Merge remote-tracking branch 'upstream/master' into offboard2_externalsetpointmessages

ROMFS/px4fmu_common/init.d/3031_phantom

@@ -36,7 +36,7 @@ then
 	param set FW_T_TIME_CONST 5
 fi
 
-set MIXER FMU_Q
+set MIXER phantom
 
 # Provide ESC a constant 1000 us pulse
 set PWM_OUTPUTS 4

ROMFS/px4fmu_common/mixers/phantom.mix

@@ -0,0 +1,67 @@
+Phantom FX-61 mixer
+===================
+
+This file defines mixers suitable for controlling a delta wing aircraft using
+PX4/Pixhawk. The configuration assumes the elevon servos are connected to
+servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Elevon mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two elevon servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+The scaling factor are set so that pitch will have more travel than roll.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0  -6000  -6000      0 -10000  10000
+S: 0 1   6500   6500      0 -10000  10000
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0  -6000  -6000      0 -10000  10000
+S: 0 1  -6500  -6500      0 -10000  10000
+
+Output 2
+--------
+This mixer is empty.
+
+Z:
+
+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
+
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

src/modules/commander/airspeed_calibration.cpp

@@ -186,7 +186,7 @@ int do_airspeed_calibration(int mavlink_fd)
 	usleep(500 * 1000);
 
 	calibration_counter = 0;
-	const int maxcount = 3000;
+	const unsigned maxcount = 3000;
 
 	/* just take a few samples and make sure pitot tubes are not reversed, timeout after ~30 seconds */
 	while (calibration_counter < maxcount) {