Merge pull request #1600 from anton-matosov/SK450DeadCat.v2

Implemented SK450 DeadCat frame support

ROMFS/px4fmu_common/init.d/10019_sk450_deadcat

@@ -0,0 +1,31 @@
+#!nsh
+#
+# HobbyKing SK450 DeadCat modification
+#
+# Anton Matosov <anton.matosov@gmail.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set MC_ROLL_P 6.0
+	param set MC_ROLLRATE_P 0.04
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLLRATE_D 0.0015
+	
+	param set MC_PITCH_P 6.0
+	param set MC_PITCHRATE_P 0.08
+	param set MC_PITCHRATE_I 0.2
+	param set MC_PITCHRATE_D 0.0015
+	
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.1
+	param set MC_YAWRATE_I 0.07
+	param set MC_YAWRATE_D 0.0
+fi
+
+set MIXER sk450_deadcat
+
+set PWM_OUT 1234
+set PWM_MIN 1050

ROMFS/px4fmu_common/init.d/rc.autostart

@@ -226,6 +226,11 @@ then
 	sh /etc/init.d/10018_tbs_endurance
 fi
 
+if param compare SYS_AUTOSTART 10019
+then
+	sh /etc/init.d/10019_sk450_deadcat
+fi
+
 #
 # Hexa Coaxial
 #

ROMFS/px4fmu_common/init.d/rcS

@@ -524,7 +524,7 @@ then
 			then
 				set MAV_TYPE 2
 			fi
-			if [ $MIXER == quad_w ]
+			if [ $MIXER == quad_w -o $MIXER == sk450_deadcat ]
 			then
 				set MAV_TYPE 2
 			fi

ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix

@@ -0,0 +1,25 @@
+Multirotor mixer for PX4FMU
+===========================
+
+This file defines a single mixer for a quadrotor in SK450 DeadCat configuration.  All controls are mixed 100%.
+
+R: 4dc 10000 10000 10000 0
+
+Gimbal / 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