tailsitter)
 #
- if param compare SYS_AUTOSTART 13001
- then
-	 sh /etc/init.d/13001_caipirinha_vtol
- fi
+if param compare SYS_AUTOSTART 13001
+then
+	sh /etc/init.d/13001_caipirinha_vtol
+fi
+
+#
+# VTOL BirdsEyeView FireFly x6 (Tilt-Rotor)
+#
+if param compare SYS_AUTOSTART 13002
+then
+	sh /etc/init.d/13002_firefly6
+fi

ROMFS/px4fmu_common/init.d/rcS

@@ -230,6 +230,7 @@ then
 				tone_alarm $TUNE_ERR
 			fi
 		fi
+		unset IO_FILE
 
 		if [ $IO_PRESENT == no ]
 		then