Merged beta_mavlink2 / master

ROMFS/px4fmu_common/init.d/10016_3dr_iris

@@ -10,11 +10,11 @@ sh /etc/init.d/rc.mc_defaults
 if [ $DO_AUTOCONFIG == yes ]
 then
 	# TODO tune roll/pitch separately
-	param set MC_ROLL_P 9.0
+	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.13
 	param set MC_ROLLRATE_I 0.0
 	param set MC_ROLLRATE_D 0.004
-	param set MC_PITCH_P 9.0
+	param set MC_PITCH_P 7.0
 	param set MC_PITCHRATE_P 0.13
 	param set MC_PITCHRATE_I 0.0
 	param set MC_PITCHRATE_D 0.004

ROMFS/px4fmu_common/init.d/4008_ardrone

@@ -23,13 +23,15 @@ then
     param set MC_PITCHRATE_I 0.0
     param set MC_PITCHRATE_D 0.0
     param set MC_YAW_P 1.0
-    param set MC_YAW_D 0.1
     param set MC_YAWRATE_P 0.15
     param set MC_YAWRATE_I 0.0
     param set MC_YAWRATE_D 0.0
     param set MC_YAW_FF 0.15
+    param set BAT_V_SCALING 0.00838095238
 fi
 
 set OUTPUT_MODE ardrone
 set USE_IO no
 set MIXER skip
+# set MAV_TYPE because no specific mixer is set
+set MAV_TYPE 2

ROMFS/px4fmu_common/init.d/rcS

@@ -120,6 +120,7 @@ then
 	set MAVLINK_FLAGS default
 	set EXIT_ON_END no
 	set MAV_TYPE none
+	set LOAD_DEFAULT_APPS yes
 	
 	#
 	# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
@@ -473,7 +474,10 @@ then
 		sh /etc/init.d/rc.interface
 		
 		# Start standard fixedwing apps
-		sh /etc/init.d/rc.fw_apps
+		if [ LOAD_DEFAULT_APPS == yes ]
+		then
+			sh /etc/init.d/rc.fw_apps
+		fi
 	fi
 
 	#
@@ -529,7 +533,10 @@ then
 		sh /etc/init.d/rc.interface
 		
 		# Start standard multicopter apps
-		sh /etc/init.d/rc.mc_apps
+		if [ LOAD_DEFAULT_APPS == yes ]
+		then
+			sh /etc/init.d/rc.mc_apps
+		fi
 	fi
 
 	#