WIP: microdds_start if installed

FW Position Control: remove unnsed params
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2026-05-24 07:17:34 +08:00 · 2022-08-20 10:43:11 -04:00 · 2022-08-19 19:06:07 +02:00 · 2022-08-19 09:40:48 +02:00 · 2022-08-19 09:40:48 +02:00 · 2022-08-19 09:40:48 +02:00
358 changed files with 5978 additions and 5080 deletions
@@ -20,7 +20,7 @@ A clear and concise description of what you expected to happen.

 ## Log Files and Screenshots
 *Always* provide a link to the flight log file:
- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/master/en/getting_started/flight_reporting.html)).
+- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
 - Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
 - Share the link to the log (Copy and paste the URL of the log)

@@ -1,14 +0,0 @@
-name: docker-dev
-on: [push, pull_request]
-jobs:
-  changes:
-    runs-on: ubuntu-latest
-    steps:
-      - id: file_changes
-        uses: trilom/file-changes-action@v1.2.3
-      - name: test
-        run: |
-          echo '${{ steps.file_changes.outputs.files}}'
-          echo '${{ steps.file_changes.outputs.files_modified}}'
-          echo '${{ steps.file_changes.outputs.files_added}}'
-          echo '${{ steps.file_changes.outputs.files_removed}}'
@@ -8,7 +8,7 @@ First [fork and clone](https://help.github.com/articles/fork-a-repo) the project

 ### Create a feature branch

-*Always* branch off master for new features.
+*Always* branch off main for new features.

 ```
 git checkout -b mydescriptivebranchname
@@ -16,7 +16,7 @@ git checkout -b mydescriptivebranchname

 ### Edit and build the code

-The [developer guide](http://dev.px4.io/) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://dev.px4.io/master/en/contribute/code.html) when editing files.
+The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://docs.px4.io/main/en/contribute/code.html) when editing files.

 ### Commit your changes

@@ -7,7 +7,8 @@ pipeline {
    stage('Analysis') {
      when {
        anyOf {
-          branch 'master'
+          branch 'main'
+          branch 'master' // should be removed, but in case there is something going on...
          branch 'pr-jenkins' // for testing
        }
      }
@@ -204,20 +205,21 @@ pipeline {
            unstash 'msg_documentation'
            unstash 'uorb_graph'
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_user_guide.git')
-              sh('cp airframes.md px4_user_guide/en/airframes/airframe_reference.md')
-              sh('cp parameters.md px4_user_guide/en/advanced_config/parameter_reference.md')
-              sh('cp -R modules/*.md px4_user_guide/en/modules/')
-              sh('cp -R graph_*.json px4_user_guide/.vuepress/public/en/middleware/')
-              sh('cp -R msg_docs/*.md px4_user_guide/en/msg_docs/')
-              sh('cd px4_user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
-              sh('cd px4_user_guide; git push origin master || true')
-              sh('rm -rf px4_user_guide')
+              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/PX4-user_guide.git')
+              sh('cp airframes.md PX4-user_guide/en/airframes/airframe_reference.md')
+              sh('cp parameters.md PX4-user_guide/en/advanced_config/parameter_reference.md')
+              sh('cp -R modules/*.md PX4-user_guide/en/modules/')
+              sh('cp -R graph_*.json PX4-user_guide/.vuepress/public/en/middleware/')
+              sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
+              sh('cd PX4-user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
+              sh('cd PX4-user_guide; git push origin main || true')
+              sh('rm -rf PX4-user_guide')
            }
          }
          when {
            anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
              branch 'pr-jenkins' // for testing
            }
          }
@@ -245,7 +247,8 @@ pipeline {
          }
          when {
            anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
              branch 'pr-jenkins' // for testing
            }
          }
@@ -278,7 +281,8 @@ pipeline {
          }
          when {
            anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
              branch 'pr-jenkins' // for testing
            }
          }
@@ -307,7 +311,8 @@ pipeline {
          }
          when {
            anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
              branch 'pr-jenkins' // for testing
            }
          }
@@ -350,7 +355,8 @@ pipeline {
          }
          when {
            anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
              branch 'pr-jenkins' // for testing
            }
          }
@@ -373,7 +379,8 @@ pipeline {
          }
          when {
            anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
              branch 'pr-jenkins' // for testing
            }
          }
@@ -10,8 +10,8 @@ This repository holds the [PX4](http://px4.io) flight control solution for drone

 PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.

-* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
-* [Supported airframes](https://docs.px4.io/main/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
+* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/main/LICENSE))
+* [Supported airframes](https://docs.px4.io/main/en/airframes/airframe_reference.html) ([portfolio](https://px4.io/ecosystem/commercial-systems/)):
  * [Multicopters](https://docs.px4.io/main/en/frames_multicopter/)
  * [Fixed wing](https://docs.px4.io/main/en/frames_plane/)
  * [VTOL](https://docs.px4.io/main/en/frames_vtol/)
@@ -35,6 +35,5 @@ add_subdirectory(init.d)
 add_subdirectory(mixers)
 # TODO: make this configurable from the board config, or better combine
 if("${PX4_BOARD}" MATCHES "sitl")
-	add_subdirectory(mixers-sitl)
 	add_subdirectory(init.d-posix)
 endif()
@@ -9,4 +9,25 @@

 . ${R}etc/init.d/rc.mc_defaults

-set MIXER quad_w
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+
@@ -1,37 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL
-#
-# @type Quadrotor Wide
-#
-# @maintainer Julian Oes <julian@oes.ch>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default SYS_CTRL_ALLOC 1
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-
-set MIXER skip
-set MIXER_AUX none
@@ -9,8 +9,6 @@

 . ${R}etc/init.d/rc.mc_defaults

-param set-default SYS_CTRL_ALLOC 1
-

 param set-default CA_AIRFRAME 0

@@ -97,5 +95,3 @@ param set-default CA_METHOD 0
 param set-default FD_FAIL_P 0
 param set-default FD_FAIL_R 0

-set MIXER skip
-set MIXER_AUX none
@@ -1,19 +0,0 @@
-#!/bin/sh
-#
-# @name IF750A SITL
-# InspiredFlight 750 Auterion edition. Gazebo Only.
-#
-# @type Quadrotor
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-# EKF2: Multi GPS blending (as the model has 2 GPS's)
-param set-default SENS_GPS_MASK 7
-param set-default TRIG_INTERFACE 3
-param set-default TRIG_MODE 4
-param set-default MNT_MODE_IN 4
-param set-default MNT_MODE_OUT 2
-param set-default MNT_DO_STAB 2
-
-set MIXER quad_x
@@ -8,4 +8,8 @@

 . ${R}etc/init.d/airframes/4016_holybro_px4vision

-set MIXER quad_x
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+
@@ -9,7 +9,6 @@

 . ${R}etc/init.d/rc.mc_defaults

-set MIXER quad_x

 # disable some checks to allow to fly:
 # - with usb
@@ -20,4 +19,24 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+
 param set SIH_VEHICLE_TYPE 0
+
@@ -8,7 +8,6 @@

 . ${R}etc/init.d/rc.fw_defaults

-set MIXER AERT

 # disable some checks to allow to fly:
 # - with usb
@@ -21,13 +20,30 @@ param set-default CBRK_IO_SAFETY 22027

 param set-default BAT_N_CELLS 3

-param set SIH_T_MAX 6.0
-param set SIH_MASS 0.3
-param set SIH_IXX 0.00402
-param set SIH_IYY 0.0144
-param set SIH_IZZ 0.0177
-param set SIH_IXZ 0.00046
-param set SIH_KDV 0.2
+param set-default SIH_T_MAX 6.0
+param set-default SIH_MASS 0.3
+param set-default SIH_IXX 0.00402
+param set-default SIH_IYY 0.0144
+param set-default SIH_IZZ 0.0177
+param set-default SIH_IXZ 0.00046
+param set-default SIH_KDV 0.2

-param set SIH_VEHICLE_TYPE 1 	# sih as fixed wing
-param set RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
+param set-default SIH_VEHICLE_TYPE 1 	# sih as fixed wing
+param set-default RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
+
+
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_P 1.0
+param set-default CA_SV_CS1_TYPE 3
+param set-default CA_SV_CS2_TRQ_Y 1.0
+param set-default CA_SV_CS2_TYPE 4
+param set-default PWM_MAIN_FUNC3 201
+param set-default PWM_MAIN_FUNC4 202
+param set-default PWM_MAIN_FUNC5 203
+param set-default PWM_MAIN_FUNC6 101
@@ -16,8 +16,6 @@ param set-default MPC_MAN_Y_MAX 60
 param set-default MC_PITCH_P 5

 param set-default MAV_TYPE 19
-set MAV_TYPE 19
-set MIXER vtol_tailsitter_duo_sat

 # disable some checks to allow to fly:
 # - with usb
@@ -30,16 +28,39 @@ param set-default CBRK_IO_SAFETY 22027

 param set-default BAT_N_CELLS 3

-param set SIH_T_MAX 2.0
-param set SIH_Q_MAX 0.0165
-param set SIH_MASS 0.2
+param set-default SIH_T_MAX 2.0
+param set-default SIH_Q_MAX 0.0165
+param set-default SIH_MASS 0.2
 # IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
-param set SIH_IXX 0.00354
-param set SIH_IYY 0.000625
-param set SIH_IZZ 0.00300
-param set SIH_IXZ 0.0
-param set SIH_KDV 0.2
-param set SIH_L_ROLL 0.145
+param set-default SIH_IXX 0.00354
+param set-default SIH_IYY 0.000625
+param set-default SIH_IZZ 0.00300
+param set-default SIH_IXZ 0.0
+param set-default SIH_KDV 0.2
+param set-default SIH_L_ROLL 0.145

 # sih as tailsitter
-param set SIH_VEHICLE_TYPE 2
+param set-default SIH_VEHICLE_TYPE 2
+
+param set-default CA_AIRFRAME 4
+
+param set-default CA_ROTOR_COUNT 2
+param set-default CA_ROTOR0_PX 0
+param set-default CA_ROTOR0_PY 2
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR1_KM 0.05
+
+param set-default CA_SV_CS_COUNT 2
+param set-default CA_SV_CS0_TYPE 5
+param set-default CA_SV_CS0_TRQ_P 0.5
+param set-default CA_SV_CS0_TRQ_Y -0.5
+param set-default CA_SV_CS1_TYPE 6
+param set-default CA_SV_CS1_TRQ_P 0.5
+param set-default CA_SV_CS1_TRQ_Y 0.5
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC5 201
+param set-default PWM_MAIN_FUNC6 202
@@ -1,13 +0,0 @@
-#!/bin/sh
-#
-# @name Solo
-#
-# @type Quadrotor
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default MC_PITCHRATE_P 0.1
-param set-default MC_ROLLRATE_P 0.05
-
-set MIXER quad_x
@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name UUV
-#
-
-. ${R}etc/init.d/rc.uuv_defaults
-
-# disable circuit breaker for airspeed sensor
-param set-default CBRK_AIRSPD_CHK 162128
-
-set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
-set MIXER custom
@@ -8,5 +8,40 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
-set MIXER custom
+param set-default CA_AIRFRAME 7
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_R_REV 255
+param set-default CA_ROTOR0_AX 1.0000
+param set-default CA_ROTOR0_AY 0.0000
+param set-default CA_ROTOR0_AZ 0.0000
+param set-default CA_ROTOR0_KM 0.0000
+param set-default CA_ROTOR0_PX 0.0000
+param set-default CA_ROTOR0_PY -0.3000
+param set-default CA_ROTOR0_PZ -0.3000
+param set-default CA_ROTOR1_AX 1.0000
+param set-default CA_ROTOR1_AY 0.0000
+param set-default CA_ROTOR1_AZ 0.0000
+param set-default CA_ROTOR1_KM 0.0000
+param set-default CA_ROTOR1_PX 0.0000
+param set-default CA_ROTOR1_PY 0.3000
+param set-default CA_ROTOR1_PZ -0.3000
+param set-default CA_ROTOR2_AX 1.0000
+param set-default CA_ROTOR2_AY 0.0000
+param set-default CA_ROTOR2_AZ 0.0000
+param set-default CA_ROTOR2_KM 0.0000
+param set-default CA_ROTOR2_PX 0.0000
+param set-default CA_ROTOR2_PY 0.3000
+param set-default CA_ROTOR2_PZ 0.3000
+param set-default CA_ROTOR3_AX 1.0000
+param set-default CA_ROTOR3_AY 0.0000
+param set-default CA_ROTOR3_AZ 0.0000
+param set-default CA_ROTOR3_KM 0.0000
+param set-default CA_ROTOR3_PX 0.0000
+param set-default CA_ROTOR3_PY -0.3000
+param set-default CA_ROTOR3_PZ 0.3000
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+
@@ -8,7 +8,6 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 7

 param set-default CA_ROTOR_COUNT 8
@@ -66,4 +65,3 @@ param set-default PWM_MAIN_FUNC6 106
 param set-default PWM_MAIN_FUNC7 107
 param set-default PWM_MAIN_FUNC8 108

-set MIXER skip
@@ -13,16 +13,21 @@ param set-default FW_LND_ANG 8

 param set-default FW_L1_PERIOD 12

-param set-default FW_MAN_P_MAX 30
-
 param set-default FW_PR_P 0.9
-param set-default FW_PR_FF 0.2
+param set-default FW_PR_FF 0.5
+param set-default FW_PR_I 0.5
+param set-default TRIM_PITCH -0.15
+
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15

-param set-default FW_RR_FF 0.1
+param set-default FW_RR_FF 0.5
 param set-default FW_RR_P 0.3
+param set-default FW_RR_I 0.5
+
+param set-default FW_YR_FF 0.5
+param set-default FW_YR_P 0.6
+param set-default FW_YR_I 0.5

 param set-default FW_SPOILERS_LND 0.4

@@ -44,7 +49,6 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

-#param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 1

 param set-default CA_ROTOR_COUNT 1
@@ -71,5 +75,3 @@ param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256


-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
@@ -39,6 +39,28 @@ param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8

+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256

-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
@@ -39,5 +39,28 @@ param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8

-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
+
@@ -35,5 +35,28 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
+
@@ -37,5 +37,28 @@ param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8

-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
+
@@ -13,12 +13,9 @@ param set-default FW_LND_ANG 8

 param set-default FW_L1_PERIOD 12

-param set-default FW_MAN_P_MAX 30
-
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.2
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15

 param set-default FW_RR_FF 0.1
@@ -47,5 +44,28 @@ param set-default FW_USE_NPFG 1

 param set-default RWTO_TKOFF 1

-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
+
@@ -12,7 +12,6 @@
 param set-default FD_ACT_EN 0
 param set-default FD_ACT_MOT_TOUT 500

-# param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 2

 param set-default CA_ROTOR_COUNT 5
@@ -49,11 +48,9 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203

 param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
@@ -84,5 +81,3 @@ param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2

-set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
-set MIXER custom
@@ -9,7 +9,6 @@

 param set-default MAV_TYPE 20

-# param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 4

 param set-default CA_ROTOR_COUNT 4
@@ -44,11 +43,9 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_REV 96 # invert both elevons

 param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_I 0.2
 param set-default FW_PR_P 0.2
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_P 0.2
 param set-default FW_THR_TRIM 0.33
@@ -79,5 +76,3 @@ param set-default VT_TYPE 0

 param set-default WV_EN 0

-set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
-set MIXER custom
@@ -9,7 +9,6 @@

 param set-default MAV_TYPE 21

-param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 3

 param set-default CA_ROTOR_COUNT 4
@@ -27,9 +26,7 @@ param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05

 param set-default CA_ROTOR0_TILT 1
-param set-default CA_ROTOR1_TILT 2
-param set-default CA_ROTOR2_TILT 3
-param set-default CA_ROTOR3_TILT 4
+param set-default CA_ROTOR2_TILT 2
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
@@ -39,9 +36,7 @@ param set-default CA_SV_CS2_TYPE 3
 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_TL0_CT 0
 param set-default CA_SV_TL1_CT 0
-param set-default CA_SV_TL2_CT 0
-param set-default CA_SV_TL3_CT 0
-param set-default CA_SV_TL_COUNT 4
+param set-default CA_SV_TL_COUNT 2

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -49,18 +44,14 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 204
 param set-default PWM_MAIN_FUNC6 205
-param set-default PWM_MAIN_FUNC7 206
-param set-default PWM_MAIN_FUNC8 207
-param set-default PWM_MAIN_FUNC9 201
-param set-default PWM_MAIN_FUNC10 202
-param set-default PWM_MAIN_FUNC11 203
+param set-default PWM_MAIN_FUNC7 201
+param set-default PWM_MAIN_FUNC8 202
+param set-default PWM_MAIN_FUNC9 203

 param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
@@ -71,23 +62,17 @@ param set-default FW_T_CLMB_MAX 8
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2

-param set-default MC_YAW_P 1.6
+param set-default MC_YAWRATE_P 0.3
+param set-default MC_YAWRATE_I 0.3

-param set-default MIS_TAKEOFF_ALT 10
-
-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1

-param set-default NAV_ACC_RAD 5
+param set-default MIS_TAKEOFF_ALT 10

 param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_EN 4
-param set-default VT_MOT_ID 1234
+param set-default VT_FWD_THRUST_SC 0.6
 param set-default VT_TILT_TRANS 0.6
 param set-default VT_TYPE 1
-
-set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
-set MIXER custom
@@ -5,50 +5,14 @@
 # @type Standard VTOL
 #

-. ${R}etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d-posix/airframes/1040_standard_vtol

-param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
-param set-default FW_PR_FF 0.2
-param set-default FW_PR_P 0.9
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
-param set-default FW_P_LIM_MIN -15
-param set-default FW_RR_FF 0.1
-param set-default FW_RR_P 0.3
-param set-default FW_THR_TRIM 0.25
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-param set-default FW_T_ALT_TC 2
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-param set-default FW_T_TAS_TC 2
-
-param set-default MC_ROLLRATE_P 0.3
-param set-default MC_YAW_P 1.6
-
-param set-default MIS_TAKEOFF_ALT 10
-
-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
-
-param set-default NAV_ACC_RAD 5
-
-param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_B_TRANS_DUR 8
-param set-default VT_TYPE 2
+# Gimbal
+param set-default PWM_MAIN_FUNC9 420
+param set-default PWM_MAIN_FUNC10 421
+param set-default PWM_MAIN_FUNC11 422

 param set-default RC_MAP_AUX1 8
 param set-default RC_MAP_AUX2 9
 param set-default RC_MAP_AUX3 10

-set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
-set MIXER custom
@@ -1 +0,0 @@
-mixer append /dev/pwm_output0 etc/mixers-sitl/package_drop.aux.mix
@@ -28,7 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

-param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 5

 param set-default CA_R_REV 1
@@ -37,4 +36,3 @@ param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101

-set MIXER_FILE skip
@@ -28,7 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

-param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 6

 param set-default CA_R_REV 3
@@ -37,4 +36,3 @@ param set-default PWM_MAIN_FUNC2 101
 param set-default PWM_MAIN_FUNC6 102
 param set-default PWM_MAIN_FUNC7 102

-set MIXER_FILE skip
@@ -35,4 +35,11 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 3.0

-set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
+param set-default CA_AIRFRAME 5
+
+param set-default CA_R_REV 1
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 201
+param set-default PWM_MAIN_FUNC6 101
+param set-default PWM_MAIN_FUNC7 101
+
@@ -28,7 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0

-param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 9

 param set-default CA_ROTOR_COUNT 2
@@ -47,4 +46,3 @@ param set-default CA_R_REV 3
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102

-set MIXER skip
@@ -38,12 +38,31 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_R_LIM 30

-param set-default FW_MAN_P_MAX 30.0
 param set-default FW_MAN_R_MAX 30.0

 param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0

-set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
-set MIXER custom
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TRQ_R 0
+param set-default CA_SV_CS0_TRQ_Y 1
+param set-default CA_SV_CS0_TYPE 4
+param set-default CA_SV_CS1_TRQ_P 0
+param set-default CA_SV_CS1_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 1
+param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TYPE 3
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 101
+param set-default PWM_MAIN_FUNC3 202
+param set-default PWM_MAIN_FUNC4 203
+param set-default PWM_MAIN_FUNC5 407
+param set-default PWM_MAIN_FUNC6 408
+param set-default PWM_MAIN_FUNC7 409
+
@@ -44,12 +44,31 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_R_LIM 30

-param set-default FW_MAN_P_MAX 30.0
 param set-default FW_MAN_R_MAX 30.0

 param set-default FW_THR_CRUISE 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0

-set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
-set MIXER custom
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TRQ_R 0
+param set-default CA_SV_CS0_TRQ_Y 1
+param set-default CA_SV_CS0_TYPE 4
+param set-default CA_SV_CS1_TRQ_P 0
+param set-default CA_SV_CS1_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 1
+param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TYPE 3
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 101
+param set-default PWM_MAIN_FUNC3 202
+param set-default PWM_MAIN_FUNC4 203
+param set-default PWM_MAIN_FUNC5 407
+param set-default PWM_MAIN_FUNC6 408
+param set-default PWM_MAIN_FUNC7 409
+
@@ -11,7 +11,6 @@

 . ${R}etc/init.d/rc.airship_defaults

-param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 9

 param set-default CA_ROTOR_COUNT 3
@@ -38,4 +37,3 @@ param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 201
 param set-default PWM_MAIN_FUNC4 103

-set MIXER skip
@@ -9,4 +9,24 @@

 . ${R}etc/init.d/rc.mc_defaults

-set MIXER quad_w
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
@@ -26,4 +26,29 @@ param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 4
 param set-default MNT_DO_STAB 2

-set MIXER hexa_x
+
+param set-default CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PY 1.0
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PY -1.0
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.866025
+param set-default CA_ROTOR2_PY -0.5
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.866025
+param set-default CA_ROTOR3_PY 0.5
+param set-default CA_ROTOR3_KM 0.05
+param set-default CA_ROTOR4_PX 0.866025
+param set-default CA_ROTOR4_PY 0.5
+param set-default CA_ROTOR4_KM 0.05
+param set-default CA_ROTOR5_PX -0.866025
+param set-default CA_ROTOR5_PY -0.5
+param set-default CA_ROTOR5_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106
@@ -28,4 +28,39 @@ param set-default MNT_MODE_IN 4
 param set-default MNT_MODE_OUT 2
 param set-default MAV_PROTO_VER 2

-set MIXER hexa_x
+param set-default CA_AIRFRAME 0
+param set-default CA_ROTOR_COUNT 6
+
+param set-default CA_ROTOR0_PX 0.0
+param set-default CA_ROTOR0_PY 1.0
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR1_PX 0.0
+param set-default CA_ROTOR1_PY -1.0
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.866025
+param set-default CA_ROTOR2_PY -0.5
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.866025
+param set-default CA_ROTOR3_PY 0.5
+param set-default CA_ROTOR3_KM 0.05
+param set-default CA_ROTOR4_PX 0.866025
+param set-default CA_ROTOR4_PY 0.5
+param set-default CA_ROTOR4_KM 0.05
+param set-default CA_ROTOR5_PX -0.866025
+param set-default CA_ROTOR5_PY -0.5
+param set-default CA_ROTOR5_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106
+# Gimbal
+param set-default PWM_MAIN_FUNC7 420
+param set-default PWM_MAIN_FUNC8 421
+param set-default PWM_MAIN_FUNC9 422
+# Landing gear
+param set-default PWM_MAIN_FUNC10 400
+param set-default PWM_MAIN_FUNC11 400
+
@@ -1,6 +1,4 @@

-mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
-
 mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p

 # shellcheck disable=SC2154
@@ -1,64 +0,0 @@
-#!/bin/sh
-#
-# @name Typhoon H480 SITL
-#
-# @type Hexarotor x
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default MAV_TYPE 13
-
-param set-default SYS_CTRL_ALLOC 1
-
-param set-default MC_PITCHRATE_P 0.0800
-param set-default MC_PITCHRATE_I 0.0400
-param set-default MC_PITCHRATE_D 0.0010
-param set-default MC_PITCH_P 9.0
-param set-default MC_ROLLRATE_P 0.0800
-param set-default MC_ROLLRATE_I 0.0400
-param set-default MC_ROLLRATE_D 0.0010
-param set-default MC_ROLL_P 9.0
-
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_P_ACC 3
-
-param set-default RTL_DESCEND_ALT 10
-param set-default RTL_LAND_DELAY 0
-
-param set-default TRIG_INTERFACE 3
-param set-default TRIG_MODE 4
-param set-default MNT_MODE_IN 0
-param set-default MAV_PROTO_VER 2
-
-param set-default CA_AIRFRAME 0
-param set-default CA_ROTOR_COUNT 6
-
-param set-default CA_ROTOR0_PX 0.0
-param set-default CA_ROTOR0_PY 1.0
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
-param set-default CA_ROTOR1_PY -1.0
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.866025
-param set-default CA_ROTOR2_PY -0.5
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.866025
-param set-default CA_ROTOR3_PY 0.5
-param set-default CA_ROTOR3_KM 0.05
-param set-default CA_ROTOR4_PX 0.866025
-param set-default CA_ROTOR4_PY 0.5
-param set-default CA_ROTOR4_KM 0.05
-param set-default CA_ROTOR5_PX -0.866025
-param set-default CA_ROTOR5_PY -0.5
-param set-default CA_ROTOR5_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_MAIN_FUNC6 106
-
-set MIXER skip
-set MIXER_AUX none
@@ -1,8 +0,0 @@
-
-mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
-
-# shellcheck disable=SC2154
-mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
-# shellcheck disable=SC2154
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
-mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
@@ -33,10 +33,8 @@

 px4_add_romfs_files(
 	10016_iris
-	10017_iris_ctrlalloc
 	10018_iris_foggy_lidar
 	10019_omnicopter
-	10020_if750a
 	10030_px4vision
 	10040_quadx
 	10041_airplane
@@ -47,19 +45,16 @@ px4_add_romfs_files(
 	1012_iris_rplidar
 	1013_iris_vision
 	1013_iris_vision.post
-	1014_solo
 	1015_iris_obs_avoid
 	1015_iris_obs_avoid.post
 	1017_iris_opt_flow_mockup
 	1018_iris_vision_velocity
 	1019_iris_dual_gps
-	1020_uuv_generic
 	1021_uuv_hippocampus
 	1022_uuv_bluerov2_heavy
 	1030_plane
 	1031_plane_cam
 	1032_plane_catapult
-	1033_plane_lidar
 	1033_rascal
 	1034_rascal-electric
 	1035_techpod
@@ -70,7 +65,7 @@ px4_add_romfs_files(
 	1041_tailsitter
 	1042_tiltrotor
 	1043_standard_vtol_drop
-	1043_standard_vtol_drop.post
+	1044_plane_lidar
 	1060_rover
 	1061_r1_rover
 	1062_tf-r1
@@ -82,6 +77,4 @@ px4_add_romfs_files(
 	2507_cloudship
 	6011_typhoon_h480
 	6011_typhoon_h480.post
-	6012_typhoon_h480_ctrlalloc
-	6012_typhoon_h480_ctrlalloc.post
 )
@@ -1,4 +1,5 @@
 #!/bin/sh
 # shellcheck disable=SC2154

-micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
+#micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
+microdds_client start -t udp -p 15555
@@ -24,7 +24,7 @@ fi

 # initialize script variables
 set IO_PRESENT                  no
-set MIXER                       none
+set MIXER                       skip
 set MIXER_AUX                   none
 set MIXER_FILE                  none
 set OUTPUT_MODE                 sim
@@ -228,6 +228,12 @@ commander start

 navigator start

+# Try to start the microdds_client with UDP transport if module exists
+if px4-microdds_client status > /dev/null 2>&1
+then
+	microdds_client start -t udp -p 15555
+fi
+
 # Try to start the micrortps_client with UDP transport if module exists
 if px4-micrortps_client status > /dev/null 2>&1
 then
@@ -1,72 +0,0 @@
-#!/bin/sh
-#
-# @name HILStar (XPlane)
-#
-# @type Simulation
-# @class Plane
-#
-# @output MAIN1 aileron
-# @output MAIN2 elevator
-# @output MAIN3 rudder
-# @output MAIN4 throttle
-# @output MAIN5 flaps
-# @output MAIN6 gear
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-# @board px4_fmu-v2 exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default BAT1_N_CELLS 3
-
-param set-default FW_AIRSPD_MAX 20
-param set-default FW_AIRSPD_MIN 12
-param set-default FW_AIRSPD_TRIM 14
-param set-default FW_R_TC 0.3
-param set-default FW_P_TC 0.3
-param set-default FW_L1_DAMPING 0.74
-param set-default FW_L1_PERIOD 16
-param set-default FW_LND_ANG 15
-param set-default FW_LND_FLALT 5
-param set-default FW_PR_FF 0.35
-param set-default FW_PR_P 0.2
-param set-default FW_RR_FF 0.6
-param set-default FW_RR_P 0.3
-
-param set-default RWTO_TKOFF 1
-
-param set-default CA_AIRFRAME 1
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-param set-default CA_SV_CS_COUNT 4
-param set-default CA_SV_CS0_TRQ_R 0.5
-param set-default CA_SV_CS0_TYPE 2
-param set-default CA_SV_CS1_TRQ_P 1.0
-param set-default CA_SV_CS1_TYPE 3
-param set-default CA_SV_CS2_TRQ_Y 1.0
-param set-default CA_SV_CS2_TYPE 4
-param set-default CA_SV_CS3_TYPE 10
-
-param set-default HIL_ACT_REV 2
-param set-default HIL_ACT_FUNC1 201
-param set-default HIL_ACT_FUNC2 202
-param set-default HIL_ACT_FUNC3 203
-param set-default HIL_ACT_FUNC4 101
-param set-default HIL_ACT_FUNC5 204
-param set-default HIL_ACT_FUNC6 400
-
-param set SYS_HITL 1
-
-param set UAVCAN_ENABLE 0
-
-# disable some checks to allow to fly
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
-set MIXER AERT
@@ -1,36 +0,0 @@
-#!/bin/sh
-#
-# @name Team Blacksheep Discovery
-#
-# @type Quadrotor Wide
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 feed-through of RC AUX1 channel
-# @output MAIN6 feed-through of RC AUX2 channel
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-# @output AUX4 feed-through of RC FLAPS channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default MC_ROLLRATE_P 0.1
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.0017
-param set-default MC_PITCHRATE_P 0.14
-param set-default MC_PITCHRATE_I 0.1
-param set-default MC_PITCHRATE_D 0.0025
-param set-default MC_YAWRATE_P 0.28
-
-set MIXER quad_w
@@ -1,40 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor
-#
-# @type Quadrotor Wide
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-# @output AUX4 feed-through of RC FLAPS channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-# TODO tune roll/pitch separately
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_YAW_P 2.5
-param set-default MC_YAWRATE_P 0.25
-param set-default MC_YAWRATE_I 0.25
-
-param set-default BAT1_V_DIV 12.27559
-param set-default BAT1_A_PER_V 15.391030303103
-
-set MIXER quad_w
@@ -1,43 +0,0 @@
-#!/bin/sh
-#
-# @name Team Blacksheep Discovery Endurance
-#
-# @type Quadrotor Wide
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 feed-through of RC AUX1 channel
-# @output MAIN6 feed-through of RC AUX2 channel
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-# @output AUX4 feed-through of RC FLAPS channel
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default BAT1_N_CELLS 6
-param set-default BAT1_V_EMPTY 3.5
-
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.08
-param set-default MC_ROLLRATE_I 0.02
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.13
-param set-default MC_PITCHRATE_I 0.02
-param set-default MC_PITCHRATE_D 0.005
-
-param set-default MPC_XY_VEL_MAX 2
-
-param set-default PWM_MAIN_MIN 1080
-
-set MIXER quad_w
@@ -11,7 +11,6 @@

 . ${R}etc/init.d/rc.mc_defaults

-set MIXER quad_x

 param set SYS_HITL 1

@@ -45,7 +45,6 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_Z_VEL_P_ACC 12
 param set-default MPC_Z_VEL_I_ACC 3
-param set-default MPC_Z_VEL_MAX_DN 1.5

 param set-default NAV_ACC_RAD 5
 param set-default NAV_DLL_ACT 2
@@ -77,6 +76,8 @@ param set-default CA_ROTOR4_AZ 0.0
 param set-default CA_ROTOR4_PX 0.2

 param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS2_TRQ_P 1.0
@@ -107,6 +108,4 @@ param set-default CBRK_IO_SAFETY 22027

 param set-default MAV_TYPE 22

-set MIXER standard_vtol_hitl

-set PWM_OUT 1234
@@ -5,16 +5,12 @@
 # @type Hexarotor Coaxial
 # @class Copter
 #
-# @output MAIN1 front right top, CW; angle:60; direction:CW
-# @output MAIN2 front right bottom, CCW; angle:60; direction:CCW
-# @output MAIN3 back top, CW; angle:180; direction:CW
-# @output MAIN4 back bottom, CCW; angle:180; direction:CCW
-# @output MAIN5 front left top, CW; angle:-60; direction:CW
-# @output MAIN6 front left bottom, CCW;angle:-60; direction:CCW
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
+# @output Motor1 front right top, CW; angle:60; direction:CW
+# @output Motor2 front right bottom, CCW; angle:60; direction:CCW
+# @output Motor3 back top, CW; angle:180; direction:CW
+# @output Motor4 back bottom, CCW; angle:180; direction:CCW
+# @output Motor5 front left top, CW; angle:-60; direction:CW
+# @output Motor6 front left bottom, CCW;angle:-60; direction:CCW
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
@@ -24,7 +20,28 @@

 . ${R}etc/init.d/rc.mc_defaults

-set MIXER hexa_cox
+param set-default MAV_TYPE 13
+
+param set-default CA_ROTOR_COUNT 6
+param set-default CA_ROTOR0_PX 0.25
+param set-default CA_ROTOR0_PY 0.433
+param set-default CA_ROTOR0_PZ -0.05
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR1_PX 0.25
+param set-default CA_ROTOR1_PY 0.433
+param set-default CA_ROTOR1_PZ 0.05
+param set-default CA_ROTOR2_PX -0.5
+param set-default CA_ROTOR2_PY 0
+param set-default CA_ROTOR2_PZ -0.05
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.5
+param set-default CA_ROTOR3_PY 0
+param set-default CA_ROTOR3_PZ 0.05
+param set-default CA_ROTOR4_PX 0.25
+param set-default CA_ROTOR4_PY -0.433
+param set-default CA_ROTOR4_PZ -0.05
+param set-default CA_ROTOR4_KM -0.05
+param set-default CA_ROTOR5_PX 0.25
+param set-default CA_ROTOR5_PY -0.433
+param set-default CA_ROTOR5_PZ 0.05

-# Need to set all 8 channels
-set PWM_OUT 12345678
@@ -12,8 +12,6 @@

 . ${R}etc/init.d/rc.mc_defaults

-set MIXER quad_x
-set PWM_OUT 1234

 param set UAVCAN_ENABLE 0

@@ -12,8 +12,6 @@

 . ${R}etc/init.d/rc.fw_defaults

-set MIXER AERT
-set PWM_OUT 1234

 param set UAVCAN_ENABLE 0

@@ -5,10 +5,10 @@
 # @type Simulation
 # @class VTOL
 #
-# @output MAIN1 motor right
-# @output MAIN2 motor left
-# @output MAIN5 elevon right
-# @output MAIN6 elevon left
+# @output Motor1 motor right
+# @output Motor2 motor left
+# @output Servo1 elevon right
+# @output Servo2 elevon left
 #
 # @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
 #
@@ -48,9 +48,7 @@ param set-default HIL_ACT_REV 32

 param set-default MAV_TYPE 19

-set MIXER vtol_tailsitter_duo_sat

-set PWM_OUT 1234

 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2
@@ -5,14 +5,14 @@
 # @type Octorotor Coaxial
 # @class Copter
 #
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 motor 5
-# @output MAIN6 motor 6
-# @output MAIN7 motor 7
-# @output MAIN8 motor 8
+# @output Motor1 motor 1
+# @output Motor2 motor 2
+# @output Motor3 motor 3
+# @output Motor4 motor 4
+# @output Motor5 motor 5
+# @output Motor6 motor 6
+# @output Motor7 motor 7
+# @output Motor8 motor 8
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
@@ -21,6 +21,35 @@

 . ${R}etc/init.d/rc.mc_defaults

-set MIXER octo_cox

-set PWM_OUT 12345678
+param set-default MAV_TYPE 14
+
+param set-default CA_ROTOR_COUNT 8
+param set-default CA_ROTOR0_PX 0.35
+param set-default CA_ROTOR0_PY 0.35
+param set-default CA_ROTOR0_PZ -0.05
+param set-default CA_ROTOR1_KM -0.05
+param set-default CA_ROTOR1_PX 0.35
+param set-default CA_ROTOR1_PY -0.35
+param set-default CA_ROTOR1_PZ -0.05
+param set-default CA_ROTOR2_PX -0.35
+param set-default CA_ROTOR2_PY -0.35
+param set-default CA_ROTOR2_PZ -0.05
+param set-default CA_ROTOR3_PX -0.35
+param set-default CA_ROTOR3_PY 0.35
+param set-default CA_ROTOR3_PZ -0.05
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR4_PX 0.35
+param set-default CA_ROTOR4_PY -0.35
+param set-default CA_ROTOR4_PZ 0.05
+param set-default CA_ROTOR5_PX 0.35
+param set-default CA_ROTOR5_PY 0.35
+param set-default CA_ROTOR5_PZ 0.05
+param set-default CA_ROTOR5_KM -0.05
+param set-default CA_ROTOR6_PX -0.35
+param set-default CA_ROTOR6_PY 0.35
+param set-default CA_ROTOR6_PZ 0.05
+param set-default CA_ROTOR7_KM -0.05
+param set-default CA_ROTOR7_PX -0.35
+param set-default CA_ROTOR7_PY -0.35
+param set-default CA_ROTOR7_PZ 0.05
@@ -12,7 +12,6 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 2
 param set-default CA_ROTOR_COUNT 5
 param set-default CA_ROTOR0_PX 1
@@ -1,43 +0,0 @@
-#!/bin/sh
-#
-# @name Caipiroshka Duo Tailsitter
-#
-# @type VTOL Duo Tailsitter
-# @class VTOL
-#
-# @output MAIN1 motor right
-# @output MAIN2 motor left
-# @output MAIN5 elevon right
-# @output MAIN6 elevon left
-#
-# @maintainer Roman Bapst <roman@px4.io>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default MAV_TYPE 19
-
-param set-default MC_ROLL_P 6
-param set-default MC_ROLLRATE_P 0.12
-param set-default MC_ROLLRATE_I 0.002
-
-param set-default MC_PITCH_P 4.5
-param set-default MC_PITCHRATE_P 0.3
-param set-default MC_PITCHRATE_I 0.002
-
-param set-default MC_YAW_P 3.8
-param set-default MC_YAWRATE_P 0.22
-param set-default MC_YAWRATE_I 0.02
-
-param set-default VT_IDLE_PWM_MC  1080
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_MOT_ID 12
-param set-default VT_TYPE 0
-
-set MIXER vtol_tailsitter_duo
-
-set PWM_OUT 123456
@@ -1,53 +0,0 @@
-#!/bin/sh
-#
-# @name BirdsEyeView Aerobotics FireFly6
-# @type VTOL Tiltrotor
-# @class VTOL
-#
-# @maintainer Roman Bapst <roman@uaventure.com>
-#
-# @output MAIN1 Front right motor bottom
-# @output MAIN2 Front right motor top
-# @output MAIN3 Back motor bottom
-# @output MAIN4 Back motor top
-# @output MAIN5 Front left motor bottom
-# @output MAIN6 Front left motor top
-# @output AUX1 Tilt servo
-# @output AUX2 Elevon 1
-# @output AUX3 Elevon 2
-# @output AUX4 Gear
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default MAV_TYPE 21
-
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.19
-param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_D 0.005
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.14
-param set-default MC_PITCHRATE_I 0.002
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_YAW_P 4
-param set-default MC_YAWRATE_P 0.22
-param set-default MC_YAWRATE_I 0.02
-
-param set-default VT_FW_MOT_OFFID 34
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_MOT_ID 123456
-param set-default VT_FW_MOT_OFFID 56
-param set-default VT_TILT_MC 0.08
-param set-default VT_TILT_TRANS 0.5
-param set-default VT_TILT_FW 0.9
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_TYPE 1
-
-set MIXER firefly6
-set MIXER_AUX firefly6
-
-set PWM_OUT 12345678
@@ -1,46 +0,0 @@
-#!/bin/sh
-#
-# @name Quadrotor X Tailsitter
-#
-# @type VTOL Quad Tailsitter
-# @class VTOL
-#
-# @maintainer Roman Bapst <roman@px4.io>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default MAV_TYPE 20
-
-param set-default CA_AIRFRAME 4
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_SV_CS_COUNT 2
-param set-default CA_SV_CS0_TRQ_P 0.5
-param set-default CA_SV_CS0_TRQ_Y 0.5
-param set-default CA_SV_CS0_TYPE 5
-param set-default CA_SV_CS1_TRQ_P 0.5
-param set-default CA_SV_CS1_TRQ_Y -0.5
-param set-default CA_SV_CS1_TYPE 6
-
-param set-default PWM_MAIN_MAX 2000
-
-param set-default VT_MOT_ID 1234
-param set-default VT_IDLE_PWM_MC  1080
-param set-default VT_TYPE 0
-
-set MIXER quad_x_vtol
-
-set PWM_OUT 1234
@@ -1,34 +0,0 @@
-#!/bin/sh
-#
-# @name Quadrotor + Tailsitter
-#
-# @type VTOL Quad Tailsitter
-# @class VTOL
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 elevon left
-# @output MAIN6 elevon right
-# @output MAIN7 canard surface
-# @output MAIN8 rudder
-#
-# @maintainer Roman Bapst <roman@px4.io>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default MAV_TYPE 20
-
-param set-default PWM_MAIN_MAX 2000
-
-param set-default VT_IDLE_PWM_MC  1080
-param set-default VT_TYPE 0
-
-set MIXER quad_+_vtol
-
-set PWM_OUT 1234
@@ -1,59 +0,0 @@
-#!/bin/sh
-#
-# @name Fun Cub Quad VTOL
-#
-# @type Standard VTOL
-# @class VTOL
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output AUX1 Aileron 1
-# @output AUX2 Aileron 2
-# @output AUX3 Elevator
-# @output AUX4 Rudder
-# @output AUX5 Throttle
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default PWM_AUX_DIS5 950
-
-param set-default MC_ROLL_P 6
-param set-default MC_ROLLRATE_P 0.17
-param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCH_P 6
-param set-default MC_PITCHRATE_P 0.19
-param set-default MC_PITCHRATE_I 0.002
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_YAWRATE_P 0.22
-param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_MAX 40
-
-param set-default MPC_YAWRAUTO_MAX 40
-
-param set-default FW_PR_I 0.02
-param set-default FW_RR_FF 0.6
-param set-default FW_RR_I 0.01
-param set-default FW_THR_TRIM 0.75
-
-param set-default VT_ARSP_BLEND 6
-param set-default VT_ARSP_TRANS 12
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_TYPE 2
-
-set MIXER quad_x
-set MIXER_AUX vtol_AAERT
-
-set PWM_OUT 1234
@@ -1,48 +0,0 @@
-#!/bin/sh
-#
-# @name Generic quad delta VTOL
-#
-# @type Standard VTOL
-# @class VTOL
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output AUX1 Right elevon
-# @output AUX2 Left elevon
-# @output AUX3 Motor
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-
-param set-default MC_ROLLRATE_I 0.01
-param set-default MC_PITCHRATE_I 0.01
-param set-default MC_YAW_P 3.5
-
-param set-default MC_YAWRATE_MAX 50
-
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 2
-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_YAWRAUTO_MAX 20
-
-param set-default PWM_AUX_DIS3 950
-
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_TYPE 2
-
-set MIXER quad_x
-set MIXER_AUX vtol_delta
-
-set PWM_OUT 1234
@@ -1,40 +0,0 @@
-#!/bin/sh
-#
-# @name Generic AAVVT v-tail plane airframe with Quad VTOL.
-#
-# @type Standard VTOL
-# @class VTOL
-#
-# @maintainer Sander Smeets <sander@droneslab.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_I 0.002
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.12
-param set-default MC_PITCHRATE_I 0.002
-param set-default MC_YAWRATE_P 0.22
-param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_MAX 40
-
-param set-default MPC_YAWRAUTO_MAX 40
-
-param set-default PWM_AUX_DIS5 950
-
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_TYPE 2
-
-set MIXER quad_x
-set MIXER_AUX vtol_AAVVT
-
-set PWM_OUT 1234
@@ -1,53 +0,0 @@
-#!/bin/sh
-#
-# @name QuadRanger
-#
-# @type Standard VTOL
-# @class VTOL
-#
-# @maintainer Sander Smeets <sander@droneslab.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-
-param set-default FW_THR_TRIM 65
-param set-default FW_RR_FF 0.6
-
-param set-default MIS_YAW_TMT 10
-
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_I 0.1
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_I 0.1
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_YAW_P 3.5
-param set-default MC_YAWRATE_P 0.6
-param set-default MC_YAWRATE_I 0.04
-param set-default MC_YAWRATE_MAX 40
-
-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_Z_VEL_MAX_DN 1.5
-param set-default MPC_LAND_SPEED 0.8
-param set-default MPC_YAWRAUTO_MAX 40
-
-param set-default PWM_AUX_DIS5 950
-param set-default PWM_AUX_REV1 1
-param set-default PWM_AUX_REV2 1
-
-param set-default VT_ARSP_TRANS 15
-param set-default VT_ARSP_BLEND 8
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_TYPE 2
-
-set MIXER quad_x
-set MIXER_AUX vtol_AAERT
-
-set PWM_OUT 1234
@@ -1,83 +0,0 @@
-#!/bin/sh
-#
-# @name Sparkle Tech Ranger VTOL
-#
-# @type Standard VTOL
-# @class VTOL
-#
-# @maintainer Andreas Antener <andreas@uaventure.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default FW_AIRSPD_MAX   22
-param set-default FW_AIRSPD_MIN   14
-param set-default FW_AIRSPD_TRIM  16
-param set-default FW_L1_PERIOD    25
-param set-default FW_PR_P 0.060
-param set-default FW_P_RMAX_NEG   40
-param set-default FW_P_RMAX_POS   40
-param set-default FW_RR_FF    0.4
-param set-default FW_RR_P 0.04
-param set-default FW_R_RMAX   40
-
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_PITCHRATE_I 0
-param set-default MC_PITCHRATE_MAX 60
-param set-default MC_PITCHRATE_P 0.21
-param set-default MC_PITCH_P 4
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_ROLLRATE_I 0.002
-param set-default MC_ROLLRATE_MAX 60
-param set-default MC_ROLLRATE_P 0.24
-param set-default MC_ROLL_P 4
-param set-default MC_YAWRATE_I 0.02
-param set-default MC_YAWRATE_MAX 40
-param set-default MC_YAWRATE_P 0.18
-
-param set-default MIS_TAKEOFF_ALT 2.5
-param set-default MIS_YAW_TMT 20
-
-param set-default MPC_ACC_HOR_MAX 1
-param set-default MPC_HOLD_MAX_XY 0.5
-param set-default MPC_HOLD_MAX_Z  0.5
-param set-default MPC_LAND_SPEED  1
-param set-default MPC_MANTHR_MIN  0.05
-param set-default MPC_MAN_Y_MAX   120
-param set-default MPC_THR_MIN 0.07
-param set-default MPC_TILTMAX_AIR 35
-param set-default MPC_TILTMAX_LND 20
-param set-default MPC_TKO_SPEED   1
-param set-default MPC_XY_P    0.3
-param set-default MPC_XY_VEL_MAX  3
-param set-default MPC_XY_VEL_P_ACC 1
-param set-default MPC_Z_P 0.5
-param set-default MPC_Z_VEL_P_ACC 2
-param set-default MPC_YAWRAUTO_MAX 40
-
-param set-default NAV_ACC_RAD 3
-
-param set-default PWM_AUX_REV1    1
-param set-default PWM_AUX_REV2    1
-param set-default PWM_AUX_REV3    1
-param set-default PWM_AUX_REV4    1
-
-param set-default PWM_AUX_DIS5 950
-
-param set-default VT_ARSP_TRANS   15
-param set-default VT_F_TRANS_THR    0.6
-param set-default VT_IDLE_PWM_MC 1180
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_TRANS_MIN_TM 5
-param set-default VT_TRANS_TIMEOUT    30
-param set-default VT_TYPE 2
-
-set MIXER quad_x
-set MIXER_AUX vtol_AAERT
-
-set PWM_OUT 1234
@@ -1,77 +0,0 @@
-#!/bin/sh
-#
-# @name E-flite Convergence
-#
-# @type VTOL Tiltrotor
-# @class VTOL
-#
-# @maintainer Andreas Antener <andreas@uaventure.com>
-#
-# @output MAIN1 Motor right
-# @output MAIN2 Motor left
-# @output MAIN3 Motor back
-# @output MAIN4 empty
-# @output MAIN5 Tilt servo right
-# @output MAIN6 Tilt servo left
-# @output MAIN7 Elevon right
-# @output MAIN8 Elevon left
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default MAV_TYPE 21
-
-param set-default CBRK_AIRSPD_CHK 162128
-
-param set-default FW_ARSP_MODE 1
-
-param set-default FW_L1_PERIOD 17
-param set-default FW_MAN_R_MAX 50
-param set-default FW_ACRO_X_MAX   270
-param set-default FW_ACRO_Y_MAX   270
-param set-default FW_ACRO_Z_MAX   180
-param set-default FW_PSP_OFF  5
-param set-default FW_P_LIM_MAX    30
-param set-default FW_P_LIM_MIN    -30
-param set-default FW_RR_FF    0.33
-param set-default FW_RR_P 0.11
-
-param set-default MC_PITCHRATE_P  0.15
-param set-default MC_PITCH_P  6
-param set-default MC_ROLLRATE_P   0.15
-param set-default MC_ROLL_P   6
-param set-default MC_YAWRATE_MAX  120
-param set-default MC_YAWRATE_P    0.27
-param set-default MC_YAW_P    2.5
-
-param set-default MC_YAWRATE_P 0.3
-param set-default MPC_LAND_SPEED 1.2
-param set-default MPC_TKO_SPEED 2.5
-
-param set-default SENS_BOARD_ROT 8
-
-param set-default VT_B_TRANS_DUR  1
-param set-default VT_F_TRANS_DUR  1.2
-param set-default VT_F_TR_OL_TM   4
-param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_SC 0.17
-param set-default VT_FW_MOT_OFFID 3
-param set-default VT_IDLE_PWM_MC 1200
-param set-default VT_MOT_ID 123
-param set-default VT_TILT_TRANS   0.45
-param set-default VT_TRANS_MIN_TM 1.2
-param set-default VT_TRANS_P2_DUR 1.3
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_TYPE 1
-
-set MIXER vtol_convergence
-
-if ! ver hwcmp MATEK_H743
-then
-	set PWM_OUT 1234
-else
-	set PWM_OUT 3456
-fi	
@@ -7,14 +7,14 @@
 #
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 Right elevon
-# @output MAIN6 Left elevon
-# @output MAIN7 Pusher motor
-# @output MAIN8 Pusher reverse channel
+# @output Motor1 motor 1
+# @output Motor2 motor 2
+# @output Motor3 motor 3
+# @output Motor4 motor 4
+# @output Servo1 Right elevon
+# @output Servo2 Left elevon
+# @output Servo3 Pusher motor
+# @output Servo4 Pusher reverse channel
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
@@ -55,7 +55,6 @@ param set-default FW_T_SINK_MIN 1
 param set-default FW_T_VERT_ACC 6
 param set-default FW_THR_TRIM 0.70
 param set-default FW_THR_SLEW_MAX 1
-param set-default FW_MAN_P_MAX 30
 param set-default FW_P_LIM_MAX 15
 param set-default FW_P_LIM_MIN -25
 param set-default FW_P_RMAX_NEG 45
@@ -90,7 +89,6 @@ param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_LAND_SPEED 1.2
 param set-default MPC_TILTMAX_LND 35
 param set-default MPC_Z_VEL_MAX_UP 1.5
-param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_HOLD_MAX_XY 0.5
 param set-default MPC_HOLD_MAX_Z 0.5
 param set-default MPC_TKO_RAMP_T 0.8
@@ -136,8 +134,32 @@ param set-default VT_F_TRANS_RAMP 4

 param set-default COM_RC_OVERRIDE 0

-set MIXER deltaquad
-set MIXER_AUX pass

-set PWM_OUT 1234
-set PWM_AUX_OUT 12345
+
+
+param set-default CA_AIRFRAME 2
+
+param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR4_AX 1.0
+param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_PX 0.2
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS2_TRQ_P 1.0
@@ -7,14 +7,14 @@
 #
 # @maintainer Silvan Fuhrer <silvan@auterion.com>
 #
-# @output MAIN1 Ailerons
-# @output MAIN2 A-tail left
-# @output MAIN3 Pusher motor
-# @output MAIN4 A-tail right
-# @output MAIN5 motor 1
-# @output MAIN6 motor 2
-# @output MAIN7 motor 3
-# @output MAIN8 motor 4
+# @output Motor1 motor 1
+# @output Motor2 motor 2
+# @output Motor3 motor 3
+# @output Motor4 motor 4
+# @output Motor5 Pusher motor
+# @output Servo1 Ailerons
+# @output Servo2 A-tail left
+# @output Servo3 A-tail right
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
@@ -31,7 +31,6 @@ param set-default FW_AIRSPD_MAX 30
 param set-default FW_AIRSPD_MIN 19
 param set-default FW_AIRSPD_TRIM 23
 param set-default FW_L1_R_SLEW_MAX 40
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PSP_OFF 3
 param set-default FW_P_LIM_MAX 18
 param set-default FW_P_LIM_MIN -25
@@ -71,7 +70,6 @@ param set-default MPC_VEL_MANUAL 3
 param set-default MPC_XY_CRUISE 3
 param set-default MPC_XY_VEL_MAX 3.5
 param set-default MPC_YAWRAUTO_MAX 40
-param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_Z_VEL_MAX_UP 2

 param set-default NAV_ACC_RAD 3
@@ -96,9 +94,45 @@ param set-default VT_PSHER_RMP_DT 2
 param set-default VT_TRANS_MIN_TM 4
 param set-default VT_TYPE 2

-set MIXER babyshark
-set MIXER_AUX pass

-# Mark outputs for the alternate rate
-# or D-Shot
-set PWM_OUT 5678
+param set-default CA_AIRFRAME 2
+param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR4_AX 1.0
+param set-default CA_ROTOR4_AZ 0.0
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TYPE 15
+param set-default CA_SV_CS0_TRQ_R 1.0
+param set-default CA_SV_CS1_TRQ_P 0.5000
+param set-default CA_SV_CS1_TRQ_R 0.0000
+param set-default CA_SV_CS1_TRQ_Y -0.5000
+param set-default CA_SV_CS1_TYPE 13
+param set-default CA_SV_CS2_TRQ_P 0.5000
+param set-default CA_SV_CS2_TRQ_Y 0.5000
+param set-default CA_SV_CS2_TYPE 14
+
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 202
+param set-default PWM_MAIN_FUNC3 105
+param set-default PWM_MAIN_FUNC4 203
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 102
+param set-default PWM_MAIN_FUNC7 103
+param set-default PWM_MAIN_FUNC8 104
+
+param set-default PWM_MAIN_TIM0 50
+param set-default PWM_MAIN_DIS1 1500
+param set-default PWM_MAIN_DIS2 1500
+param set-default PWM_MAIN_DIS4 1500
+
+
@@ -7,19 +7,6 @@
 #
 # @maintainer
 #
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output AUX1 Motor tilt front left
-# @output AUX2 Motor tilt front right
-# @output AUX3 Motor tilt rear left
-# @output AUX4 Motor tilt rear right
-# @output AUX5 Aileron left
-# @output AUX6 Aileron right
-# @output AUX7 Elevator
-# @output AUX8 Rudder
-#
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
@@ -51,6 +38,8 @@ param set-default CA_ROTOR3_PY 0.15
 param set-default CA_ROTOR3_KM -0.05
 param set-default CA_ROTOR3_TILT 4
 param set-default CA_SV_CS_COUNT 4
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS2_TRQ_P 1.0
@@ -59,7 +48,4 @@ param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_TL_COUNT 4

-set MIXER quad_x
-set MIXER_AUX vtol_TTTTAAER

-set PWM_OUT 1234
@@ -1,38 +0,0 @@
-#!/bin/sh
-#
-# @name Generic Octoplane VTOL
-#
-# @type VTOL Octoplane
-# @class VTOL
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 motor 5
-# @output MAIN6 motor 6
-# @output MAIN7 motor 7
-# @output MAIN8 motor 8
-# @output AUX1 Aileron 1
-# @output AUX2 Aileron 2
-# @output AUX3 Elevator
-# @output AUX4 Rudder
-# @output AUX5 Throttle
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default PWM_AUX_DIS5 950
-
-param set-default VT_TYPE 2
-param set-default VT_MOT_ID 12345678
-param set-default VT_FW_MOT_OFFID 12345678
-
-set MIXER octo_cox
-set MIXER_AUX vtol_AAERT
-
-set PWM_OUT 12345678
@@ -11,8 +11,6 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-default SYS_CTRL_ALLOC 1
-
 param set-default CA_AIRFRAME 3
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 1
@@ -12,7 +12,6 @@

 . ${R}etc/init.d/rc.vtol_defaults

-param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 4
 param set-default CA_ROTOR_COUNT 2
 param set-default CA_ROTOR0_KM -0.05
@@ -0,0 +1,35 @@
+#!/bin/sh
+#
+# @name Generic Multirotor with tilt
+#
+# @class Copter
+# @type Tricopter Y+
+#
+# @output Motor1 motor 1
+# @output Motor2 motor 2
+# @output Motor3 motor 3
+# @output Servo1 yaw servo
+#
+# @board bitcraze_crazyflie exclude
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default MAV_TYPE 15
+
+param set-default CA_AIRFRAME 8
+# Tricopter
+param set-default CA_ROTOR0_PX 0.2500
+param set-default CA_ROTOR0_PY 0.4330
+param set-default CA_ROTOR1_PX 0.2500
+param set-default CA_ROTOR1_PY -0.4300
+param set-default CA_ROTOR2_PX -0.5000
+param set-default CA_ROTOR2_PY 0.0000
+param set-default CA_ROTOR2_TILT 1
+param set-default CA_ROTOR_COUNT 3
+param set-default CA_SV_TL0_MAXA 45.0000
+param set-default CA_SV_TL0_MINA -45.0000
+param set-default CA_SV_TL0_TD 90
+param set-default CA_SV_TL_COUNT 1
+
@@ -1,24 +0,0 @@
-#!/bin/sh
-#
-# @name Generic Tricopter Y+ Geometry
-#
-# @type Tricopter Y+
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 yaw servo
-#
-# @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
-#
-# @board bitcraze_crazyflie exclude
-# @board px4_fmu-v2 exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-# MAV_TYPE_TRICOPTER 15
-param set-default MAV_TYPE 15
-
-set MIXER tri_y_yaw+
@@ -1,24 +0,0 @@
-#!/bin/sh
-#
-# @name Generic Tricopter Y- Geometry
-#
-# @type Tricopter Y-
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 yaw servo
-#
-# @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
-#
-# @board bitcraze_crazyflie exclude
-# @board px4_fmu-v2 exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-# MAV_TYPE_TRICOPTER 15
-param set-default MAV_TYPE 15
-
-set MIXER tri_y_yaw-
@@ -1,48 +0,0 @@
-#!/bin/sh
-#
-# @name Esky (Big) Lama v4
-#
-# @type Coaxial Helicopter
-# @class Copter
-#
-# @output MAIN1 Left swashplate servomotor, pitch axis
-# @output MAIN2 Right swashplate servomotor, roll axis
-# @output MAIN3 Upper rotor (CCW)
-# @output MAIN4 Lower rotor (CW)
-#
-# @maintainer Emmanuel Roussel
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-# MAV_TYPE_COAXIAL 3
-param set-default MAV_TYPE 3
-
-param set-default MC_ROLLRATE_P 0.17
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.005
-param set-default MC_PITCHRATE_P 0.17
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.005
-param set-default MC_YAW_P 2
-param set-default MC_YAWRATE_P 0.1
-
-param set-default NAV_ACC_RAD 2
-
-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_DISARM 900
-param set-default PWM_MAIN_RATE 400
-
-param set-default RTL_RETURN_ALT 30
-param set-default RTL_DESCEND_ALT 10
-
-set MIXER coax
-
-# This is the gimbal pass mixer
-set MIXER_AUX pass
-
-# use PWM parameters for throttle channel
-set PWM_OUT 34
@@ -7,11 +7,11 @@
 #
 # @maintainer Bart Slinger <bartslinger@gmail.com>
 #
-# @output MAIN1 main motor
-# @output MAIN2 front swashplate servo
-# @output MAIN3 right swashplate servo
-# @output MAIN4 left swashplate servo
-# @output MAIN5 tail-rotor servo
+# @output Motor1 main motor
+# @output Servo1 front swashplate servo
+# @output Servo2 right swashplate servo
+# @output Servo3 left swashplate servo
+# @output Servo4 tail-rotor servo
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
@@ -19,12 +19,10 @@

 . ${R}etc/init.d/rc.mc_defaults

-# Configure as helicopter (number 4 defined in commander_helper.cpp)
+# Configure as helicopter
 param set-default MAV_TYPE 4

-set MIXER blade130

-set PWM_OUT none

 param set-default ATT_BIAS_MAX 0

@@ -52,3 +50,7 @@ param set-default MPC_THR_MIN 0.06
 param set-default MPC_MANTHR_MIN 0.06

 param set-default PWM_MAIN_MIN 1075
+
+param set-default CA_AIRFRAME 10
+
+
@@ -5,16 +5,13 @@
 # @type Autogyro
 # @class Autogyro
 #
-# @output MAIN1 rotor_head_L
-# @output MAIN2 rotor_head_R
-# @output MAIN3 elevator
-# @output MAIN4 rudder
-# @output MAIN5 rudder (second, optional)
-# @output MAIN6 throttle
-# @output MAIN7 wheel
-#
-# @output AUX1 feed-through of RC AUX1 channel for prerotator (optional)
-# @output AUX2 feed-through of RC AUX2 channel for release device (optional)
+# @output Motor1 throttle
+# @output Servo1 rotor_head_L
+# @output Servo2 rotor_head_R
+# @output Servo3 elevator
+# @output Servo4 rudder
+# @output Servo5 rudder (second, optional)
+# @output Servo6 wheel
 #
 # @url https://github.com/ThunderFly-aerospace/Auto-G2/
 # @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
@@ -29,9 +26,6 @@
 param set-default BAT1_CAPACITY 2500
 param set-default BAT1_N_CELLS 3

-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_RATE 50
-
 param set-default SENS_BOARD_ROT 8

 param set-default FW_AIRSPD_MAX 20
@@ -47,5 +41,22 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20

-set MIXER TF-AutoG2
-set MIXER_AUX pass
+
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TRQ_R 0
+param set-default CA_SV_CS0_TRQ_Y 1
+param set-default CA_SV_CS0_TYPE 4
+param set-default CA_SV_CS1_TRQ_P 0
+param set-default CA_SV_CS1_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 1
+param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TYPE 3
+
+param set-default PWM_MAIN_TIM0 50
+param set-default PWM_MAIN_TIM1 50
+param set-default PWM_MAIN_TIM2 50
@@ -5,10 +5,10 @@
 # @type Autogyro
 # @class Autogyro
 #
-# @output MAIN2 rotor_head_L
-# @output MAIN3 rotor_head_R
-# @output MAIN4 rudder
-# @output MAIN5 throttle
+# @output Motor1 throttle
+# @output Servo1 rotor_head_L
+# @output Servo2 rotor_head_R
+# @output Servo3 rudder
 #
 #
 # @url https://github.com/ThunderFly-aerospace/TF-G2/
@@ -42,5 +42,21 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20

-set MIXER TF-G2
-set MIXER_AUX pass
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TRQ_R 0
+param set-default CA_SV_CS0_TRQ_Y 1
+param set-default CA_SV_CS0_TYPE 4
+param set-default CA_SV_CS1_TRQ_P 0
+param set-default CA_SV_CS1_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 1
+param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TYPE 3
+
+param set-default PWM_MAIN_TIM0 50
+param set-default PWM_MAIN_TIM1 50
+param set-default PWM_MAIN_TIM2 50
@@ -24,5 +24,3 @@ param set-default MAV_0_CONFIG 102
 param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600

-set MIXER IO_pass
-set MIXER_AUX pass
@@ -10,11 +10,11 @@

 . ${R}etc/init.d/rc.fw_defaults

-param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 param set-default CA_SV_CS_COUNT 4
+param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
@@ -1,45 +0,0 @@
-#!/bin/sh
-#
-# @name Bormatec Maja
-#
-# @type Standard Plane
-# @class Plane
-#
-# @output MAIN1 aileron
-# @output MAIN2 aileron
-# @output MAIN3 elevator
-# @output MAIN4 rudder
-# @output MAIN5 throttle
-# @output MAIN6 wheel
-# @output MAIN7 flaps
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Andreas Antener <andreas@uaventure.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_MAN_P_MAX 55
-param set-default FW_MAN_R_MAX 55
-param set-default FW_R_LIM 55
-
-param set-default FW_WR_FF 0.2
-param set-default FW_WR_I 0.2
-param set-default FW_WR_IMAX 0.8
-param set-default FW_WR_P 1
-param set-default FW_W_RMAX 0
-
-# set disarmed value for the ESC
-param set-default PWM_MAIN_DISARM 1000
-
-
-set MIXER AAERTWF
-
-# use PWM parameters for throttle channel
-set PWM_OUT 5
@@ -5,18 +5,14 @@
 # @type Plane A-Tail
 # @class Plane
 #
-# @output MAIN1 aileron right
-# @output MAIN2 aileron left
-# @output MAIN3 v-tail right
-# @output MAIN4 v-tail left
-# @output MAIN5 throttle
-# @output MAIN6 wheel
-# @output MAIN7 flaps right
-# @output MAIN8 flaps left
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
+# @output Motor1 throttle
+# @output Servo1 aileron right
+# @output Servo2 aileron left
+# @output Servo3 v-tail right
+# @output Servo4 v-tail left
+# @output Servo5 wheel
+# @output Servo6 flaps right
+# @output Servo7 flaps left
 #
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
@@ -35,11 +31,45 @@ param set-default FW_WR_IMAX 0.8
 param set-default FW_WR_P 1
 param set-default FW_W_RMAX 0

-# set disarmed value for the ESC
-param set-default PWM_MAIN_DISARM 1000
+param set-default CA_AIRFRAME 1
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_SV_CS_COUNT 7
+param set-default CA_SV_CS0_TRQ_R -0.5000
+param set-default CA_SV_CS0_TYPE 1 #left aileron
+param set-default CA_SV_CS1_TRQ_R 0.5000
+param set-default CA_SV_CS1_TYPE 2 #right aileron
+param set-default CA_SV_CS2_TRQ_P 0.5000
+param set-default CA_SV_CS2_TRQ_Y -0.5000
+param set-default CA_SV_CS2_TYPE 13 #left A-tail
+param set-default CA_SV_CS3_TRQ_P 0.5000
+param set-default CA_SV_CS3_TRQ_Y 0.5000
+param set-default CA_SV_CS3_TYPE 14 #right A-tail
+param set-default CA_SV_CS4_TRQ_Y 1.0000
+param set-default CA_SV_CS4_TYPE 12
+param set-default CA_SV_CS5_TYPE 9 #left flap
+param set-default CA_SV_CS6_TYPE 10 #right flap
+
+param set-default PWM_MAIN_TIM0 50
+param set-default PWM_MAIN_TIM1 50
+param set-default PWM_MAIN_TIM2 50
+
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 202
+param set-default PWM_MAIN_FUNC3 203
+param set-default PWM_MAIN_FUNC4 204
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 205
+param set-default PWM_MAIN_FUNC7 206
+param set-default PWM_MAIN_FUNC8 207
+
+param set-default PWM_MAIN_DIS0 1500
+param set-default PWM_MAIN_DIS1 1500
+param set-default PWM_MAIN_DIS2 1500
+param set-default PWM_MAIN_DIS3 1500
+param set-default PWM_MAIN_DIS4 1500
+param set-default PWM_MAIN_DIS5 1000
+param set-default PWM_MAIN_DIS6 1500
+param set-default PWM_MAIN_DIS7 1500
+param set-default PWM_MAIN_DIS8 1500


-set MIXER AAVVTWFF
-
-# use PWM parameters for throttle channel
-set PWM_OUT 5
@@ -1,48 +0,0 @@
-#!/bin/sh
-#
-# @name X-UAV Mini Talon
-#
-# @type Plane V-Tail
-# @class Plane
-#
-# @output MAIN1 aileron right
-# @output MAIN2 aileron left
-# @output MAIN3 v-tail right
-# @output MAIN4 v-tail left
-# @output MAIN5 throttle
-# @output MAIN6 wheel
-# @output MAIN7 flaps right
-# @output MAIN8 flaps left
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Friedrich Beckmann <friedrich.beckmann@hs-augsburg.de>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_MAN_P_MAX 55
-param set-default FW_MAN_R_MAX 55
-param set-default FW_R_LIM 55
-
-param set-default FW_WR_FF 0.2
-param set-default FW_WR_I 0.2
-param set-default FW_WR_IMAX 0.8
-param set-default FW_WR_P 1
-param set-default FW_W_RMAX 0
-
-# set disarmed value for the ESC
-param set-default PWM_MAIN_DISARM 1000
-
-# The Mini Talon does not have a wheel and
-# no flaps. I leave them here because the mixer
-# computes also wheel and flap controls.
-set MIXER AAVVTWFF_vtail
-
-# use PWM parameters for throttle channel
-set PWM_OUT 5
@@ -5,20 +5,6 @@
 # @type Dodecarotor cox
 # @class Copter
 #
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 motor 5
-# @output MAIN6 motor 6
-#
-# @output AUX1 motor 7
-# @output AUX2 motor 8
-# @output AUX3 motor 9
-# @output AUX4 motor 10
-# @output AUX5 motor 11
-# @output AUX6 motor 12
-#
 # @maintainer Ian McNanie <ianmcnanie@gmail.com>
 # @maintainer William Peale <develop707@gmail.com>
 #
@@ -30,19 +16,54 @@

 param set-default NAV_ACC_RAD 2

-param set-default PWM_AUX_RATE 400
-param set-default PWM_AUX_DISARM 900
-param set-default PWM_AUX_MIN 1075
-param set-default PWM_AUX_MAX 1950
-
-param set-default PWM_MAIN_RATE 400
-
 param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30

-set MIXER dodeca_top_cox
-set MIXER_AUX dodeca_bottom_cox

-# Need to set all 8 channels
-set PWM_OUT 12345678
-set PWM_AUX_OUT 123456
+param set-default CA_ROTOR_COUNT 12
+# Bottom motors
+param set-default CA_ROTOR0_PX 0
+param set-default CA_ROTOR0_PY 0.5
+param set-default CA_ROTOR0_PZ 0.05
+param set-default CA_ROTOR1_KM -0.05
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY -0.5
+param set-default CA_ROTOR1_PZ 0.05
+param set-default CA_ROTOR2_PX 0.433
+param set-default CA_ROTOR2_PY -0.25
+param set-default CA_ROTOR2_PZ 0.05
+param set-default CA_ROTOR3_PX -0.433
+param set-default CA_ROTOR3_PY 0.25
+param set-default CA_ROTOR3_PZ 0.05
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR4_PX 0.433
+param set-default CA_ROTOR4_PY 0.25
+param set-default CA_ROTOR4_PZ 0.05
+param set-default CA_ROTOR4_KM -0.05
+param set-default CA_ROTOR5_PX -0.344
+param set-default CA_ROTOR5_PY -0.25
+param set-default CA_ROTOR5_PZ 0.05
+
+# Top motors
+param set-default CA_ROTOR6_PX 0
+param set-default CA_ROTOR6_PY 0.5
+param set-default CA_ROTOR6_PZ -0.05
+param set-default CA_ROTOR6_KM -0.05
+param set-default CA_ROTOR7_PX 0
+param set-default CA_ROTOR7_PY -0.5
+param set-default CA_ROTOR7_PZ -0.05
+param set-default CA_ROTOR8_PX 0.433
+param set-default CA_ROTOR8_PY -0.25
+param set-default CA_ROTOR8_PZ -0.05
+param set-default CA_ROTOR8_KM -0.05
+param set-default CA_ROTOR9_PX -0.433
+param set-default CA_ROTOR9_PY 0.25
+param set-default CA_ROTOR9_PZ -0.05
+param set-default CA_ROTOR10_PX 0.433
+param set-default CA_ROTOR10_PY 0.25
+param set-default CA_ROTOR10_PZ -0.05
+param set-default CA_ROTOR11_PX -0.344
+param set-default CA_ROTOR11_PY -0.25
+param set-default CA_ROTOR11_PZ -0.05
+param set-default CA_ROTOR11_KM -0.05
+
@@ -4,10 +4,10 @@
 # @type Airship
 # @class Airship
 #
-# @output MAIN1 starboard thruster
-# @output MAIN2 port thruster
-# @output MAIN3 thrust tilt
-# @output MAIN4 tail thruster
+# @output Motor1 starboard thruster
+# @output Motor2 port thruster
+# @output Motor3 tail thruster
+# @output Servo1 thrust tilt
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
@@ -18,5 +18,24 @@
 param set-default COM_PREARM_MODE 2
 param set-default CBRK_IO_SAFETY 22027

-set MIXER cloudship
-set PWM_OUT 1234
+param set-default CA_AIRFRAME 9
+
+param set-default CA_ROTOR_COUNT 3
+param set-default CA_ROTOR0_AX 1.0000
+param set-default CA_ROTOR0_AZ 0.0000
+param set-default CA_ROTOR0_KM 0.0000
+param set-default CA_ROTOR0_PY 2.0000
+param set-default CA_ROTOR1_AX 1.0000
+param set-default CA_ROTOR1_AZ 0.0000
+param set-default CA_ROTOR1_KM 0.0000
+param set-default CA_ROTOR1_PY -2.0000
+param set-default CA_ROTOR2_AY -1.0000
+param set-default CA_ROTOR2_AZ 0.0000
+param set-default CA_ROTOR2_KM 0.0000
+param set-default CA_ROTOR2_PX -10.0000
+
+param set-default CA_SV_CS_COUNT 1
+param set-default CA_SV_CS0_TRQ_P 1.0000
+
+param set-default CA_R_REV 7
+
@@ -10,7 +10,6 @@

 . ${R}etc/init.d/rc.fw_defaults

-param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 1

 param set-default CA_ROTOR_COUNT 1
@@ -1,49 +0,0 @@
-#!/bin/sh
-#
-# @name Phantom FPV Flying Wing
-#
-# @url https://docs.px4.io/master/en/frames_plane/wing_wing_z84.html
-#
-# @type Flying Wing
-# @class Plane
-#
-# @output MAIN1 left aileron
-# @output MAIN2 right aileron
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_AIRSPD_MIN 13
-param set-default FW_AIRSPD_MAX 25
-param set-default FW_R_TC 0.3
-param set-default FW_P_TC 0.3
-param set-default FW_L1_PERIOD 15
-param set-default FW_PR_FF 0.2
-param set-default FW_PR_IMAX 0.2
-param set-default FW_PR_P 0.03
-param set-default FW_P_LIM_MAX 50
-param set-default FW_P_LIM_MIN -50
-param set-default FW_RR_P 0.08
-param set-default FW_R_LIM 50
-param set-default FW_R_RMAX 50
-
-param set-default PWM_MAIN_DISARM 1000
-
-# Bottom of bay and nominal zero-pitch attitude differ
-# the payload bay is pitched up about 7 degrees
-param set-default SENS_BOARD_Y_OFF 7
-
-set MIXER fw_generic_wing
-
-# Provide ESC a constant 1000 us pulse
-set PWM_OUT 4
@@ -1,37 +0,0 @@
-#!/bin/sh
-#
-# @name Skywalker X5 Flying Wing
-#
-# @type Flying Wing
-# @class Plane
-#
-# @output MAIN1 left aileron
-# @output MAIN2 right aileron
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Julian Oes <julian@px4.io>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_AIRSPD_MIN 15
-param set-default FW_AIRSPD_TRIM 20
-param set-default FW_AIRSPD_MAX 40
-param set-default FW_R_TC 0.3
-param set-default FW_P_TC 0.3
-param set-default FW_L1_DAMPING 0.74
-param set-default FW_L1_PERIOD 16
-param set-default FW_LND_ANG 15
-param set-default FW_LND_FLALT 5
-param set-default FW_PR_FF 0.35
-param set-default FW_RR_FF 0.6
-param set-default FW_RR_P 0.04
-
-set MIXER fw_generic_wing
@@ -1,45 +0,0 @@
-#!/bin/sh
-#
-# @name Wing Wing (aka Z-84) Flying Wing
-#
-# @url https://docs.px4.io/master/en/frames_plane/wing_wing_z84.html
-#
-# @type Flying Wing
-# @class Plane
-#
-# @output MAIN1 left aileron
-# @output MAIN2 right aileron
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default BAT1_N_CELLS 2
-param set-default FW_AIRSPD_MAX 15
-param set-default FW_AIRSPD_TRIM 13
-param set-default FW_R_TC 0.3
-param set-default FW_P_TC 0.3
-param set-default FW_L1_DAMPING 0.74
-param set-default FW_L1_PERIOD 16
-param set-default FW_LND_ANG 15
-param set-default FW_LND_FLALT 5
-param set-default FW_PR_FF 0.35
-param set-default FW_RR_FF 0.6
-param set-default FW_RR_P 0.04
-
-param set-default PWM_MAIN_DISARM 1000
-
-# Set mixer.
-set MIXER fw_generic_wing
-
-# Provide ESC a constant 1000 us pulse.
-set PWM_OUT 4
@@ -1,49 +0,0 @@
-#!/bin/sh
-#
-# @name Sparkle Tech Pigeon
-#
-# @url http://www.sparkletech.hk/
-#
-# @type Flying Wing
-# @class Plane
-#
-# @output MAIN1 left aileron
-# @output MAIN2 right aileron
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_AIRSPD_MIN 15
-param set-default FW_AIRSPD_TRIM 20
-param set-default FW_AIRSPD_MAX 27
-param set-default FW_ATT_TC 0.3
-param set-default FW_PR_FF 0.35
-param set-default FW_PR_IMAX 0.2
-param set-default FW_PR_P 0.05
-param set-default FW_P_TC 0.3
-param set-default FW_RR_FF 0.3
-param set-default FW_RR_P 0.03
-param set-default FW_R_LIM 40
-param set-default FW_R_RMAX 50
-param set-default FW_R_TC 0.3
-
-param set-default PWM_MAIN_DISARM 1000
-
-# Bottom of bay and nominal zero-pitch attitude differ
-# the payload bay is pitched up about 7 degrees
-param set-default SENS_BOARD_Y_OFF 11.9
-
-set MIXER fw_generic_wing
-
-# Provide ESC a constant 1000 us pulse
-set PWM_OUT 4
@@ -1,58 +0,0 @@
-#!/bin/sh
-#
-# @name TBS Caipirinha
-#
-# @type Flying Wing
-# @class Plane
-#
-# @output MAIN1 left aileron
-# @output MAIN2 right aileron
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_AIRSPD_MAX 25
-param set-default FW_AIRSPD_MIN 12.5
-param set-default FW_AIRSPD_TRIM 16.5
-param set-default FW_L1_PERIOD 15
-param set-default FW_LND_ANG 15
-param set-default FW_LND_FLALT 8
-param set-default FW_P_LIM_MAX 20
-param set-default FW_P_LIM_MIN -30
-param set-default FW_R_LIM 45
-param set-default FW_PR_FF 0.45
-param set-default FW_PR_P 0.005
-param set-default FW_RR_FF 0.45
-param set-default FW_RR_P 0.013
-param set-default FW_P_RMAX_NEG 70
-param set-default FW_P_RMAX_POS 70
-param set-default FW_R_RMAX 70
-param set-default FW_THR_TRIM 0.55
-
-param set-default LNDFW_AIRSPD_MAX 6
-param set-default LNDFW_XYACC_MAX 4
-param set-default LNDFW_VEL_XY_MAX 3
-param set-default LNDFW_VEL_Z_MAX 5
-
-param set-default MIS_TAKEOFF_ALT 50
-
-param set-default NAV_LOITER_RAD 30
-
-param set-default PWM_MAIN_REV1 1
-param set-default PWM_MAIN_REV2 1
-param set-default PWM_MAIN_MIN 900
-param set-default PWM_MAIN_MAX 2100
-
-set MIXER fw_generic_wing
-
-set PWM_OUT 1234
@@ -5,18 +5,6 @@
 # @type Quadrotor x
 # @class Copter
 #
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 feed-through of RC AUX1 channel
-# @output MAIN6 feed-through of RC AUX2 channel
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-# @output AUX4 feed-through of RC FLAPS channel
-#
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

@@ -1,26 +0,0 @@
-#!/bin/sh
-#
-# @name Lumenier QAV-R (raceblade) 5" arms
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer James Goppert <james.goppert@gmail.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default MC_ROLL_P 8
-param set-default MC_ROLLRATE_P 0.08
-param set-default MC_ROLLRATE_I 0.16
-param set-default MC_PITCH_P 8
-param set-default MC_PITCHRATE_P 0.1
-param set-default MC_YAWRATE_P 0.15
-
-param set-default MPC_THR_MIN 0.06
-param set-default MPC_MANTHR_MIN 0.06
-
-param set-default PWM_MAIN_MIN 1075
@@ -1,34 +0,0 @@
-#!/bin/sh
-#
-# @name Lumenier QAV250
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default ATT_BIAS_MAX 0
-
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default MPC_MANTHR_MIN 0.06
-param set-default MC_ROLL_P 6
-param set-default MC_ROLLRATE_P 0.14
-param set-default MC_ROLLRATE_I 0.23
-param set-default MC_ROLLRATE_D 0.0025
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.235
-param set-default MC_PITCHRATE_I 0.17
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_YAW_P 4
-param set-default MC_YAWRATE_P 0.3
-param set-default MC_YAWRATE_I 0.2
-param set-default MPC_THR_MIN 0.06
-
-param set-default PWM_MAIN_MIN 1075
@@ -17,3 +17,15 @@ param set-default MC_ROLLRATE_P 0.18
 param set-default MC_PITCHRATE_P 0.18
 param set-default MC_ROLLRATE_I 0.15
 param set-default MC_PITCHRATE_I 0.15
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_KM -0.05
@@ -21,3 +21,15 @@ param set-default MC_ROLLRATE_I 0.3
 param set-default MC_PITCHRATE_I 0.3
 param set-default MC_ROLLRATE_D 0.004
 param set-default MC_PITCHRATE_D 0.004
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_KM -0.05
@@ -5,21 +5,12 @@
 # @type Quadrotor x
 # @class Copter
 #
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-#
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults

-# System parameters
-# use FMU motor outputs for less delay in the rate control loop
-param set-default SYS_USE_IO 0
-
 # Commander Parameters
 param set-default COM_OBS_AVOID 1
 param set-default COM_DISARM_LAND 0.5
@@ -116,3 +107,24 @@ param set-default BAT1_V_DIV 18.182
 param set-default CBRK_IO_SAFETY 22027

 param set-default THR_MDL_FAC 0.3
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_KM -0.05
+
+# Outputs
+param set-default PWM_AUX_FUNC1 101
+param set-default PWM_AUX_FUNC2 102
+param set-default PWM_AUX_FUNC3 103
+param set-default PWM_AUX_FUNC4 104
+
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	60e7cc11ce	WIP: microdds_start if installed	2022-08-20 10:43:11 -04:00
Silvan Fuhrer	889a2fddea	FW Position Control: remove unnsed params Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-19 19:06:07 +02:00
Silvan Fuhrer	e3e021a1c2	FW Attitude Control: rename att_control to angular_acceleration_setpoint Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-19 09:40:48 +02:00
Silvan Fuhrer	e595952ed4	FW Attitude Control: add @brief, @param and @return for control_attitude() Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-19 09:40:48 +02:00
Silvan Fuhrer	f67d80460f	FW Attitude controller: update copyright headers Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-19 09:40:48 +02:00
Jaeyoung Lim	bcdf61b65f	Fix format	2022-08-19 09:40:48 +02:00
Silvan Fuhrer	b87afb138c	Update src/modules/fw_att_control/FixedwingAttitudeControl.cpp reduce code duplication Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>	2022-08-19 09:40:48 +02:00
Jaeyoung Lim	70134296ed	Fix parameter description from review comments This commit makes the parameter description of the fixewing attitude controller more descriptive	2022-08-19 09:40:48 +02:00
Silvan Fuhrer	70d7070307	ROMFS: plane airframe: make tuning tighter Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-19 09:40:48 +02:00
Silvan Fuhrer	c54f62e17a	FW attitude control: fix ff terms and constrain outputs to (-1, 1) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-19 09:40:48 +02:00
Silvan Fuhrer	dadd4f39ad	FW attitude control: fix yaw rate publishing Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-19 09:40:48 +02:00
Silvan Fuhrer	6724e4af26	FW attitude control: manual stick input sets yaw rate setpoint, not rudder directly Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-19 09:40:48 +02:00
Silvan Fuhrer	22067a1128	FW attitude control: set FF gains for rate controller to 0 as FF controls is handles outside Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-19 09:40:48 +02:00
Silvan Fuhrer	57e052d02d	FW attitdue controller: use allocator status for anti-windup Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-19 09:40:48 +02:00
Silvan Fuhrer	6aab44e425	ControlAllocator: publish allocator_status from all active matrices (2 for VTOL, otherwise 1) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-19 09:40:48 +02:00
Silvan Fuhrer	a9b848cae3	FW attitue controller: fix publishing of rate controller status Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-19 09:40:48 +02:00
Silvan Fuhrer	5a2127d026	fixed-wing: update rate controller integrator handling -always reset roll/pitch/yaw integrators at the same time -reset them while waiting for launch or during FW Takeoff before Climbout -reset wheel rate integrator only when disarmed Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-19 09:40:48 +02:00
Silvan Fuhrer	cd080289c6	FW attitude controller: constrain rates correctly Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-19 09:40:48 +02:00
Silvan Fuhrer	15c95a7b6a	FW attitude controller: improve readability and fix euler rate sp vs. body rate sp Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-19 09:40:48 +02:00
Silvan Fuhrer	e0a998e6ad	FW attitude controller: remove unused control_input.scaler Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-19 09:40:48 +02:00
Jaeyoung Lim	33d068cfb2	Added feedforward terms in fw att control	2022-08-19 09:40:48 +02:00
Jaeyoung Lim	958c61dbba	Populate rate control setpoints properly	2022-08-19 09:40:48 +02:00
JaeyoungLim	6f24f4cd1c	Update src/modules/fw_att_control/fw_att_control_params.c Co-authored-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-19 09:40:48 +02:00
Jaeyoung Lim	dcff481219	Map derivative gains for rate controls	2022-08-19 09:40:48 +02:00
Jaeyoung-Lim	f2877ce585	Replace rate controller with RateControlLibrary This commit makes the fw attitude controller take share the rate controller as a library with the mc_rate_control module	2022-08-19 09:40:48 +02:00
Thomas Debrunner	44a18acd51	Fix race condition in px4io serial driver (#20005 ) * px4io: prevent memory corruption on corrput io data * px4io_serial: Prevent race between handling wait timeout case and interrupt posting semaphore	2022-08-18 17:46:47 +02:00
bresch	02c4e0361c	MCPosControl: fix horizontal anti-reset windup algirithm Since the horizontal and vertical velocity controllers are now decoupled, it can be that the horizontal acceleration produced by the controller is actually greater than the desired one (by design). This condition would actually make the ARW run "backwards", degrading the controller performance.	2022-08-18 14:19:10 +02:00
mcsauder	87a5705960	Rename math::gradual() to math::interpolate() and add unit tests to cover additional corner cases.	2022-08-18 14:18:02 +02:00
bresch	021b23826d	wind_replay: allow estimated local vel and GNSS vel sources local vel by default, set --gnss to use GNSS vel instead	2022-08-18 14:09:23 +02:00
bresch	be6acb0a68	wind_est: add python script to replay wind estimator equations	2022-08-18 14:09:23 +02:00
bresch	4d21c90cbb	wind_est: generate wind estimator equations for python use	2022-08-18 14:09:23 +02:00
Kalyan Sriram	deb938fcea	drivers/uavcan: update libuavcan	2022-08-16 11:05:51 -04:00
Daniel Agar	1c72f86761	Update src/drivers/imu/analog_devices/adis16470/ADIS16470.cpp Co-authored-by: Kabir Mohammed <kabir@corvus-robotics.com>	2022-08-16 08:40:43 -04:00
Daniel Agar	49d87f1907	adis16470: fix accel and gyro scaling	2022-08-16 08:40:43 -04:00
bresch	616b5689ba	Python: move symforce to optional requirements symforce requires python 3.8 which isn't available by default on ubuntu 18.04.	2022-08-15 21:14:07 -04:00
Silvan Fuhrer	a7a8daaf4d	ROMFS: tiltrotor sitl config: some small tuning improvements in hover Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-16 02:48:44 +02:00
Silvan Fuhrer	771dbf9395	ROMFS: tiltrotor sitl config: adapt CA params to new output indexes Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-16 02:48:44 +02:00
Silvan Fuhrer	09f83016c9	update sitl_gazebo (tiltrotor index fixes) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-16 02:48:44 +02:00
Junwoo Hwang	d7a962b426	mavlink: fix PX4_DEBUG message formats	2022-08-12 09:43:12 +02:00
Junwoo Hwang	0c218e6628	atl/mantis-edu: enable mavlink ftp	2022-08-12 09:43:12 +02:00
Silvan Fuhrer	ffb8fb4383	Allocation: add SteeringWheel type control surface Directly use yaw controls for it, and don't add it to the allocation matrix, as that would have an effect on rudder scaling if the wheel also would have a yaw effectiveness. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-12 09:43:12 +02:00
Silvan Fuhrer	9e18b351bc	Allocation: add Single Channel Aileron to CS types This is the control surface type for airframes that have only a single aileron servo or have the ailerons on a single output channel. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-12 09:43:12 +02:00
Silvan Fuhrer	c6d1b1f50f	Allocation: add A-tail servo type Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-12 09:43:12 +02:00
Beat Küng	f454dcef6b	ROMFS: set control allocation parameters for airframes Removes some airframes: - 1000_rc_fw_easystar.hil - 10015_tbs_discovery - 10016_3dr_iris - 10018_tbs_endurance - 13001_caipirinha_vtol - 13002_firefly6 - 13003_quad_tailsitter - 13004_quad+_tailsitter - 13005_vtol_AAERT_quad - 13006_vtol_standard_delta - 13007_vtol_AAVVT_quad - 13008_QuadRanger - 13009_vtol_spt_ranger - 13012_convergence - 13050_generic_vtol_octo - 14001_tri_y_yaw+ - 14002_tri_y_yaw- - 15001_coax_heli - 2105_maja - 2200_mini_talon - 3031_phantom - 3032_skywalker_x5 - 3033_wingwing - 3036_pigeon - 3100_tbs_caipirinha - 4003_qavr5 - 4009_qav250 - 4019_x500_v2 - 4030_3dr_solo - 4031_3dr_quad - 4051_s250aq - 4072_draco - 4080_zmr250 - 4090_nanomind - 4100_tiltquadrotor - 50003_aion_robotics_r1_rover	2022-08-12 09:43:12 +02:00
Beat Küng	4d60fadc05	ROMFS: set control allocation parameters for sitl airframes Removes some airframes: - if750a - solo - iris_ctrlalloc - typhoon_h480_ctrlalloc	2022-08-12 09:43:12 +02:00
Beat Küng	f2db7b8deb	control_allocator: hide motor positions for fixed-wings should not be set for now	2022-08-12 09:43:12 +02:00
Beat Küng	923a90d78b	control_allocator: set default control surface type to (not set) Before it was set to left aileron, but the torque values were all 0.	2022-08-12 09:43:12 +02:00
Beat Küng	720cf5a485	config: enable dynamic control allocation by default (SYS_CTRL_ALLOC=1)	2022-08-12 09:43:12 +02:00
Oleg	6ea3c6a7d2	mavlink_ftp: fix to correctly trim reply messages Clear any not used payload data to correctly trim mavlink ftp message reply to avoid sending long ACK and NACK messages.	2022-08-12 08:53:33 +02:00
David Sidrane	cd971948da	NuttX Backport critical F7 Ethernet issues	2022-08-12 08:22:55 +02:00
Matthias Grob	1f81101994	mc_att_control_main: do not jump throttle scaling when taking off `2fbb70d9ca` made the lowest possible throttle value commanded by stick in Stabilized mode before taking off 0. The real world problem with this is that when takeoff is detected then the entire throttle scaling range jumps from [0, MPC_MANTHR_MIN] to [MPC_MANTHR_MIN, MPC_MANTHR_MIN]. As a result whenever MPC_MANTHR_MIN is not zero there is a thrust jump on every takeoff just at the moment takeoff is detected even when the stick is moved continuously. Because of this I suggest to revert to having a higher throttle value from the beginning on because it's less complicated and there's no obvious value in starting out with zero thrust if anyways not possible to go back to zero for safety once takeoff is detected.	2022-08-11 14:18:54 +02:00
Matthias Grob	5b1b6f6080	mc_att_control_main: use gradual() for throttle curve rescale without hover thrust	2022-08-11 14:18:54 +02:00
Matthias Grob	7cb6a47714	TIME_ESTIMATE_TO_TARGET: fill unsupported fields with value representing unavailability	2022-08-11 07:27:04 +02:00
bresch	7996a1a70f	ekf2: reset ekf preflight checks on takeoff correctly Using the control status flags isn't robust as this part of the code runs at the EKF update rate while the in_air transition is don at the prediction rate. It was then likely to miss the transition	2022-08-10 16:52:28 +02:00
marcirsch	a8b342722e	mavlink_main: Add TIME_ESTIMATE_TO_TARGET stream to config, onboard, and onboard_low_bandwidth modes Signed-off-by: marcirsch <marcell@auterion.com>	2022-08-10 09:13:58 +02:00
marcirsch	4bf6ebf4c3	TIME_ESTIMATE_TO_TARGET: Populate TIME_ESTIMATE_TO_TARGET MAVLink message with the estimated time to RTL mavlink_messages: Added newly created MAVLink stream mavlink_main: Enabled stream Signed-off-by: marcirsch <marcell@auterion.com>	2022-08-10 09:13:58 +02:00
Daniel Agar	7f2fea1cca	mpu9250: try all I2C addresses if not manually specified	2022-08-09 13:06:40 -04:00
Jaeyoung Lim	d4b77a6172	Update sitl gazebo submodule	2022-08-09 16:35:27 +02:00
Jaeyoung Lim	ea5b1be2d4	Disable rear motors tilt for tiltrotor SITL airframe This commit disables the rear motor tilt on the tiltrotor SITL airframe	2022-08-09 16:35:27 +02:00
Jukka Laitinen	c7aaf52fd4	Double the allocated stack size of 64-bit NuttX built-in modules Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-08-09 08:08:54 +02:00
Daniel Agar	7c809f034d	replay: ReplayEkf2 disable parameter auto save - not needed and silences a startup error	2022-08-08 21:27:47 -04:00
Daniel Agar	34dee09b74	ekf2: replay fixes, don't use HRT for timeout checks - this interferes with current ekf2 replay where the latest IMU sample is effectively the current timestamp	2022-08-08 21:27:47 -04:00
Daniel Agar	1c49a4349f	ekf2: force skip multi-EKF config if replay is enabled	2022-08-08 21:27:47 -04:00
Daniel Agar	66b55d9d0a	ekf2: fix yaw estimator velocity accuracy - additionally require GPS speed accuracy is within EKF2_REQ_SACC	2022-08-08 21:27:01 -04:00
bresch	d9d127a237	lightware dist sensor: set min range based on datasheet	2022-08-08 19:32:44 -04:00
Daniel Agar	0bce1ef573	drivers/imu: new TDK IIM-42652 IMU support	2022-08-08 13:51:39 -04:00
Thomas Stastny	0ea347a5c9	fw pos ctrl: fix the touchdown offset on flare, and nudge the wheel directly	2022-08-08 09:32:44 +02:00
Thomas Stastny	02d7a46025	fw pos ctrl: increase landing nudge rate	2022-08-08 09:32:44 +02:00
Beat Küng	3e68870547	gtest: update to version 1.12.1 Fixes the error googletest-src/googletest/src/gtest-death-test.cc:1283:24: error: ‘dummy’ may be used uninitialized [-Werror=maybe-uninitialized] with GCC 11	2022-08-08 07:43:42 +02:00
Daniel Agar	bce4237963	move ekf2 Matrix helper utilities to mathlib	2022-08-05 09:58:07 -04:00
Silvan Fuhrer	6ebc88fed7	ROMFS: vtol_defaults: reduce aggressiveness around roll and yaw axis For most VTOLs the param defaults for the agressiveness of the MC attitude controller are too high, as VTOLs usually have high intertia and lot af drag due to wings and can thus not rotate as fast as MCs. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-05 14:11:59 +02:00
Silvan Fuhrer	a064164c14	FW pos C params: add param group FW Auto Landing Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-05 14:11:59 +02:00
Silvan Fuhrer	b039ae1614	FW pos c params: change grouping of some clearly longitudinal params to TECS Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-05 14:11:59 +02:00
Silvan Fuhrer	45073f000a	FW Position control: reduce defaults for max pitch Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-05 14:11:59 +02:00
Silvan Fuhrer	d04f21aa16	FW attitude controller: reduce FW_MAN_P_MAX from 45 to 30 45° is a very large pitch angle, and for me 30° is much more reasonable for a default value. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-05 14:11:59 +02:00
Silvan Fuhrer	828992adf7	increase default of MPC_Z_VEL_MAX_DN and MPC_Z_V_AUTO_DN from 1 to 1.5 I think most vehicle can safely decend with at least 1.5m/s, and having this value too low makes Descents/Landings/RTLs unnecessary long. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-05 14:11:59 +02:00
Silvan Fuhrer	c42667ac64	ROMFS: vtol_defaults: remvoe custom NAV_ACC_RAD, leave at param default (10) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-05 14:11:59 +02:00
Silvan Fuhrer	4614c1a0b4	ROMFS: vtol_defaults: increase default hover speeds Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-05 14:11:59 +02:00
Silvan Fuhrer	0d10491b89	ROMFS: vtol_defaults: remove MPC_TKO_SPEED from VTOL defaults The VTOL default was set to 1, while the param default is 1.5. I don't see why it shuold be a different default for VTOLs and thus remove it. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-05 14:11:59 +02:00
Matthias Grob	87cbda1992	FlightTaskOrbit: parameterize hardcoded maximum radius (#20012 )	2022-08-05 09:19:32 +02:00
Daniel Agar	dfdfbbfa9c	msg/vehicle_odometry.msg: simplify covariance handling and update all usage (#19966 ) - replace float32[21] URT covariances with smaller dedicated position/velocity/orientation variances (the crossterms are unused, awkward, and relatively costly) - these are easier to casually inspect and more representative of what's actually being used currently and reduces the size of vehicle_odometry_s quite a bit - ekf2: add new helper to get roll/pitch/yaw covariances - mavlink: receiver ODOMETRY handle more frame types for both pose (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU) and velocity (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU, MAV_FRAME_BODY_FRD) - mavlink: delete unused ATT_POS_MOCAP stream (this is just a passthrough) Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>	2022-08-04 12:55:21 -04:00
bresch	61f390b0dd	ekf2_test: fix height offset compensation after origin reset	2022-08-04 16:50:31 +02:00
bresch	e34de53e2e	ekf2_test: let the GPS start before setting the new origin fix test by reducing the distance to the new origin: the maximum size of the local position origin is a cube of 1e6m. If the origin is moved further than this, the state is clipped to that maximum value	2022-08-04 16:50:31 +02:00
Silvan Fuhrer	55f395a7e9	FlightTaskAuto: apply cruise speed from position triplet also when negative (#20006 ) Navigator sets the cruise_speed to -1 if the controller shouldn't listen to it and instead use the default speed (for MC: MPC_XY_CRUISE). This is for example for RTL the case, where we want to return at the default speed, independetly of what the mission speed before was. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-04 13:36:15 +02:00
FARHANG	2498cbbb74	boards: px4_fmu-v6c rc.board_defaults remove irrelevant ethernet configuration	2022-08-03 11:13:12 -04:00
Tony Cake	f321117568	GHST: Add support for GPS Telemetry (#19953 ) Add support for the basic GPS telemetry values when using the GHST protocol. * Fix formatting in GHST GPS telemetry changes * GHST GPS Telemetry formatting cleanup * GHST GPS Telemetry, Last formatting change	2022-08-03 10:44:21 +02:00
Hamish Willee	270c456121	CI - build on main as well (#20001 )	2022-08-02 16:52:17 -07:00
Roman Bapst	dbf7d32e07	Skip VTOL_TAKEOFF mission item when in fixed wing mode (#19985 ) * mission: skip VTOL_TAKEOFF mission item when in fixed wing mode Signed-off-by: RomanBapst <bapstroman@gmail.com> * mission: added better comment regarding skipping VTOL Takeoff in fw mode Signed-off-by: RomanBapst <bapstroman@gmail.com>	2022-08-02 15:34:42 +02:00
RomanBapst	f11f2e9797	addressed review comments Signed-off-by: RomanBapst <bapstroman@gmail.com>	2022-08-02 15:29:25 +02:00
RomanBapst	a425bc4c92	vehicle_local_position: fixed comment Signed-off-by: RomanBapst <bapstroman@gmail.com>	2022-08-02 15:29:25 +02:00
RomanBapst	fbd4534edc	WindEstimator: reworked filter initialisation - separate initialisation with and without airspeed Signed-off-by: RomanBapst <bapstroman@gmail.com>	2022-08-02 15:29:25 +02:00
RomanBapst	a63f1b71fe	wind_estimator: added simple check for validity of synthetic airspeed - synthetic airspeed will only be declared valid as soon as the wind variance has dropped below a parameterized threshold. This is useful for vehicles without an airspeed sensor which rely on synthetic airspeed but only once the vehicle has turned sufficiently for the wind estimates to be reliable. Signed-off-by: RomanBapst <bapstroman@gmail.com>	2022-08-02 15:29:25 +02:00
Hamish Willee	a715b5468e	mc_wind_estimator - improve readability (#19545 )	2022-08-02 09:26:06 +02:00
Hamish Willee	30e2490d5b	Docs are now in user guide and main (#19977 ) * Fix links to docs in source to point to docs on main not master * More docs and scripts that need to point to main	2022-08-01 11:39:39 +10:00
Peter van der Perk	c566fb414b	S32K1XX add dummy iwdg driver	2022-07-31 11:21:41 -04:00
Beat Küng	e7588d2da0	px4io+pwm_out: set the PWM rate and disarmed value when a channel is first set to a servo This should simplify the first setup a bit.	2022-07-31 11:20:57 -04:00
Igor Mišić	f929017618	boards: link missing arch_io_pins lib	2022-07-31 11:19:20 -04:00
Daniel Agar	41d9c3dd2a	ekf2: add AUX velocity aid src status - also includes velocity and position helpers for using estimator aid source status messages that will later be used for GPS, EV, etc	2022-07-29 12:02:31 -04:00
Daniel Agar	a397c09e59	ekf2: use estimator_aid_src for all yaw sources (mag, gnss, ev)	2022-07-29 11:20:48 -04:00
Agata Barcis	d5d88cba5b	generate_microRTPS_bridge.py updated to support ROS2 humble Signed-off-by: Agata Barcis <agata.barcis@tii.ae>	2022-07-29 15:21:05 +02:00
Silvan Fuhrer	638eff426a	AirspeedValidator: increase max update step size of tas_scale_validated from 1% to 5% Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-07-29 09:29:27 +02:00
				`@@ -1 +0,0 @@`
				`mixer append /dev/pwm_output0 etc/mixers-sitl/package_drop.aux.mix`