From ae91f8338d227325e93098abf46b3ce9ef85e909 Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Sun, 5 Aug 2012 14:19:48 -0700
Subject: [PATCH 01/11] More Sublime Text project ignores.

---
 Firmware.sublime-project | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/Firmware.sublime-project b/Firmware.sublime-project
index e3a8064c3d..31b924af7c 100644
--- a/Firmware.sublime-project
+++ b/Firmware.sublime-project
@@ -10,7 +10,10 @@
 				".built",
 				".context",
 				".depend",
-				"Make.dep"
+				"Make.dep",
+				".configured",
+				"*.sublime-project",
+				"*.sublime-workspace"
 			]
 		}
 	],

From 59962bc3da97a102117e3d4e5c90b9062beb7180 Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Sun, 5 Aug 2012 16:30:28 -0700
Subject: [PATCH 02/11] Add a sample mixer definition and documentation.

Add support for comments in mixer definitions.
---
 ROMFS/Makefile             |  3 +-
 ROMFS/mixers/FMU_delta.mix | 51 +++++++++++++++++++++
 ROMFS/mixers/README        | 90 ++++++++++++++++++++++++++++++++++++++
 apps/systemlib/mixer.c     | 50 +++++++++++++--------
 4 files changed, 175 insertions(+), 19 deletions(-)
 create mode 100644 ROMFS/mixers/FMU_delta.mix
 create mode 100644 ROMFS/mixers/README

diff --git a/ROMFS/Makefile b/ROMFS/Makefile
index cc5a3ccd31..3f7d4484f7 100644
--- a/ROMFS/Makefile
+++ b/ROMFS/Makefile
@@ -20,7 +20,8 @@ ROMFS_FSSPEC	:= $(SRCROOT)/scripts/rcS~init.d/rcS \
 		   $(SRCROOT)/scripts/rc.logging~init.d/rc.logging \
 		   $(SRCROOT)/scripts/rc.standalone~init.d/rc.standalone \
 		   $(SRCROOT)/scripts/rc.PX4IO~init.d/rc.PX4IO \
-		   $(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR
+		   $(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR \
+		   $(SRCROOT)/mixers/FMU_delta.mix~mixers/FMU_delta.mix
 
 #
 # Add the PX4IO firmware to the spec if someone has dropped it into the
diff --git a/ROMFS/mixers/FMU_delta.mix b/ROMFS/mixers/FMU_delta.mix
new file mode 100644
index 0000000000..75493c578a
--- /dev/null
+++ b/ROMFS/mixers/FMU_delta.mix
@@ -0,0 +1,51 @@
+Delta-wing mixer for PX4FMU
+===========================
+
+Lines in this file that begin with a capital letter and a colon are interpreted
+as mixer commands.  All other lines are ignored.
+
+This delta-wing mixer assumes the elevon servos are connected to PX4FMU servo
+outputs 0 and 1 and the motor speed control to output 2. Output 3 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 for roll inputs is adjusted to implement differential travel
+for the elevons.
+
+M: 3
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 0   3000   5000      0 -10000  10000
+S: 0 1   5000   5000      0 -10000  10000
+
+M: 3
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 0   5000   3000      0 -10000  10000
+S: 0 1  -5000  -5000      0 -10000  10000
+
+
+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: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 2      0  20000 -10000 -10000  10000
+
+
+We leave the fourth mixer empty.
+
+M: 0
diff --git a/ROMFS/mixers/README b/ROMFS/mixers/README
new file mode 100644
index 0000000000..482478fa70
--- /dev/null
+++ b/ROMFS/mixers/README
@@ -0,0 +1,90 @@
+PX4 mixer definitions
+=====================
+
+Files in this directory implement example mixers that can be used as a basis
+for customisation, or for general testing purposes.
+
+Mixer basics
+------------
+
+Mixers combine control values from various sources (control tasks, user inputs,
+etc.) and produce output values suitable for controlling actuators; servos,
+motors, switches and so on.
+
+An actuator derives its value from the combination of one or more control
+values. Each of the control values is scaled according to the actuator's
+configuration and then combined to produce the actuator value, which may then be
+further scaled to suit the specific output type.
+
+Internally, all scaling is performed using floating point values. Inputs and
+outputs are clamped to the range -1.0 to 1.0.
+
+control    control   control
+   |          |         |
+   v          v         v
+ scale      scale     scale
+   |          |         |
+   |          v         |
+   +-------> mix <------+
+              |
+            scale
+              |
+              v
+             out
+
+Scaling
+-------
+
+Basic scalers provide linear scaling of the input to the output.
+
+Each scaler allows the input value to be scaled independently for inputs
+greater/less than zero. An offset can be applied to the output, and lower and
+upper boundary constraints can be applied. Negative scaling factors cause the
+output to be inverted (negative input produces positive output).
+
+Scaler pseudocode:
+
+if (input < 0)
+    output = (input * NEGATIVE_SCALE) + OFFSET
+else
+    output = (input * POSITIVE_SCALE) + OFFSET
+
+if (output < LOWER_LIMIT)
+    output = LOWER_LIMIT
+if (output > UPPER_LIMIT)
+    output = UPPER_LIMIT
+
+Syntax
+------
+
+Mixer definitions are text files; lines beginning with a single capital letter
+followed by a colon are significant. All other lines are ignored, meaning that
+explanatory text can be freely mixed with the definitions.
+
+Each file may define more than one mixer; the allocation of mixers to actuators
+is specific to the device reading the mixer definition.
+
+A mixer begins with a line of the form
+
+	M: <scaler count>
+
+If the scaler count is zero, the mixer is a placeholder and the device will not
+allocate a mixer for this position. Otherwise, this line is followed by scaler
+definitions matching the given count.
+
+A scaler definition is a line of the form:
+
+	S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
+
+The first scaler definition following the M: line configures the output scaler.
+The <group> and <index> fields are ignored in this case.
+
+For the remaining scalers, the <group> value identifies the control group from
+which the scaler will read. Control group 0 is the vehicle attitude control
+group; other group numbers may be assigned for other purposes. The <index> value
+selects the  control within the group that will be scaled.
+
+The remaining fields on the line represent the scaler parameters as discussed
+above. Whilst the calculations are performed as floating-point operations, the
+values stored in the definition file are scaled by a factor of 10000; i.e. an
+offset of -0.5 is encoded as -5000.
diff --git a/apps/systemlib/mixer.c b/apps/systemlib/mixer.c
index 8b1dcc054e..25cf801603 100644
--- a/apps/systemlib/mixer.c
+++ b/apps/systemlib/mixer.c
@@ -163,29 +163,43 @@ mixer_mix(struct mixer_s *mixer, float **controls)
 static int
 mixer_getline(int fd, char *line, unsigned maxlen)
 {
-	int	ret;
-	char	c;
+	/* reduce line budget by 1 to account for terminal NUL */
+	maxlen--;
 
-	while (--maxlen) {
-		ret = read(fd, &c, 1);
+	/* loop looking for a non-comment line */
+	for (;;) {
+		int	ret;
+		char	c;
+		char	*p = line;
 
-		if (ret <= 0)
-			return ret;
+		/* loop reading characters for this line */
+		for (;;) {
+			ret = read(fd, &c, 1);
 
-		if (c == '\r')
-			continue;
+			/* on error or EOF, return same */
+			if (ret <= 0)
+				return ret;
 
-		if (c == '\n') {
-			*line = '\0';
-			return 1;
+			/* ignore carriage returns */
+			if (c == '\r')
+				continue;
+
+			/* line termination */
+			if (c == '\n') {
+				/* ignore malformed lines */
+				if (line[1] != ':')
+					break;
+
+				/* terminate line as string and return */
+				*p = '\0';
+				return 1;
+			}
+
+			/* if we have space, accumulate the byte and go on */
+			if ((p - line) < maxlen)
+				*p++ = c;
 		}
-
-		*line++ = c;
 	}
-
-	/* line too long */
-	puts("line too long");
-	return -1;
 }
 
 static int
@@ -214,7 +228,7 @@ mixer_load(int fd, struct mixer_s **mp)
 {
 	int		ret, result = -1;
 	struct mixer_s *mixer = NULL;
-	char		buf[100];
+	char		buf[60];
 	unsigned	scalers;
 
 	ret = mixer_getline(fd, buf, sizeof(buf));

From c513f5ade8a605721f0d9c859b1ba0a1f3949963 Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Sun, 5 Aug 2012 16:31:04 -0700
Subject: [PATCH 03/11] Adjust some scaling factors for more precise PWM
 output.

---
 nuttx/configs/px4fmu/src/up_pwm_servo.c | 6 ++++--
 nuttx/configs/px4io/src/drv_pwm_servo.c | 6 ++++--
 2 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/nuttx/configs/px4fmu/src/up_pwm_servo.c b/nuttx/configs/px4fmu/src/up_pwm_servo.c
index 05daf1e97c..adb9b50308 100644
--- a/nuttx/configs/px4fmu/src/up_pwm_servo.c
+++ b/nuttx/configs/px4fmu/src/up_pwm_servo.c
@@ -164,10 +164,10 @@ pwm_timer_init(unsigned timer)
 	rDCR(timer) = 0;
 
 	/* configure the timer to free-run at 1MHz */
-	rPSC(timer) = pwm_timers[timer].clock_freq / 1000000;
+	rPSC(timer) = (pwm_timers[timer].clock_freq / 1000000) - 1;
 
 	/* and update at the desired rate */
-	rARR(timer) = 1000000 / pwm_update_rate;
+	rARR(timer) = (1000000 / pwm_update_rate) - 1;
 
 	/* generate an update event; reloads the counter and all registers */
 	rEGR(timer) = GTIM_EGR_UG;
@@ -234,6 +234,8 @@ up_pwm_servo_set(unsigned channel, servo_position_t value)
 		return -1;
 
 	/* configure the channel */
+	if (value > 0)
+		value--;
 	switch (pwm_channels[channel].timer_channel) {
 		case 1:
 			rCCR1(timer) = value;
diff --git a/nuttx/configs/px4io/src/drv_pwm_servo.c b/nuttx/configs/px4io/src/drv_pwm_servo.c
index 7f3238da35..4d821cba60 100644
--- a/nuttx/configs/px4io/src/drv_pwm_servo.c
+++ b/nuttx/configs/px4io/src/drv_pwm_servo.c
@@ -96,10 +96,10 @@ pwm_timer_init(unsigned timer)
 	rDCR(timer) = 0;
 
 	/* configure the timer to free-run at 1MHz */
-	rPSC(timer) = cfg->timers[timer].clock_freq / 1000000;
+	rPSC(timer) = (cfg->timers[timer].clock_freq / 1000000) -1;
 
 	/* and update at the desired rate */
-	rARR(timer) = 1000000 / cfg->update_rate;
+	rARR(timer) = (1000000 / cfg->update_rate) - 1;
 
 	/* generate an update event; reloads the counter and all registers */
 	rEGR(timer) = GTIM_EGR_UG;
@@ -166,6 +166,8 @@ pwm_channel_set(unsigned channel, servo_position_t value)
 		return;
 
 	/* configure the channel */
+	if (value > 0)
+		value--;
 	switch (cfg->channels[channel].timer_channel) {
 		case 1:
 			rCCR1(timer) = value;

From cd3a49c3a2ef24987452f3e65038dcf67c037e5a Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Sun, 5 Aug 2012 16:31:31 -0700
Subject: [PATCH 04/11] This file is automatically generated and should not be
 checked in.

---
 nuttx/configs/px4fmu/include/nsh_romfsimg.h | 601 --------------------
 1 file changed, 601 deletions(-)
 delete mode 100644 nuttx/configs/px4fmu/include/nsh_romfsimg.h

diff --git a/nuttx/configs/px4fmu/include/nsh_romfsimg.h b/nuttx/configs/px4fmu/include/nsh_romfsimg.h
deleted file mode 100644
index 9965277c74..0000000000
--- a/nuttx/configs/px4fmu/include/nsh_romfsimg.h
+++ /dev/null
@@ -1,601 +0,0 @@
-unsigned char romfs_img[] = {
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-  0xc0, 0x84, 0x3c, 0x72, 0x4e, 0x53, 0x48, 0x49, 0x6e, 0x69, 0x74, 0x56,
-  0x6f, 0x6c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x49,
-  0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00, 0xd1, 0xff, 0xff, 0x97,
-  0x2e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, 0x20,
-  0x00, 0x00, 0x00, 0x00, 0xd1, 0xd1, 0xff, 0x80, 0x2e, 0x2e, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x09, 0x00, 0x00, 0x00, 0x80, 0x00, 0x00, 0x00, 0x00,
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-  0x6e, 0x65, 0x22, 0x0a, 0x09, 0x09, 0x09, 0x73, 0x68, 0x20, 0x2f, 0x65,
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-  0x09, 0x09, 0x66, 0x69, 0x0a, 0x09, 0x66, 0x69, 0x0a, 0x0a, 0x09, 0x23,
-  0x0a, 0x09, 0x23, 0x20, 0x57, 0x65, 0x20, 0x6d, 0x61, 0x79, 0x20, 0x6e,
-  0x6f, 0x74, 0x20, 0x72, 0x65, 0x61, 0x63, 0x68, 0x20, 0x68, 0x65, 0x72,
-  0x65, 0x20, 0x69, 0x66, 0x20, 0x74, 0x68, 0x65, 0x20, 0x61, 0x69, 0x72,
-  0x66, 0x72, 0x61, 0x6d, 0x65, 0x2d, 0x73, 0x70, 0x65, 0x63, 0x69, 0x66,
-  0x69, 0x63, 0x20, 0x73, 0x63, 0x72, 0x69, 0x70, 0x74, 0x20, 0x65, 0x78,
-  0x69, 0x74, 0x73, 0x20, 0x74, 0x68, 0x65, 0x20, 0x73, 0x68, 0x65, 0x6c,
-  0x6c, 0x2e, 0x0a, 0x09, 0x23, 0x0a, 0x09, 0x65, 0x63, 0x68, 0x6f, 0x20,
-  0x22, 0x5b, 0x69, 0x6e, 0x69, 0x74, 0x5d, 0x20, 0x73, 0x74, 0x61, 0x72,
-  0x74, 0x75, 0x70, 0x20, 0x64, 0x6f, 0x6e, 0x65, 0x2e, 0x22, 0x0a, 0x66,
-  0x69, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-  0x00, 0x00, 0x00, 0x00
-};
-unsigned int romfs_img_len = 7168;

From 6976fe4b1988a134fd8ec62762ac683cfe7a9d33 Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Sun, 5 Aug 2012 16:32:47 -0700
Subject: [PATCH 05/11] We should ignore the ROMFS image file.

---
 .gitignore | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.gitignore b/.gitignore
index a05cd34c8c..3da1c5c7ad 100644
--- a/.gitignore
+++ b/.gitignore
@@ -33,4 +33,4 @@ nuttx/nuttx.hex
 .settings
 Firmware.sublime-workspace
 .DS_Store
-nuttx/configs/px4fmu/include/nsh_romfsimg.h
+nsh_romfsimg.h

From 5c30722e77feaa238ae4b685cc4fca98102282de Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Sun, 5 Aug 2012 16:54:50 -0700
Subject: [PATCH 06/11] More example mixers; three different fixed-wing
 configurations for FMU.

---
 ROMFS/Makefile             |  5 ++-
 ROMFS/mixers/FMU_AERT.mix  | 64 ++++++++++++++++++++++++++++++++++++++
 ROMFS/mixers/FMU_AET.mix   | 60 +++++++++++++++++++++++++++++++++++
 ROMFS/mixers/FMU_RET.mix   | 53 +++++++++++++++++++++++++++++++
 ROMFS/mixers/FMU_delta.mix | 22 ++++++-------
 5 files changed, 191 insertions(+), 13 deletions(-)
 create mode 100644 ROMFS/mixers/FMU_AERT.mix
 create mode 100644 ROMFS/mixers/FMU_AET.mix
 create mode 100644 ROMFS/mixers/FMU_RET.mix

diff --git a/ROMFS/Makefile b/ROMFS/Makefile
index 3f7d4484f7..de49c36fc7 100644
--- a/ROMFS/Makefile
+++ b/ROMFS/Makefile
@@ -21,7 +21,10 @@ ROMFS_FSSPEC	:= $(SRCROOT)/scripts/rcS~init.d/rcS \
 		   $(SRCROOT)/scripts/rc.standalone~init.d/rc.standalone \
 		   $(SRCROOT)/scripts/rc.PX4IO~init.d/rc.PX4IO \
 		   $(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR \
-		   $(SRCROOT)/mixers/FMU_delta.mix~mixers/FMU_delta.mix
+		   $(SRCROOT)/mixers/FMU_delta.mix~mixers/FMU_delta.mix \
+		   $(SRCROOT)/mixers/FMU_AERT.mix~mixers/FMU_AERT.mix \
+		   $(SRCROOT)/mixers/FMU_AET.mix~mixers/FMU_AET.mix \
+		   $(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix
 
 #
 # Add the PX4IO firmware to the spec if someone has dropped it into the
diff --git a/ROMFS/mixers/FMU_AERT.mix b/ROMFS/mixers/FMU_AERT.mix
new file mode 100644
index 0000000000..18be38bbd4
--- /dev/null
+++ b/ROMFS/mixers/FMU_AERT.mix
@@ -0,0 +1,64 @@
+Aileron/rudder/elevator/throttle mixer for PX4FMU
+==================================================
+
+This file defines mixers suirable for controlling a fixed wing aircraft with
+aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
+assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
+elevator to output 1, the rudder to output 2 and the throttle to output 3.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+Aileron mixer
+-------------
+Two scalers total (output, roll).
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+As there is only one output, if using two servos adjustments to compensate for
+differences between the servos must be made mechanically.  To obtain the correct
+motion using a Y  cable, the servos can be positioned reversed from one another.
+
+M: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 0  10000  10000      0 -10000  10000
+
+Elevator mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the elevator servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 1  10000  10000      0 -10000  10000
+
+Rudder mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the rudder servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 2  10000  10000      0 -10000  10000
+
+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: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
diff --git a/ROMFS/mixers/FMU_AET.mix b/ROMFS/mixers/FMU_AET.mix
new file mode 100644
index 0000000000..bd038edc5d
--- /dev/null
+++ b/ROMFS/mixers/FMU_AET.mix
@@ -0,0 +1,60 @@
+Aileron/elevator/throttle mixer for PX4FMU
+==================================================
+
+This file defines mixers suirable for controlling a fixed wing aircraft with
+aileron, elevator and throttle controls using PX4FMU. The configuration  assumes
+the aileron servo(s) are connected to PX4FMU servo output 0, the elevator to
+output 1 and the throttle to output 3.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+Aileron mixer
+-------------
+Two scalers total (output, roll).
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+As there is only one output, if using two servos adjustments to compensate for
+differences between the servos must be made mechanically.  To obtain the correct
+motion using a Y  cable, the servos can be positioned reversed from one another.
+
+Alternatively, output 2 could be used as a second aileron servo output with
+separate mixing.
+
+M: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 0  10000  10000      0 -10000  10000
+
+Elevator mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the elevator servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 1  10000  10000      0 -10000  10000
+
+Output 2
+--------
+This mixer is empty.
+
+M: 0
+
+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: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
diff --git a/ROMFS/mixers/FMU_RET.mix b/ROMFS/mixers/FMU_RET.mix
new file mode 100644
index 0000000000..e8762787b1
--- /dev/null
+++ b/ROMFS/mixers/FMU_RET.mix
@@ -0,0 +1,53 @@
+Rudder/elevator/throttle mixer for PX4FMU
+=========================================
+
+This file defines mixers suirable for controlling a fixed wing aircraft with
+rudder, elevator and throttle controls using PX4FMU. The configuration assumes
+the rudder servo is connected to PX4FMU servo output 0, the elevator to output 1
+and the throttle to output 3.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+Rudder mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the rudder servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 0  10000  10000      0 -10000  10000
+
+Elevator mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the elevator servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 1  10000  10000      0 -10000  10000
+
+Output 2
+--------
+This mixer is empty.
+
+M: 0
+
+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: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
diff --git a/ROMFS/mixers/FMU_delta.mix b/ROMFS/mixers/FMU_delta.mix
index 75493c578a..8f2d12be3f 100644
--- a/ROMFS/mixers/FMU_delta.mix
+++ b/ROMFS/mixers/FMU_delta.mix
@@ -1,12 +1,10 @@
 Delta-wing mixer for PX4FMU
 ===========================
 
-Lines in this file that begin with a capital letter and a colon are interpreted
-as mixer commands.  All other lines are ignored.
-
-This delta-wing mixer assumes the elevon servos are connected to PX4FMU servo
-outputs 0 and 1 and the motor speed control to output 2. Output 3 is assumed to
-be unused.
+This file defines mixers suitable for controlling a delta wing aircraft using
+PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
+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).
@@ -33,6 +31,11 @@ S: 0 0  10000  10000      0 -10000  10000
 S: 0 0   5000   3000      0 -10000  10000
 S: 0 1  -5000  -5000      0 -10000  10000
 
+Output 2
+--------
+This mixer is empty.
+
+M: 0
 
 Motor speed mixer
 -----------------
@@ -43,9 +46,4 @@ range.  Inputs below zero are treated as zero.
 
 M: 2
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 2      0  20000 -10000 -10000  10000
-
-
-We leave the fourth mixer empty.
-
-M: 0
+S: 0 3      0  20000 -10000 -10000  10000

From 4f0875ab7314865ce88592ced778fda37c7a42f3 Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Sun, 5 Aug 2012 19:46:27 -0700
Subject: [PATCH 07/11] Reject mixer definition lines too short to be valid.

---
 apps/systemlib/mixer.c | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/apps/systemlib/mixer.c b/apps/systemlib/mixer.c
index 25cf801603..b068d39588 100644
--- a/apps/systemlib/mixer.c
+++ b/apps/systemlib/mixer.c
@@ -187,6 +187,9 @@ mixer_getline(int fd, char *line, unsigned maxlen)
 			/* line termination */
 			if (c == '\n') {
 				/* ignore malformed lines */
+				if ((p - line) < 4)
+					break;
+
 				if (line[1] != ':')
 					break;
 

From 3860f7266525c09db6a1943066fff78aea79a289 Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Sun, 5 Aug 2012 19:46:55 -0700
Subject: [PATCH 08/11] Sketchy diagnostic commands useful for testing.

---
 apps/px4/fmu/fmu.cpp | 76 ++++++++++++++++++++++++++++++++++++++++----
 1 file changed, 69 insertions(+), 7 deletions(-)

diff --git a/apps/px4/fmu/fmu.cpp b/apps/px4/fmu/fmu.cpp
index 57eb12f4eb..3021321daf 100644
--- a/apps/px4/fmu/fmu.cpp
+++ b/apps/px4/fmu/fmu.cpp
@@ -209,6 +209,8 @@ FMUServo::task_main()
 
 	unsigned num_outputs = (_mode == MODE_2PWM) ? 2 : 4;
 
+	log("starting");
+
 	/* loop until killed */
 	while (!_task_should_exit) {
 
@@ -235,7 +237,6 @@ FMUServo::task_main()
 
 				/* if the actuator is configured */
 				if (_mixer[i] != nullptr) {
-
 					/* mix controls to the actuator */
 					float output = mixer_mix(_mixer[i], &controls[0]);
 
@@ -263,6 +264,8 @@ FMUServo::task_main()
 	/* make sure servos are off */
 	up_pwm_servo_deinit();
 
+	log("stopping");
+
 	/* note - someone else is responsible for restoring the GPIO config */
 
 	/* tell the dtor that we are exiting */
@@ -379,13 +382,16 @@ FMUServo::ioctl(struct file *filp, int cmd, unsigned long arg)
 		/* get the caller-supplied mixer and check */
 		mm = (struct mixer_s *)arg;
 
-		if (mixer_check(mm, 1, NUM_ACTUATOR_CONTROLS)) {	/* only the attitude group is supported */
-			ret = -EINVAL;
-			break;
-		}
-
 		/* allocate local storage and copy from the caller*/
 		if (mm != nullptr) {
+
+			if (mixer_check(mm, 1, NUM_ACTUATOR_CONTROLS)) {
+				/* only the attitude group is supported */
+				ret = -EINVAL;
+				break;
+			}
+
+			/* allocate a new mixer struct */
 			tmm = (struct mixer_s *)malloc(MIXER_SIZE(mm->control_count));
 			memcpy(tmm, mm, MIXER_SIZE(mm->control_count));
 
@@ -512,6 +518,56 @@ fmu_new_mode(PortMode new_mode)
 	return ret;
 }
 
+void
+test(void)
+{
+	int	fd;
+
+	fd = open(PWM_OUTPUT_DEVICE_PATH, 0);
+
+	if (fd < 0) {
+		puts("open fail");
+		exit(1);
+	}
+
+	ioctl(fd, PWM_SERVO_ARM, 0);
+	ioctl(fd, PWM_SERVO_SET(0), 1000);
+
+	close(fd);
+
+	exit(0);
+}
+
+void
+fake(int argc, char *argv[])
+{
+	if (argc < 5) {
+		puts("fmu fake <roll> <pitch> <yaw> <thrust> (values -100 - 100)");
+		exit(1);
+	}
+
+	struct actuator_controls_s ac;
+
+	ac.control[0] = strtol(argv[1], 0, 0) / 100.0f;
+
+	ac.control[1] = strtol(argv[2], 0, 0) / 100.0f;
+
+	ac.control[2] = strtol(argv[3], 0, 0) / 100.0f;
+
+	ac.control[3] = strtol(argv[4], 0, 0) / 100.0f;
+
+	int handle = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &ac);
+
+	if (handle < 0) {
+		puts("advertise failed");
+		exit(1);
+	}
+
+	close(handle);
+
+	exit(0);
+}
+
 } // namespace
 
 extern "C" __EXPORT int fmu_main(int argc, char *argv[]);
@@ -521,10 +577,16 @@ fmu_main(int argc, char *argv[])
 {
 	PortMode new_mode = PORT_MODE_UNSET;
 
+	if (!strcmp(argv[1], "test"))
+		test();
+
+	if (!strcmp(argv[1], "fake"))
+		fake(argc - 1, argv + 1);
+
 	/*
 	 * Mode switches.
 	 *
-	 * XXX use getopt
+	 * XXX use getopt?
 	 */
 	if (!strcmp(argv[1], "mode_gpio")) {
 		new_mode = PORT_FULL_GPIO;

From 528095a20b119f8ff50e8775b5290dfc1305003e Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Sun, 5 Aug 2012 19:47:29 -0700
Subject: [PATCH 09/11] Add a simple passthrough mixer for testing.

---
 ROMFS/Makefile             |  1 +
 ROMFS/mixers/FMU_AERT.mix  |  2 +-
 ROMFS/mixers/FMU_AET.mix   |  2 +-
 ROMFS/mixers/FMU_RET.mix   |  2 +-
 ROMFS/mixers/FMU_delta.mix |  1 +
 ROMFS/mixers/FMU_pass.mix  | 23 +++++++++++++++++++++++
 6 files changed, 28 insertions(+), 3 deletions(-)
 create mode 100644 ROMFS/mixers/FMU_pass.mix

diff --git a/ROMFS/Makefile b/ROMFS/Makefile
index de49c36fc7..6437a1e974 100644
--- a/ROMFS/Makefile
+++ b/ROMFS/Makefile
@@ -21,6 +21,7 @@ ROMFS_FSSPEC	:= $(SRCROOT)/scripts/rcS~init.d/rcS \
 		   $(SRCROOT)/scripts/rc.standalone~init.d/rc.standalone \
 		   $(SRCROOT)/scripts/rc.PX4IO~init.d/rc.PX4IO \
 		   $(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR \
+		   $(SRCROOT)/mixers/FMU_pass.mix~mixers/FMU_pass.mix \
 		   $(SRCROOT)/mixers/FMU_delta.mix~mixers/FMU_delta.mix \
 		   $(SRCROOT)/mixers/FMU_AERT.mix~mixers/FMU_AERT.mix \
 		   $(SRCROOT)/mixers/FMU_AET.mix~mixers/FMU_AET.mix \
diff --git a/ROMFS/mixers/FMU_AERT.mix b/ROMFS/mixers/FMU_AERT.mix
index 18be38bbd4..eb46da5fa4 100644
--- a/ROMFS/mixers/FMU_AERT.mix
+++ b/ROMFS/mixers/FMU_AERT.mix
@@ -1,7 +1,7 @@
 Aileron/rudder/elevator/throttle mixer for PX4FMU
 ==================================================
 
-This file defines mixers suirable for controlling a fixed wing aircraft with
+This file defines mixers suitable for controlling a fixed wing aircraft with
 aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
 assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
 elevator to output 1, the rudder to output 2 and the throttle to output 3.
diff --git a/ROMFS/mixers/FMU_AET.mix b/ROMFS/mixers/FMU_AET.mix
index bd038edc5d..9ae23f2646 100644
--- a/ROMFS/mixers/FMU_AET.mix
+++ b/ROMFS/mixers/FMU_AET.mix
@@ -1,7 +1,7 @@
 Aileron/elevator/throttle mixer for PX4FMU
 ==================================================
 
-This file defines mixers suirable for controlling a fixed wing aircraft with
+This file defines mixers suitable for controlling a fixed wing aircraft with
 aileron, elevator and throttle controls using PX4FMU. The configuration  assumes
 the aileron servo(s) are connected to PX4FMU servo output 0, the elevator to
 output 1 and the throttle to output 3.
diff --git a/ROMFS/mixers/FMU_RET.mix b/ROMFS/mixers/FMU_RET.mix
index e8762787b1..94815b48e8 100644
--- a/ROMFS/mixers/FMU_RET.mix
+++ b/ROMFS/mixers/FMU_RET.mix
@@ -1,7 +1,7 @@
 Rudder/elevator/throttle mixer for PX4FMU
 =========================================
 
-This file defines mixers suirable for controlling a fixed wing aircraft with
+This file defines mixers suitable for controlling a fixed wing aircraft with
 rudder, elevator and throttle controls using PX4FMU. The configuration assumes
 the rudder servo is connected to PX4FMU servo output 0, the elevator to output 1
 and the throttle to output 3.
diff --git a/ROMFS/mixers/FMU_delta.mix b/ROMFS/mixers/FMU_delta.mix
index 8f2d12be3f..7b878e40b4 100644
--- a/ROMFS/mixers/FMU_delta.mix
+++ b/ROMFS/mixers/FMU_delta.mix
@@ -47,3 +47,4 @@ range.  Inputs below zero are treated as zero.
 M: 2
 S: 0 0  10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
+
diff --git a/ROMFS/mixers/FMU_pass.mix b/ROMFS/mixers/FMU_pass.mix
new file mode 100644
index 0000000000..0e8e07a072
--- /dev/null
+++ b/ROMFS/mixers/FMU_pass.mix
@@ -0,0 +1,23 @@
+Passthrough mixer for PX4FMU
+============================
+
+This file defines passthrough mixers suitable for testing.
+
+Channel group 0, channels 0-3 are passed directly through to the outputs.
+
+M: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 0  10000  10000      0 -10000  10000
+
+M: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 1  10000  10000      0 -10000  10000
+
+M: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 2  10000  10000      0 -10000  10000
+
+M: 2
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 3  10000  10000      0 -10000  10000
+

From 74b8e31fd8365cd74bf96034721fdd95b707772f Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Sun, 5 Aug 2012 20:20:46 -0700
Subject: [PATCH 10/11] VERY rough mixer definitions for quadrotors in X and +
 configuration using PX4FMU.

---
 ROMFS/mixers/FMU_quad+.mix | 54 ++++++++++++++++++++++++++++++++++++++
 ROMFS/mixers/FMU_quadX.mix | 54 ++++++++++++++++++++++++++++++++++++++
 2 files changed, 108 insertions(+)
 create mode 100644 ROMFS/mixers/FMU_quad+.mix
 create mode 100644 ROMFS/mixers/FMU_quadX.mix

diff --git a/ROMFS/mixers/FMU_quad+.mix b/ROMFS/mixers/FMU_quad+.mix
new file mode 100644
index 0000000000..1ab38ef6d4
--- /dev/null
+++ b/ROMFS/mixers/FMU_quad+.mix
@@ -0,0 +1,54 @@
+Quadrotor + mixer for PX4FMU
+============================
+
+This file defines mixers suitable for controlling a quadrotor in the +
+arrangement using PX4FMU. The configuration assumes the motors are connected
+starting with the front motor on output 0 and proceeding clockwise.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Scale values here will definitely need tuning.
+
+Front
+-----
+
+M: 4
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 0      0      0      0 -10000  10000
+S: 0 1   1000   1000      0 -10000  10000
+S: 0 2   1000   1000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+Right
+-----
+
+M: 4
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 0   1000   1000      0 -10000  10000
+S: 0 1      0      0      0 -10000  10000
+S: 0 2  -1000  -1000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+Back
+----
+
+M: 4
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 0      0      0      0 -10000  10000
+S: 0 1  -1000  -1000      0 -10000  10000
+S: 0 2   1000   1000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+Left
+----
+
+M: 4
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 0  -1000  -1000      0 -10000  10000
+S: 0 1      0      0      0 -10000  10000
+S: 0 2  -1000  -1000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
diff --git a/ROMFS/mixers/FMU_quadX.mix b/ROMFS/mixers/FMU_quadX.mix
new file mode 100644
index 0000000000..5a8641fa0b
--- /dev/null
+++ b/ROMFS/mixers/FMU_quadX.mix
@@ -0,0 +1,54 @@
+Quadrotor X mixer for PX4FMU
+============================
+
+This file defines mixers suitable for controlling a quadrotor in the X
+arrangement using PX4FMU. The configuration assumes the motors are connected
+starting with the front-right motor on output 0 and proceeding clockwise.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Scale values here will definitely need tuning.
+
+Front right
+-----------
+
+M: 4
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 0   1000   1000      0 -10000  10000
+S: 0 1   1000   1000      0 -10000  10000
+S: 0 2   1000   1000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+Back right
+----------
+
+M: 4
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 0   1000   1000      0 -10000  10000
+S: 0 1  -1000  -1000      0 -10000  10000
+S: 0 2  -1000  -1000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+Back left
+---------
+
+M: 4
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 0  -1000  -1000      0 -10000  10000
+S: 0 1  -1000  -1000      0 -10000  10000
+S: 0 2   1000   1000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+Front left
+----------
+
+M: 4
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 0  -1000  -1000      0 -10000  10000
+S: 0 1   1000   1000      0 -10000  10000
+S: 0 2  -1000  -1000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+

From 9fd948039caea28627808eb63bd3095687eb79f8 Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Mon, 6 Aug 2012 08:30:28 -0700
Subject: [PATCH 11/11] Restore Eclipse project configuration

---
 .cproject | 116 ++++++++++++++++++++++++++++++++++++++++++++++
 .project  | 135 ++++++++++++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 251 insertions(+)
 create mode 100644 .cproject
 create mode 100644 .project

diff --git a/.cproject b/.cproject
new file mode 100644
index 0000000000..b0c8d5a9dd
--- /dev/null
+++ b/.cproject
@@ -0,0 +1,116 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<?fileVersion 4.0.0?>
+
+<cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
+	<storageModule moduleId="org.eclipse.cdt.core.settings">
+		<cconfiguration id="cdt.managedbuild.toolchain.gnu.cross.base.1480167869">
+			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.cross.base.1480167869" moduleId="org.eclipse.cdt.core.settings" name="Default">
+				<externalSettings/>
+				<extensions>
+					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+				</extensions>
+			</storageModule>
+			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+				<configuration artifactName="PX4 Firmware" buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.cross.base.1480167869" name="Default" parent="org.eclipse.cdt.build.core.emptycfg">
+					<folderInfo id="cdt.managedbuild.toolchain.gnu.cross.base.1480167869.1872839368" name="/" resourcePath="">
+						<toolChain id="cdt.managedbuild.toolchain.gnu.cross.base.1856969168" name="cdt.managedbuild.toolchain.gnu.cross.base" superClass="cdt.managedbuild.toolchain.gnu.cross.base">
+							<option id="cdt.managedbuild.option.gnu.cross.prefix.991032273" name="Prefix" superClass="cdt.managedbuild.option.gnu.cross.prefix"/>
+							<option id="cdt.managedbuild.option.gnu.cross.path.272414815" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path"/>
+							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="cdt.managedbuild.targetPlatform.gnu.cross.28710194" isAbstract="false" osList="all" superClass="cdt.managedbuild.targetPlatform.gnu.cross"/>
+							<builder id="cdt.managedbuild.builder.gnu.cross.65631855" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="cdt.managedbuild.builder.gnu.cross"/>
+							<tool id="cdt.managedbuild.tool.gnu.cross.c.compiler.1999202405" name="Cross GCC Compiler" superClass="cdt.managedbuild.tool.gnu.cross.c.compiler">
+								<inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.1330238701" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
+							</tool>
+							<tool id="cdt.managedbuild.tool.gnu.cross.cpp.compiler.917097290" name="Cross G++ Compiler" superClass="cdt.managedbuild.tool.gnu.cross.cpp.compiler">
+								<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.1246192262" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
+							</tool>
+							<tool id="cdt.managedbuild.tool.gnu.cross.c.linker.901081720" name="Cross GCC Linker" superClass="cdt.managedbuild.tool.gnu.cross.c.linker"/>
+							<tool id="cdt.managedbuild.tool.gnu.cross.cpp.linker.2000759535" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker">
+								<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.476227307" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
+									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
+									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
+								</inputType>
+							</tool>
+							<tool id="cdt.managedbuild.tool.gnu.cross.archiver.747956554" name="Cross GCC Archiver" superClass="cdt.managedbuild.tool.gnu.cross.archiver"/>
+							<tool id="cdt.managedbuild.tool.gnu.cross.assembler.1942271155" name="Cross GCC Assembler" superClass="cdt.managedbuild.tool.gnu.cross.assembler">
+								<inputType id="cdt.managedbuild.tool.gnu.assembler.input.30395998" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
+							</tool>
+						</toolChain>
+					</folderInfo>
+				</configuration>
+			</storageModule>
+			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
+		</cconfiguration>
+	</storageModule>
+	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+		<project id="PX4 Firmware.null.1571077338" name="PX4 Firmware"/>
+	</storageModule>
+	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
+	<storageModule moduleId="refreshScope" versionNumber="2">
+		<configuration configurationName="Default">
+			<resource resourceType="PROJECT" workspacePath="/PX4 Firmware"/>
+		</configuration>
+	</storageModule>
+	<storageModule moduleId="scannerConfiguration">
+		<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.cross.base.1480167869;cdt.managedbuild.toolchain.gnu.cross.base.1480167869.1872839368;cdt.managedbuild.tool.gnu.cross.c.compiler.1999202405;cdt.managedbuild.tool.gnu.c.compiler.input.1330238701">
+			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC"/>
+		</scannerConfigBuildInfo>
+		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.cross.base.1480167869;cdt.managedbuild.toolchain.gnu.cross.base.1480167869.1872839368;cdt.managedbuild.tool.gnu.cross.cpp.compiler.917097290;cdt.managedbuild.tool.gnu.cpp.compiler.input.1246192262">
+			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP"/>
+		</scannerConfigBuildInfo>
+	</storageModule>
+	<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings">
+		<doc-comment-owner id="org.eclipse.cdt.ui.doxygen">
+			<path value=""/>
+		</doc-comment-owner>
+	</storageModule>
+	<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets">
+		<buildTargets>
+			<target name="firmware" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildTarget>all</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments/>
+				<buildTarget>clean</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="distclean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments/>
+				<buildTarget>distclean</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="upload" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments/>
+				<buildTarget>upload</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="ROMFS" path="ROMFS" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments/>
+				<buildTarget>install</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+		</buildTargets>
+	</storageModule>
+</cproject>
diff --git a/.project b/.project
new file mode 100644
index 0000000000..62e37139e4
--- /dev/null
+++ b/.project
@@ -0,0 +1,135 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>PX4 Firmware</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+			<triggers>clean,full,incremental,</triggers>
+			<arguments>
+				<dictionary>
+					<key>?name?</key>
+					<value></value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.append_environment</key>
+					<value>true</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.autoBuildTarget</key>
+					<value>all</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.buildArguments</key>
+					<value></value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.buildCommand</key>
+					<value>make</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.cleanBuildTarget</key>
+					<value>clean</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.contents</key>
+					<value>org.eclipse.cdt.make.core.activeConfigSettings</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.enableAutoBuild</key>
+					<value>false</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.enableCleanBuild</key>
+					<value>true</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.enableFullBuild</key>
+					<value>true</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.fullBuildTarget</key>
+					<value>all</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.stopOnError</key>
+					<value>true</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key>
+					<value>true</value>
+				</dictionary>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+			<triggers>full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.cdt.core.cnature</nature>
+		<nature>org.eclipse.cdt.core.ccnature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+	</natures>
+	<filteredResources>
+		<filter>
+			<id>1344101890673</id>
+			<name></name>
+			<type>6</type>
+			<matcher>
+				<id>org.eclipse.ui.ide.multiFilter</id>
+				<arguments>1.0-name-matches-false-false-*.o</arguments>
+			</matcher>
+		</filter>
+		<filter>
+			<id>1344101890683</id>
+			<name></name>
+			<type>6</type>
+			<matcher>
+				<id>org.eclipse.ui.ide.multiFilter</id>
+				<arguments>1.0-name-matches-false-false-.dep</arguments>
+			</matcher>
+		</filter>
+		<filter>
+			<id>1344101890687</id>
+			<name></name>
+			<type>6</type>
+			<matcher>
+				<id>org.eclipse.ui.ide.multiFilter</id>
+				<arguments>1.0-name-matches-false-false-.context</arguments>
+			</matcher>
+		</filter>
+		<filter>
+			<id>1344101890691</id>
+			<name></name>
+			<type>6</type>
+			<matcher>
+				<id>org.eclipse.ui.ide.multiFilter</id>
+				<arguments>1.0-name-matches-false-false-.depend</arguments>
+			</matcher>
+		</filter>
+		<filter>
+			<id>1344101890695</id>
+			<name></name>
+			<type>6</type>
+			<matcher>
+				<id>org.eclipse.ui.ide.multiFilter</id>
+				<arguments>1.0-name-matches-false-false-.built</arguments>
+			</matcher>
+		</filter>
+		<filter>
+			<id>1344101890698</id>
+			<name></name>
+			<type>6</type>
+			<matcher>
+				<id>org.eclipse.ui.ide.multiFilter</id>
+				<arguments>1.0-name-matches-false-false-*.a</arguments>
+			</matcher>
+		</filter>
+	</filteredResources>
+</projectDescription>