[WIP] explicit PWM configuration per channel

spracing_h7extreme:Track NuttX assert changes
protocol_splitter:Track NuttX assert changes
2026-05-31 23:20:08 +08:00 · 2021-06-16 21:53:27 -04:00 · 2021-06-16 17:07:47 +02:00 · 2021-06-16 17:07:47 +02:00 · 2021-06-16 17:07:47 +02:00 · 2021-06-16 17:07:47 +02:00
816 changed files with 24794 additions and 4899 deletions
@@ -48,6 +48,8 @@ pipeline {
                     "cuav_x7pro_default",
                     "cubepilot_cubeorange_default",
                     "cubepilot_cubeyellow_default",
+                     "freefly_can-rtk-gps_canbootloader",
+                     "freefly_can-rtk-gps_default",
                     "holybro_can-gps-v1_canbootloader",
                     "holybro_can-gps-v1_default",
                     "holybro_durandal-v1_default",
@@ -55,6 +57,7 @@ pipeline {
                     "holybro_pix32v5_default",
                     "modalai_fc-v1_default",
                     "modalai_fc-v1_rtps",
+                     "modalai_fc-v2_default",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
                     "mro_ctrl-zero-h7_default",
@@ -155,7 +158,7 @@ pipeline {
  }
  options {
    buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
-    timeout(time: 60, unit: 'MINUTES')
+    timeout(time: 90, unit: 'MINUTES')
  }
 }

@@ -73,13 +73,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -149,13 +146,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -225,13 +219,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -301,13 +292,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -377,13 +365,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -453,13 +438,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -533,13 +515,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -609,13 +588,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -689,13 +665,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -769,9 +742,6 @@ pipeline {
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -842,13 +812,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -918,13 +885,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -937,8 +901,8 @@ pipeline {
    CI = true
  }
  options {
-    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '40'))
-    timeout(time: 90, unit: 'MINUTES')
+    buildDiscarder(logRotator(numToKeepStr: '30', artifactDaysToKeepStr: '60'))
+    timeout(time: 120, unit: 'MINUTES')
    skipDefaultCheckout()
  }
 }
@@ -19,6 +19,9 @@ jobs:
          ark_can-flow_canbootloader,
          ark_can-flow_debug,
          ark_can-flow_default,
+          ark_can-gps_canbootloader,
+          ark_can-gps_debug,
+          ark_can-gps_default,
          av_x-v1_default,
          bitcraze_crazyflie21_default,
          bitcraze_crazyflie_default,
@@ -32,6 +35,8 @@ jobs:
          cubepilot_cubeyellow_default,
          cubepilot_cubeyellow_test,
          cubepilot_io-v2_default,
+          freefly_can-rtk-gps_canbootloader,
+          freefly_can-rtk-gps_default,
          holybro_can-gps-v1_canbootloader,
          holybro_can-gps-v1_debug,
          holybro_can-gps-v1_default,
@@ -40,6 +45,7 @@ jobs:
          holybro_pix32v5_default,
          modalai_fc-v1_default,
          modalai_fc-v1_rtps,
+          modalai_fc-v2_default,
          mro_ctrl-zero-f7-oem_default,
          mro_ctrl-zero-f7_default,
          mro_ctrl-zero-h7-oem_default,
@@ -17,6 +17,7 @@ jobs:
        config: [
          ark_can-flow_default,
          cuav_can-gps-v1_default,
+          freefly_can-rtk-gps_default,
          holybro_can-gps-v1_default,
          #nxp_ucans32k146_default,
          px4_fmu-v4_cannode
@@ -18,7 +18,7 @@ jobs:
    - name: Install Python3
      run: sudo apt-get install python3 python3-setuptools python3-pip -y
    - name: Install tools
-      run: pip3 install --user mypy flake8
+      run: pip3 install --user mypy types-requests flake8
    - name: Check MAVSDK test scripts with mypy
      run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
    - name: Check MAVSDK test scripts with flake8
@@ -15,10 +15,11 @@ jobs:
      fail-fast: false
      matrix:
        config:
-          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo", model: "iris"          } # Alaska
-          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo", model: "standard_vtol" } # Australia
-          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo", model: "tailsitter"    } # Florida
-          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",       model: "standard_vtol" } # Zurich
+          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo",   model: "iris"          } # Alaska
+          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer", model: "standard_vtol" } # Australia
+          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo",   model: "tailsitter"    } # Florida
+          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",         model: "standard_vtol" } # Zurich
+
    container:
      image: px4io/px4-dev-simulation-focal:2021-04-29
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
@@ -108,3 +108,5 @@ src/systemcmds/topic_listener/listener_generated.cpp
 # SITL
 dataman
 eeprom/
+
+!src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
@@ -65,5 +65,5 @@
 	url = https://github.com/UAVCAN/libcanard.git
 [submodule "src/drivers/uavcan_v1/legacy_data_types"]
 	path = src/drivers/uavcan_v1/legacy_data_types
-	url = https://github.com/px4/public_regulated_data_types/
+	url = https://github.com/PX4/public_regulated_data_types.git
 	branch = legacy
@@ -66,6 +66,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-flow_canbootloader
+    ark_can-gps_default:
+      short: ark_can-gps_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-gps_default
+    ark_can-gps_canbootloader:
+      short: ark_can-gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-gps_canbootloader
    av_x-v1_default:
      short: av_x-v1
      buildType: MinSizeRel
@@ -106,6 +116,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: emlid_navio2_default
+    freefly_can-rtk-gps_default:
+      short: freefly_can-rtk-gps_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: freefly_can-rtk-gps_default
+    freefly_can-rtk-gps_canbootloader:
+      short: freefly_can-rtk-gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: freefly_can-rtk-gps_canbootloader
    holybro_can-gps-v1_canbootloader:
      short: holybro_can-gps-v1_canbootloader
      buildType: MinSizeRel
@@ -126,6 +146,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: modalai_fc-v1_default
+    modalai_fc-v2_default:
+      short: modalai_fc-v2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: modalai_fc-v2_default
    mro_ctrl-zero-f7_default:
      short: mro_ctrl-zero-f7
      buildType: MinSizeRel
@@ -374,7 +374,7 @@ pipeline {
    GIT_COMMITTER_NAME = "PX4BuildBot"
  }
  options {
-    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
-    timeout(time: 60, unit: 'MINUTES')
+    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '30'))
+    timeout(time: 90, unit: 'MINUTES')
  }
 }
@@ -63,7 +63,7 @@ all: px4_sitl_default
 space := $(subst ,, )

 define make_list
-     $(shell cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
+     $(shell [ -f .github/workflows/compile_${1}.yml ] && cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
 endef

 # Parsing
@@ -468,26 +468,27 @@ validate_module_configs:
 .PHONY: clean submodulesclean submodulesupdate gazeboclean distclean

 clean:
-	@rm -rf "$(SRC_DIR)"/build
-	@git submodule foreach git clean -df
+	@[ ! -d "$(SRC_DIR)/build" ] || find "$(SRC_DIR)/build" -mindepth 1 -maxdepth 1 -type d -exec sh -c "echo {}; cmake --build {} -- clean || rm -rf {}" \; # use generated build system to clean, wipe build directory if it fails
+	@git submodule foreach git clean -dX --force # some submodules generate build artifacts in source

 submodulesclean:
 	@git submodule foreach --quiet --recursive git clean -ff -x -d
 	@git submodule update --quiet --init --recursive --force || true
 	@git submodule sync --recursive
-	@git submodule update --init --recursive --force
+	@git submodule update --init --recursive --force --jobs 4

 submodulesupdate:
-	@git submodule update --quiet --init --recursive || true
+	@git submodule update --quiet --init --recursive --jobs 4 || true
 	@git submodule sync --recursive
-	@git submodule update --init --recursive
+	@git submodule update --init --recursive --jobs 4

 gazeboclean:
 	@rm -rf ~/.gazebo/*

 distclean: gazeboclean
-	@git submodule deinit -f .
-	@git clean -ff -x -d -e ".cproject" -e ".idea" -e ".project" -e ".settings" -e ".vscode"
+	@git submodule deinit --force $(SRC_DIR)
+	@rm -rf "$(SRC_DIR)/build"
+	@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"

 # Help / Error
 # --------------------------------------------------------------------
@@ -115,6 +115,7 @@ add_custom_command(
 set(romfs_extract_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_extract.stamp)
 add_custom_command(
 	OUTPUT ${romfs_extract_stamp}
+	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
 	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
 	WORKING_DIRECTORY ${romfs_gen_root_dir}
@@ -11,6 +11,5 @@ param set-default NAV_DLL_ACT 0
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-set PWM_OUT 12345678
 set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
 set MIXER custom
@@ -14,7 +14,8 @@

 param set-default EKF2_ARSP_THR 8
 param set-default EKF2_FUSE_BETA 1
-param set-default ASPD_STALL 10.0
+
+param set-default FW_AIRSPD_STALL 8

 param set-default FW_P_RMAX_NEG 20.0
 param set-default FW_P_RMAX_POS 60.0
@@ -12,4 +12,3 @@
 . ${R}etc/init.d/rc.airship_defaults

 set MIXER cloudship
-set PWM_OUT 1234
@@ -30,7 +30,6 @@ set MIXER_AUX                   none
 set MIXER_FILE                  none
 set OUTPUT_MODE                 sim
 set EXTRA_MIXER_MODE            none
-set PWM_OUT                     none
 set SDCARD_MIXERS_PATH          etc/mixers
 set USE_IO                      no
 set VEHICLE_TYPE                none
@@ -23,8 +23,9 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_quad_defaults

+set MIXER quad_w

 param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.1
@@ -38,6 +39,3 @@ param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.28
 param set-default MC_YAWRATE_I 0.1
 param set-default MC_YAWRATE_D 0
-set MIXER quad_w
-
-set PWM_OUT 1234
@@ -21,8 +21,9 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_quad_defaults

+set MIXER quad_w

 # TODO tune roll/pitch separately
 param set-default MC_ROLL_P 7
@@ -40,6 +41,3 @@ param set-default MC_YAWRATE_D 0

 param set-default BAT_V_DIV 12.27559
 param set-default BAT_A_PER_V 15.39103
-set MIXER quad_w
-
-set PWM_OUT 1234
@@ -23,8 +23,9 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_quad_defaults

+set MIXER quad_w

 param set-default BAT_N_CELLS 4

@@ -40,6 +41,3 @@ param set-default MC_YAW_P 4
 param set-default MC_YAWRATE_P 0.2
 param set-default MC_YAWRATE_I 0.1
 param set-default MC_YAWRATE_D 0
-set MIXER quad_w
-
-set PWM_OUT 1234
@@ -23,8 +23,9 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_quad_defaults

+set MIXER quad_w

 param set-default BAT_N_CELLS 6
 param set-default BAT_V_EMPTY 3.5
@@ -43,8 +44,3 @@ param set-default MC_YAWRATE_I 0.1
 param set-default MC_YAWRATE_D 0

 param set-default MPC_XY_VEL_MAX 2
-
-param set-default PWM_MAIN_MIN 1080
-set MIXER quad_w
-
-set PWM_OUT 1234
@@ -11,7 +11,6 @@
 . ${R}etc/init.d/rc.mc_defaults

 set MIXER quad_x
-set PWM_OUT 1234

 param set SYS_HITL 1

@@ -13,7 +13,6 @@

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

-
 param set-default BAT_N_CELLS 3

 param set-default COM_RC_IN_MODE 1
@@ -78,5 +77,3 @@ param set-default CBRK_IO_SAFETY 22027
 set MAV_TYPE 22

 set MIXER standard_vtol_hitl
-
-set PWM_OUT 1234
@@ -21,9 +21,6 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_hex_defaults

 set MIXER hexa_cox
-
-# Need to set all 8 channels
-set PWM_OUT 12345678
@@ -13,7 +13,6 @@
 . ${R}etc/init.d/rc.mc_defaults

 set MIXER quad_x
-set PWM_OUT 1234

 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2
@@ -19,8 +19,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_octo_defaults

+# MAIN set by rc.mc_octo_defaults
 set MIXER octo_cox
-
-set PWM_OUT 12345678
@@ -20,8 +20,9 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_octo_defaults

+set MIXER octo_cox_w

 param set-default MC_PITCH_P 4
 param set-default MC_PITCHRATE_P 0.24
@@ -45,6 +46,3 @@ param set-default MPC_THR_MIN 0.15
 param set-default MPC_Z_VEL_MAX_DN 2

 param set-default BAT_N_CELLS 4
-set MIXER octo_cox_w
-
-set PWM_OUT 12345678
@@ -21,18 +21,21 @@
 # @board bitcraze_crazyflie exclude
 #

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

-
-param set-default PWM_AUX_DIS5 950
-param set-default PWM_MAIN_RATE 400
+set MAV_TYPE 22

 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
-set MAV_TYPE 22

-set MIXER quad_x
+# MAIN set by rc.mc_quad_defaults
+
+# AUX
 set MIXER_AUX vtol_AAERT
-
-set PWM_OUT 1234
+param set-default PWM_AUX_DIS1 1500
+param set-default PWM_AUX_DIS2 1500
+param set-default PWM_AUX_DIS3 1500
+param set-default PWM_AUX_DIS4 1500
+param set-default PWM_AUX_DIS5 900 # throttle
@@ -18,8 +18,7 @@

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

-
-param set-default MAV_TYPE 19
+set MAV_TYPE 19

 param set-default MC_ROLL_P 6
 param set-default MC_ROLLRATE_P 0.12
@@ -43,8 +42,20 @@ 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 MAV_TYPE 19

+
+# MAIN
 set MIXER vtol_tailsitter_duo
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100

-set PWM_OUT 123456
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 1500 # right (starboard) elevon
+param set-default PWM_MAIN_DIS4 1500 # left (port) elevon.
@@ -23,6 +23,7 @@

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

+set MAV_TYPE 21

 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.19
@@ -40,8 +41,6 @@ param set-default MC_YAWRATE_I 0.02
 param set-default MC_YAWRATE_D 0
 param set-default MC_YAWRATE_FF 0

-param set-default PWM_MAIN_RATE 400
-
 param set-default VT_FW_MOT_OFFID 34
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_MOT_ID 123456
@@ -51,9 +50,40 @@ 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 MAV_TYPE 21

+# MAIN
 set MIXER firefly6
-set MIXER_AUX firefly6
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
+param set-default PWM_MAIN_MIN4 1100
+param set-default PWM_MAIN_MIN5 1100
+param set-default PWM_MAIN_MIN6 1100

-set PWM_OUT 12345678
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+param set-default PWM_MAIN_MAX4 1900
+param set-default PWM_MAIN_MAX5 1900
+param set-default PWM_MAIN_MAX6 1900
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+param set-default PWM_MAIN_RATE3 400
+param set-default PWM_MAIN_RATE4 400
+param set-default PWM_MAIN_RATE5 400
+param set-default PWM_MAIN_RATE6 400
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 900
+param set-default PWM_MAIN_DIS4 900
+param set-default PWM_MAIN_DIS5 900
+param set-default PWM_MAIN_DIS6 900
+
+# AUX
+set MIXER_AUX firefly6
+param set-default PWM_MAIN_DIS1 1000 # Tilt mechanism servo mixer
+param set-default PWM_MAIN_DIS2 1500
+param set-default PWM_MAIN_DIS3 1500
+param set-default PWM_MAIN_DIS4 2000 # Landing gear
@@ -11,18 +11,18 @@
 # @board bitcraze_crazyflie exclude
 #

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

-
-param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_RATE 400
-
-param set-default VT_MOT_ID 1234
-param set-default VT_IDLE_PWM_MC  1080
-param set-default VT_TYPE 0
-param set-default VT_ELEV_MC_LOCK 1
 set MAV_TYPE 20

-set MIXER quad_x_vtol
+param set-default VT_MOT_ID 1234
+param set-default VT_IDLE_PWM_MC 1080
+param set-default VT_TYPE 0
+param set-default VT_ELEV_MC_LOCK 1

-set PWM_OUT 1234
+# MAIN
+set MIXER quad_x_vtol
+# outputs 1-4 set by rc.mc_quad_defaults
+param set-default PWM_MAIN_DIS5 1500 # left elevon
+param set-default PWM_MAIN_DIS6 1500 # right elevon
@@ -20,17 +20,19 @@
 # @board bitcraze_crazyflie exclude
 #

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

-
-param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_RATE 400
-
-param set-default VT_IDLE_PWM_MC  1080
-param set-default VT_TYPE 0
-param set-default VT_ELEV_MC_LOCK 1
 set MAV_TYPE 20

-set MIXER quad_+_vtol
+param set-default VT_IDLE_PWM_MC 1080
+param set-default VT_TYPE 0
+param set-default VT_ELEV_MC_LOCK 1

-set PWM_OUT 1234
+# MAIN
+set MIXER quad_+_vtol
+# outputs 1-4 set by rc.mc_quad_defaults
+param set-default PWM_MAIN_DIS5 1500
+param set-default PWM_MAIN_DIS6 1500
+param set-default PWM_MAIN_DIS7 1500
+param set-default PWM_MAIN_DIS8 1500
@@ -21,12 +21,10 @@
 # @board bitcraze_crazyflie exclude
 #

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

-
-param set-default PWM_AUX_DIS5 950
-
-param set-default PWM_MAIN_RATE 400
+set MAV_TYPE 22

 param set-default MC_ROLL_P 6
 param set-default MC_ROLLRATE_P 0.17
@@ -64,9 +62,14 @@ 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 MAV_TYPE 22

-set MIXER quad_x
+
+# MAIN set by rc.mc_quad_defaults
+
+# AUX
 set MIXER_AUX vtol_AAERT
-
-set PWM_OUT 1234
+param set-default PWM_AUX_DIS1 1500
+param set-default PWM_AUX_DIS2 1500
+param set-default PWM_AUX_DIS3 1500
+param set-default PWM_AUX_DIS4 1500
+param set-default PWM_AUX_DIS5 900 # throttle
@@ -19,8 +19,10 @@
 # @board bitcraze_crazyflie exclude
 #

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

+set MAV_TYPE 22

 param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.15
@@ -44,17 +46,17 @@ 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 PWM_MAIN_RATE 400
-
 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 MAV_TYPE 22

-set MIXER quad_x
+# MAIN set by rc.mc_quad_defaults
+
+# AUX
 set MIXER_AUX vtol_delta
-
-set PWM_OUT 1234
+param set-default PWM_AUX_DIS1 1500
+param set-default PWM_AUX_DIS2 1500
+param set-default PWM_AUX_DIS3 900 # throttle
+param set-default PWM_AUX_DIS4 900 # throttle reverse
@@ -11,8 +11,10 @@
 # @board bitcraze_crazyflie exclude
 #

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

+set MAV_TYPE 22

 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.15
@@ -30,20 +32,20 @@ param set-default MC_YAWRATE_I 0.02
 param set-default MC_YAWRATE_D 0
 param set-default MC_YAWRATE_FF 0
 param set-default MC_YAWRATE_MAX 40
-
 param set-default MPC_YAWRAUTO_MAX 40

-param set-default PWM_AUX_DIS5 950
-param set-default PWM_MAIN_RATE 400
-
 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 MAV_TYPE 22

-set MIXER quad_x
+# MAIN set by rc.mc_quad_defaults
+
+# AUX
 set MIXER_AUX vtol_AAVVT
-
-set PWM_OUT 1234
+param set-default PWM_AUX_DIS1 1500
+param set-default PWM_AUX_DIS2 1500
+param set-default PWM_AUX_DIS3 1500
+param set-default PWM_AUX_DIS4 1500
+param set-default PWM_AUX_DIS5 900 # throttle
@@ -11,8 +11,10 @@
 # @board bitcraze_crazyflie exclude
 #

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

+set MAV_TYPE 22

 param set-default FW_THR_CRUISE 65
 param set-default FW_PR_P 0.08
@@ -45,11 +47,6 @@ param set-default MPC_TKO_SPEED 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 PWM_MAIN_RATE 400
-
 param set-default VT_ARSP_TRANS 15
 param set-default VT_ARSP_BLEND 8
 param set-default VT_B_TRANS_DUR 4
@@ -58,9 +55,13 @@ 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 MAV_TYPE 22

-set MIXER quad_x
+# MAIN set by rc.mc_quad_defaults
+
+# AUX
 set MIXER_AUX vtol_AAERT
-
-set PWM_OUT 1234
+param set-default PWM_AUX_DIS1 1500
+param set-default PWM_AUX_DIS2 1500
+param set-default PWM_AUX_DIS3 1500
+param set-default PWM_AUX_DIS4 1500
+param set-default PWM_AUX_DIS5 900 # throttle
@@ -11,8 +11,10 @@
 # @board bitcraze_crazyflie exclude
 #

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

+set MAV_TYPE 22

 param set-default FW_AIRSPD_MAX   22
 param set-default FW_AIRSPD_MIN   14
@@ -61,15 +63,6 @@ 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 PWM_MAIN_RATE 400
-
 param set-default VT_ARSP_TRANS   15
 param set-default VT_B_TRANS_DUR  4
 param set-default VT_F_TRANS_THR    0.6
@@ -80,9 +73,17 @@ param set-default VT_TRANS_MIN_TM 5
 param set-default VT_TRANS_TIMEOUT    30
 param set-default VT_TYPE 2

-set MAV_TYPE 22
+# MAIN set by rc.mc_quad_defaults

-set MIXER quad_x
+# AUX
 set MIXER_AUX vtol_AAERT
+param set-default PWM_AUX_DIS1 1500
+param set-default PWM_AUX_DIS2 1500
+param set-default PWM_AUX_DIS3 1500
+param set-default PWM_AUX_DIS4 1500
+param set-default PWM_AUX_DIS5 900 # throttle

-set PWM_OUT 1234
+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
@@ -13,14 +13,7 @@

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

-
-param set-default PWM_AUX_DISARM 1000
-param set-default PWM_AUX_MAX 2000
-param set-default PWM_AUX_MIN 1000
-param set-default PWM_AUX_RATE 50
-
-param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_RATE 400
+set MAV_TYPE 21

 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 13
@@ -30,9 +23,32 @@ param set-default VT_TILT_MC 0.08
 param set-default VT_TILT_TRANS 0.5
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21

-set MIXER claire
+
+# MAIN
+set MIXER quad_x
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
+param set-default PWM_MAIN_MIN4 1100
+
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+param set-default PWM_MAIN_MAX4 1900
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+param set-default PWM_MAIN_RATE3 400
+param set-default PWM_MAIN_RATE4 400
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 900
+param set-default PWM_MAIN_DIS4 900
+
+# AUX
 set MIXER_AUX claire
-
-set PWM_OUT 1234
+param set-default PWM_MAIN_DIS1 1000 # tilt
+param set-default PWM_MAIN_DIS2 1500 # elevon
+param set-default PWM_MAIN_DIS3 1500 # elevon
@@ -22,6 +22,7 @@

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

+set MAV_TYPE 21

 param set-default CBRK_AIRSPD_CHK 162128

@@ -59,8 +60,6 @@ param set-default MPC_LAND_SPEED 1.2
 param set-default MPC_TKO_SPEED 2.5
 param set-default MPC_Z_VEL_MAX_UP 3

-param set-default PWM_MAIN_RATE 400
-
 param set-default SENS_BOARD_ROT 8

 param set-default VT_B_TRANS_DUR  1
@@ -79,8 +78,26 @@ 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 MAV_TYPE 21

+
+# MAIN
 set MIXER vtol_convergence
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100

-set PWM_OUT 1234
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+param set-default PWM_MAIN_RATE3 400
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 900
+param set-default PWM_MAIN_DIS5 2000 # tilt right servo (2000 up)
+param set-default PWM_MAIN_DIS6 1000 # tilt left servo (1000 up)
+param set-default PWM_MAIN_DIS7 1500 # elevon
+param set-default PWM_MAIN_DIS8 1500 # elevon
@@ -22,6 +22,7 @@

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

+set MAV_TYPE 22

 param set-default BAT_CAPACITY 23000
 param set-default BAT_N_CELLS 4
@@ -112,15 +113,6 @@ param set-default MPC_YAWRAUTO_MAX 20
 param set-default NAV_DLL_ACT 0
 param set-default NAV_LOITER_RAD 100

-param set-default PWM_AUX_DISARM 950
-
-param set-default PWM_MAIN_DIS5 1500
-param set-default PWM_MAIN_DIS6 1500
-param set-default PWM_MAIN_DIS7 900
-param set-default PWM_MAIN_DIS8 900
-
-param set-default PWM_MAIN_RATE 400
-
 param set-default SENS_BOARD_ROT 18

 # TELEM2 config
@@ -150,10 +142,34 @@ param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4

 param set-default COM_RC_OVERRIDE 0
-set MAV_TYPE 22

+
+# MAIN
 set MIXER deltaquad
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
+param set-default PWM_MAIN_MIN4 1100
+
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+param set-default PWM_MAIN_MAX4 1900
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+param set-default PWM_MAIN_RATE3 400
+param set-default PWM_MAIN_RATE4 400
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 900
+param set-default PWM_MAIN_DIS4 900
+param set-default PWM_MAIN_DIS5 1500 # left elevon
+param set-default PWM_MAIN_DIS6 1500 # right elevon
+param set-default PWM_MAIN_DIS7 900 # pusher
+param set-default PWM_MAIN_DIS8 900 # reverse thrust
+
+# AUX
 set MIXER_AUX pass

-set PWM_OUT 1234
-set PWM_AUX_OUT 12345
@@ -22,7 +22,7 @@

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

-
+set MAV_TYPE 22

 param set-default BAT_N_CELLS 6

@@ -71,7 +71,6 @@ param set-default MPC_JERK_AUTO 4
 param set-default MPC_LAND_SPEED 1
 param set-default MPC_MAN_TILT_MAX 25
 param set-default MPC_MAN_Y_MAX 40
-param set-default MPC_POS_MODE 3
 param set-default MPC_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
@@ -106,11 +105,28 @@ param set-default VT_PSHER_RMP_DT 2
 param set-default VT_TRANS_MIN_TM 4
 param set-default VT_TYPE 2

-set MAV_TYPE 22
-
+# MAIN
 set MIXER babyshark
-set MIXER_AUX pass
+param set-default PWM_MAIN_MIN5 1100
+param set-default PWM_MAIN_MIN6 1100
+param set-default PWM_MAIN_MIN7 1120
+param set-default PWM_MAIN_MIN8 1100

-# Mark outputs for the alternate rate
-# or D-Shot
-set PWM_OUT 5678
+param set-default PWM_MAIN_MAX5 1900
+param set-default PWM_MAIN_MAX6 1900
+param set-default PWM_MAIN_MAX7 1900
+param set-default PWM_MAIN_MAX8 1900
+
+param set-default PWM_MAIN_RATE5 400
+param set-default PWM_MAIN_RATE6 400
+param set-default PWM_MAIN_RATE7 400
+param set-default PWM_MAIN_RATE8 400
+
+param set-default PWM_MAIN_DIS1 1500
+param set-default PWM_MAIN_DIS2 1500
+param set-default PWM_MAIN_DIS3 900 # pusher
+param set-default PWM_MAIN_DIS4 1500
+param set-default PWM_MAIN_DIS5 900
+param set-default PWM_MAIN_DIS6 900
+param set-default PWM_MAIN_DIS7 900
+param set-default PWM_MAIN_DIS8 900
@@ -0,0 +1,53 @@
+#!/bin/sh
+#
+# @name Generic Quadplane VTOL (PWM14)
+#
+# @type Standard VTOL
+# @class VTOL
+#
+# @maintainer
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 Aileron 1
+# @output MAIN6 Aileron 2
+# @output MAIN7 Elevator
+# @output MAIN8 Rudder
+# @output MAIN9 Pusher motor
+#
+# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+set MAV_TYPE 22
+
+param set-default VT_TYPE 2
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+
+# MAIN
+set MIXER quad_x_vtol_AAERT
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
+param set-default PWM_MAIN_MIN4 1100
+
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+param set-default PWM_MAIN_MAX4 1900
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 900
+param set-default PWM_MAIN_DIS4 900
+param set-default PWM_MAIN_DIS5 1500
+param set-default PWM_MAIN_DIS6 1500
+param set-default PWM_MAIN_DIS7 1500
+param set-default PWM_MAIN_DIS8 1500
+param set-default PWM_MAIN_DIS9 900
@@ -23,18 +23,21 @@
 # @board bitcraze_crazyflie exclude
 #

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

-
-param set-default PWM_AUX_DIS5 950
-param set-default PWM_MAIN_RATE 400
+set MAV_TYPE 22

 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 12345678
 param set-default VT_FW_MOT_OFFID 12345678
-set MAV_TYPE 22

-set MIXER octo_cox
+# MAIN set by rc.mc_octo_defaults
+
+# AUX
 set MIXER_AUX vtol_AAERT
-
-set PWM_OUT 12345678
+param set-default PWM_AUX_DIS1 1500
+param set-default PWM_AUX_DIS2 1500
+param set-default PWM_AUX_DIS3 1500
+param set-default PWM_AUX_DIS4 1500
+param set-default PWM_AUX_DIS5 900 # throttle
@@ -18,13 +18,26 @@

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

-
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0

 param set-default MAV_TYPE 19
+
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS5 1500 # right elevon
+param set-default PWM_MAIN_DIS6 1500 # left elevon
+
+
 set MAV_TYPE 19
 set MIXER vtol_tailsitter_duo
-
-set PWM_OUT 1234
@@ -19,4 +19,22 @@

 set MIXER tri_y_yaw+

-set PWM_OUT 1234
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
+param set-default PWM_MAIN_MIN4 1000
+
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+param set-default PWM_MAIN_MAX4 2000
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+param set-default PWM_MAIN_RATE3 400
+param set-default PWM_MAIN_RATE4 50
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 900
+param set-default PWM_MAIN_DIS4 1500
@@ -19,4 +19,22 @@

 set MIXER tri_y_yaw-

-set PWM_OUT 1234
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
+param set-default PWM_MAIN_MIN4 1000
+
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+param set-default PWM_MAIN_MAX4 2000
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+param set-default PWM_MAIN_RATE3 400
+param set-default PWM_MAIN_RATE4 50
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 900
+param set-default PWM_MAIN_DIS4 1500
@@ -17,8 +17,8 @@
 #

 . ${R}etc/init.d/rc.mc_defaults
-set MIXER coax

+set MIXER coax

 param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.17
@@ -38,17 +38,5 @@ param set-default MC_YAWRATE_FF 0

 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_MIN 1075
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_RATE 400
-
 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
-# This is the gimbal pass mixer
-set MIXER_AUX pass
-
-# use PWM parameters for throttle channel
-set PWM_AUX_OUT 1234
-set PWM_OUT 34
@@ -24,11 +24,6 @@ set MAV_TYPE 4

 set MIXER blade130

-#set PWM_OUT 1234
-
-
-param set-default ATT_BIAS_MAX 0
-
 param set-default CBRK_IO_SAFETY 22027

 param set-default MC_ROLL_P 5
@@ -53,5 +48,3 @@ param set-default MC_ACRO_P_MAX 360

 param set-default MPC_THR_MIN 0.06
 param set-default MPC_MANTHR_MIN 0.06
-
-param set-default PWM_MAIN_MIN 1075
@@ -25,13 +25,9 @@

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

-
 param set-default BAT_CAPACITY 2500
 param set-default BAT_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
@@ -46,5 +42,6 @@ param set-default FW_R_LIM 40
 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
@@ -20,13 +20,9 @@

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

-
 param set-default BAT_CAPACITY 3300
 param set-default BAT_N_CELLS 3

-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_RATE 50
-
 param set-default SENS_BOARD_ROT 4

 param set-default FW_AIRSPD_MAX 20
@@ -41,5 +37,6 @@ param set-default FW_R_LIM 40
 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
@@ -15,7 +15,6 @@

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

-
 param set-default COM_PREARM_MODE 2  # always in prearm state
 param set-default CBRK_IO_SAFETY 22027
 param set-default SDLOG_PROFILE 17
@@ -26,8 +25,8 @@ param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600

 param set-default SENS_BOARD_ROT 0
-        param set MAV_TYPE 8  # MAV_TYPE_FREE_BALLOON

+param set-default MAV_TYPE 8  # MAV_TYPE_FREE_BALLOON

 set MIXER IO_pass
 set MIXER_AUX pass
@@ -23,10 +23,6 @@

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

-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_RATE 50
-
 set MIXER AETRFG

-# Rate must be set by group (see pwm info).
-# Throttle is in the same group as servos.
+param set-default PWM_MAIN_DIS3 900
@@ -39,11 +39,7 @@ 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
+param set-default PWM_MAIN_DIS5 1000
@@ -39,11 +39,7 @@ 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 AAVVTWFF

 # use PWM parameters for throttle channel
-set PWM_OUT 5
+param set-default PWM_MAIN_DIS5 1000
@@ -40,13 +40,10 @@ 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
+param set-default PWM_MAIN_DIS5 1000
@@ -27,23 +27,68 @@

 set VEHICLE_TYPE mc

-
 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_MIN 1075
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_RATE 400
-
 param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30
+
+# MAIN
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
+param set-default PWM_MAIN_MIN4 1100
+param set-default PWM_MAIN_MIN5 1100
+param set-default PWM_MAIN_MIN6 1100
+
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+param set-default PWM_MAIN_MAX4 1900
+param set-default PWM_MAIN_MAX5 1900
+param set-default PWM_MAIN_MAX6 1900
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+param set-default PWM_MAIN_RATE3 400
+param set-default PWM_MAIN_RATE4 400
+param set-default PWM_MAIN_RATE5 400
+param set-default PWM_MAIN_RATE6 400
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 900
+param set-default PWM_MAIN_DIS4 900
+param set-default PWM_MAIN_DIS5 900
+param set-default PWM_MAIN_DIS6 900
+
+# AUX
+param set-default PWM_AUX_MIN1 1100
+param set-default PWM_AUX_MIN2 1100
+param set-default PWM_AUX_MIN3 1100
+param set-default PWM_AUX_MIN4 1100
+param set-default PWM_AUX_MIN5 1100
+param set-default PWM_AUX_MIN6 1100
+
+param set-default PWM_AUX_MAX1 1900
+param set-default PWM_AUX_MAX2 1900
+param set-default PWM_AUX_MAX3 1900
+param set-default PWM_AUX_MAX4 1900
+param set-default PWM_AUX_MAX5 1900
+param set-default PWM_AUX_MAX6 1900
+
+param set-default PWM_AUX_RATE1 400
+param set-default PWM_AUX_RATE2 400
+param set-default PWM_AUX_RATE3 400
+param set-default PWM_AUX_RATE4 400
+param set-default PWM_AUX_RATE5 400
+param set-default PWM_AUX_RATE6 400
+
+param set-default PWM_AUX_DIS1 900
+param set-default PWM_AUX_DIS2 900
+param set-default PWM_AUX_DIS3 900
+param set-default PWM_AUX_DIS4 900
+param set-default PWM_AUX_DIS5 900
+param set-default PWM_AUX_DIS6 900
+
 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
@@ -18,6 +18,4 @@
 param set-default COM_PREARM_MODE 2
 param set-default CBRK_IO_SAFETY 22027

-
 set MIXER cloudship
-set PWM_OUT 1234
@@ -21,3 +21,5 @@
 . ${R}etc/init.d/rc.fw_defaults

 set MIXER fw_generic_wing
+
+param set-default PWM_MAIN_DIS4 1000
@@ -9,10 +9,6 @@
 # @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
@@ -41,10 +37,8 @@ param set-default FW_RR_FF 0.6
 param set-default FW_RR_IMAX 0.2
 param set-default FW_RR_P 0.04

-param set-default PWM_MAIN_DISARM 1000
-

 set MIXER fw_generic_wing

 # Provide ESC a constant 1000 us pulse while disarmed
-set PWM_OUT 4
+param set-default PWM_MAIN_DIS4 1000
@@ -11,10 +11,6 @@
 # @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
@@ -42,8 +38,6 @@ 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
@@ -51,5 +45,5 @@ param set-default SENS_BOARD_Y_OFF 7

 set MIXER phantom

-# Provide ESC a constant 1000 us pulse
-set PWM_OUT 4
+# Provide ESC a constant 1000 us pulse while disarmed
+param set-default PWM_MAIN_DIS4 1000
@@ -41,8 +41,6 @@ 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
-

 # Configure this as plane.
 set MAV_TYPE 1
@@ -50,5 +48,5 @@ set MAV_TYPE 1
 # Set mixer.
 set MIXER wingwing

-# Provide ESC a constant 1000 us pulse.
-set PWM_OUT 4
+# Provide ESC a constant 1000 us pulse while disarmed
+param set-default PWM_MAIN_DIS4 1000
@@ -27,5 +27,6 @@ param set-default FW_AIRSPD_TRIM 15

 param set-default NAV_LOITER_RAD 150

-
 set MIXER FX79
+
+param set-default PWM_MAIN_DIS4 1000
@@ -21,3 +21,5 @@
 . ${R}etc/init.d/rc.fw_defaults

 set MIXER Viper
+
+param set-default PWM_MAIN_DIS4 1000
@@ -43,14 +43,10 @@ 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
+param set-default PWM_MAIN_DIS4 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 phantom
-
-# Provide ESC a constant 1000 us pulse
-set PWM_OUT 4
@@ -80,10 +80,8 @@ param set-default FW_RR_P 0.05
 # Roll Integrator Anti-Windup
 param set-default FW_RR_IMAX 0.2

-param set-default PWM_MAIN_DISARM 1000
-

 set MIXER fw_generic_wing.main.mix

 # Provide ESC a constant 1000 us pulse
-set PWM_OUT 4
+param set-default PWM_MAIN_DIS4 1000
@@ -21,7 +21,6 @@

 . ${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
@@ -60,9 +59,7 @@ 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
-
+# Provide ESC a constant 1000 us pulse
+param set-default PWM_MAIN_DIS4 1000

 set MIXER caipi
-set PWM_OUT 1234
@@ -20,8 +20,4 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-
-set PWM_OUT 1234
+. ${R}etc/init.d/rc.mc_quad_defaults
@@ -11,11 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults

 param set-default MC_ROLL_P 8
 param set-default MC_ROLLRATE_P 0.08
@@ -32,5 +28,3 @@ param set-default MC_YAWRATE_D 0

 param set-default MPC_THR_MIN 0.06
 param set-default MPC_MANTHR_MIN 0.06
-
-param set-default PWM_MAIN_MIN 1075
@@ -11,11 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults

 param set-default ATT_BIAS_MAX 0

@@ -35,5 +31,3 @@ param set-default MC_YAWRATE_P 0.3
 param set-default MC_YAWRATE_I 0.2
 param set-default MC_YAWRATE_D 0
 param set-default MPC_THR_MIN 0.06
-
-param set-default PWM_MAIN_MIN 1075
@@ -8,10 +8,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
+. ${R}etc/init.d/rc.mc_quad_defaults

 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.15
@@ -25,6 +22,3 @@ param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.2
 param set-default MC_YAWRATE_I 0.1
 param set-default MC_YAWRATE_D 0
-
-# DJI ESCs do not support calibration and need a higher min
-param set-default PWM_MAIN_MIN 1230
@@ -8,10 +8,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
+. ${R}etc/init.d/rc.mc_quad_defaults

 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.15
@@ -25,6 +22,3 @@ param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.3
 param set-default MC_YAWRATE_I 0.1
 param set-default MC_YAWRATE_D 0
-
-# DJI ESCs do not support calibration and need a higher min
-param set-default PWM_MAIN_MIN 1230
@@ -11,11 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults

 param set-default MC_ROLLRATE_P 0.18
 param set-default MC_PITCHRATE_P 0.18
@@ -11,14 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
-
-param set-default IMU_GYRO_CUTOFF 30
-param set-default IMU_DGYRO_CUTOFF 30
+. ${R}etc/init.d/rc.mc_quad_defaults

 param set-default MC_ROLLRATE_P 0.14
 param set-default MC_PITCHRATE_P 0.14
@@ -14,11 +14,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults

 # System parameters
 # use FMU motor outputs for less delay in the rate control loop
@@ -102,12 +98,11 @@ param set-default MPC_LAND_ALT2 1
 # Navigator Parameters
 param set-default NAV_ACC_RAD 2

-# PWM and RC Parameters
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_MIN 1075
-
 # use oneshot motor output protocol
-param set-default PWM_MAIN_RATE 0
+param set-default PWM_MAIN_RATE1 0
+param set-default PWM_MAIN_RATE2 0
+param set-default PWM_MAIN_RATE3 0
+param set-default PWM_MAIN_RATE4 0

 # RTL Parameters
 param set-default RTL_DESCEND_ALT 5
@@ -16,10 +16,7 @@
 # @maintainer Iain Galloway <iain.galloway@nxp.com>
 #

-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
+. ${R}etc/init.d/rc.mc_quad_defaults

 param set-default IMU_GYRO_CUTOFF 40
 param set-default IMU_DGYRO_CUTOFF 20
@@ -10,7 +10,7 @@
 # @board px4_fmu-v2 exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_quad_defaults
 . ${R}etc/init.d/rc.ctrlalloc


@@ -50,7 +50,5 @@ param set-default CA_MC_R3_CT 6.5
 param set-default CA_MC_R3_KM -0.05

 set MIXER direct
-set PWM_OUT 1234

 set MIXER_AUX direct_aux
-set PWM_AUX_OUT 1234
@@ -16,11 +16,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults

 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.1
@@ -34,5 +30,3 @@ param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.2
 param set-default MC_YAWRATE_I 0.1
 param set-default MC_YAWRATE_D 0
-
-param set-default PWM_MAIN_MIN 1200
@@ -16,15 +16,14 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
-
+. ${R}etc/init.d/rc.mc_quad_defaults

 # tuning
 param set-default MC_PITCHRATE_P    0.11
 param set-default MC_ROLLRATE_P     0.11
 param set-default MPC_MANTHR_MIN    0.08
 param set-default MPC_XY_VEL_MAX    3
-param set-default MPC_Z_VEL_MAX_DN     2
+param set-default MPC_Z_VEL_MAX_DN  2

 # takeoff, land and RTL settings
 param set-default MIS_TAKEOFF_ALT   4
@@ -84,7 +83,3 @@ param set-default RC5_TRIM          1500
 param set-default MAV_0_RATE 80000
 param set-default MAV_0_MODE 2
 param set-default SER_TEL1_BAUD 921600
-set MIXER quad_x
-
-set PWM_OUT 1234
-set MIXER_AUX none
@@ -11,11 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults

 param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.14
@@ -18,8 +18,9 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_quad_defaults

+set MIXER quad_h

 param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.14
@@ -33,19 +34,5 @@ param set-default MC_YAW_P 4

 param set-default NAV_ACC_RAD 2

-param set-default PWM_AUX_DISARM 950
-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_MIN 1100
-param set-default PWM_MAIN_MAX 1900
-param set-default PWM_MAIN_RATE 50
-
 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
-
-set MIXER quad_h
-
-set PWM_OUT 1234
-
-set MIXER_AUX pass
-
-set PWM_AUX_OUT 1234
@@ -23,6 +23,8 @@

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

+# The Whoop uses reversed props
+set MIXER quad_h

 param set-default CBRK_SUPPLY_CHK 894281
 param set-default CBRK_USB_CHK 197848
@@ -55,7 +57,3 @@ param set-default SYS_HAS_BARO 0
 param set-default SYS_HAS_MAG 0

 param set-default BAT_N_CELLS 2
-# The Whoop uses reversed props
-set MIXER quad_h
-set PWM_OUT 1234
-
@@ -10,11 +10,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults

 param set-default MC_ROLL_P 8
 param set-default MC_ROLLRATE_P 0.08
@@ -39,10 +35,6 @@ param set-default MPC_MAN_TILT_MAX 60
 # use thrust curve factor (instead of TPA)
 param set-default THR_MDL_FAC 0.3

-param set-default PWM_MAIN_MIN 1075
-# enable one-shot
-param set-default PWM_MAIN_RATE 0
-
 # enable high-rate logging profile (helps with tuning)
 param set-default SDLOG_PROFILE 19

@@ -20,14 +20,11 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_quad_defaults

 set MIXER quad_s250aq
 set MAV_TYPE 2

-set PWM_OUT 1234
-
-
 param set-default ATT_BIAS_MAX 0

 param set-default CBRK_IO_SAFETY 22027
@@ -52,5 +49,3 @@ param set-default MC_ACRO_P_MAX 360

 param set-default MPC_THR_MIN 0.06
 param set-default MPC_MANTHR_MIN 0.06
-
-param set-default PWM_MAIN_MIN 1075
@@ -13,11 +13,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults

 # The set does not include a battery, but most people will probably use 4S
 param set-default BAT_N_CELLS 4
@@ -48,8 +44,4 @@ param set-default MPC_THR_HOVER 0.25
 param set-default MPC_THR_MIN 0.05
 param set-default MPC_Z_VEL_I_ACC 1.7

-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_MIN 1050
-
-param set-default PWM_MAIN_RATE 0
 param set-default THR_MDL_FAC 0.3
@@ -11,11 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults

 param set-default BAT_N_CELLS 4

@@ -11,11 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults

 param set-default BAT_N_CELLS 6

@@ -30,5 +26,3 @@ param set-default MC_PITCHRATE_D 0.001
 param set-default MC_YAWRATE_P 0.2
 param set-default MC_YAWRATE_I 0
 param set-default MC_YAWRATE_D 0
-
-param set-default PWM_MAIN_MIN 1200
@@ -21,10 +21,7 @@
 # @board cuav_x7pro exclude
 #

-set VEHICLE_TYPE mc
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults

 # Attitude & rate gains
 #param set MC_ROLL_P 7
@@ -64,11 +61,11 @@ param set-default IMU_GYRO_CUTOFF 100
 #param set THR_MDL_FAC 0.25

 # System
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_MIN 1100
-param set-default PWM_MAIN_RATE 0
+param set-default PWM_MAIN_RATE1 0
+param set-default PWM_MAIN_RATE2 0
+param set-default PWM_MAIN_RATE3 0
+param set-default PWM_MAIN_RATE4 0

-#param set SYS_FMU_TASK 1
 param set-default SENS_BOARD_ROT 10

 # EKF2
@@ -20,11 +20,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults

 # use the Q attitude estimator, it works w/o mag or GPS.
 param set-default SYS_MC_EST_GROUP 3
@@ -65,11 +61,16 @@ param set-default MPC_THR_HOVER 0.25
 param set-default THR_MDL_FAC 0.3

 # System
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_MIN 1180
+param set-default PWM_MAIN_MIN1 1180
+param set-default PWM_MAIN_MIN2 1180
+param set-default PWM_MAIN_MIN3 1180
+param set-default PWM_MAIN_MIN4 1180

 # enable one-shot
-param set-default PWM_MAIN_RATE 0
+param set-default PWM_MAIN_RATE1 0
+param set-default PWM_MAIN_RATE2 0
+param set-default PWM_MAIN_RATE3 0
+param set-default PWM_MAIN_RATE4 0

 param set-default SENS_BOARD_ROT 2

@@ -21,10 +21,7 @@
 # @maintainer Hyon Lim <lim@uvify.com>
 #

-set VEHICLE_TYPE mc
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults

 # Attitude & rate gains
 #param set MC_ROLL_P 7
@@ -60,11 +57,6 @@ param set-default IMU_GYRO_CUTOFF 100
 # Thrust curve (avoids the need for TPA)
 #param set THR_MDL_FAC 0.25

-# Obsolete
-#param set PWM_MAIN_MAX 1950
-#param set PWM_MAIN_MIN 1100
-#param set PWM_MAIN_RATE 0
-
 # Sensors
 param set-default SENS_BOARD_ROT 10
 # Yaw 180
@@ -11,11 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults

 param set-default CBRK_IO_SAFETY 22027

@@ -37,9 +33,3 @@ param set-default MC_YAWRATE_D 0
 param set-default MC_ACRO_R_MAX 1000
 param set-default MC_ACRO_P_MAX 1000
 param set-default MC_ACRO_Y_MAX 1000
-
-# param set NAV_RCL_ACT 6 # Lockdown
-
-param set-default PWM_MAIN_MIN 1075
-param set-default PWM_MAIN_RATE 400
-param set-default PWM_MAIN_DISARM 900
@@ -18,8 +18,6 @@
 . ${R}etc/init.d/rc.mc_defaults

 set MIXER quad_x
-set PWM_OUT 1234
-

 param set-default BAT_N_CELLS 1

@@ -36,6 +34,17 @@ param set-default MC_YAWRATE_P 0.2
 param set-default MC_YAWRATE_I 0.1
 param set-default MC_YAWRATE_D 0

-param set-default PWM_MAIN_DISARM 0
-param set-default PWM_MAIN_MIN 500
-param set-default PWM_MAIN_MAX 2200
+param set-default PWM_MAIN_DIS1 0
+param set-default PWM_MAIN_DIS2 0
+param set-default PWM_MAIN_DIS3 0
+param set-default PWM_MAIN_DIS4 0
+
+param set-default PWM_MAIN_MIN1 500
+param set-default PWM_MAIN_MIN2 500
+param set-default PWM_MAIN_MIN3 500
+param set-default PWM_MAIN_MIN4 500
+
+param set-default PWM_MAIN_MAX1 2200
+param set-default PWM_MAIN_MAX2 2200
+param set-default PWM_MAIN_MAX3 2200
+param set-default PWM_MAIN_MAX4 2200
@@ -27,12 +27,9 @@
 #Parameters here:
 param set LED_RGB_MAXBRT 8

-
 # Configure this as Quadrotor
 # set MAV_TYPE 14

 # Set mixer
 set MIXER tilt_quad
 set MIXER_AUX tilt_quad
-
-set PWM_OUT 1234
@@ -20,16 +20,7 @@
 # @board bitcraze_crazyflie exclude
 #

-echo "Executing 4250_teal script."
-
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
-
-# First thing, reset all params to default... EXCEPT THIS LIST
-param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* CAL_MAG* SENS_BOARD* EKF2_MAGBIAS*
+. ${R}etc/init.d/rc.mc_quad_defaults

 # battery
 param set-default BAT_CAPACITY 2750
@@ -44,10 +35,6 @@ param set-default BAT_V_DIV 11.1625
 param set-default BAT_V_EMPTY 3.65
 param set-default BAT_V_OFFS_CURR -0.0045

-# sensor calibration
-param set-default CAL_MAG_SIDES 63
-param set-default SENS_BOARD_ROT 0
-
 # circuit breakers
 param set-default CBRK_IO_SAFETY 22027
 param set-default CBRK_USB_CHK 197848
@@ -169,11 +156,21 @@ param set-default NAV_ACC_RAD 2.5
 param set-default NAV_RCL_ACT 1

 # pwm control
-param set-default PWM_MAIN_DISARM 900
-param set-default PWM_MAIN_MAX 1850
-param set-default PWM_MAIN_MIN 1075
+param set-default PWM_MAIN_MIN1 1075
+param set-default PWM_MAIN_MIN2 1075
+param set-default PWM_MAIN_MIN3 1075
+param set-default PWM_MAIN_MIN4 1075
+
+param set-default PWM_MAIN_MAX1 1850
+param set-default PWM_MAIN_MAX2 1850
+param set-default PWM_MAIN_MAX3 1850
+param set-default PWM_MAIN_MAX4 1850
+
 # Oneshot125
-param set-default PWM_MAIN_RATE 0
+param set-default PWM_MAIN_RATE1 0
+param set-default PWM_MAIN_RATE2 0
+param set-default PWM_MAIN_RATE3 0
+param set-default PWM_MAIN_RATE4 0

 # rtl
 param set-default RTL_DESCEND_ALT 5
@@ -11,11 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults

 param set-default MC_PITCHRATE_P 0.087
 param set-default MC_PITCHRATE_I 0.037
@@ -25,6 +21,7 @@ param set-default MC_ROLLRATE_P 0.087
 param set-default MC_ROLLRATE_I 0.037
 param set-default MC_ROLLRATE_D 0.0044
 param set-default MC_ROLL_P 8.5
+
 param set-default MPC_XY_VEL_P_ACC 2.2
 param set-default MPC_XY_VEL_D_ACC 0.26
 param set-default MPC_XY_P 1.1
@@ -17,7 +17,6 @@
 . ${R}etc/init.d/rc.mc_defaults

 set MIXER quad_x_cw
-set PWM_OUT 1234

 param set-default BAT_N_CELLS 1
 param set-default BAT_CAPACITY 240
@@ -58,21 +57,31 @@ param set-default MPC_MAX_FLOW_HGT 3

 param set-default NAV_RCL_ACT 3

-param set-default PWM_MAIN_DISARM 0
-param set-default PWM_MAIN_MIN 0
-param set-default PWM_MAIN_MAX 255
+param set-default PWM_MAIN_MIN1 0
+param set-default PWM_MAIN_MIN2 0
+param set-default PWM_MAIN_MIN3 0
+param set-default PWM_MAIN_MIN4 0
+
+param set-default PWM_MAIN_MAX1 255
+param set-default PWM_MAIN_MAX2 255
+param set-default PWM_MAIN_MAX3 255
+param set-default PWM_MAIN_MAX4 255

 # Run the motors at 328.125 kHz (recommended)
-param set-default PWM_MAIN_RATE 3921
+param set-default PWM_MAIN_RATE1 3921
+param set-default PWM_MAIN_RATE2 3921
+param set-default PWM_MAIN_RATE3 3921
+param set-default PWM_MAIN_RATE4 3921
+
+param set-default PWM_MAIN_DIS1 0
+param set-default PWM_MAIN_DIS2 0
+param set-default PWM_MAIN_DIS3 0
+param set-default PWM_MAIN_DIS4 0

 param set-default SDLOG_PROFILE 1

 param set-default SENS_FLOW_MINRNG 0.05

-set PWM_MAIN_DISARM none
-set PWM_MAIN_MAX none
-set PWM_MAIN_MIN none
-
 syslink start
 mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000

@@ -17,7 +17,6 @@
 . ${R}etc/init.d/rc.mc_defaults

 set MIXER quad_x_cw
-set PWM_OUT 1234

 param set-default SYS_MC_EST_GROUP 2
 param set-default SYS_HAS_MAG 0
@@ -59,21 +58,30 @@ param set-default MPC_MAX_FLOW_HGT 3

 param set-default NAV_RCL_ACT 3

-param set-default PWM_MAIN_DISARM 0
-param set-default PWM_MAIN_MIN 20
-param set-default PWM_MAIN_MAX 255
+param set-default PWM_MAIN_MIN1 0
+param set-default PWM_MAIN_MIN2 0
+param set-default PWM_MAIN_MIN3 0
+param set-default PWM_MAIN_MIN4 0
+
+param set-default PWM_MAIN_MAX1 255
+param set-default PWM_MAIN_MAX2 255
+param set-default PWM_MAIN_MAX3 255
+param set-default PWM_MAIN_MAX4 255

 # Run the motors at 328.125 kHz (recommended)
-param set-default PWM_MAIN_RATE 3921
+param set-default PWM_MAIN_RATE1 3921
+param set-default PWM_MAIN_RATE2 3921
+param set-default PWM_MAIN_RATE3 3921
+param set-default PWM_MAIN_RATE4 3921
+
+param set-default PWM_MAIN_DIS1 0
+param set-default PWM_MAIN_DIS2 0
+param set-default PWM_MAIN_DIS3 0
+param set-default PWM_MAIN_DIS4 0

 param set-default SDLOG_PROFILE 1

 param set-default SENS_FLOW_MINRNG 0.05

-
-set PWM_MAIN_DISARM none
-set PWM_MAIN_MAX none
-set PWM_MAIN_MIN none
-
 syslink start
 mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
@@ -15,7 +15,6 @@

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

-
 param set-default BAT_N_CELLS 2

 param set-default EKF2_ANGERR_INIT 0.01
@@ -45,13 +44,10 @@ param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5

 # Provide ESC a constant 1500 us pulse
-param set-default PWM_MAIN_DISARM 1500
-param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_MIN 1000
+param set-default PWM_MAIN_DIS3 1500
+
 # Configure this as rover
 set MAV_TYPE 10

 # Set mixer
 set MIXER rover_generic
-
-set PWM_MAIN_REV2 1
@@ -2,7 +2,7 @@
 #
 # @name Aion Robotics R1 UGV
 #
-# @url http://docs.aionrobotics.com/en/latest/r1-ugv.html
+# @url https://www.aionrobotics.com/r1
 #
 # @type Rover
 # @class Rover
@@ -18,7 +18,6 @@

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

-
 param set-default BAT_N_CELLS 4

 param set-default EKF2_GBIAS_INIT 0.01
@@ -57,11 +56,8 @@ param set-default NAV_ACC_RAD 0.5

 # Provide ESC a constant 1500 us pulse, which corresponds to
 # idle on the Roboclaw motor controller on the Aion R1
-param set-default PWM_MAIN_DISARM 1500
 param set-default PWM_MAIN_DIS0 1500
 param set-default PWM_MAIN_DIS1 1500
-param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_MIN 1000

 # Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
@@ -83,5 +79,3 @@ set MAV_TYPE 10

 # Set mixer
 set MIXER generic_diff_rover
-
-set PWM_MAIN_REV2 1
@@ -20,7 +20,6 @@

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

-
 param set-default BAT_N_CELLS 2

 param set-default EKF2_GBIAS_INIT 0.01
@@ -53,13 +52,12 @@ param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5

 # Provide ESC a constant 1500 us pulse to idle
-param set-default PWM_MAIN_DISARM 1500
 param set-default PWM_MAIN_DIS3 1485
 param set-default PWM_MAIN_DIS4 1485
+
 param set-default PWM_MAIN_FAIL3 1485
 param set-default PWM_MAIN_FAIL4 1485
-param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_MIN 1000
+
 param set-default PWM_MAIN_MIN3 970
 param set-default PWM_MAIN_MIN4 970

@@ -71,5 +69,3 @@ set MAV_TYPE 10

 # Set mixer
 set MIXER rover_diff_and_servo
-
-set PWM_MAIN_REV2 1
@@ -22,8 +22,6 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_quad_defaults

 set MIXER quad_+
-
-set PWM_OUT 1234
@@ -13,7 +13,6 @@

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

-
 #Set data link loss failsafe mode (0: disabled)
 param set-default NAV_DLL_ACT 0

@@ -22,6 +21,5 @@ param set-default CBRK_AIRSPD_CHK 162128

 #param set CBRK_GPSFAIL 240024
 set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}

 set MIXER uuv_x
--- a/Show More
+++ b/Show More