From 83652794c7709ee8058587a99e81826d4959ed49 Mon Sep 17 00:00:00 2001
From: Simon Wilks <sjwilks@gmail.com>
Date: Tue, 15 Jul 2014 00:06:24 +0200
Subject: [PATCH 1/3] Add a mixer for the Phantom so it can be uniquely
 adjusted for this airframe.

---
 ROMFS/px4fmu_common/init.d/3031_phantom |  2 +-
 ROMFS/px4fmu_common/mixers/phantom.mix  | 69 +++++++++++++++++++++++++
 2 files changed, 70 insertions(+), 1 deletion(-)
 create mode 100644 ROMFS/px4fmu_common/mixers/phantom.mix

diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom
index d05c3174f9..654b0bdab1 100644
--- a/ROMFS/px4fmu_common/init.d/3031_phantom
+++ b/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
diff --git a/ROMFS/px4fmu_common/mixers/phantom.mix b/ROMFS/px4fmu_common/mixers/phantom.mix
new file mode 100644
index 0000000000..7fe6dc0551
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/phantom.mix
@@ -0,0 +1,69 @@
+Delta-wing mixer for PX4FMU
+===========================
+
+Designed for the Phantom FX-61
+
+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

From 9f837267de861cfd8313984f2ec64b8482a72161 Mon Sep 17 00:00:00 2001
From: Simon Wilks <sjwilks@gmail.com>
Date: Tue, 15 Jul 2014 00:10:08 +0200
Subject: [PATCH 2/3] Updated the comments.

---
 ROMFS/px4fmu_common/mixers/phantom.mix | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/ROMFS/px4fmu_common/mixers/phantom.mix b/ROMFS/px4fmu_common/mixers/phantom.mix
index 7fe6dc0551..00c37a16c1 100644
--- a/ROMFS/px4fmu_common/mixers/phantom.mix
+++ b/ROMFS/px4fmu_common/mixers/phantom.mix
@@ -1,7 +1,5 @@
-Delta-wing mixer for PX4FMU
-===========================
-
-Designed for the Phantom FX-61
+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

From e91a4217ad23a0f5190b0e34b7621a5170632a43 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Tue, 15 Jul 2014 07:54:12 +0200
Subject: [PATCH 3/3] Fix warning

---
 src/modules/commander/airspeed_calibration.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp
index 598cfe9e2d..0e58c68b60 100644
--- a/src/modules/commander/airspeed_calibration.cpp
+++ b/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) {