From 97d31f667e6fcfe88fb23220b8d1c0ff938a598b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Marcel=20St=C3=BCttgen?= <stuettgen@fh-aachen.de>
Date: Fri, 27 Feb 2015 18:21:57 +0100
Subject: [PATCH] modified default pwm values and added comments to the startup
 scripts

---
 ROMFS/px4fmu_common/init.d/50001_rover       |  4 ++--
 ROMFS/px4fmu_common/init.d/rc.rover_defaults | 24 ++++++++++++++------
 2 files changed, 19 insertions(+), 9 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/50001_rover b/ROMFS/px4fmu_common/init.d/50001_rover
index e9df3904b9..c2f94705cd 100644
--- a/ROMFS/px4fmu_common/init.d/50001_rover
+++ b/ROMFS/px4fmu_common/init.d/50001_rover
@@ -3,8 +3,8 @@
 # Generic rover
 #
 
+#load some defaults e.g. PWM values
 sh /etc/init.d/rc.rover_defaults
 
+#choose a mixer, for rover control we need a plain passthrough to the servos
 set MIXER IO_pass
-
-set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_defaults b/ROMFS/px4fmu_common/init.d/rc.rover_defaults
index fc68472a6a..bda3a9a66e 100644
--- a/ROMFS/px4fmu_common/init.d/rc.rover_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.rover_defaults
@@ -2,12 +2,22 @@
 
 set VEHICLE_TYPE rover
 
-if [ $AUTOCNF == yes ]
-then
-	# param set MC_ROLL_P 7.0
-fi
+# i dont think AUTOCNF is needed here, can it be removed?
 
+#if [ $AUTOCNF == yes ]
+#then
+#	# param set MC_ROLL_P 7.0
+#fi
+
+#PWM Hz
 set PWM_RATE 50
-set PWM_DISARMED 1100
-set PWM_MIN 1100
-set PWM_MAX 1900
+
+#PWW default value for "disarmed" mode
+set PWM_DISARMED 1500
+
+#PWM range
+set PWM_MIN 1200
+set PWM_MAX 1800
+
+#enable servo output on pins 3 and 4 (steering and thrust)
+set PWM_OUT 34