WIP: ROMFS: explicitly configure airframe outputs

Update submodule v2.0 to latest Fri Feb 12 12:42:14 UTC 2021
- v2.0 in PX4/Firmware (c76477963097ac72b7bd2f165a845a493ffb724e): 43f2f3180a - v2.0 current upstream: 4e25dfa47b - Changes: 43f2f3180a...4e25dfa47b 4e25dfa4 2021-02-12 PX4BuildBot - autogenerated headers for rev e4269aaf68 82dcec27 2021-02-12 PX4BuildBot - autogenerated headers for rev 08e57d08ad
2026-06-18 07:31:28 +08:00 · 2021-02-12 10:33:48 -05:00 · 2021-02-12 16:31:28 +01:00 · 2021-02-12 09:19:18 -05:00 · 2021-02-12 08:27:47 -05:00 · 2021-02-12 08:27:47 -05:00
687 changed files with 27909 additions and 12601 deletions
--- a/.ci/Jenkinsfile-compile
+++ b/.ci/Jenkinsfile-compile
@ -9,10 +9,10 @@ pipeline {
        script {
          def build_nodes = [:]
          def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2020-11-18",
-            arm64: "px4io/px4-dev-aarch64:2020-11-18",
-            base: "px4io/px4-dev-base-bionic:2020-11-18",
-            nuttx: "px4io/px4-dev-nuttx-focal:2020-11-18",
+            armhf: "px4io/px4-dev-armhf:2021-02-04",
+            arm64: "px4io/px4-dev-aarch64:2021-02-04",
+            base: "px4io/px4-dev-base-bionic:2021-02-04",
+            nuttx: "px4io/px4-dev-nuttx-focal:2021-02-04",
            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
          ]

@ -37,6 +37,7 @@ pipeline {
          def nuttx_builds_archive = [
            target: [
                     "airmind_mindpx-v2_default",
+                     "ark_can-flow_default",
                     "av_x-v1_default",
                     "bitcraze_crazyflie_default",
                     "bitcraze_crazyflie21_default",
@ -51,6 +52,8 @@ pipeline {
                     "holybro_durandal-v1_default",
                     "holybro_kakutef7_default",
                     "holybro_pix32v5_default",
+                     "holybro_can-gps-v1",
+                     "holybro_can-gps-v1_canbootloader",
                     "intel_aerofc-v1_default",
                     "modalai_fc-v1_default",
                     "mro_ctrl-zero-f7_default",
@ -89,6 +92,7 @@ pipeline {
                     "px4_fmu-v5x_base_phy_DP83848C",
                     "px4_fmu-v5x_default",
                     "px4_fmu-v6x_default",
+                     "px4_fmu-v6u_default",
                     "px4_io-v2_default",
                     "spracing_h7extreme_default",
                     "uvify_core_default"
@ -124,7 +128,7 @@ pipeline {
    // TODO: actually upload artifacts to S3
    // stage('S3 Upload') {
    //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+    //     docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
    //   }
    //   options {
    //         skipDefaultCheckout()
--- a/.ci/Jenkinsfile-hardware
+++ b/.ci/Jenkinsfile-hardware
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2020-11-18",
+	"image": "px4io/px4-dev-nuttx-focal:2021-02-04",

 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],

--- a/.github/workflows/checks.yml
+++ b/.github/workflows/checks.yml
@ -17,6 +17,7 @@ jobs:
        check: [
          "check_format",
          "tests",
+          "tests_coverage",
          "px4_fmu-v2_default stack_check",
          "validate_module_configs",
          "shellcheck_all",
@ -27,7 +28,7 @@ jobs:
          "parameters_metadata",
        ]
    container:
-      image: px4io/px4-dev-nuttx-focal:2020-11-18
+      image: px4io/px4-dev-nuttx-focal:2021-02-04
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@ -61,3 +62,10 @@ jobs:
          ulimit -a
    - name: ${{matrix.check}}
      run: make ${{matrix.check}}
+    - name: upload coverage
+      if: contains(matrix.check, 'coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: unittests
+        file: coverage/lcov.info
--- a/.github/workflows/clang-tidy.yml
+++ b/.github/workflows/clang-tidy.yml
@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2020-11-18
+    container: px4io/px4-dev-clang:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
--- a/.github/workflows/compile_linux.yml
+++ b/.github/workflows/compile_linux.yml
@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2020-11-18
+    container: px4io/px4-dev-armhf:2021-02-04
    strategy:
      matrix:
        config: [
--- a/.github/workflows/compile_linux_arm64.yml
+++ b/.github/workflows/compile_linux_arm64.yml
@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2020-11-18
+    container: px4io/px4-dev-aarch64:2021-02-04
    strategy:
      matrix:
        config: [
--- a/.github/workflows/compile_macos.yml
+++ b/.github/workflows/compile_macos.yml
@ -15,7 +15,8 @@ jobs:
      matrix:
        config: [
          px4_fmu-v5_default,
-          tests, # includes px4_sitl
+          px4_sitl
+          #tests, # includes px4_sitl
          ]
    steps:
    - uses: actions/checkout@v1
--- a/.github/workflows/compile_nuttx.yml
+++ b/.github/workflows/compile_nuttx.yml
@ -11,11 +11,13 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2020-11-18
+    container: px4io/px4-dev-nuttx-focal:2021-02-04
    strategy:
      matrix:
        config: [
          airmind_mindpx-v2_default,
+          ark_can-flow_canbootloader,
+          ark_can-flow_default,
          av_x-v1_default,
          bitcraze_crazyflie_default,
          bitcraze_crazyflie21_default,
@ -27,6 +29,8 @@ jobs:
          cubepilot_cubeorange_default,
          cubepilot_cubeyellow_console,
          cubepilot_cubeyellow_default,
+          holybro_can-gps-v1_canbootloader,
+          holybro_can-gps-v1_default,
          holybro_durandal-v1_default,
          holybro_kakutef7_default,
          holybro_pix32v5_default,
@ -55,6 +59,7 @@ jobs:
          px4_fmu-v4_ctrlalloc,
          px4_fmu-v4_default,
          px4_fmu-v4_optimized,
+          px4_fmu-v4_uavcanv1,
          px4_fmu-v4pro_default,
          px4_fmu-v5_ctrlalloc,
          px4_fmu-v5_default,
@ -64,9 +69,11 @@ jobs:
          px4_fmu-v5_rover,
          px4_fmu-v5_rtps,
          px4_fmu-v5_stackcheck,
+          px4_fmu-v5_uavcanv1,
          px4_fmu-v5x_base_phy_DP83848C,
          px4_fmu-v5x_default,
          px4_fmu-v6x_default,
+          px4_fmu-v6u_default,
          px4_io-v2_default,
          spracing_h7extreme_default,
          uvify_core_default
--- a/.github/workflows/compile_nuttx_cannode.yml
+++ b/.github/workflows/compile_nuttx_cannode.yml
@ -11,11 +11,13 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2020-11-18
+    container: px4io/px4-dev-nuttx-focal:2021-02-04
    strategy:
      matrix:
        config: [
+          ark_can-flow_default,
          cuav_can-gps-v1_default,
+          holybro_can-gps-v1_default,
          #nxp_ucans32k146_default,
          px4_fmu-v4_cannode
          ]
--- a/.github/workflows/coverage.yml
+++ b/.github/workflows/coverage.yml
@ -1,69 +0,0 @@
-name: Coverage
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container:
-      image: px4io/px4-dev-base-focal:2020-11-18
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    strategy:
-      matrix:
-        config: [
-          tests,
-          #python_coverage,
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: coverage_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: coverage_${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      env:
-        PX4_CMAKE_BUILD_TYPE: "Coverage"
-      run: make ${{matrix.config}}
-
-    # Report test coverage
-    - name: Upload coverage
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: ${{matrix.config}}
-        file: coverage/lcov.info
--- a/.github/workflows/mavros_avoidance_tests.yml
+++ b/.github/workflows/mavros_avoidance_tests.yml
@ -19,7 +19,7 @@ jobs:
          - {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2020-11-18
+      image: px4io/px4-dev-ros-melodic:2021-02-04
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
--- a/.github/workflows/mavros_mission_tests.yml
+++ b/.github/workflows/mavros_mission_tests.yml
@ -17,15 +17,15 @@ jobs:
        config:
          - {vehicle: "iris",          mission: "MC_mission_box",  build_type: "RelWithDebInfo"}
          - {vehicle: "rover",         mission: "rover_mission_1", build_type: "RelWithDebInfo"}
-          - {vehicle: "plane",         mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          - {vehicle: "plane_catapult",mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          - {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "Coverage"}
-          - {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "AddressSanitizer"}
+          #- {vehicle: "plane",         mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
+          #- {vehicle: "plane_catapult",mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
+          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "Coverage"}
+          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "AddressSanitizer"}
          #- {vehicle: "tailsitter",    mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
-          - {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
+          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2020-11-18
+      image: px4io/px4-dev-ros-melodic:2021-02-04
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
--- a/.github/workflows/mavros_offboard_tests.yml
+++ b/.github/workflows/mavros_offboard_tests.yml
@ -20,7 +20,7 @@ jobs:
          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2020-11-18
+      image: px4io/px4-dev-ros-melodic:2021-02-04
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
--- a/.github/workflows/metadata.yml
+++ b/.github/workflows/metadata.yml
@ -12,7 +12,7 @@ jobs:

  airframe:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@ -27,7 +27,7 @@ jobs:

  module:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@ -42,7 +42,7 @@ jobs:

  parameter:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@ -57,7 +57,7 @@ jobs:

  uorb_graph:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2020-11-18
+    container: px4io/px4-dev-nuttx-focal:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@ -72,7 +72,7 @@ jobs:

  micrortps_agent:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@ -86,7 +86,7 @@ jobs:

  ROS_msgs:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
@ -99,7 +99,7 @@ jobs:

  ROS2_bridge:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-11-18
+    container: px4io/px4-dev-base-focal:2021-02-04
    steps:
    - uses: actions/checkout@v1
      with:
--- a/.github/workflows/sitl_tests.yml
+++ b/.github/workflows/sitl_tests.yml
@ -20,7 +20,7 @@ jobs:
          - {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:2020-11-18
+      image: px4io/px4-dev-simulation-focal:2021-02-04
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@ -28,9 +28,9 @@ jobs:
        token: ${{ secrets.ACCESS_TOKEN }}

    - name: Download MAVSDK
-      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.33.1/mavsdk_0.33.1_ubuntu20.04_amd64.deb
+      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.36.0/mavsdk_0.36.0_ubuntu20.04_amd64.deb
    - name: Install MAVSDK
-      run: dpkg -i mavsdk_0.33.1_ubuntu20.04_amd64.deb
+      run: dpkg -i mavsdk_0.36.0_ubuntu20.04_amd64.deb

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
--- a/.gitignore
+++ b/.gitignore
@ -101,9 +101,6 @@ msg/tmp/
 msg/topics_sources/
 platforms/posix/apps.cpp
 platforms/posix/apps.h
-src/lib/parameters/px4_parameters.c
-src/lib/parameters/px4_parameters.h
-src/lib/parameters/px4_parameters_public.h
 src/lib/version/build_git_version.h
 src/modules/simulator/simulator_config.h
 src/systemcmds/topic_listener/listener_generated.cpp
--- a/.gitmodules
+++ b/.gitmodules
@ -54,3 +54,15 @@
 [submodule "src/examples/gyro_fft/CMSIS_5"]
 	path = src/examples/gyro_fft/CMSIS_5
 	url = https://github.com/ARM-software/CMSIS_5.git
+[submodule "src/drivers/uavcan_v1/libcanard"]
+	path = src/drivers/uavcan_v1/libcanard
+	url = https://github.com/UAVCAN/libcanard.git
+[submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
+	path = src/drivers/uavcan_v1/public_regulated_data_types
+	url = https://github.com/UAVCAN/public_regulated_data_types.git
+[submodule "src/drivers/uavcannode_gps_demo/public_regulated_data_types"]
+	path = src/drivers/uavcannode_gps_demo/public_regulated_data_types
+	url = https://github.com/UAVCAN/public_regulated_data_types
+[submodule "src/drivers/uavcannode_gps_demo/libcanard"]
+	path = src/drivers/uavcannode_gps_demo/libcanard
+	url = https://github.com/UAVCAN/libcanard
--- a/.vscode/cmake-variants.yaml
+++ b/.vscode/cmake-variants.yaml
@ -56,6 +56,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: airmind_mindpx-v2_default
+    ark_can-flow_default:
+      short: ark_can-flow_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-flow_default
+    ark_can-flow_canbootloader:
+      short: ark_can-flow_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-flow_canbootloader
    av_x-v1_default:
      short: av_x-v1
      buildType: MinSizeRel
--- a/29
+++ b/29
@ -15,7 +15,7 @@ pipeline {
        // stage('Catkin build on ROS workspace') {
        //   agent {
        //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2020-11-18'
+        //       image 'px4io/px4-dev-ros-melodic:2021-02-04'
        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
        //     }
        //   }
@ -56,7 +56,7 @@ pipeline {
        stage('Colcon build on ROS2 workspace') {
          agent {
            docker {
-              image 'px4io/px4-dev-ros2-foxy:2020-11-18'
+              image 'px4io/px4-dev-ros2-foxy:2021-02-04'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
            }
          }
@ -87,7 +87,7 @@ pipeline {

        stage('Airframe') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh 'make distclean'
@ -106,14 +106,14 @@ pipeline {

        stage('Parameter') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh 'make distclean'
            sh 'make parameters_metadata'
            dir('build/px4_sitl_default/docs') {
-              archiveArtifacts(artifacts: 'parameters.md, parameters.xml')
-              stash includes: 'parameters.md, parameters.xml', name: 'metadata_parameters'
+              archiveArtifacts(artifacts: 'parameters.md, parameters.xml, params.json.xz')
+              stash includes: 'parameters.md, parameters.xml, params.json.xz', name: 'metadata_parameters'
            }
          }
          post {
@ -125,7 +125,7 @@ pipeline {

        stage('Module') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh 'make distclean'
@ -145,7 +145,7 @@ pipeline {
        stage('uORB graphs') {
          agent {
            docker {
-              image 'px4io/px4-dev-nuttx-focal:2020-11-18'
+              image 'px4io/px4-dev-nuttx-focal:2021-02-04'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
            }
          }
@ -174,7 +174,7 @@ pipeline {

        stage('Userguide') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh('export')
@ -204,7 +204,7 @@ pipeline {

        stage('QGroundControl') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh('export')
@ -232,7 +232,7 @@ pipeline {

        stage('microRTPS agent') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh('export')
@ -262,7 +262,7 @@ pipeline {

        stage('PX4 ROS msgs') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh('export')
@ -291,7 +291,7 @@ pipeline {

        stage('PX4 ROS2 bridge') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh('export')
@ -334,7 +334,7 @@ pipeline {

        stage('S3') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
+            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
          }
          steps {
            sh('export')
@ -344,6 +344,7 @@ pipeline {
            withAWS(credentials: 'px4_aws_s3_key', region: 'us-east-1') {
              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'airframes.xml', path: 'Firmware/master/')
              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.xml', path: 'Firmware/master/')
+              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'params.json.xz', path: 'Firmware/master/')
            }
          }
          when {
--- a/2
+++ b/2
@ -1,6 +1,6 @@
 BSD 3-Clause License

-Copyright (c) 2012 - 2020, PX4 Development Team
+Copyright (c) 2012 - 2021, PX4 Development Team
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
--- a/6
+++ b/6
@ -362,8 +362,10 @@ tests:

 tests_coverage:
 	@$(MAKE) clean
-	@$(MAKE) --no-print-directory px4_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
-	@echo "Open "$(SRC_DIR)"/build/px4_sitl_default/coverage-html/index.html to see coverage"
+	@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
+	@mkdir -p coverage
+	@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
+

 rostest: px4_sitl_default
 	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
--- a/README.md
+++ b/README.md
@ -108,4 +108,4 @@ Additional information about supported hardware can be found in [PX4 user Guide

 ## Project Roadmap

-A high level project roadmap is available [here](https://www.dronecode.org/roadmap/).
+A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy
@ -15,6 +15,5 @@ then

 fi

-set PWM_OUT 12345678
 set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
 set MIXER custom
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat
@ -8,16 +8,17 @@
 if [ $AUTOCNF = yes ]
 then
 	param set GND_L1_DIST 5
+	param set GND_L1_PERIOD 100
 	param set GND_SP_CTRL_MODE 1
 	param set GND_SPEED_D 0.001
-	param set GND_SPEED_I 3
+	param set GND_SPEED_I 8
 	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_P 0.25
+	param set GND_SPEED_P 2
 	param set GND_SPEED_THR_SC 1
-	param set GND_SPEED_TRIM 4
-	param set GND_THR_CRUISE 0.3
+	param set GND_SPEED_TRIM 1
+	param set GND_THR_CRUISE 0.85
 	param set GND_THR_IDLE 0
-	param set GND_THR_MAX 0.5
+	param set GND_THR_MAX 1
 	param set GND_THR_MIN 0

 	param set MIS_LTRMIN_ALT 0.01
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship
@ -12,4 +12,3 @@
 . ${R}etc/init.d/rc.airship_defaults

 set MIXER cloudship
-set PWM_OUT 1234
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@ -28,7 +28,6 @@ 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
--- a/ROMFS/px4fmu_common/init.d/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d/CMakeLists.txt
@ -36,6 +36,8 @@ add_subdirectory(airframes)
 px4_add_romfs_files(
 	rc.airship_apps
 	rc.airship_defaults
+	rc.balloon_apps
+	rc.balloon_defaults
 	rc.boat_defaults
 	rc.fw_apps
 	rc.fw_defaults
--- a/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil
@ -17,34 +17,33 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set BAT_N_CELLS 3

-	param set FW_AIRSPD_MAX 20
-	param set FW_AIRSPD_MIN 12
-	param set FW_AIRSPD_TRIM 14
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
-	param set FW_L1_DAMPING 0.74
-	param set FW_L1_PERIOD 16
-	param set FW_LND_ANG 15
-	param set FW_LND_FLALT 5
-	param set FW_LND_HHDIST 15
-	param set FW_LND_HVIRT 13
-	param set FW_LND_TLALT 5
-	param set FW_THR_LND_MAX 0
-	param set FW_PR_FF 0.35
-	param set FW_PR_I 0.1
-	param set FW_PR_IMAX 0.4
-	param set FW_PR_P 0.2
-	param set FW_RR_FF 0.6
-	param set FW_RR_I 0.1
-	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.3
+param set-default BAT_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_LND_HHDIST 15
+param set-default FW_LND_HVIRT 13
+param set-default FW_LND_TLALT 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_PR_FF 0.35
+param set-default FW_PR_I 0.1
+param set-default FW_PR_IMAX 0.4
+param set-default FW_PR_P 0.2
+param set-default FW_RR_FF 0.6
+param set-default FW_RR_I 0.1
+param set-default FW_RR_IMAX 0.2
+param set-default FW_RR_P 0.3
+
+param set-default RWTO_TKOFF 1

-	param set RWTO_TKOFF 1
-fi

 param set SYS_HITL 1

--- a/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery
+++ b/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery
@ -24,24 +24,19 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set MC_ROLL_P 6.5
-	param set MC_ROLLRATE_P 0.1
-	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.0017
-	param set MC_PITCH_P 6.5
-	param set MC_PITCHRATE_P 0.14
-	param set MC_PITCHRATE_I 0.1
-	param set MC_PITCHRATE_D 0.0025
-	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.28
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
-fi
+. ${R}etc/init.d/rc.mc_quad_defaults

 set MIXER quad_w

-set PWM_OUT 1234
+param set-default MC_ROLL_P 6.5
+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_PITCH_P 6.5
+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_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
--- a/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris
@ -22,28 +22,23 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	# TODO tune roll/pitch separately
-	param set MC_ROLL_P 7
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.004
-	param set MC_PITCH_P 7
-	param set MC_PITCHRATE_P 0.15
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.004
-	param set MC_YAW_P 2.5
-	param set MC_YAWRATE_P 0.25
-	param set MC_YAWRATE_I 0.25
-	param set MC_YAWRATE_D 0
-
-	param set BAT_V_DIV 12.27559
-	param set BAT_A_PER_V 15.39103
-fi
+. ${R}etc/init.d/rc.mc_quad_defaults

 set MIXER quad_w

-set PWM_OUT 1234
+# TODO tune roll/pitch separately
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.15
+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_P 0.15
+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 MC_YAWRATE_D 0
+
+param set-default BAT_V_DIV 12.27559
+param set-default BAT_A_PER_V 15.39103
--- a/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d
+++ b/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d
@ -24,26 +24,21 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_N_CELLS 4
-
-	param set MC_ROLL_P 7
-	param set MC_ROLLRATE_P 0.13
-	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.004
-	param set MC_PITCH_P 7
-	param set MC_PITCHRATE_P 0.19
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.004
-	param set MC_YAW_P 4
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
-fi
+. ${R}etc/init.d/rc.mc_quad_defaults

 set MIXER quad_w

-set PWM_OUT 1234
+param set-default BAT_N_CELLS 4
+
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.13
+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_P 0.19
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCHRATE_D 0.004
+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
--- a/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
+++ b/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
@ -24,31 +24,24 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_N_CELLS 6
-	param set BAT_V_EMPTY 3.5
-
-	param set MC_ROLL_P 7
-	param set MC_ROLLRATE_P 0.08
-	param set MC_ROLLRATE_I 0.02
-	param set MC_ROLLRATE_D 0.003
-	param set MC_PITCH_P 7
-	param set MC_PITCHRATE_P 0.13
-	param set MC_PITCHRATE_I 0.02
-	param set MC_PITCHRATE_D 0.005
-	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
-
-	param set MPC_XY_VEL_MAX 2
-
-	param set PWM_MIN 1080
-fi
+. ${R}etc/init.d/rc.mc_quad_defaults

 set MIXER quad_w

-set PWM_OUT 1234
+param set-default BAT_N_CELLS 6
+param set-default BAT_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_ROLLRATE_D 0.003
+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 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 MPC_XY_VEL_MAX 2
--- a/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil
@ -11,6 +11,5 @@
 . ${R}etc/init.d/rc.mc_defaults

 set MIXER quad_x
-set PWM_OUT 1234

 param set SYS_HITL 1
--- a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
@ -14,62 +14,58 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set BAT_N_CELLS 3
+param set-default BAT_N_CELLS 3

-	param set COM_RC_IN_MODE 1
+param set-default COM_RC_IN_MODE 1

-	param set EKF2_AID_MASK 1
-	param set EKF2_ANGERR_INIT 0.01
-	param set EKF2_GBIAS_INIT 0.01
-	param set EKF2_HGT_MODE 0
-	param set EKF2_MAG_TYPE 1
+param set-default EKF2_AID_MASK 1
+param set-default EKF2_ANGERR_INIT 0.01
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_HGT_MODE 0
+param set-default EKF2_MAG_TYPE 1

-	param set FW_AIRSPD_MAX 25
-	param set FW_AIRSPD_MIN 14
-	param set FW_AIRSPD_TRIM 16
+param set-default FW_AIRSPD_MAX 25
+param set-default FW_AIRSPD_MIN 14
+param set-default FW_AIRSPD_TRIM 16

-	param set MC_PITCH_P 6
-	param set MC_PITCHRATE_P 0.2
-	param set MC_ROLL_P 6
-	param set MC_ROLLRATE_P 0.3
-	param set MIS_LTRMIN_ALT 10
-	param set MIS_TAKEOFF_ALT 10
-	param set MIS_YAW_TMT 10
+param set-default MC_PITCH_P 6
+param set-default MC_PITCHRATE_P 0.2
+param set-default MC_ROLL_P 6
+param set-default MC_ROLLRATE_P 0.3
+param set-default MIS_LTRMIN_ALT 10
+param set-default MIS_TAKEOFF_ALT 10
+param set-default MIS_YAW_TMT 10

-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_THR_MIN 0.1
-	param set MPC_TKO_SPEED 1
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_D_ACC 0.1
-	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_P_ACC 3
-	param set MPC_Z_VEL_P_ACC 12
-	param set MPC_Z_VEL_I_ACC 3
-	param set MPC_Z_VEL_MAX_DN 1.5
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_THR_MIN 0.1
+param set-default MPC_TKO_SPEED 1
+param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_D_ACC 0.1
+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 NAV_ACC_RAD 5
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 80
+param set-default NAV_ACC_RAD 5
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 80

-	param set RTL_DESCEND_ALT 10
-	param set RTL_RETURN_ALT 30
+param set-default RTL_DESCEND_ALT 10
+param set-default RTL_RETURN_ALT 30

-	param set SDLOG_DIRS_MAX 7
-	param set SYS_RESTART_TYPE 2
+param set-default SDLOG_DIRS_MAX 7
+param set-default SYS_RESTART_TYPE 2
+
+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_TYPE 2

-	param set VT_F_TRANS_THR 0.75
-	param set VT_MOT_ID 1234
-	param set VT_FW_MOT_OFFID 1234
-	param set VT_TYPE 2
-fi

 param set SYS_HITL 1

 set MAV_TYPE 22

 set MIXER standard_vtol_hitl
-
-set PWM_OUT 1234
--- a/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox
+++ b/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox
@ -22,9 +22,6 @@
 # @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
--- a/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil
@ -7,11 +7,12 @@
 #
 # @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
 #
+# @board px4_fmu-v2 exclude
+#

 . ${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
--- a/ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox
+++ b/ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox
@ -20,8 +20,7 @@
 # @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
--- a/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik
+++ b/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik
@ -21,34 +21,29 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set MC_PITCH_P 4
-	param set MC_PITCHRATE_P 0.24
-	param set MC_PITCHRATE_I 0.09
-	param set MC_PITCHRATE_D 0.013
-	param set MC_PITCHRATE_MAX 180
-
-	param set MC_ROLL_P 4
-	param set MC_ROLLRATE_P 0.16
-	param set MC_ROLLRATE_I 0.07
-	param set MC_ROLLRATE_D 0.009
-	param set MC_ROLLRATE_MAX 180
-
-	param set MC_YAW_P 3
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
-
-	param set MPC_HOLD_MAX_XY 0.25
-	param set MPC_THR_MIN 0.15
-	param set MPC_Z_VEL_MAX_DN 2
-
-	param set BAT_N_CELLS 4
-fi
+. ${R}etc/init.d/rc.mc_octo_defaults

 set MIXER octo_cox_w

-set PWM_OUT 12345678
+param set-default MC_PITCH_P 4
+param set-default MC_PITCHRATE_P 0.24
+param set-default MC_PITCHRATE_I 0.09
+param set-default MC_PITCHRATE_D 0.013
+param set-default MC_PITCHRATE_MAX 180
+
+param set-default MC_ROLL_P 4
+param set-default MC_ROLLRATE_P 0.16
+param set-default MC_ROLLRATE_I 0.07
+param set-default MC_ROLLRATE_D 0.009
+param set-default MC_ROLLRATE_MAX 180
+
+param set-default MC_YAW_P 3
+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 MPC_HOLD_MAX_XY 0.25
+param set-default MPC_THR_MIN 0.15
+param set-default MPC_Z_VEL_MAX_DN 2
+
+param set-default BAT_N_CELLS 4
--- a/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
+++ b/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
@ -22,21 +22,21 @@
 # @board bitcraze_crazyflie exclude
 #

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

-if [ $AUTOCNF = yes ]
-then
-	param set PWM_AUX_DIS5 950
-	param set PWM_RATE 400
-
-	param set VT_TYPE 2
-	param set VT_MOT_ID 1234
-	param set VT_FW_MOT_OFFID 1234
-fi
-
 set MAV_TYPE 22

-set MIXER quad_x
-set MIXER_AUX vtol_AAERT
+param set-default VT_TYPE 2
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234

-set PWM_OUT 1234
+# MAIN set by rc.mc_quad_defaults
+
+# 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
--- a/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
+++ b/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
@ -19,36 +19,44 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set MAV_TYPE 19
-
-	param set MC_ROLL_P 6
-	param set MC_ROLLRATE_P 0.12
-	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_D 0.003
-	param set MC_ROLLRATE_FF 0
-
-	param set MC_PITCH_P 4.5
-	param set MC_PITCHRATE_P 0.3
-	param set MC_PITCHRATE_I 0.002
-	param set MC_PITCHRATE_D 0.003
-	param set MC_PITCHRATE_FF 0
-
-	param set MC_YAW_P 3.8
-	param set MC_YAWRATE_P 0.22
-	param set MC_YAWRATE_I 0.02
-	param set MC_YAWRATE_D 0
-	param set MC_YAWRATE_FF 0
-
-	param set VT_IDLE_PWM_MC  1080
-	param set VT_ELEV_MC_LOCK 0
-	param set VT_MOT_ID 12
-	param set VT_TYPE 0
-fi
-
 set MAV_TYPE 19

-set MIXER vtol_tailsitter_duo
+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_ROLLRATE_D 0.003
+param set-default MC_ROLLRATE_FF 0

-set PWM_OUT 123456
+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_PITCHRATE_D 0.003
+param set-default MC_PITCHRATE_FF 0
+
+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 MC_YAWRATE_D 0
+param set-default MC_YAWRATE_FF 0
+
+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
+
+
+# MAIN
+set MIXER vtol_tailsitter_duo
+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_DIS3 1500 # right (starboard) elevon
+param set-default PWM_MAIN_DIS4 1500 # left (port) elevon.
--- a/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
+++ b/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
@ -24,40 +24,67 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set MC_ROLL_P 7
-	param set MC_ROLLRATE_P 0.19
-	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_D 0.005
-	param set MC_ROLLRATE_FF 0
-	param set MC_PITCH_P 7
-	param set MC_PITCHRATE_P 0.14
-	param set MC_PITCHRATE_I 0.002
-	param set MC_PITCHRATE_D 0.004
-	param set MC_PITCHRATE_FF 0
-	param set MC_YAW_P 4
-	param set MC_YAWRATE_P 0.22
-	param set MC_YAWRATE_I 0.02
-	param set MC_YAWRATE_D 0
-	param set MC_YAWRATE_FF 0
-
-	param set PWM_RATE 400
-
-	param set VT_FW_MOT_OFFID 34
-	param set VT_IDLE_PWM_MC 1080
-	param set VT_MOT_ID 123456
-	param set VT_FW_MOT_OFFID 56
-	param set VT_TILT_MC 0.08
-	param set VT_TILT_TRANS 0.5
-	param set VT_TILT_FW 0.9
-	param set VT_ELEV_MC_LOCK 0
-	param set VT_TYPE 1
-fi
-
 set MAV_TYPE 21

-set MIXER firefly6
-set MIXER_AUX firefly6
+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_ROLLRATE_FF 0
+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_PITCHRATE_FF 0
+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 MC_YAWRATE_D 0
+param set-default MC_YAWRATE_FF 0

-set PWM_OUT 12345678
+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
+
+# MAIN
+set MIXER 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
+
+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
--- a/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
@ -12,21 +12,18 @@
 # @board bitcraze_crazyflie exclude
 #

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

-if [ $AUTOCNF = yes ]
-then
-	param set PWM_MAX 2000
-	param set PWM_RATE 400
-
-	param set VT_MOT_ID 1234
-	param set VT_IDLE_PWM_MC  1080
-	param set VT_TYPE 0
-	param set VT_ELEV_MC_LOCK 1
-fi
-
 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
--- a/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
@ -21,20 +21,19 @@
 # @board bitcraze_crazyflie exclude
 #

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

-if [ $AUTOCNF = yes ]
-then
-	param set PWM_MAX 2000
-	param set PWM_RATE 400
-
-	param set VT_IDLE_PWM_MC  1080
-	param set VT_TYPE 0
-	param set VT_ELEV_MC_LOCK 1
-fi
-
 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
--- a/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
@ -22,55 +22,55 @@
 # @board bitcraze_crazyflie exclude
 #

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

-if [ $AUTOCNF = yes ]
-then
-	param set PWM_AUX_DIS5 950
-
-	param set PWM_RATE 400
-
-	param set MC_ROLL_P 6
-	param set MC_ROLLRATE_P 0.17
-	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_D 0.004
-	param set MC_ROLLRATE_FF 0
-	param set MC_PITCH_P 6
-	param set MC_PITCHRATE_P 0.19
-	param set MC_PITCHRATE_I 0.002
-	param set MC_PITCHRATE_D 0.004
-	param set MC_PITCHRATE_FF 0
-	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.22
-	param set MC_YAWRATE_I 0.02
-	param set MC_YAWRATE_D 0
-	param set MC_YAWRATE_FF 0
-	param set MC_YAWRATE_MAX 40
-
-	param set MPC_YAWRAUTO_MAX 40
-
-	param set FW_PR_FF 0.5
-	param set FW_PR_I 0.02
-	param set FW_PR_IMAX 0.4
-	param set FW_PR_P 0.08
-	param set FW_RR_FF 0.6
-	param set FW_RR_I 0.01
-	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.05
-	param set FW_THR_CRUISE 0.75
-
-	param set VT_ARSP_BLEND 6
-	param set VT_ARSP_TRANS 12
-	param set VT_F_TRANS_THR 0.75
-	param set VT_MOT_ID 1234
-	param set VT_FW_MOT_OFFID 1234
-	param set VT_IDLE_PWM_MC 1080
-	param set VT_TYPE 2
-fi
-
 set MAV_TYPE 22

-set MIXER quad_x
-set MIXER_AUX vtol_AAERT
+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_ROLLRATE_FF 0
+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_PITCHRATE_FF 0
+param set-default MC_YAW_P 2.8
+param set-default MC_YAWRATE_P 0.22
+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

-set PWM_OUT 1234
+param set-default MPC_YAWRAUTO_MAX 40
+
+param set-default FW_PR_FF 0.5
+param set-default FW_PR_I 0.02
+param set-default FW_PR_IMAX 0.4
+param set-default FW_PR_P 0.08
+param set-default FW_RR_FF 0.6
+param set-default FW_RR_I 0.01
+param set-default FW_RR_IMAX 0.2
+param set-default FW_RR_P 0.05
+param set-default FW_THR_CRUISE 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
+
+
+# MAIN set by rc.mc_quad_defaults
+
+# 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
--- a/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
+++ b/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
@ -20,45 +20,44 @@
 # @board bitcraze_crazyflie exclude
 #

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

-if [ $AUTOCNF = yes ]
-then
-	param set MC_ROLL_P 6.5
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.01
-	param set MC_ROLLRATE_D 0.003
-	param set MC_ROLLRATE_FF 0
-	param set MC_PITCH_P 6.5
-	param set MC_PITCHRATE_P 0.15
-	param set MC_PITCHRATE_I 0.01
-	param set MC_PITCHRATE_D 0.003
-	param set MC_PITCHRATE_FF 0
-	param set MC_YAW_P 3.5
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
-	param set MC_YAWRATE_FF 0
-	param set MC_YAWRATE_MAX 50
-
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P_ACC 2
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_YAWRAUTO_MAX 20
-
-	param set PWM_AUX_DIS3 950
-	param set PWM_RATE 400
-
-	param set VT_MOT_ID 1234
-	param set VT_FW_MOT_OFFID 1234
-	param set VT_F_TRANS_THR 0.75
-	param set VT_IDLE_PWM_MC 1080
-	param set VT_TYPE 2
-fi
-
 set MAV_TYPE 22

-set MIXER quad_x
-set MIXER_AUX vtol_delta
+param set-default MC_ROLL_P 6.5
+param set-default MC_ROLLRATE_P 0.15
+param set-default MC_ROLLRATE_I 0.01
+param set-default MC_ROLLRATE_D 0.003
+param set-default MC_ROLLRATE_FF 0
+param set-default MC_PITCH_P 6.5
+param set-default MC_PITCHRATE_P 0.15
+param set-default MC_PITCHRATE_I 0.01
+param set-default MC_PITCHRATE_D 0.003
+param set-default MC_PITCHRATE_FF 0
+param set-default MC_YAW_P 3.5
+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 MC_YAWRATE_FF 0
+param set-default MC_YAWRATE_MAX 50

-set PWM_OUT 1234
+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 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
+
+# MAIN set by rc.mc_quad_defaults
+
+# AUX
+set MIXER_AUX vtol_delta
+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
--- a/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
@ -12,42 +12,41 @@
 # @board bitcraze_crazyflie exclude
 #

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

-if [ $AUTOCNF = yes ]
-then
-	param set MC_ROLL_P 7
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_D 0.003
-	param set MC_ROLLRATE_FF 0
-	param set MC_PITCH_P 7
-	param set MC_PITCHRATE_P 0.12
-	param set MC_PITCHRATE_I 0.002
-	param set MC_PITCHRATE_D 0.003
-	param set MC_PITCHRATE_FF 0
-	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.22
-	param set MC_YAWRATE_I 0.02
-	param set MC_YAWRATE_D 0
-	param set MC_YAWRATE_FF 0
-	param set MC_YAWRATE_MAX 40
-
-	param set MPC_YAWRAUTO_MAX 40
-
-	param set PWM_AUX_DIS5 950
-	param set PWM_RATE 400
-
-	param set VT_F_TRANS_THR 0.75
-	param set VT_MOT_ID 1234
-	param set VT_FW_MOT_OFFID 1234
-	param set VT_IDLE_PWM_MC 1080
-	param set VT_TYPE 2
-fi
-
 set MAV_TYPE 22

-set MIXER quad_x
-set MIXER_AUX vtol_AAVVT
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.15
+param set-default MC_ROLLRATE_I 0.002
+param set-default MC_ROLLRATE_D 0.003
+param set-default MC_ROLLRATE_FF 0
+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_PITCHRATE_D 0.003
+param set-default MC_PITCHRATE_FF 0
+param set-default MC_YAW_P 2.8
+param set-default MC_YAWRATE_P 0.22
+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

-set PWM_OUT 1234
+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
+
+# MAIN set by rc.mc_quad_defaults
+
+# AUX
+set MIXER_AUX vtol_AAVVT
+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
--- a/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
+++ b/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
@ -12,59 +12,57 @@
 # @board bitcraze_crazyflie exclude
 #

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

-if [ $AUTOCNF = yes ]
-then
-	param set FW_THR_CRUISE 65
-	param set FW_PR_P 0.08
-	param set FW_PR_FF 0.5
-	param set FW_RR_P 0.05
-	param set FW_RR_FF 0.6
-
-	param set MIS_YAW_TMT 10
-
-	param set MC_ROLL_P 7
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.1
-	param set MC_ROLLRATE_D 0.004
-	param set MC_ROLLRATE_FF 0
-	param set MC_PITCH_P 7
-	param set MC_PITCHRATE_P 0.15
-	param set MC_PITCHRATE_I 0.1
-	param set MC_PITCHRATE_D 0.004
-	param set MC_PITCHRATE_FF 0
-	param set MC_YAW_P 3.5
-	param set MC_YAWRATE_P 0.6
-	param set MC_YAWRATE_I 0.04
-	param set MC_YAWRATE_D 0
-	param set MC_YAWRATE_FF 0
-	param set MC_YAWRATE_MAX 40
-
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_Z_VEL_MAX_DN 1.5
-	param set MPC_TKO_SPEED 1.5
-	param set MPC_LAND_SPEED 0.8
-	param set MPC_YAWRAUTO_MAX 40
-
-	param set PWM_AUX_DIS5 950
-	param set PWM_AUX_REV1 1
-	param set PWM_AUX_REV2 1
-	param set PWM_RATE 400
-
-	param set VT_ARSP_TRANS 15
-	param set VT_ARSP_BLEND 8
-	param set VT_B_TRANS_DUR 4
-	param set VT_F_TRANS_THR 0.75
-	param set VT_IDLE_PWM_MC 1080
-	param set VT_MOT_ID 1234
-	param set VT_FW_MOT_OFFID 1234
-	param set VT_TYPE 2
-fi
-
 set MAV_TYPE 22

-set MIXER quad_x
-set MIXER_AUX vtol_AAERT
+param set-default FW_THR_CRUISE 65
+param set-default FW_PR_P 0.08
+param set-default FW_PR_FF 0.5
+param set-default FW_RR_P 0.05
+param set-default FW_RR_FF 0.6

-set PWM_OUT 1234
+param set-default MIS_YAW_TMT 10
+
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.15
+param set-default MC_ROLLRATE_I 0.1
+param set-default MC_ROLLRATE_D 0.004
+param set-default MC_ROLLRATE_FF 0
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.15
+param set-default MC_PITCHRATE_I 0.1
+param set-default MC_PITCHRATE_D 0.004
+param set-default MC_PITCHRATE_FF 0
+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_D 0
+param set-default MC_YAWRATE_FF 0
+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_TKO_SPEED 1.5
+param set-default MPC_LAND_SPEED 0.8
+param set-default MPC_YAWRAUTO_MAX 40
+
+param set-default VT_ARSP_TRANS 15
+param set-default VT_ARSP_BLEND 8
+param set-default VT_B_TRANS_DUR 4
+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
+
+# MAIN set by rc.mc_quad_defaults
+
+# 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
--- a/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
+++ b/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
@ -12,81 +12,79 @@
 # @board bitcraze_crazyflie exclude
 #

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

-if [ $AUTOCNF = yes ]
-then
-	param set FW_AIRSPD_MAX   22
-	param set FW_AIRSPD_MIN   14
-	param set FW_AIRSPD_TRIM  16
-	param set FW_L1_PERIOD    25
-	param set FW_PR_P 0.060
-	param set FW_P_RMAX_NEG   40
-	param set FW_P_RMAX_POS   40
-	param set FW_RR_FF    0.4
-	param set FW_RR_P 0.04
-	param set FW_R_RMAX   40
-
-	param set MC_PITCHRATE_D 0.004
-	param set MC_PITCHRATE_I 0
-	param set MC_PITCHRATE_MAX 60
-	param set MC_PITCHRATE_P 0.21
-	param set MC_PITCH_P 4
-	param set MC_ROLLRATE_D 0.004
-	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_MAX 60
-	param set MC_ROLLRATE_P 0.24
-	param set MC_ROLL_P 4
-	param set MC_YAWRATE_I 0.02
-	param set MC_YAWRATE_MAX 40
-	param set MC_YAWRATE_P 0.18
-
-	param set MIS_TAKEOFF_ALT 2.5
-	param set MIS_YAW_TMT 20
-
-	param set MPC_ACC_HOR_MAX 1
-	param set MPC_HOLD_MAX_XY 0.5
-	param set MPC_HOLD_MAX_Z  0.5
-	param set MPC_LAND_SPEED  1
-	param set MPC_MANTHR_MIN  0.05
-	param set MPC_MAN_Y_MAX   120
-	param set MPC_THR_MIN 0.07
-	param set MPC_TILTMAX_AIR 35
-	param set MPC_TILTMAX_LND 20
-	param set MPC_TKO_SPEED   1
-	param set MPC_XY_P    0.3
-	param set MPC_XY_VEL_MAX  3
-	param set MPC_XY_VEL_P_ACC 1
-	param set MPC_Z_P 0.5
-	param set MPC_Z_VEL_P_ACC 2
-	param set MPC_YAWRAUTO_MAX 40
-
-	param set NAV_ACC_RAD 3
-
-	param set PWM_AUX_REV1    1
-	param set PWM_AUX_REV2    1
-	param set PWM_AUX_REV3    1
-	param set PWM_AUX_REV4    1
-
-	param set PWM_AUX_DIS5 950
-
-	param set PWM_RATE 400
-
-	param set VT_ARSP_TRANS   15
-	param set VT_B_TRANS_DUR  4
-	param set VT_F_TRANS_THR    0.6
-	param set VT_IDLE_PWM_MC 1180
-	param set VT_MOT_ID 1234
-	param set VT_FW_MOT_OFFID 1234
-	param set VT_TRANS_MIN_TM 5
-	param set VT_TRANS_TIMEOUT    30
-	param set VT_TYPE 2
-
-fi
-
 set MAV_TYPE 22

-set MIXER quad_x
-set MIXER_AUX vtol_AAERT
+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

-set PWM_OUT 1234
+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 VT_ARSP_TRANS   15
+param set-default VT_B_TRANS_DUR  4
+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
+
+# MAIN set by rc.mc_quad_defaults
+
+# 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
+
+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
--- a/ROMFS/px4fmu_common/init.d/airframes/13010_claire
+++ b/ROMFS/px4fmu_common/init.d/airframes/13010_claire
@ -14,29 +14,42 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set PWM_AUX_DISARMED 1000
-	param set PWM_AUX_MAX 2000
-	param set PWM_AUX_MIN 1000
-	param set PWM_AUX_RATE 50
-
-	param set PWM_MAX 2000
-	param set PWM_RATE 400
-
-	param set VT_MOT_ID 1234
-	param set VT_FW_MOT_OFFID 13
-	param set VT_IDLE_PWM_MC 1080
-	param set VT_TILT_FW 0.9
-	param set VT_TILT_MC 0.08
-	param set VT_TILT_TRANS 0.5
-	param set VT_ELEV_MC_LOCK 0
-	param set VT_TYPE 1
-fi
-
 set MAV_TYPE 21

-set MIXER claire
-set MIXER_AUX claire
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 13
+param set-default VT_IDLE_PWM_MC 1080
+param set-default VT_TILT_FW 0.9
+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 PWM_OUT 1234
+
+# 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
+param set-default PWM_MAIN_DIS1 1000 # tilt
+param set-default PWM_MAIN_DIS2 1500 # elevon
+param set-default PWM_MAIN_DIS3 1500 # elevon
--- a/ROMFS/px4fmu_common/init.d/airframes/13012_convergence
+++ b/ROMFS/px4fmu_common/init.d/airframes/13012_convergence
@ -23,68 +23,82 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set CBRK_AIRSPD_CHK 162128
-
-	param set FW_ARSP_MODE 1
-
-	param set FW_L1_PERIOD 17
-	param set FW_MAN_R_MAX 50
-	param set FW_ACRO_X_MAX   270
-	param set FW_ACRO_Y_MAX   270
-	param set FW_ACRO_Z_MAX   180
-	param set FW_PR_FF    0.5
-	param set FW_PR_P 0.08
-	param set FW_PSP_OFF  5
-	param set FW_P_LIM_MAX    30
-	param set FW_P_LIM_MIN    -30
-	param set FW_P_RMAX_NEG   60
-	param set FW_P_RMAX_POS   60
-	param set FW_RR_FF    0.33
-	param set FW_RR_P 0.11
-	param set FW_YR_FF    0.3
-	param set FW_YR_P 0.05
-
-	param set MC_PITCHRATE_D  0.003
-	param set MC_PITCHRATE_P  0.15
-	param set MC_PITCH_P  6
-	param set MC_ROLLRATE_D   0.003
-	param set MC_ROLLRATE_P   0.15
-	param set MC_ROLL_P   6
-	param set MC_YAWRATE_MAX  120
-	param set MC_YAWRATE_P    0.27
-	param set MC_YAW_P    2.5
-
-	param set MC_YAWRATE_P 0.3
-	param set MPC_LAND_SPEED 1.2
-	param set MPC_TKO_SPEED 2.5
-	param set MPC_Z_VEL_MAX_UP 3
-
-	param set PWM_RATE 400
-
-	param set SENS_BOARD_ROT 8
-
-	param set VT_B_TRANS_DUR  1
-	param set VT_F_TRANS_DUR  1.2
-	param set VT_F_TR_OL_TM   4
-	param set VT_FW_DIFTHR_EN 1
-	param set VT_FW_DIFTHR_SC 0.17
-	param set VT_FW_MOT_OFFID 3
-	param set VT_FW_PERM_STAB 0
-	param set VT_IDLE_PWM_MC 1200
-	param set VT_MOT_ID 123
-	param set VT_TILT_FW  1
-	param set VT_TILT_MC  0
-	param set VT_TILT_TRANS   0.45
-	param set VT_TRANS_MIN_TM 1.2
-	param set VT_TRANS_P2_DUR 1.3
-	param set VT_ELEV_MC_LOCK 0
-	param set VT_TYPE 1
-fi
-
 set MAV_TYPE 21

-set MIXER vtol_convergence
+param set-default CBRK_AIRSPD_CHK 162128

-set PWM_OUT 1234
+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_PR_FF    0.5
+param set-default FW_PR_P 0.08
+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_P_RMAX_NEG   60
+param set-default FW_P_RMAX_POS   60
+param set-default FW_RR_FF    0.33
+param set-default FW_RR_P 0.11
+param set-default FW_YR_FF    0.3
+param set-default FW_YR_P 0.05
+
+param set-default MC_PITCHRATE_D  0.003
+param set-default MC_PITCHRATE_P  0.15
+param set-default MC_PITCH_P  6
+param set-default MC_ROLLRATE_D   0.003
+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 MPC_Z_VEL_MAX_UP 3
+
+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_FW_PERM_STAB 0
+param set-default VT_IDLE_PWM_MC 1200
+param set-default VT_MOT_ID 123
+param set-default VT_TILT_FW  1
+param set-default VT_TILT_MC  0
+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
+
+
+# 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
+
+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
--- a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
@ -23,142 +23,153 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set BAT_CAPACITY 23000
-	param set BAT_N_CELLS 4
-	param set BAT_R_INTERNAL 0.0025
-
-	param set CBRK_AIRSPD_CHK 162128
-	param set CBRK_IO_SAFETY 22027
-
-	param set EKF2_GPS_POS_X -0.12
-	param set EKF2_IMU_POS_X -0.12
-	param set EKF2_TAU_VEL 0.5
-	param set EKF2_GPS_P_GATE 10
-	param set EKF2_GPS_V_GATE 10
-
-	param set FW_ARSP_MODE 1
-	param set FW_L1_PERIOD 25
-	param set FW_PR_FF 0.7
-	param set FW_PR_I 0.18
-	param set FW_PR_P 0.15
-	param set FW_P_TC 0.5
-	param set FW_PSP_OFF 5
-	param set FW_R_LIM 35
-	param set FW_RR_FF 0.9
-	param set FW_RR_I 0.08
-	param set FW_RR_P 0.18
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_CLMB_MAX 3
-	param set FW_T_SINK_MAX 3
-	param set FW_T_SINK_MIN 1
-	param set FW_T_VERT_ACC 6
-	param set FW_THR_CRUISE 0.70
-	param set FW_THR_SLEW_MAX 1
-	param set FW_MAN_P_MAX 30
-	param set FW_P_LIM_MAX 15
-	param set FW_P_LIM_MIN -25
-	param set FW_P_RMAX_NEG 45
-	param set FW_P_RMAX_POS 45
-	param set FW_R_RMAX 50
-	param set FW_THR_MIN 0.55
-	param set FW_BAT_SCALE_EN 1
-	param set FW_THR_ALT_SCL 2.7
-	param set FW_T_RLL2THR 20
-
-	param set LNDMC_ALT_MAX 9999
-	param set LNDMC_XY_VEL_MAX 1
-	param set LNDMC_Z_VEL_MAX 0.7
-
-	param set MC_ROLL_P 6.5
-	param set MC_ROLLRATE_P 0.16
-	param set MC_ROLLRATE_I 0.01
-	param set MC_ROLLRATE_D 0.003
-	param set MC_ROLLRATE_FF 0
-	param set MC_ROLLRATE_MAX 80
-	param set MC_PITCH_P 6.5
-	param set MC_PITCHRATE_P 0.15
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.003
-	param set MC_PITCHRATE_FF 0
-	param set MC_PITCHRATE_MAX 80
-	param set MC_YAW_P 3.5
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
-	param set MC_YAWRATE_FF 0
-	param set MC_YAWRATE_MAX 20
-	param set MC_AIRMODE 1
-
-	param set MIS_DIST_1WP 100
-	param set MIS_DIST_WPS 100000
-	param set MIS_TAKEOFF_ALT 15
-
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P_ACC 2
-	param set MPC_XY_VEL_MAX 5
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_LAND_SPEED 1.2
-	param set MPC_TILTMAX_LND 35
-	param set MPC_Z_VEL_MAX 1.5
-	param set MPC_Z_VEL_MAX_UP 1.5
-	param set MPC_Z_VEL_MAX_DN 1.5
-	param set MPC_HOLD_MAX_XY 0.5
-	param set MPC_HOLD_MAX_Z 0.5
-	param set MPC_TKO_RAMP_T 0.8
-	param set MPC_XY_CRUISE 5
-	param set MPC_TILTMAX_AIR 25
-	param set MPC_TILTMAX_LND 25
-	param set MPC_YAWRAUTO_MAX 20
-
-	param set NAV_DLL_ACT 0
-	param set NAV_LOITER_RAD 100
-
-	param set PWM_AUX_DISARMED 950
-
-	param set PWM_MAIN_DIS5 1500
-	param set PWM_MAIN_DIS6 1500
-	param set PWM_MAIN_DIS7 900
-	param set PWM_MAIN_DIS8 900
-
-	param set PWM_RATE 400
-
-	param set SENS_BOARD_ROT 18
-
-	# TELEM2 config
-	param set MAV_1_CONFIG 102
-	param set MAV_1_RATE 5000
-	param set MAV_1_FORWARD 1
-	param set SER_TEL2_BAUD 57600
-
-	param set VT_TYPE 2
-	param set VT_MOT_ID 1234
-	param set VT_FW_MOT_OFFID 1234
-	param set VT_F_TRANS_THR 1
-	param set VT_DWN_PITCH_MAX 8
-	param set VT_FW_QC_P 55
-	param set VT_FW_QC_R 55
-	param set VT_TRANS_MIN_TM 15
-	param set VT_B_TRANS_DUR 8
-	param set VT_WV_LND_EN 1
-	param set VT_WV_LTR_EN 1
-	param set VT_FWD_THRUST_SC 4
-	param set VT_F_TRANS_DUR 1
-	param set VT_IDLE_PWM_MC 1025
-	param set VT_B_REV_OUT 0.5
-	param set VT_B_TRANS_THR 0.7
-	param set VT_FW_PERM_STAB 1
-	param set VT_TRANS_TIMEOUT 22
-	param set VT_F_TRANS_RAMP 4
-
-	param set COM_RC_OVERRIDE 0
-fi
-
 set MAV_TYPE 22

-set MIXER deltaquad
-set MIXER_AUX pass
+param set-default BAT_CAPACITY 23000
+param set-default BAT_N_CELLS 4
+param set-default BAT_R_INTERNAL 0.0025

-set PWM_OUT 1234
-set PWM_AUX_OUT 12345
+param set-default CBRK_AIRSPD_CHK 162128
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default EKF2_GPS_POS_X -0.12
+param set-default EKF2_IMU_POS_X -0.12
+param set-default EKF2_TAU_VEL 0.5
+param set-default EKF2_GPS_P_GATE 10
+param set-default EKF2_GPS_V_GATE 10
+
+param set-default FW_ARSP_MODE 1
+param set-default FW_L1_PERIOD 25
+param set-default FW_PR_FF 0.7
+param set-default FW_PR_I 0.18
+param set-default FW_PR_P 0.15
+param set-default FW_P_TC 0.5
+param set-default FW_PSP_OFF 5
+param set-default FW_R_LIM 35
+param set-default FW_RR_FF 0.9
+param set-default FW_RR_I 0.08
+param set-default FW_RR_P 0.18
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_CLMB_MAX 3
+param set-default FW_T_SINK_MAX 3
+param set-default FW_T_SINK_MIN 1
+param set-default FW_T_VERT_ACC 6
+param set-default FW_THR_CRUISE 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
+param set-default FW_P_RMAX_POS 45
+param set-default FW_R_RMAX 50
+param set-default FW_THR_MIN 0.55
+param set-default FW_BAT_SCALE_EN 1
+param set-default FW_THR_ALT_SCL 2.7
+param set-default FW_T_RLL2THR 20
+
+param set-default LNDMC_ALT_MAX 9999
+param set-default LNDMC_XY_VEL_MAX 1
+param set-default LNDMC_Z_VEL_MAX 0.7
+
+param set-default MC_ROLL_P 6.5
+param set-default MC_ROLLRATE_P 0.16
+param set-default MC_ROLLRATE_I 0.01
+param set-default MC_ROLLRATE_D 0.003
+param set-default MC_ROLLRATE_FF 0
+param set-default MC_ROLLRATE_MAX 80
+param set-default MC_PITCH_P 6.5
+param set-default MC_PITCHRATE_P 0.15
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCHRATE_D 0.003
+param set-default MC_PITCHRATE_FF 0
+param set-default MC_PITCHRATE_MAX 80
+param set-default MC_YAW_P 3.5
+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 MC_YAWRATE_FF 0
+param set-default MC_YAWRATE_MAX 20
+param set-default MC_AIRMODE 1
+
+param set-default MIS_DIST_1WP 100
+param set-default MIS_DIST_WPS 100000
+param set-default MIS_TAKEOFF_ALT 15
+
+param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 2
+param set-default MPC_XY_VEL_MAX 5
+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
+param set-default MPC_XY_CRUISE 5
+param set-default MPC_TILTMAX_AIR 25
+param set-default MPC_TILTMAX_LND 25
+param set-default MPC_YAWRAUTO_MAX 20
+
+param set-default NAV_DLL_ACT 0
+param set-default NAV_LOITER_RAD 100
+
+param set-default SENS_BOARD_ROT 18
+
+# TELEM2 config
+param set-default MAV_1_CONFIG 102
+param set-default MAV_1_RATE 5000
+param set-default MAV_1_FORWARD 1
+param set-default SER_TEL2_BAUD 57600
+
+param set-default VT_TYPE 2
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+param set-default VT_F_TRANS_THR 1
+param set-default VT_DWN_PITCH_MAX 8
+param set-default VT_FW_QC_P 55
+param set-default VT_FW_QC_R 55
+param set-default VT_TRANS_MIN_TM 15
+param set-default VT_B_TRANS_DUR 8
+param set-default VT_WV_LND_EN 1
+param set-default VT_WV_LTR_EN 1
+param set-default VT_FWD_THRUST_SC 4
+param set-default VT_F_TRANS_DUR 1
+param set-default VT_IDLE_PWM_MC 1025
+param set-default VT_B_REV_OUT 0.5
+param set-default VT_B_TRANS_THR 0.7
+param set-default VT_FW_PERM_STAB 1
+param set-default VT_TRANS_TIMEOUT 22
+param set-default VT_F_TRANS_RAMP 4
+
+param set-default COM_RC_OVERRIDE 0
+
+
+# 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
--- a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
+++ b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
@ -23,96 +23,108 @@

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

-if [ $AUTOCNF = yes ]
-then
-
-	param set BAT_N_CELLS 6
-
-	param set FW_AIRSPD_MAX   30
-	param set FW_AIRSPD_MIN   19
-	param set FW_AIRSPD_TRIM  23
-	param set FW_L1_R_SLEW_MAX 40
-	param set FW_LND_EARLYCFG 1
-	param set FW_MAN_P_MAX	30
-	param set FW_PR_I	0.1
-	param set FW_PSP_OFF	3
-	param set FW_P_LIM_MAX 18
-	param set FW_P_LIM_MIN -25
-	param set FW_RLL_TO_YAW_FF	0.1
-	param set FW_RR_I	0.1
-	param set FW_RR_P	0.08
-	param set FW_R_LIM 45
-	param set FW_R_RMAX	50
-	param set FW_THR_CRUISE 0.65
-	param set FW_THR_MIN 0.3
-	param set FW_THR_SLEW_MAX 0.6
-	param set FW_T_HRATE_FF 0
-	param set FW_T_SINK_MAX	15
-	param set FW_T_SINK_MIN	3
-	param set FW_YR_I	0.1
-	param set FW_YR_P	0.15
-
-	param set IMU_GYRO_CUTOFF 40
-
-	param set IMU_DGYRO_CUTOFF 15
-	param set MC_PITCHRATE_I	0.2
-	param set MC_PITCHRATE_MAX 60
-	param set MC_ROLLRATE_I	0.2
-	param set MC_ROLLRATE_MAX 60
-	param set MC_YAWRATE_I 0.15
-	param set MC_YAWRATE_MAX 40
-	param set MC_YAWRATE_P 0.3
-
-	param set MIS_TAKEOFF_ALT	30
-
-	param set MPC_ACC_DOWN_MAX	2
-	param set MPC_ACC_HOR_MAX	2
-	param set MPC_ACC_UP_MAX	3
-	param set MC_AIRMODE 1
-	param set MPC_JERK_AUTO	4
-	param set MPC_LAND_SPEED 1
-	param set MPC_MAN_TILT_MAX 25
-	param set MPC_MAN_Y_MAX 40
-	param set MPC_POS_MODE 3
-	param set MPC_SPOOLUP_TIME 1.5
-	param set MPC_THR_HOVER 0.45
-	param set MPC_TILTMAX_AIR 25
-	param set MPC_TKO_RAMP_T 1.8
-	param set MPC_TKO_SPEED	1
-	param set MPC_VEL_MANUAL 3
-	param set MPC_XY_CRUISE 3
-	param set MPC_XY_VEL_MAX 3.5
-	param set MPC_YAWRAUTO_MAX 40
-	param set MPC_Z_VEL_MAX_DN 1.5
-	param set MPC_Z_VEL_MAX_UP 2
-
-	param set NAV_ACC_RAD	3
-
-	param set PWM_MAIN_DIS3 1000
-	param set PWM_MAIN_MIN3 1120
-	param set PWM_MIN 950
-
-	param set SENS_BOARD_ROT 4
-
-	param set VT_ARSP_BLEND 10
-	param set VT_ARSP_TRANS 21
-	param set VT_B_DEC_MSS 1.5
-	param set VT_B_TRANS_DUR 12
-	param set VT_ELEV_MC_LOCK 0
-	param set VT_FWD_THRUST_SC 1.2
-	param set VT_FW_MOT_OFFID 5678
-	param set VT_F_TR_OL_TM 8
-	param set VT_IDLE_PWM_MC 1000
-	param set VT_MOT_ID 5678
-	param set VT_PSHER_RMP_DT 2
-	param set VT_TRANS_MIN_TM 4
-	param set VT_TYPE 2
-
-fi
-
 set MAV_TYPE 22

-set MIXER babyshark
-set MIXER_AUX pass
+param set-default BAT_N_CELLS 6

-set PWM_OUT 5678
+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_LND_EARLYCFG 1
+param set-default FW_MAN_P_MAX	30
+param set-default FW_PR_I	0.1
+param set-default FW_PSP_OFF	3
+param set-default FW_P_LIM_MAX 18
+param set-default FW_P_LIM_MIN -25
+param set-default FW_RLL_TO_YAW_FF	0.1
+param set-default FW_RR_I	0.1
+param set-default FW_RR_P	0.08
+param set-default FW_R_LIM 45
+param set-default FW_R_RMAX	50
+param set-default FW_THR_CRUISE 0.65
+param set-default FW_THR_MIN 0.3
+param set-default FW_THR_SLEW_MAX 0.6
+param set-default FW_T_HRATE_FF 0
+param set-default FW_T_SINK_MAX	15
+param set-default FW_T_SINK_MIN	3
+param set-default FW_YR_I	0.1
+param set-default FW_YR_P	0.15
+
+param set-default IMU_GYRO_CUTOFF 40
+
+param set-default IMU_DGYRO_CUTOFF 15
+param set-default MC_PITCHRATE_I	0.2
+param set-default MC_PITCHRATE_MAX 60
+param set-default MC_ROLLRATE_I	0.2
+param set-default MC_ROLLRATE_MAX 60
+param set-default MC_YAWRATE_I 0.15
+param set-default MC_YAWRATE_MAX 40
+param set-default MC_YAWRATE_P 0.3
+
+param set-default MIS_TAKEOFF_ALT	30
+
+param set-default MPC_ACC_DOWN_MAX	2
+param set-default MPC_ACC_HOR_MAX	2
+param set-default MPC_ACC_UP_MAX	3
+param set-default MC_AIRMODE 1
+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
+param set-default MPC_TKO_RAMP_T 1.8
+param set-default MPC_TKO_SPEED	1
+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
+
+param set-default SENS_BOARD_ROT 4
+
+param set-default VT_ARSP_BLEND 10
+param set-default VT_ARSP_TRANS 21
+param set-default VT_B_DEC_MSS 1.5
+param set-default VT_B_TRANS_DUR 12
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_FWD_THRUST_SC 1.2
+param set-default VT_FW_MOT_OFFID 5678
+param set-default VT_F_TR_OL_TM 8
+param set-default VT_IDLE_PWM_MC 1000
+param set-default VT_MOT_ID 5678
+param set-default VT_PSHER_RMP_DT 2
+param set-default VT_TRANS_MIN_TM 4
+param set-default VT_TYPE 2
+
+# MAIN
+set MIXER babyshark
+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
+
+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
--- a/ROMFS/px4fmu_common/init.d/airframes/13015_generic_vtol_standard
+++ b/ROMFS/px4fmu_common/init.d/airframes/13015_generic_vtol_standard
@ -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
--- a/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
+++ b/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
@ -24,21 +24,21 @@
 # @board bitcraze_crazyflie exclude
 #

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

-if [ $AUTOCNF = yes ]
-then
-	param set PWM_AUX_DIS5 950
-	param set PWM_RATE 400
-
-	param set VT_TYPE 2
-	param set VT_MOT_ID 12345678
-	param set VT_FW_MOT_OFFID 12345678
-fi
-
 set MAV_TYPE 22

-set MIXER octo_cox
-set MIXER_AUX vtol_AAERT
+param set-default VT_TYPE 2
+param set-default VT_MOT_ID 12345678
+param set-default VT_FW_MOT_OFFID 12345678

-set PWM_OUT 12345678
+# MAIN set by rc.mc_octo_defaults
+
+# 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
--- a/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
@ -19,16 +19,26 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set VT_ELEV_MC_LOCK 0
-	param set VT_MOT_COUNT 2
-	param set VT_TYPE 0
+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

-	param set MAV_TYPE 19
-fi

 set MAV_TYPE 19
 set MIXER vtol_tailsitter_duo
-
-set PWM_OUT 1234
--- a/ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+
+++ b/ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+
@ -20,4 +20,22 @@

 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
--- a/ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw-
+++ b/ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw-
@ -20,4 +20,22 @@

 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
--- a/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
+++ b/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
@ -18,41 +18,26 @@
 #

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

-if [ $AUTOCNF = yes ]
-then
-	param set MC_ROLL_P 6.5
-	param set MC_ROLLRATE_P 0.17
-	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.005
-	param set MC_ROLLRATE_FF 0
-	param set MC_PITCH_P 6.5
-	param set MC_PITCHRATE_P 0.17
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.005
-	param set MC_PITCHRATE_FF 0
-	param set MC_YAW_P 2
-	param set MC_YAWRATE_P 0.1
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
-	param set MC_YAWRATE_FF 0
+param set-default MC_ROLL_P 6.5
+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_ROLLRATE_FF 0
+param set-default MC_PITCH_P 6.5
+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_PITCHRATE_FF 0
+param set-default MC_YAW_P 2
+param set-default MC_YAWRATE_P 0.1
+param set-default MC_YAWRATE_I 0.1
+param set-default MC_YAWRATE_D 0
+param set-default MC_YAWRATE_FF 0

-	param set NAV_ACC_RAD 2
+param set-default NAV_ACC_RAD 2

-	param set PWM_AUX_RATE 50
-	param set PWM_DISARMED 900
-	param set PWM_MIN 1075
-	param set PWM_MAX 1950
-	param set PWM_RATE 400
-
-	param set RTL_RETURN_ALT 30
-	param set RTL_DESCEND_ALT 10
-fi
-
-# 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
+param set-default RTL_RETURN_ALT 30
+param set-default RTL_DESCEND_ALT 10
--- a/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
+++ b/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
@ -25,36 +25,27 @@ set MAV_TYPE 4

 set MIXER blade130

-#set PWM_OUT 1234
+param set-default CBRK_IO_SAFETY 22027

-if [ $AUTOCNF = yes ]
-then
-	param set ATT_BIAS_MAX 0
+param set-default MC_ROLL_P 5
+param set-default MC_ROLLRATE_P 0
+param set-default MC_ROLLRATE_I 0
+param set-default MC_ROLLRATE_D 0
+param set-default MC_ROLLRATE_FF 0.15
+param set-default MC_PITCH_P 6.5
+param set-default MC_PITCHRATE_P 0
+param set-default MC_PITCHRATE_I 0
+param set-default MC_PITCHRATE_D 0
+param set-default MC_PITCHRATE_FF 0.15
+param set-default MC_YAW_P 3
+param set-default MC_YAWRATE_P 0.1
+param set-default MC_YAWRATE_I 0
+param set-default MC_YAWRATE_D 0
+param set-default MC_ROLLRATE_MAX 720
+param set-default MC_PITCHRATE_MAX 720
+param set-default MC_YAWRATE_MAX 400
+param set-default MC_ACRO_R_MAX 360
+param set-default MC_ACRO_P_MAX 360

-	param set CBRK_IO_SAFETY 22027
-
-	param set MC_ROLL_P 5
-	param set MC_ROLLRATE_P 0
-	param set MC_ROLLRATE_I 0
-	param set MC_ROLLRATE_D 0
-	param set MC_ROLLRATE_FF 0.15
-	param set MC_PITCH_P 6.5
-	param set MC_PITCHRATE_P 0
-	param set MC_PITCHRATE_I 0
-	param set MC_PITCHRATE_D 0
-	param set MC_PITCHRATE_FF 0.15
-	param set MC_YAW_P 3
-	param set MC_YAWRATE_P 0.1
-	param set MC_YAWRATE_I 0
-	param set MC_YAWRATE_D 0
-	param set MC_ROLLRATE_MAX 720
-	param set MC_PITCHRATE_MAX 720
-	param set MC_YAWRATE_MAX 400
-	param set MC_ACRO_R_MAX 360
-	param set MC_ACRO_P_MAX 360
-
-	param set MPC_THR_MIN 0.06
-	param set MPC_MANTHR_MIN 0.06
-
-	param set PWM_MIN 1075
-fi
+param set-default MPC_THR_MIN 0.06
+param set-default MPC_MANTHR_MIN 0.06
--- a/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
+++ b/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
@ -26,29 +26,23 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set BAT_CAPACITY 2500
-	param set BAT_N_CELLS 3
+param set-default BAT_CAPACITY 2500
+param set-default BAT_N_CELLS 3

-	param set PWM_AUX_RATE 50
-	param set PWM_RATE 50
+param set-default SENS_BOARD_ROT 8

-	param set SENS_BOARD_ROT 8
+param set-default FW_AIRSPD_MAX 20
+param set-default FW_AIRSPD_MIN 7
+param set-default FW_AIRSPD_TRIM 13
+param set-default FW_THR_CRUISE 0.8

-	param set FW_AIRSPD_MAX 20
-	param set FW_AIRSPD_MIN 7
-	param set FW_AIRSPD_TRIM 13
-	param set FW_THR_CRUISE 0.8
-
-	param set FW_MAN_P_MAX 25
-	param set FW_MAN_R_MAX 25
-	param set FW_PR_I 0.02
-	param set FW_R_LIM 40
-	param set FW_P_LIM_MAX 25
-	param set FW_P_LIM_MIN -5
-	param set FW_P_RMAX_NEG 20
-fi
+param set-default FW_MAN_P_MAX 25
+param set-default FW_MAN_R_MAX 25
+param set-default FW_PR_I 0.02
+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
--- a/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2
+++ b/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2
@ -21,29 +21,23 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set BAT_CAPACITY 3300
-	param set BAT_N_CELLS 3
+param set-default BAT_CAPACITY 3300
+param set-default BAT_N_CELLS 3

-	param set PWM_AUX_RATE 50
-	param set PWM_RATE 50
+param set-default SENS_BOARD_ROT 4

-	param set SENS_BOARD_ROT 4
+param set-default FW_AIRSPD_MAX 20
+param set-default FW_AIRSPD_MIN 7
+param set-default FW_AIRSPD_TRIM 13
+param set-default FW_THR_CRUISE 0.8

-	param set FW_AIRSPD_MAX 20
-	param set FW_AIRSPD_MIN 7
-	param set FW_AIRSPD_TRIM 13
-	param set FW_THR_CRUISE 0.8
-
-	param set FW_MAN_P_MAX 25
-	param set FW_MAN_R_MAX 25
-	param set FW_PR_I 0.02
-	param set FW_R_LIM 40
-	param set FW_P_LIM_MAX 25
-	param set FW_P_LIM_MIN -5
-	param set FW_P_RMAX_NEG 20
-fi
+param set-default FW_MAN_P_MAX 25
+param set-default FW_MAN_R_MAX 25
+param set-default FW_PR_I 0.02
+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
--- a/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1
+++ b/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1
@ -0,0 +1,33 @@
+#!/bin/sh
+#
+# @name ThunderFly balloon TF-B1
+#
+# @type Balloon
+# @class Balloon
+#
+#
+# @url https://github.com/ThunderFly-aerospace/TF-B1/
+# @maintainer ThunderFly s.r.o.
+#
+# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${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
+param set-default SDLOG_MODE 2
+param set-default MAV_0_MODE 1
+param set-default MAV_0_CONFIG 102
+param set-default GPS_UBX_DYNMODEL 8
+param set-default SER_TEL2_BAUD 9600
+
+param set-default SENS_BOARD_ROT 0
+
+param set-default MAV_TYPE 8  # MAV_TYPE_FREE_BALLOON
+
+set MIXER IO_pass
+set MIXER_AUX pass
--- a/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
+++ b/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
@ -24,13 +24,6 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set PWM_AUX_RATE 50
-	param set PWM_RATE 50
-fi
-
 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
--- a/ROMFS/px4fmu_common/init.d/airframes/2105_maja
+++ b/ROMFS/px4fmu_common/init.d/airframes/2105_maja
@ -26,27 +26,21 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set FW_AIRSPD_MIN 10
-	param set FW_AIRSPD_TRIM 15
-	param set FW_AIRSPD_MAX 20
+param set-default FW_AIRSPD_MIN 10
+param set-default FW_AIRSPD_TRIM 15
+param set-default FW_AIRSPD_MAX 20

-	param set FW_MAN_P_MAX 55
-	param set FW_MAN_R_MAX 55
-	param set FW_R_LIM 55
+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 FW_WR_FF 0.2
-	param set FW_WR_I 0.2
-	param set FW_WR_IMAX 0.8
-	param set FW_WR_P 1
-	param set FW_W_RMAX 0
-
-	# set disarmed value for the ESC
-	param set PWM_DISARMED 1000
-fi
+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 MIXER AAERTWF

 # use PWM parameters for throttle channel
-set PWM_OUT 5
+param set-default PWM_MAIN_DIS5 1000
--- a/ROMFS/px4fmu_common/init.d/airframes/2106_albatross
+++ b/ROMFS/px4fmu_common/init.d/airframes/2106_albatross
@ -26,27 +26,21 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set FW_AIRSPD_MIN 10
-	param set FW_AIRSPD_TRIM 15
-	param set FW_AIRSPD_MAX 20
+param set-default FW_AIRSPD_MIN 10
+param set-default FW_AIRSPD_TRIM 15
+param set-default FW_AIRSPD_MAX 20

-	param set FW_MAN_P_MAX 55
-	param set FW_MAN_R_MAX 55
-	param set FW_R_LIM 55
+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 FW_WR_FF 0.2
-	param set FW_WR_I 0.2
-	param set FW_WR_IMAX 0.8
-	param set FW_WR_P 1
-	param set FW_W_RMAX 0
-
-	# set disarmed value for the ESC
-	param set PWM_DISARMED 1000
-fi
+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 MIXER AAVVTWFF

 # use PWM parameters for throttle channel
-set PWM_OUT 5
+param set-default PWM_MAIN_DIS5 1000
--- a/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon
+++ b/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon
@ -27,25 +27,19 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set FW_AIRSPD_MIN 10
-	param set FW_AIRSPD_TRIM 15
-	param set FW_AIRSPD_MAX 20
+param set-default FW_AIRSPD_MIN 10
+param set-default FW_AIRSPD_TRIM 15
+param set-default FW_AIRSPD_MAX 20

-	param set FW_MAN_P_MAX 55
-	param set FW_MAN_R_MAX 55
-	param set FW_R_LIM 55
+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 FW_WR_FF 0.2
-	param set FW_WR_I 0.2
-	param set FW_WR_IMAX 0.8
-	param set FW_WR_P 1
-	param set FW_W_RMAX 0
-
-	# set disarmed value for the ESC
-	param set PWM_DISARMED 1000
-fi
+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

 # The Mini Talon does not have a wheel and
 # no flaps. I leave them here because the mixer
@ -53,4 +47,4 @@ fi
 set MIXER AAVVTWFF_vtail

 # use PWM parameters for throttle channel
-set PWM_OUT 5
+param set-default PWM_MAIN_DIS5 1000
--- a/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
+++ b/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
@ -28,26 +28,68 @@

 set VEHICLE_TYPE mc

-if [ $AUTOCNF = yes ]
-then
-	param set NAV_ACC_RAD 2
+param set-default NAV_ACC_RAD 2

-	param set PWM_AUX_RATE 400
-	param set PWM_AUX_DISARMED 900
-	param set PWM_AUX_MIN 1075
-	param set PWM_AUX_MAX 1950
+param set-default RTL_DESCEND_ALT 10
+param set-default RTL_RETURN_ALT 30

-	param set PWM_MIN 1075
-	param set PWM_MAX 1950
-	param set PWM_RATE 400
+# 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 RTL_DESCEND_ALT 10
-	param set RTL_RETURN_ALT 30
-fi
+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
--- a/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship
+++ b/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship
@ -16,11 +16,7 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set COM_PREARM_MODE 2
-	param set CBRK_IO_SAFETY 22027
-fi
+param set-default COM_PREARM_MODE 2
+param set-default CBRK_IO_SAFETY 22027

 set MIXER cloudship
-set PWM_OUT 1234
--- a/ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing
+++ b/ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing
@ -22,3 +22,5 @@
 . ${R}etc/init.d/rc.fw_defaults

 set MIXER fw_generic_wing
+
+param set-default PWM_MAIN_DIS4 1000
--- a/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer
+++ b/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer
@ -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
@ -22,32 +18,28 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set FW_AIRSPD_MAX 15
-	param set FW_AIRSPD_MIN 10
-	param set FW_AIRSPD_TRIM 13
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
-	param set FW_L1_DAMPING 0.74
-	param set FW_L1_PERIOD 16
-	param set FW_LND_ANG 15
-	param set FW_LND_FLALT 5
-	param set FW_LND_HHDIST 15
-	param set FW_LND_HVIRT 13
-	param set FW_LND_TLALT 5
-	param set FW_THR_LND_MAX 0
-	param set FW_PR_FF 0.35
-	param set FW_PR_IMAX 0.4
-	param set FW_PR_P 0.08
-	param set FW_RR_FF 0.6
-	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.04
+param set-default FW_AIRSPD_MAX 15
+param set-default FW_AIRSPD_MIN 10
+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_LND_HHDIST 15
+param set-default FW_LND_HVIRT 13
+param set-default FW_LND_TLALT 5
+param set-default FW_THR_LND_MAX 0
+param set-default FW_PR_FF 0.35
+param set-default FW_PR_IMAX 0.4
+param set-default FW_PR_P 0.08
+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 PWM_DISARMED 1000
-fi

 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
--- a/ROMFS/px4fmu_common/init.d/airframes/3031_phantom
+++ b/ROMFS/px4fmu_common/init.d/airframes/3031_phantom
@ -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
@ -24,35 +20,31 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set FW_AIRSPD_MIN 13
-	param set FW_AIRSPD_TRIM 15
-	param set FW_AIRSPD_MAX 25
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
-	param set FW_L1_DAMPING 0.75
-	param set FW_L1_PERIOD 15
-	param set FW_PR_FF 0.2
-	param set FW_PR_IMAX 0.2
-	param set FW_PR_P 0.03
-	param set FW_P_LIM_MAX 50
-	param set FW_P_LIM_MIN -50
-	param set FW_P_ROLLFF 1
-	param set FW_RR_FF 0.5
-	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.08
-	param set FW_R_LIM 50
-	param set FW_R_RMAX 50
+param set-default FW_AIRSPD_MIN 13
+param set-default FW_AIRSPD_TRIM 15
+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_DAMPING 0.75
+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_P_ROLLFF 1
+param set-default FW_RR_FF 0.5
+param set-default FW_RR_IMAX 0.2
+param set-default FW_RR_P 0.08
+param set-default FW_R_LIM 50
+param set-default FW_R_RMAX 50

-	param set PWM_DISARMED 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

-	# Bottom of bay and nominal zero-pitch attitude differ
-	# the payload bay is pitched up about 7 degrees
-	param set SENS_BOARD_Y_OFF 7
-fi

 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
--- a/ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5
+++ b/ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5
@ -22,24 +22,22 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set FW_AIRSPD_MIN 15
-	param set FW_AIRSPD_TRIM 20
-	param set FW_AIRSPD_MAX 40
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
-	param set FW_L1_DAMPING 0.74
-	param set FW_L1_PERIOD 16
-	param set FW_LND_ANG 15
-	param set FW_LND_FLALT 5
-	param set FW_LND_HHDIST 15
-	param set FW_LND_HVIRT 13
-	param set FW_LND_TLALT 5
-	param set FW_THR_LND_MAX 0
-	param set FW_PR_FF 0.35
-	param set FW_RR_FF 0.6
-	param set FW_RR_P 0.04
-fi
+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_LND_HHDIST 15
+param set-default FW_LND_HVIRT 13
+param set-default FW_LND_TLALT 5
+param set-default FW_THR_LND_MAX 0
+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
--- a/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
+++ b/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
@ -24,28 +24,24 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set BAT_N_CELLS 2
-	param set FW_AIRSPD_MAX 15
-	param set FW_AIRSPD_MIN 10
-	param set FW_AIRSPD_TRIM 13
-	param set FW_R_TC 0.3
-	param set FW_P_TC 0.3
-	param set FW_L1_DAMPING 0.74
-	param set FW_L1_PERIOD 16
-	param set FW_LND_ANG 15
-	param set FW_LND_FLALT 5
-	param set FW_LND_HHDIST 15
-	param set FW_LND_HVIRT 13
-	param set FW_LND_TLALT 5
-	param set FW_THR_LND_MAX 0
-	param set FW_PR_FF 0.35
-	param set FW_RR_FF 0.6
-	param set FW_RR_P 0.04
+param set-default BAT_N_CELLS 2
+param set-default FW_AIRSPD_MAX 15
+param set-default FW_AIRSPD_MIN 10
+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_LND_HHDIST 15
+param set-default FW_LND_HVIRT 13
+param set-default FW_LND_TLALT 5
+param set-default FW_THR_LND_MAX 0
+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 PWM_DISARMED 1000
-fi

 # Configure this as plane.
 set MAV_TYPE 1
@ -53,5 +49,5 @@ 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
--- a/ROMFS/px4fmu_common/init.d/airframes/3034_fx79
+++ b/ROMFS/px4fmu_common/init.d/airframes/3034_fx79
@ -21,13 +21,12 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set FW_AIRSPD_MAX 30
-	param set FW_AIRSPD_MIN 13
-	param set FW_AIRSPD_TRIM 15
+param set-default FW_AIRSPD_MAX 30
+param set-default FW_AIRSPD_MIN 13
+param set-default FW_AIRSPD_TRIM 15

-	param set NAV_LOITER_RAD 150
-fi
+param set-default NAV_LOITER_RAD 150

 set MIXER FX79
+
+param set-default PWM_MAIN_DIS4 1000
--- a/ROMFS/px4fmu_common/init.d/airframes/3035_viper
+++ b/ROMFS/px4fmu_common/init.d/airframes/3035_viper
@ -21,3 +21,5 @@
 . ${R}etc/init.d/rc.fw_defaults

 set MIXER Viper
+
+param set-default PWM_MAIN_DIS4 1000
--- a/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon
+++ b/ROMFS/px4fmu_common/init.d/airframes/3036_pigeon
@ -23,36 +23,30 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set FW_AIRSPD_MIN 15
-	param set FW_AIRSPD_TRIM 20
-	param set FW_AIRSPD_MAX 27
-	param set FW_ATT_TC 0.3
-	param set FW_L1_DAMPING 0.75
-	param set FW_L1_PERIOD 20
-	param set FW_PR_FF 0.35
-	param set FW_PR_IMAX 0.2
-	param set FW_PR_P 0.05
-	param set FW_P_LIM_MAX 45
-	param set FW_P_LIM_MIN -45
-	param set FW_P_ROLLFF 1
-	param set FW_P_TC 0.3
-	param set FW_RR_FF 0.3
-	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.03
-	param set FW_R_LIM 40
-	param set FW_R_RMAX 50
-	param set FW_R_TC 0.3
+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_L1_DAMPING 0.75
+param set-default FW_L1_PERIOD 20
+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_LIM_MAX 45
+param set-default FW_P_LIM_MIN -45
+param set-default FW_P_ROLLFF 1
+param set-default FW_P_TC 0.3
+param set-default FW_RR_FF 0.3
+param set-default FW_RR_IMAX 0.2
+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 PWM_DISARMED 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 SENS_BOARD_Y_OFF 11.9
-fi
+# 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
--- a/ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod
+++ b/ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod
@ -23,72 +23,65 @@

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

-if [ $AUTOCNF = yes ]
-then
+####################################
+# Airspeed
+####################################
+param set-default FW_AIRSPD_MIN  15 # = 29 knots
+param set-default FW_AIRSPD_TRIM 20 # = 39 knots
+param set-default FW_AIRSPD_MAX  27 # = 52 knots

-	####################################
-	# Airspeed
-	####################################
+####################################
+# The Main L1 Controller
+####################################
+param set-default FW_L1_PERIOD 20 #units of meters

-	param set FW_AIRSPD_MIN  15 # = 29 knots
-	param set FW_AIRSPD_TRIM 20 # = 39 knots
-	param set FW_AIRSPD_MAX  27 # = 52 knots
+# Damping factor for L1 control (def = 0.75)
+param set-default FW_L1_DAMPING 0.75

-	####################################
-	# The Main L1 Controller
-	####################################
+####################################
+# Pitch
+####################################

-	param set FW_L1_PERIOD 20 #units of meters
+# Basic limits (def = +/- 45 deg)
+param set-default FW_P_LIM_MAX  45
+param set-default FW_P_LIM_MIN -45

-	# Damping factor for L1 control (def = 0.75)
-	param set FW_L1_DAMPING 0.75
+# Time Constant (def = 0.4s)
+param set-default FW_P_TC 0.4

-	####################################
-	# Pitch
-	####################################
+# Pitch rate feed forward (def = 0.5 %/rad/sec)
+param set-default FW_PR_FF 0.35

-	# Basic limits (def = +/- 45 deg)
-	param set FW_P_LIM_MAX  45
-	param set FW_P_LIM_MIN -45
+# Pitch rate integrator limit (def = 0.4)
+param set-default FW_PR_IMAX 0.4

-	# Time Constant (def = 0.4s)
-	param set FW_P_TC 0.4
+# Pitch rate proportional gain (def = 0.08 %/rad/sec)
+param set-default FW_PR_P 0.08

-	# Pitch rate feed forward (def = 0.5 %/rad/sec)
-	param set FW_PR_FF 0.35
+####################################
+# Roll
+####################################

-	# Pitch rate integrator limit (def = 0.4)
-	param set FW_PR_IMAX 0.4
+# Basic limits (def = 50 deg)
+param set-default FW_R_LIM 40

-	# Pitch rate proportional gain (def = 0.08 %/rad/sec)
-	param set FW_PR_P 0.08
+# Roll rate upper limit (def = 70 deg/s)
+param set-default FW_R_RMAX 50

-	####################################
-	# Roll
-	####################################
+# Roll Time Constant (def = 0.4 s)
+param set-default FW_R_TC 0.4

-	# Basic limits (def = 50 deg)
-	param set FW_R_LIM 40
+# Roll rate feed forward (def = 0.5 %/rad/sec)
+param set-default FW_RR_FF 0.5

-	# Roll rate upper limit (def = 70 deg/s)
-	param set FW_R_RMAX 50
+# Roll rate proportional Gain (def = 0.05 %/rad/sec)
+param set-default FW_RR_P 0.05

-	# Roll Time Constant (def = 0.4 s)
-	param set FW_R_TC 0.4
+# Roll Integrator Anti-Windup
+param set-default FW_RR_IMAX 0.2

-	# Roll rate feed forward (def = 0.5 %/rad/sec)
-	param set FW_RR_FF 0.5
-
-	# Roll rate proportional Gain (def = 0.05 %/rad/sec)
-	param set FW_RR_P 0.05
-
-	# Roll Integrator Anti-Windup
-	param set FW_RR_IMAX 0.2
-
-	param set PWM_DISARMED 1000
-fi

 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
--- a/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha
+++ b/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha
@ -21,49 +21,45 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set FW_AIRSPD_MAX 25
-	param set FW_AIRSPD_MIN 12.5
-	param set FW_AIRSPD_TRIM 16.5
-	param set FW_L1_DAMPING 0.75
-	param set FW_L1_PERIOD 15
-	param set FW_LND_ANG 15
-	param set FW_LND_FLALT 8
-	param set FW_LND_HHDIST 15
-	param set FW_LND_HVIRT 13
-	param set FW_LND_TLALT 10
-	param set FW_THR_LND_MAX 0
-	param set FW_P_LIM_MAX 20
-	param set FW_P_LIM_MIN -30
-	param set FW_R_LIM 45
-	param set FW_R_TC 0.4
-	param set FW_P_TC 0.4
-	param set FW_PR_FF 0.45
-	param set FW_PR_IMAX 0.4
-	param set FW_PR_P 0.005
-	param set FW_RR_FF 0.45
-	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.013
-	param set FW_P_RMAX_NEG 70
-	param set FW_P_RMAX_POS 70
-	param set FW_R_RMAX 70
-	param set FW_THR_CRUISE 0.55
+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_DAMPING 0.75
+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_LND_HHDIST 15
+param set-default FW_LND_HVIRT 13
+param set-default FW_LND_TLALT 10
+param set-default FW_THR_LND_MAX 0
+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_R_TC 0.4
+param set-default FW_P_TC 0.4
+param set-default FW_PR_FF 0.45
+param set-default FW_PR_IMAX 0.4
+param set-default FW_PR_P 0.005
+param set-default FW_RR_FF 0.45
+param set-default FW_RR_IMAX 0.2
+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_CRUISE 0.55

-	param set LNDFW_AIRSPD_MAX 6
-	param set LNDFW_XYACC_MAX 4
-	param set LNDFW_VEL_XY_MAX 3
-	param set LNDFW_VEL_Z_MAX 5
+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 MIS_TAKEOFF_ALT 50
+param set-default MIS_TAKEOFF_ALT 50

-	param set NAV_LOITER_RAD 30
+param set-default NAV_LOITER_RAD 30

-	param set PWM_MAIN_REV1 1
-	param set PWM_MAIN_REV2 1
-	param set PWM_MIN 900
-	param set PWM_MAX 2100
-fi
+param set-default PWM_MAIN_REV1 1
+param set-default PWM_MAIN_REV2 1
+# Provide ESC a constant 1000 us pulse
+param set-default PWM_MAIN_DIS4 1000

 set MIXER caipi
-set PWM_OUT 1234
--- a/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x
+++ b/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x
@ -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
--- a/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5
+++ b/ROMFS/px4fmu_common/init.d/airframes/4003_qavr5
@ -11,28 +11,20 @@
 # @board bitcraze_crazyflie exclude
 #

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

-set MIXER quad_x
-set PWM_OUT 1234
+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_ROLLRATE_D 0.003
+param set-default MC_PITCH_P 8
+param set-default MC_PITCHRATE_P 0.1
+param set-default MC_PITCHRATE_I 0.2
+param set-default MC_PITCHRATE_D 0.003
+param set-default MC_YAW_P 2.8
+param set-default MC_YAWRATE_P 0.15
+param set-default MC_YAWRATE_I 0.1
+param set-default MC_YAWRATE_D 0

-if [ $AUTOCNF = yes ]
-then
-	param set MC_ROLL_P 8
-	param set MC_ROLLRATE_P 0.08
-	param set MC_ROLLRATE_I 0.16
-	param set MC_ROLLRATE_D 0.003
-	param set MC_PITCH_P 8
-	param set MC_PITCHRATE_P 0.1
-	param set MC_PITCHRATE_I 0.2
-	param set MC_PITCHRATE_D 0.003
-	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.15
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
-
-	param set MPC_THR_MIN 0.06
-	param set MPC_MANTHR_MIN 0.06
-
-	param set PWM_MIN 1075
-fi
+param set-default MPC_THR_MIN 0.06
+param set-default MPC_MANTHR_MIN 0.06
--- a/ROMFS/px4fmu_common/init.d/airframes/4009_qav250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4009_qav250
@ -11,31 +11,23 @@
 # @board bitcraze_crazyflie exclude
 #

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

-set MIXER quad_x
-set PWM_OUT 1234
+param set-default ATT_BIAS_MAX 0

-if [ $AUTOCNF = yes ]
-then
-	param set ATT_BIAS_MAX 0
+param set-default CBRK_IO_SAFETY 22027

-	param set CBRK_IO_SAFETY 22027
-
-	param set MPC_MANTHR_MIN 0.06
-	param set MC_ROLL_P 6
-	param set MC_ROLLRATE_P 0.14
-	param set MC_ROLLRATE_I 0.23
-	param set MC_ROLLRATE_D 0.0025
-	param set MC_PITCH_P 7
-	param set MC_PITCHRATE_P 0.235
-	param set MC_PITCHRATE_I 0.17
-	param set MC_PITCHRATE_D 0.004
-	param set MC_YAW_P 4
-	param set MC_YAWRATE_P 0.3
-	param set MC_YAWRATE_I 0.2
-	param set MC_YAWRATE_D 0
-	param set MPC_THR_MIN 0.06
-
-	param set PWM_MIN 1075
-fi
+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 MC_YAWRATE_D 0
+param set-default MPC_THR_MIN 0.06
--- a/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330
+++ b/ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330
@ -8,26 +8,17 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-if [ $AUTOCNF = yes ]
-then
-	param set MC_ROLL_P 7
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.003
-	param set MC_PITCH_P 7
-	param set MC_PITCHRATE_P 0.15
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.003
-	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
-
-	# DJI ESCs do not support calibration and need a higher min
-	param set PWM_MIN 1230
-fi
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.15
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_ROLLRATE_D 0.003
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.15
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCHRATE_D 0.003
+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
--- a/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450
+++ b/ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450
@ -8,26 +8,17 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-if [ $AUTOCNF = yes ]
-then
-	param set MC_ROLL_P 7
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.003
-	param set MC_PITCH_P 7
-	param set MC_PITCHRATE_P 0.15
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.003
-	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.3
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
-
-	# DJI ESCs do not support calibration and need a higher min
-	param set PWM_MIN 1230
-fi
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.15
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_ROLLRATE_D 0.003
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.15
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCHRATE_D 0.003
+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
--- a/ROMFS/px4fmu_common/init.d/airframes/4014_s500
+++ b/ROMFS/px4fmu_common/init.d/airframes/4014_s500
@ -11,17 +11,11 @@
 # @board bitcraze_crazyflie exclude
 #

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-if [ $AUTOCNF = yes ]
-then
-	param set MC_ROLLRATE_P 0.18
-	param set MC_PITCHRATE_P 0.18
-	param set MC_ROLLRATE_I 0.15
-	param set MC_PITCHRATE_I 0.15
-	param set MC_ROLLRATE_D 0.003
-	param set MC_PITCHRATE_D 0.003
-fi
+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 MC_ROLLRATE_D 0.003
+param set-default MC_PITCHRATE_D 0.003
--- a/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500
+++ b/ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500
@ -11,19 +11,11 @@
 # @board bitcraze_crazyflie exclude
 #

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-if [ $AUTOCNF = yes ]
-then
-	param set IMU_GYRO_CUTOFF 60
-	param set IMU_DGYRO_CUTOFF 30
-	param set MC_ROLLRATE_P 0.14
-	param set MC_PITCHRATE_P 0.14
-	param set MC_ROLLRATE_I 0.3
-	param set MC_PITCHRATE_I 0.3
-	param set MC_ROLLRATE_D 0.004
-	param set MC_PITCHRATE_D 0.004
-fi
+param set-default MC_ROLLRATE_P 0.14
+param set-default MC_PITCHRATE_P 0.14
+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
--- a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
+++ b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
@ -14,126 +14,119 @@
 # @board bitcraze_crazyflie exclude
 #

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

-set MIXER quad_x
-set PWM_OUT 1234
+# System parameters
+# use FMU motor outputs for less delay in the rate control loop
+param set-default SYS_USE_IO 0

-if [ $AUTOCNF = yes ]
-then
-	# System parameters
-	# use FMU motor outputs for less delay in the rate control loop
-	param set SYS_USE_IO 0
+# Commander Parameters
+param set-default COM_OBS_AVOID 1
+param set-default COM_DISARM_LAND 0.5

-	# Commander Parameters
-	param set COM_OBS_AVOID 1
-	param set COM_DISARM_LAND 0.5
+# EKF2 parameters
+param set-default EKF2_AID_MASK 35
+param set-default EKF2_IMU_POS_X 0.02
+param set-default EKF2_GPS_POS_X 0.055
+param set-default EKF2_GPS_POS_Z -0.15
+param set-default EKF2_HGT_MODE 0
+param set-default EKF2_MIN_RNG 0.03
+param set-default EKF2_OF_POS_X 0.055
+param set-default EKF2_OF_POS_Y 0.02
+param set-default EKF2_OF_POS_Z 0.065
+param set-default EKF2_REQ_HDRIFT 0.3
+param set-default EKF2_REQ_SACC 1
+param set-default EKF2_REQ_VDRIFT 0.3
+param set-default EKF2_RNG_AID 1
+param set-default EKF2_RNG_A_HMAX 8
+param set-default EKF2_RNG_A_VMAX 2
+param set-default EKF2_RNG_POS_X 0.055
+param set-default EKF2_RNG_POS_Y -0.01
+param set-default EKF2_RNG_POS_Z 0.065
+param set-default EKF2_PCOEF_XP -0.25
+param set-default EKF2_PCOEF_YN -0.55
+param set-default EKF2_PCOEF_YP -0.55

-	# EKF2 parameters
-	param set EKF2_AID_MASK 35
-	param set EKF2_IMU_POS_X 0.02
-	param set EKF2_GPS_POS_X 0.055
-	param set EKF2_GPS_POS_Z -0.15
-	param set EKF2_HGT_MODE 0
-	param set EKF2_MIN_RNG 0.03
-	param set EKF2_OF_POS_X 0.055
-	param set EKF2_OF_POS_Y 0.02
-	param set EKF2_OF_POS_Z 0.065
-	param set EKF2_REQ_HDRIFT 0.3
-	param set EKF2_REQ_SACC 1
-	param set EKF2_REQ_VDRIFT 0.3
-	param set EKF2_RNG_AID 1
-	param set EKF2_RNG_A_HMAX 8
-	param set EKF2_RNG_A_VMAX 2
-	param set EKF2_RNG_POS_X 0.055
-	param set EKF2_RNG_POS_Y -0.01
-	param set EKF2_RNG_POS_Z 0.065
-	param set EKF2_PCOEF_XP -0.25
-	param set EKF2_PCOEF_YN -0.55
-	param set EKF2_PCOEF_YP -0.55
+# MAVLink parameters
+param set-default MAV_0_CONFIG 101
+param set-default MAV_1_CONFIG 102
+param set-default MAV_1_RATE 80000
+param set-default MAV_1_MODE 9
+param set-default SER_TEL1_BAUD 921600

-	# MAVLink parameters
-	param set MAV_0_CONFIG 101
-	param set MAV_1_CONFIG 102
-	param set MAV_1_RATE 80000
-	param set MAV_1_MODE 9
-	param set SER_TEL1_BAUD 921600
+# Vehicle attitude PID tuning
+param set-default MC_ACRO_EXPO 0
+param set-default MC_ACRO_EXPO_Y 0
+param set-default MC_ACRO_P_MAX 200
+param set-default MC_ACRO_R_MAX 200
+param set-default MC_ACRO_SUPEXPO 0
+param set-default MC_ACRO_SUPEXPOY 0
+param set-default MC_ACRO_Y_MAX 150
+param set-default IMU_DGYRO_CUTOFF 30
+param set-default MC_PITCHRATE_D 0.0015
+param set-default MC_PITCHRATE_I 0.2
+param set-default MC_PITCHRATE_K 1
+param set-default MC_PITCHRATE_P 0.15
+param set-default MC_ROLLRATE_D 0.0015
+param set-default MC_ROLLRATE_I 0.2
+param set-default MC_ROLLRATE_K 1
+param set-default MC_ROLLRATE_P 0.15
+param set-default MC_YAWRATE_P 0.3

-	# Vehicle attitude PID tuning
-	param set MC_ACRO_EXPO 0
-	param set MC_ACRO_EXPO_Y 0
-	param set MC_ACRO_P_MAX 200
-	param set MC_ACRO_R_MAX 200
-	param set MC_ACRO_SUPEXPO 0
-	param set MC_ACRO_SUPEXPOY 0
-	param set MC_ACRO_Y_MAX 150
-	param set IMU_DGYRO_CUTOFF 30
-	param set MC_PITCHRATE_D 0.0015
-	param set MC_PITCHRATE_I 0.2
-	param set MC_PITCHRATE_K 1
-	param set MC_PITCHRATE_P 0.15
-	param set MC_ROLLRATE_D 0.0015
-	param set MC_ROLLRATE_I 0.2
-	param set MC_ROLLRATE_K 1
-	param set MC_ROLLRATE_P 0.15
-	param set MC_YAWRATE_P 0.3
+# Position Control Tuning
+param set-default CP_DIST 6
+param set-default MPC_ACC_DOWN_MAX 5
+param set-default MPC_ACC_HOR_MAX 10
+param set-default MPC_ACC_UP_MAX 4
+param set-default MPC_MANTHR_MIN 0
+param set-default MPC_MAN_Y_MAX 120
+param set-default MPC_TILTMAX_AIR 45
+param set-default MPC_THR_HOVER 0.3
+param set-default MPC_THR_MIN 0.12
+param set-default MPC_TKO_SPEED 1
+param set-default MPC_VEL_MANUAL 5
+param set-default MPC_XY_CRUISE 5
+param set-default MPC_XY_VEL_MAX 5
+param set-default MPC_XY_VEL_P_ACC 1.58
+param set-default MPC_XY_TRAJ_P 0.3
+param set-default MPC_Z_TRAJ_P 0.3
+param set-default MPC_Z_VEL_P_ACC 5
+param set-default MPC_Z_VEL_I_ACC 3
+param set-default MPC_LAND_ALT1 3
+param set-default MPC_LAND_ALT2 1

-	# Position Control Tuning
-	param set CP_DIST 6
-	param set MPC_ACC_DOWN_MAX 5
-	param set MPC_ACC_HOR_MAX 10
-	param set MPC_ACC_UP_MAX 4
-	param set MPC_MANTHR_MIN 0
-	param set MPC_MAN_Y_MAX 120
-	param set MPC_TILTMAX_AIR 45
-	param set MPC_THR_HOVER 0.3
-	param set MPC_THR_MIN 0.12
-	param set MPC_TKO_SPEED 1
-	param set MPC_VEL_MANUAL 5
-	param set MPC_XY_CRUISE 5
-	param set MPC_XY_VEL_MAX 5
-	param set MPC_XY_VEL_P_ACC 1.58
-	param set MPC_XY_TRAJ_P 0.3
-	param set MPC_Z_TRAJ_P 0.3
-	param set MPC_Z_VEL_P_ACC 5
-	param set MPC_Z_VEL_I_ACC 3
-	param set MPC_LAND_ALT1 3
-	param set MPC_LAND_ALT2 1
+# Navigator Parameters
+param set-default NAV_ACC_RAD 2

-	# Navigator Parameters
-	param set NAV_ACC_RAD 2
+# use oneshot motor output protocol
+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

-	# PWM and RC Parameters
-	param set PWM_MAX 1950
-	param set PWM_MIN 1075
+# RTL Parameters
+param set-default RTL_DESCEND_ALT 5
+param set-default RTL_RETURN_ALT 5
+param set-default RTL_CONE_ANG 45

-	# use oneshot motor output protocol
-	param set PWM_RATE 0
+# Logging Parameters
+param set-default SDLOG_PROFILE 131

-	# RTL Parameters
-	param set RTL_DESCEND_ALT 5
-	param set RTL_RETURN_ALT 5
-	param set RTL_CONE_ANG 45
+# Sensors Parameters
+param set-default SENS_BOARD_ROT 0
+param set-default SENS_CM8JL65_CFG 104
+param set-default SENS_FLOW_MAXHGT 25
+param set-default SENS_FLOW_MINHGT 0.5
+param set-default SENS_FLOW_ROT 0
+param set-default IMU_GYRO_CUTOFF 100
+param set-default SENS_EN_PMW3901 1

-	# Logging Parameters
-	param set SDLOG_PROFILE 131
+# Power Parameters
+param set-default BAT_N_CELLS 4
+param set-default BAT_A_PER_V 36.364
+param set-default BAT_V_DIV 18.182

-	# Sensors Parameters
-	param set SENS_BOARD_ROT 0
-	param set SENS_CM8JL65_CFG 104
-	param set SENS_FLOW_MAXHGT 25
-	param set SENS_FLOW_MINHGT 0.5
-	param set SENS_FLOW_ROT 0
-	param set IMU_GYRO_CUTOFF 100
-	param set SENS_EN_PMW3901 1
+# Circuit breakers
+param set-default CBRK_IO_SAFETY 22027

-	# Power Parameters
-	param set BAT_N_CELLS 4
-	param set BAT_A_PER_V 36.364
-	param set BAT_V_DIV 18.182
-
-	# Circuit breakers
-	param set CBRK_IO_SAFETY 22027
-
-	param set THR_MDL_FAC 0.3
-fi
+param set-default THR_MDL_FAC 0.3
--- a/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames
+++ b/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames
@ -16,24 +16,14 @@
 # @maintainer Iain Galloway <iain.galloway@nxp.com>
 #

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

-set MIXER quad_x
-set PWM_OUT 1234
+param set-default IMU_GYRO_RATEMAX 400

-if [ $AUTOCNF = yes ]
-then
+param set-default MC_ROLLRATE_P 0.18
+param set-default MC_ROLLRATE_I 0.15
+param set-default MC_ROLLRATE_D 0.003

-	param set IMU_GYRO_CUTOFF 40
-	param set IMU_DGYRO_CUTOFF 20
-	param set IMU_GYRO_RATEMAX 400
-
-	param set MC_ROLLRATE_P 0.18
-	param set MC_ROLLRATE_I 0.15
-	param set MC_ROLLRATE_D 0.003
-
-	param set MC_PITCHRATE_P 0.18
-	param set MC_PITCHRATE_I 0.15
-	param set MC_PITCHRATE_D 0.003
-
-fi
+param set-default MC_PITCHRATE_P 0.18
+param set-default MC_PITCHRATE_I 0.15
+param set-default MC_PITCHRATE_D 0.003
--- a/ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc
+++ b/ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc
@ -7,51 +7,48 @@
 #
 # @maintainer Silvan Fuhrer
 #
+# @board px4_fmu-v2 exclude
+#

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

-if [ $AUTOCNF = yes ]
-then
-	param set MPC_USE_HTE 0

-	param set VM_MASS 1.5
-	param set VM_INERTIA_XX 0.03
-	param set VM_INERTIA_YY 0.03
-	param set VM_INERTIA_ZZ 0.05
+param set-default MPC_USE_HTE 0

-	param set CA_AIRFRAME 0
-	param set CA_METHOD 1
-	param set CA_ACT0_MIN 0.0
-	param set CA_ACT1_MIN 0.0
-	param set CA_ACT2_MIN 0.0
-	param set CA_ACT3_MIN 0.0
-	param set CA_ACT0_MAX 1.0
-	param set CA_ACT1_MAX 1.0
-	param set CA_ACT2_MAX 1.0
-	param set CA_ACT3_MAX 1.0
+param set-default VM_MASS 1.5
+param set-default VM_INERTIA_XX 0.03
+param set-default VM_INERTIA_YY 0.03
+param set-default VM_INERTIA_ZZ 0.05

-	param set CA_MC_R0_PX 0.177
-	param set CA_MC_R0_PY 0.177
-	param set CA_MC_R0_CT 6.5
-	param set CA_MC_R0_KM 0.05
-	param set CA_MC_R1_PX -0.177
-	param set CA_MC_R1_PY -0.177
-	param set CA_MC_R1_CT 6.5
-	param set CA_MC_R1_KM 0.05
-	param set CA_MC_R2_PX 0.177
-	param set CA_MC_R2_PY -0.177
-	param set CA_MC_R2_CT 6.5
-	param set CA_MC_R2_KM -0.05
-	param set CA_MC_R3_PX -0.177
-	param set CA_MC_R3_PY 0.177
-	param set CA_MC_R3_CT 6.5
-	param set CA_MC_R3_KM -0.05
+param set-default CA_AIRFRAME 0
+param set-default CA_METHOD 1
+param set-default CA_ACT0_MIN 0.0
+param set-default CA_ACT1_MIN 0.0
+param set-default CA_ACT2_MIN 0.0
+param set-default CA_ACT3_MIN 0.0
+param set-default CA_ACT0_MAX 1.0
+param set-default CA_ACT1_MAX 1.0
+param set-default CA_ACT2_MAX 1.0
+param set-default CA_ACT3_MAX 1.0

-fi
+param set-default CA_MC_R0_PX 0.177
+param set-default CA_MC_R0_PY 0.177
+param set-default CA_MC_R0_CT 6.5
+param set-default CA_MC_R0_KM 0.05
+param set-default CA_MC_R1_PX -0.177
+param set-default CA_MC_R1_PY -0.177
+param set-default CA_MC_R1_CT 6.5
+param set-default CA_MC_R1_KM 0.05
+param set-default CA_MC_R2_PX 0.177
+param set-default CA_MC_R2_PY -0.177
+param set-default CA_MC_R2_CT 6.5
+param set-default CA_MC_R2_KM -0.05
+param set-default CA_MC_R3_PX -0.177
+param set-default CA_MC_R3_PY 0.177
+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
--- a/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb
+++ b/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb
@ -17,25 +17,17 @@
 # @board bitcraze_crazyflie exclude
 #

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-if [ $AUTOCNF = yes ]
-then
-	param set MC_ROLL_P 7
-	param set MC_ROLLRATE_P 0.1
-	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.003
-	param set MC_PITCH_P 7
-	param set MC_PITCHRATE_P 0.1
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.003
-	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
-
-	param set PWM_MIN 1200
-fi
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.1
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_ROLLRATE_D 0.003
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.1
+param set-default MC_PITCHRATE_I 0.05
+param set-default MC_PITCHRATE_D 0.003
+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
--- a/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo
+++ b/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo
@ -17,79 +17,70 @@
 # @board bitcraze_crazyflie exclude
 #

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

-if [ $AUTOCNF = yes ]
-then
-	# tuning
-	param set MC_PITCHRATE_P    0.11
-	param set MC_ROLLRATE_P     0.11
-	param set MPC_MANTHR_MIN    0.08
-	param set MPC_XY_VEL_MAX    3
-	param set MPC_Z_VEL_MAX_DN     2
+# 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

-	# takeoff, land and RTL settings
-	param set MIS_TAKEOFF_ALT   4
-	param set RTL_LAND_DELAY    1
-	param set RTL_DESCEND_ALT   5
-	param set RTL_RETURN_ALT    15
-	param set MPC_TILTMAX_LND   8
-	param set MPC_LAND_SPEED    0.4
-	param set MPC_HOLD_MAX_Z    1.5
-	param set MPC_TKO_JMPSPD    2
-	param set MPC_TKO_SPEED     1.5
+# takeoff, land and RTL settings
+param set-default MIS_TAKEOFF_ALT   4
+param set-default RTL_LAND_DELAY    1
+param set-default RTL_DESCEND_ALT   5
+param set-default RTL_RETURN_ALT    15
+param set-default MPC_TILTMAX_LND   8
+param set-default MPC_LAND_SPEED    0.4
+param set-default MPC_HOLD_MAX_Z    1.5
+param set-default MPC_TKO_JMPSPD    2
+param set-default MPC_TKO_SPEED     1.5

-	# setup
-	# main board rotation: pitch 180
-	param set SENS_BOARD_ROT    12
-	# solo external mag rotation
-	param set CAL_MAG0_ROT      38
-	# no safety switch
-	param set CBRK_IO_SAFETY    22027
-	# battery voltage not available yet
-	param set CBRK_SUPPLY_CHK   894281
+# setup
+# main board rotation: pitch 180
+param set-default SENS_BOARD_ROT    12
+# solo external mag rotation
+param set-default CAL_MAG0_ROT      38
+# no safety switch
+param set-default CBRK_IO_SAFETY    22027
+# battery voltage not available yet
+param set-default CBRK_SUPPLY_CHK   894281

-	# RC configuration
-	param set RC_MAP_MODE_SW    5
-	param set RC_MAP_PITCH      2
-	param set RC_MAP_ROLL       1
-	param set RC_MAP_THROTTLE   3
-	param set RC_MAP_YAW        4
+# RC configuration
+param set-default RC_MAP_MODE_SW    5
+param set-default RC_MAP_PITCH      2
+param set-default RC_MAP_ROLL       1
+param set-default RC_MAP_THROTTLE   3
+param set-default RC_MAP_YAW        4

-	param set RC1_DZ            10
-	param set RC1_MAX           1988
-	param set RC1_MIN           1003
-	param set RC1_REV           1
-	param set RC1_TRIM          1499
-	param set RC2_DZ            10
-	param set RC2_MAX           1987
-	param set RC2_MIN           1023
-	param set RC2_REV           -1
-	param set RC2_TRIM          1499
-	param set RC3_DZ            10
-	param set RC3_MAX           1877
-	param set RC3_MIN           1023
-	param set RC3_REV           1
-	param set RC3_TRIM          1023
-	param set RC4_DZ            10
-	param set RC4_MAX           1998
-	param set RC4_MIN           1012
-	param set RC4_REV           1
-	param set RC4_TRIM          1500
-	param set RC5_DZ            10
-	param set RC5_MAX           2000
-	param set RC5_MIN           1000
-	param set RC5_REV           1
-	param set RC5_TRIM          1500
-
-	# enable high-speed link on telem 1
-	param set MAV_0_RATE 80000
-	param set MAV_0_MODE 2
-	param set SER_TEL1_BAUD 921600
-fi
-
-set MIXER quad_x
-
-set PWM_OUT 1234
-set MIXER_AUX none
+param set-default RC1_DZ            10
+param set-default RC1_MAX           1988
+param set-default RC1_MIN           1003
+param set-default RC1_REV           1
+param set-default RC1_TRIM          1499
+param set-default RC2_DZ            10
+param set-default RC2_MAX           1987
+param set-default RC2_MIN           1023
+param set-default RC2_REV           -1
+param set-default RC2_TRIM          1499
+param set-default RC3_DZ            10
+param set-default RC3_MAX           1877
+param set-default RC3_MIN           1023
+param set-default RC3_REV           1
+param set-default RC3_TRIM          1023
+param set-default RC4_DZ            10
+param set-default RC4_MAX           1998
+param set-default RC4_MIN           1012
+param set-default RC4_REV           1
+param set-default RC4_TRIM          1500
+param set-default RC5_DZ            10
+param set-default RC5_MAX           2000
+param set-default RC5_MIN           1000
+param set-default RC5_REV           1
+param set-default RC5_TRIM          1500

+# enable high-speed link on telem 1
+param set-default MAV_0_RATE 80000
+param set-default MAV_0_MODE 2
+param set-default SER_TEL1_BAUD 921600
--- a/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad
+++ b/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad
@ -12,20 +12,14 @@
 # @board bitcraze_crazyflie exclude
 #

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-if [ $AUTOCNF = yes ]
-then
-	param set MC_ROLL_P 6.5
-	param set MC_ROLLRATE_P 0.14
-	param set MC_ROLLRATE_I 0.1
-	param set MC_ROLLRATE_D 0.004
-	param set MC_PITCH_P 6
-	param set MC_PITCHRATE_P 0.14
-	param set MC_PITCHRATE_I 0.09
-	param set MC_PITCHRATE_D 0.004
-	param set MC_YAW_P 4
-fi
+param set-default MC_ROLL_P 6.5
+param set-default MC_ROLLRATE_P 0.14
+param set-default MC_ROLLRATE_I 0.1
+param set-default MC_ROLLRATE_D 0.004
+param set-default MC_PITCH_P 6
+param set-default MC_PITCHRATE_P 0.14
+param set-default MC_PITCHRATE_I 0.09
+param set-default MC_PITCHRATE_D 0.004
+param set-default MC_YAW_P 4
--- a/ROMFS/px4fmu_common/init.d/airframes/4040_reaper
+++ b/ROMFS/px4fmu_common/init.d/airframes/4040_reaper
@ -19,36 +19,21 @@
 # @board bitcraze_crazyflie exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set MC_ROLL_P 6.5
-	param set MC_ROLLRATE_P 0.14
-	param set MC_ROLLRATE_I 0.1
-	param set MC_ROLLRATE_D 0.004
-	param set MC_PITCH_P 6
-	param set MC_PITCHRATE_P 0.14
-	param set MC_PITCHRATE_I 0.09
-	param set MC_PITCHRATE_D 0.004
-	param set MC_YAW_P 4
-
-	param set NAV_ACC_RAD 2
-
-	param set PWM_AUX_DISARMED 950
-	param set PWM_AUX_RATE 50
-	param set PWM_MIN 1100
-	param set PWM_MAX 1900
-	param set PWM_RATE 50
-
-	param set RTL_RETURN_ALT 30
-	param set RTL_DESCEND_ALT 10
-fi
+. ${R}etc/init.d/rc.mc_quad_defaults

 set MIXER quad_h

-set PWM_OUT 1234
+param set-default MC_ROLL_P 6.5
+param set-default MC_ROLLRATE_P 0.14
+param set-default MC_ROLLRATE_I 0.1
+param set-default MC_ROLLRATE_D 0.004
+param set-default MC_PITCH_P 6
+param set-default MC_PITCHRATE_P 0.14
+param set-default MC_PITCHRATE_I 0.09
+param set-default MC_PITCHRATE_D 0.004
+param set-default MC_YAW_P 4

-set MIXER_AUX pass
+param set-default NAV_ACC_RAD 2

-set PWM_AUX_OUT 1234
+param set-default RTL_RETURN_ALT 30
+param set-default RTL_DESCEND_ALT 10
--- a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
+++ b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
@ -24,42 +24,37 @@

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

-if [ $AUTOCNF = yes ]
-then
-	param set CBRK_SUPPLY_CHK 894281
-	param set CBRK_USB_CHK 197848
-
-	param set IMU_GYRO_CUTOFF 100
-	param set IMU_DGYRO_CUTOFF 60
-
-	param set MC_AIRMODE 2
-	param set MC_PITCHRATE_D 0.001
-	param set MC_PITCHRATE_I 0.5
-	param set MC_PITCHRATE_MAX 600
-	param set MC_PITCHRATE_P 0.075
-	param set MC_PITCH_P 6
-	param set MC_ROLLRATE_D 0.001
-	param set MC_ROLLRATE_I 0.4
-	param set MC_ROLLRATE_MAX 600
-	param set MC_ROLLRATE_P 0.075
-	param set MC_YAWRATE_I 0.3
-	param set MC_YAWRATE_MAX 400
-	param set MC_YAWRATE_P 0.12
-	param set MC_YAW_P 4
-
-	param set MPC_MANTHR_MIN 0
-	param set MPC_MAN_TILT_MAX 60
-
-	param set MOT_ORDERING 1
-	param set DSHOT_CONFIG 600
-
-	param set SYS_HAS_BARO 0
-	param set SYS_HAS_MAG 0
-
-	param set BAT_N_CELLS 2
-fi
-
 # The Whoop uses reversed props
 set MIXER quad_h
-set PWM_OUT 1234

+param set-default CBRK_SUPPLY_CHK 894281
+param set-default CBRK_USB_CHK 197848
+
+param set-default IMU_GYRO_CUTOFF 100
+param set-default IMU_DGYRO_CUTOFF 60
+
+param set-default MC_AIRMODE 2
+param set-default MC_PITCHRATE_D 0.001
+param set-default MC_PITCHRATE_I 0.5
+param set-default MC_PITCHRATE_MAX 600
+param set-default MC_PITCHRATE_P 0.075
+param set-default MC_PITCH_P 6
+param set-default MC_ROLLRATE_D 0.001
+param set-default MC_ROLLRATE_I 0.4
+param set-default MC_ROLLRATE_MAX 600
+param set-default MC_ROLLRATE_P 0.075
+param set-default MC_YAWRATE_I 0.3
+param set-default MC_YAWRATE_MAX 400
+param set-default MC_YAWRATE_P 0.12
+param set-default MC_YAW_P 4
+
+param set-default MPC_MANTHR_MIN 0
+param set-default MPC_MAN_TILT_MAX 60
+
+param set-default MOT_ORDERING 1
+param set-default DSHOT_CONFIG 600
+
+param set-default SYS_HAS_BARO 0
+param set-default SYS_HAS_MAG 0
+
+param set-default BAT_N_CELLS 2
--- a/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
@ -11,45 +11,35 @@
 # @board bitcraze_crazyflie exclude
 #

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

-set MIXER quad_x
-set PWM_OUT 1234
+param set-default MC_ROLL_P 8
+param set-default MC_ROLLRATE_P 0.08
+param set-default MC_ROLLRATE_I 0.25
+param set-default MC_ROLLRATE_D 0.001
+param set-default MC_PITCH_P 8
+param set-default MC_PITCHRATE_P 0.08
+param set-default MC_PITCHRATE_I 0.25
+param set-default MC_PITCHRATE_D 0.001
+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

-if [ $AUTOCNF = yes ]
-then
-	param set MC_ROLL_P 8
-	param set MC_ROLLRATE_P 0.08
-	param set MC_ROLLRATE_I 0.25
-	param set MC_ROLLRATE_D 0.001
-	param set MC_PITCH_P 8
-	param set MC_PITCHRATE_P 0.08
-	param set MC_PITCHRATE_I 0.25
-	param set MC_PITCHRATE_D 0.001
-	param set MC_YAW_P 4
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
+param set-default MC_ROLLRATE_MAX 1600
+param set-default MC_PITCHRATE_MAX 1600
+param set-default MC_YAWRATE_MAX 1000

-	param set MC_ROLLRATE_MAX 1600
-	param set MC_PITCHRATE_MAX 1600
-	param set MC_YAWRATE_MAX 1000
+param set-default MPC_MANTHR_MIN 0
+param set-default MPC_MAN_TILT_MAX 60

-	param set MPC_MANTHR_MIN 0
-	param set MPC_MAN_TILT_MAX 60
+# use thrust curve factor (instead of TPA)
+param set-default THR_MDL_FAC 0.3

-	# use thrust curve factor (instead of TPA)
-	param set THR_MDL_FAC 0.3
+# enable high-rate logging profile (helps with tuning)
+param set-default SDLOG_PROFILE 19

-	param set PWM_MIN 1075
-	# enable one-shot
-	param set PWM_RATE 0
+param set-default IMU_DGYRO_CUTOFF 50
+param set-default IMU_GYRO_CUTOFF 90

-	# enable high-rate logging profile (helps with tuning)
-	param set SDLOG_PROFILE 19
-
-	param set IMU_DGYRO_CUTOFF 50
-	param set IMU_GYRO_CUTOFF 90
-
-	param set CBRK_IO_SAFETY 22027
-fi
+param set-default CBRK_IO_SAFETY 22027
--- a/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq
+++ b/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq
@ -21,39 +21,32 @@
 # @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

-if [ $AUTOCNF = yes ]
-then
-	param set ATT_BIAS_MAX 0
+param set-default CBRK_IO_SAFETY 22027

-	param set CBRK_IO_SAFETY 22027
+param set-default MC_ROLL_P 8
+param set-default MC_ROLLRATE_P 0.19
+param set-default MC_ROLLRATE_I 0.1
+param set-default MC_ROLLRATE_D 0.0055
+param set-default MC_PITCH_P 8
+param set-default MC_PITCHRATE_P 0.19
+param set-default MC_PITCHRATE_I 0.1
+param set-default MC_PITCHRATE_D 0.0055
+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
+param set-default MC_ROLLRATE_MAX 720
+param set-default MC_PITCHRATE_MAX 720
+param set-default MC_YAWRATE_MAX 400
+param set-default MC_ACRO_R_MAX 360
+param set-default MC_ACRO_P_MAX 360

-	param set MC_ROLL_P 8
-	param set MC_ROLLRATE_P 0.19
-	param set MC_ROLLRATE_I 0.1
-	param set MC_ROLLRATE_D 0.0055
-	param set MC_PITCH_P 8
-	param set MC_PITCHRATE_P 0.19
-	param set MC_PITCHRATE_I 0.1
-	param set MC_PITCHRATE_D 0.0055
-	param set MC_YAW_P 4
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.1
-	param set MC_YAWRATE_D 0
-	param set MC_ROLLRATE_MAX 720
-	param set MC_PITCHRATE_MAX 720
-	param set MC_YAWRATE_MAX 400
-	param set MC_ACRO_R_MAX 360
-	param set MC_ACRO_P_MAX 360
-
-	param set MPC_THR_MIN 0.06
-	param set MPC_MANTHR_MIN 0.06
-
-	param set PWM_MIN 1075
-fi
+param set-default MPC_THR_MIN 0.06
+param set-default MPC_MANTHR_MIN 0.06
--- a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
@ -14,46 +14,35 @@
 # @board bitcraze_crazyflie exclude
 #

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

-set MIXER quad_x
-set PWM_OUT 1234
+# The set does not include a battery, but most people will probably use 4S
+param set-default BAT_N_CELLS 4

-if [ $AUTOCNF = yes ]
-then
-	# The set does not include a battery, but most people will probably use 4S
-	param set BAT_N_CELLS 4
+param set-default IMU_GYRO_CUTOFF 120
+param set-default IMU_DGYRO_CUTOFF 45

-	param set IMU_GYRO_CUTOFF 120
-	param set IMU_DGYRO_CUTOFF 45
+param set-default MC_AIRMODE 1
+param set-default MC_PITCHRATE_D 0.0012
+param set-default MC_PITCHRATE_I 0.35
+param set-default MC_PITCHRATE_MAX 1200
+param set-default MC_PITCHRATE_P 0.082
+param set-default MC_PITCH_P 8
+param set-default MC_ROLLRATE_D 0.0012
+param set-default MC_ROLLRATE_I 0.3
+param set-default MC_ROLLRATE_MAX 1200
+param set-default MC_ROLLRATE_P 0.076
+param set-default MC_ROLL_P 8
+param set-default MC_YAWRATE_I 0.3
+param set-default MC_YAWRATE_MAX 600
+param set-default MC_YAWRATE_P 0.25
+param set-default MC_YAW_P 4

-	param set MC_AIRMODE 1
-	param set MC_PITCHRATE_D 0.0012
-	param set MC_PITCHRATE_I 0.35
-	param set MC_PITCHRATE_MAX 1200
-	param set MC_PITCHRATE_P 0.082
-	param set MC_PITCH_P 8
-	param set MC_ROLLRATE_D 0.0012
-	param set MC_ROLLRATE_I 0.3
-	param set MC_ROLLRATE_MAX 1200
-	param set MC_ROLLRATE_P 0.076
-	param set MC_ROLL_P 8
-	param set MC_YAWRATE_I 0.3
-	param set MC_YAWRATE_MAX 600
-	param set MC_YAWRATE_P 0.25
-	param set MC_YAW_P 4
-
-	param set MPC_MANTHR_MIN 0
-	param set MPC_MAN_TILT_MAX 60
-	param set MPC_THR_CURVE 1
-	param set MPC_THR_HOVER 0.25
-	param set MPC_THR_MIN 0.05
-	param set MPC_Z_VEL_I_ACC 1.7
-
-	param set PWM_MAX 1950
-	param set PWM_MIN 1050
-
-	param set PWM_RATE 0
-	param set THR_MDL_FAC 0.3
-fi
+param set-default MPC_MANTHR_MIN 0
+param set-default MPC_MAN_TILT_MAX 60
+param set-default MPC_THR_CURVE 1
+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 THR_MDL_FAC 0.3
--- a/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2
+++ b/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2
@ -12,56 +12,49 @@
 # @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

 set PARAM_DEFAULTS_VER 2

-if [ $AUTOCNF = yes ]
-then
-	param set BAT_N_CELLS 4
+param set-default BAT_N_CELLS 4

-	param set GPS_1_CONFIG 0
-	param set RC_PORT_CONFIG 201
+param set-default GPS_1_CONFIG 0
+param set-default RC_PORT_CONFIG 201

-	param set IMU_GYRO_CUTOFF 80
-	param set IMU_DGYRO_CUTOFF 50
-	param set IMU_GYRO_RATEMAX 2000
+param set-default IMU_GYRO_CUTOFF 80
+param set-default IMU_DGYRO_CUTOFF 50
+param set-default IMU_GYRO_RATEMAX 2000

-	param set MC_ROLLRATE_P 0.085
-	param set MC_ROLLRATE_I 0.25
-	param set MC_ROLLRATE_D 0.0008
-	param set MC_ROLLRATE_MAX 1600
-	param set MC_ROLL_P 10
+param set-default MC_ROLLRATE_P 0.085
+param set-default MC_ROLLRATE_I 0.25
+param set-default MC_ROLLRATE_D 0.0008
+param set-default MC_ROLLRATE_MAX 1600
+param set-default MC_ROLL_P 10

-	param set MC_PITCHRATE_P 0.085
-	param set MC_PITCHRATE_I 0.32
-	param set MC_PITCHRATE_D 0.0008
-	param set MC_PITCHRATE_MAX 1600
-	param set MC_PITCH_P 10
+param set-default MC_PITCHRATE_P 0.085
+param set-default MC_PITCHRATE_I 0.32
+param set-default MC_PITCHRATE_D 0.0008
+param set-default MC_PITCHRATE_MAX 1600
+param set-default MC_PITCH_P 10

-	param set MC_YAWRATE_MAX 1000
-	param set MC_YAWRATE_P 0.15
-	param set MC_YAW_P 4
+param set-default MC_YAWRATE_MAX 1000
+param set-default MC_YAWRATE_P 0.15
+param set-default MC_YAW_P 4

-	param set MOT_ORDERING 1
-	param set MPC_MANTHR_MIN 0
-	param set MPC_MAN_TILT_MAX 60
+param set-default MOT_ORDERING 1
+param set-default MPC_MANTHR_MIN 0
+param set-default MPC_MAN_TILT_MAX 60

-	param set DSHOT_CONFIG 1200
+param set-default DSHOT_CONFIG 1200

-	param set OSD_ATXXXX_CFG 1
-	param set TEL_FRSKY_CONFIG 300
+param set-default OSD_ATXXXX_CFG 1
+param set-default TEL_FRSKY_CONFIG 300

-	param set THR_MDL_FAC 0.35
+param set-default THR_MDL_FAC 0.35

-	param set MPC_THR_CURVE 1
-	param set MPC_THR_HOVER 0.12
+param set-default MPC_THR_CURVE 1
+param set-default MPC_THR_HOVER 0.12

-	param set MC_AIRMODE 1
-
-	param set EV_TSK_RC_LOSS 1
-fi
+param set-default MC_AIRMODE 1

+param set-default EV_TSK_RC_LOSS 1
--- a/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100
+++ b/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100
@ -12,26 +12,18 @@
 # @board bitcraze_crazyflie exclude
 #

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

-set MIXER quad_x
-set PWM_OUT 1234
+param set-default BAT_N_CELLS 6

-if [ $AUTOCNF = yes ]
-then
-	param set BAT_N_CELLS 6
-
-	param set MC_ROLL_P 6.5
-	param set MC_ROLLRATE_P 0.05
-	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.001
-	param set MC_PITCH_P 6.5
-	param set MC_PITCHRATE_P 0.05
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.001
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0
-	param set MC_YAWRATE_D 0
-
-	param set PWM_MIN 1200
-fi
+param set-default MC_ROLL_P 6.5
+param set-default MC_ROLLRATE_P 0.05
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_ROLLRATE_D 0.001
+param set-default MC_PITCH_P 6.5
+param set-default MC_PITCHRATE_P 0.05
+param set-default MC_PITCHRATE_I 0.05
+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
--- a/ROMFS/px4fmu_common/init.d/airframes/4070_aerofc
+++ b/ROMFS/px4fmu_common/init.d/airframes/4070_aerofc
@ -21,63 +21,60 @@
 #
 # Load default params for this platform
 #
-if [ $AUTOCNF = yes ]
-then
-	# Set all params here, then disable autoconfig
-	param set EKF2_GPS_POS_X -0.06
-	param set EKF2_GPS_POS_Z -0.1
-	param set EKF2_MIN_OBS_DT 50

-	param set EKF2_BARO_GATE 10
-	param set EKF2_BARO_NOISE 5
-	param set EKF2_ACC_NOISE 0.7
+# Set all params here, then disable autoconfig
+param set-default EKF2_GPS_POS_X -0.06
+param set-default EKF2_GPS_POS_Z -0.1
+param set-default EKF2_MIN_OBS_DT 50

-	param set LNDMC_Z_VEL_MAX 2
+param set-default EKF2_BARO_GATE 10
+param set-default EKF2_BARO_NOISE 5
+param set-default EKF2_ACC_NOISE 0.7

-	param set MC_ROLL_P 8
-	param set MC_ROLLRATE_P 0.13
-	param set MC_ROLLRATE_I 0.07
-	param set MC_ROLLRATE_D 0.0012
-	param set MC_ROLLRATE_MAX 360
-	param set MC_PITCH_P 8
-	param set MC_PITCHRATE_P 0.13
-	param set MC_PITCHRATE_I 0.07
-	param set MC_PITCHRATE_D 0.0012
-	param set MC_PITCHRATE_MAX 360
-	param set MC_YAW_P 4
-	param set MC_YAWRATE_P 0.12
-	param set MC_YAWRATE_I 0.05
-	param set MC_YAWRATE_D 0
+param set-default LNDMC_Z_VEL_MAX 2

-	param set MPC_LAND_SPEED 0.7
-	param set MPC_MANTHR_MIN 0.04
-	param set MPC_THR_HOVER 0.5
-	param set MPC_THR_MAX 0.94
-	param set MPC_THR_MIN 0.1
-	param set MPC_XY_CRUISE 8
-	param set MPC_XY_P 1.5
-	param set MPC_XY_VEL_P_ACC 3
-	param set MPC_Z_P 1.5
-	param set MPC_Z_VEL_P_ACC 16
-	param set MPC_Z_VEL_I_ACC 3
-	param set MPC_Z_VEL_MAX_DN 4
-	param set MPC_Z_VEL_MAX_UP 5
+param set-default MC_ROLL_P 8
+param set-default MC_ROLLRATE_P 0.13
+param set-default MC_ROLLRATE_I 0.07
+param set-default MC_ROLLRATE_D 0.0012
+param set-default MC_ROLLRATE_MAX 360
+param set-default MC_PITCH_P 8
+param set-default MC_PITCHRATE_P 0.13
+param set-default MC_PITCHRATE_I 0.07
+param set-default MC_PITCHRATE_D 0.0012
+param set-default MC_PITCHRATE_MAX 360
+param set-default MC_YAW_P 4
+param set-default MC_YAWRATE_P 0.12
+param set-default MC_YAWRATE_I 0.05
+param set-default MC_YAWRATE_D 0

-	# TELEM2 config
-	param set MAV_1_CONFIG 102
-	param set MAV_1_RATE 80000
-	param set MAV_1_FORWARD 1
-	param set SER_TEL2_BAUD 921600
-fi
+param set-default MPC_LAND_SPEED 0.7
+param set-default MPC_MANTHR_MIN 0.04
+param set-default MPC_THR_HOVER 0.5
+param set-default MPC_THR_MAX 0.94
+param set-default MPC_THR_MIN 0.1
+param set-default MPC_XY_CRUISE 8
+param set-default MPC_XY_P 1.5
+param set-default MPC_XY_VEL_P_ACC 3
+param set-default MPC_Z_P 1.5
+param set-default MPC_Z_VEL_P_ACC 16
+param set-default MPC_Z_VEL_I_ACC 3
+param set-default MPC_Z_VEL_MAX_DN 4
+param set-default MPC_Z_VEL_MAX_UP 5
+
+# TELEM2 config
+param set-default MAV_1_CONFIG 102
+param set-default MAV_1_RATE 80000
+param set-default MAV_1_FORWARD 1
+param set-default SER_TEL2_BAUD 921600

 if ! param greater SYS_HITL 0
 then
-  tap_esc start -d /dev/ttyS0 -n 4
-  usleep 300000
+	tap_esc start -d /dev/ttyS0 -n 4
+	usleep 300000

-  set OUTPUT_MODE tap_esc
+	set OUTPUT_MODE tap_esc
 fi

 set MIXER quad_x
 set USE_IO no
-
--- a/Show More
+++ b/Show More