WIP: ROMFS: explicitly configure airframe outputs

- v2.0 in PX4/Firmware (c76477963097ac72b7bd2f165a845a493ffb724e): https://github.com/mavlink/c_library_v2/commit/43f2f3180a49720804c5f006377889a164fabadb
    - v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/4e25dfa47b28adc177ea7badad837d8b84173712
    - Changes: https://github.com/mavlink/c_library_v2/compare/43f2f3180a49720804c5f006377889a164fabadb...4e25dfa47b28adc177ea7badad837d8b84173712

    4e25dfa4 2021-02-12 PX4BuildBot - autogenerated headers for rev https://github.com/mavlink/mavlink/tree/e4269aaf680b0797ba594b130d4e92dda889100c
82dcec27 2021-02-12 PX4BuildBot - autogenerated headers for rev https://github.com/mavlink/mavlink/tree/08e57d08ad17f1218334b74fa3766a0177783ea6

.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"
           ]
 
@@ -52,6 +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",
@@ -90,6 +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"
@@ -125,7 +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()

.ci/Jenkinsfile-hardware

@@ -17,6 +17,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -24,7 +25,7 @@ pipeline {
                 sh 'make cubepilot_cubeorange_console'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/cubepilot_cubeorange_console/cubepilot_cubeorange_console.elf', name: 'cubepilot_cubeorange_console'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_console'
               }
               post {
                 always {
@@ -93,6 +94,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -100,7 +102,7 @@ pipeline {
                 sh 'make cuav_x7pro_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/cuav_x7pro_default/cuav_x7pro_default.elf', name: 'cuav_x7pro_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_default'
               }
               post {
                 always {
@@ -220,6 +222,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -227,7 +230,7 @@ pipeline {
                 sh 'make px4_fmu-v3_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/px4_fmu-v3_default/px4_fmu-v3_default.elf', name: 'px4_fmu-v3_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_default'
               }
               post {
                 always {
@@ -294,6 +297,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -301,7 +305,7 @@ pipeline {
                 sh 'make px4_fmu-v4_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/px4_fmu-v4_default/px4_fmu-v4_default.elf', name: 'px4_fmu-v4_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_default'
               }
               post {
                 always {
@@ -367,6 +371,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -374,7 +379,7 @@ pipeline {
                 sh 'make px4_fmu-v4pro_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf', name: 'px4_fmu-v4pro_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_default'
               }
               post {
                 always {
@@ -441,6 +446,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -448,7 +454,7 @@ pipeline {
                 sh 'make px4_fmu-v5_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/px4_fmu-v5_default/px4_fmu-v5_default.elf', name: 'px4_fmu-v5_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_default'
               }
               post {
                 always {
@@ -516,6 +522,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -523,7 +530,7 @@ pipeline {
                 sh 'make px4_fmu-v5_debug'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf', name: 'px4_fmu-v5_debug'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
               }
               post {
                 always {
@@ -593,6 +600,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -600,7 +608,7 @@ pipeline {
                 sh 'make px4_fmu-v5_optimized'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/px4_fmu-v5_optimized/px4_fmu-v5_optimized.elf', name: 'px4_fmu-v5_optimized'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_optimized'
               }
               post {
                 always {
@@ -666,6 +674,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -673,7 +682,7 @@ pipeline {
                 sh 'make px4_fmu-v5_stackcheck'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf', name: 'px4_fmu-v5_stackcheck'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
               }
               post {
                 always {
@@ -743,6 +752,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -750,7 +760,7 @@ pipeline {
                 sh 'make modalai_fc-v1_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/modalai_fc-v1_default/modalai_fc-v1_default.elf', name: 'modalai_fc-v1_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_default'
               }
               post {
                 always {
@@ -816,6 +826,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -823,7 +834,7 @@ pipeline {
                 sh 'make holybro_durandal-v1_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf', name: 'holybro_durandal-v1_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'holybro_durandal-v1_default'
               }
               post {
                 always {
@@ -895,6 +906,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -902,7 +914,7 @@ pipeline {
                 sh 'make nxp_fmuk66-v3_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf', name: 'nxp_fmuk66-v3_default'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_default'
               }
               post {
                 always {
@@ -968,6 +980,7 @@ pipeline {
   options {
     buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '40'))
     timeout(time: 90, unit: 'MINUTES')
+    skipDefaultCheckout()
   }
 }
 
@@ -998,6 +1011,8 @@ void statusFTDI() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener parameter_update"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener px4io_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro"'
@@ -1006,7 +1021,6 @@ void statusFTDI() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener px4io_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data"'
@@ -1017,6 +1031,8 @@ void statusFTDI() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status_flags"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'

.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" ],
 

.github/workflows/checks.yml

@@ -28,7 +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

.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:

.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: [

.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: [

.github/workflows/compile_nuttx.yml

@@ -11,7 +11,7 @@ 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: [
@@ -29,6 +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,
@@ -57,6 +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,
@@ -66,9 +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

.github/workflows/compile_nuttx_cannode.yml

@@ -11,12 +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
           ]

.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

.github/workflows/mavros_mission_tests.yml

@@ -25,7 +25,7 @@ jobs:
           #- {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

.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

.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:

.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

.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

.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

.vscode/cmake-variants.yaml

@@ -6,16 +6,6 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
-    px4_sitl_asan:
-      short: px4_sitl (AddressSanitizer)
-      buildType: AddressSanitizer
-      settings:
-        CONFIG: px4_sitl_default
-    px4_sitl_ubsan:
-      short: px4_sitl (UndefinedBehaviorSanitizer)
-      buildType: UndefinedBehaviorSanitizer
-      settings:
-        CONFIG: px4_sitl_default
     px4_sitl_replay:
       short: px4_sitl_replay
       buildType: RelWithDebInfo

Jenkinsfile

@@ -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 {

LICENSE

@@ -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

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

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

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

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
@@ -46,10 +45,10 @@ else
 	# shellcheck disable=SC2012
 	REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
 	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		echo "ERROR  [init] Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
+		echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
 		exit 1
 	else
-		echo "INFO  [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
+		echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
 	fi
 fi
 
@@ -63,12 +62,12 @@ if [ -f $PARAM_FILE ]
 then
 	if param load
 	then
-		echo "INFO  [init] Loaded: $PARAM_FILE"
+		echo "[param] Loaded: $PARAM_FILE"
 	else
-		echo "ERROR  [init] FAILED loading $PARAM_FILE"
+		echo "[param] FAILED loading $PARAM_FILE"
 	fi
 else
-	echo "INFO  [init] parameter file not found, creating $PARAM_FILE"
+	echo "[param] parameter file not found, creating $PARAM_FILE"
 fi
 
 # exit early when the minimal shell is requested
@@ -192,7 +191,7 @@ do
 	esac
 done
 if [ ! -e "$autostart_file" ]; then
-	echo "ERROR  [init] no autostart file found ($autostart_file)"
+	echo "Error: no autostart file found ($autostart_file)"
 	exit 1
 fi
 

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
 

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

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

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

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_MAIN_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

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

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

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

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

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

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

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_MAIN_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

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.

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_MAIN_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

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_MAIN_MAX 2000
-	param set PWM_MAIN_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

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_MAIN_MAX 2000
-	param set PWM_MAIN_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

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_MAIN_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

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_MAIN_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

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_MAIN_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

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_MAIN_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

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_MAIN_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

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_MAIN_MAX 2000
-	param set PWM_MAIN_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

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_MAIN_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

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_MAIN_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

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_MAIN_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

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

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_MAIN_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

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

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

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

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_MAIN_DISARM 900
-	param set PWM_MAIN_MIN 1075
-	param set PWM_MAIN_MAX 1950
-	param set PWM_MAIN_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

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_MAIN_MIN 1075
-fi
+param set-default MPC_THR_MIN 0.06
+param set-default MPC_MANTHR_MIN 0.06

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_MAIN_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

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_MAIN_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

ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1

@@ -16,22 +16,18 @@
 
 . ${R}etc/init.d/rc.balloon_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set COM_PREARM_MODE 2  # always in prearm state
-	param set CBRK_IO_SAFETY 22027
-	param set SDLOG_PROFILE 17
-	param set SDLOG_MODE 2
-	param set MAV_0_MODE 1
-	param set MAV_0_CONFIG 102
-	param set GPS_UBX_DYNMODEL 8
-	param set SER_TEL2_BAUD 9600
+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 SENS_BOARD_ROT 0
-        param set MAV_TYPE 8  # MAV_TYPE_FREE_BALLOON
-
-fi
+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

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_MAIN_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

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_MAIN_DISARM 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

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_MAIN_DISARM 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

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_MAIN_DISARM 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

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_MAIN_MIN 1075
-	param set PWM_MAIN_MAX 1950
-	param set PWM_MAIN_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

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

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

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_MAIN_DISARM 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

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_MAIN_DISARM 1000
+# Bottom of bay and nominal zero-pitch attitude differ
+# the payload bay is pitched up about 7 degrees
+param set-default SENS_BOARD_Y_OFF 7
 
-	# 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

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

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_MAIN_DISARM 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

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

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

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_MAIN_DISARM 1000
+param set-default PWM_MAIN_DIS4 1000
 
-	# Bottom of bay and nominal zero-pitch attitude differ
-	# the payload bay is pitched up about 7 degrees
-	param set 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

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_MAIN_DISARM 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

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_MAIN_MIN 900
-	param set PWM_MAIN_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

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

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_MAIN_MIN 1075
-fi
+param set-default MPC_THR_MIN 0.06
+param set-default MPC_MANTHR_MIN 0.06

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_MAIN_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

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_MAIN_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

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_MAIN_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

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

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

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_MAIN_MAX 1950
-	param set PWM_MAIN_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_MAIN_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

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

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

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_MAIN_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

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

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

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_MAIN_MIN 1100
-	param set PWM_MAIN_MAX 1900
-	param set PWM_MAIN_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

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

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_MAIN_MIN 1075
-	# enable one-shot
-	param set PWM_MAIN_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

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_MAIN_MIN 1075
-fi
+param set-default MPC_THR_MIN 0.06
+param set-default MPC_MANTHR_MIN 0.06

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_MAIN_MAX 1950
-	param set PWM_MAIN_MIN 1050
-
-	param set PWM_MAIN_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

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

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_MAIN_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

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
-

ROMFS/px4fmu_common/init.d/airframes/4071_ifo

@@ -21,103 +21,98 @@
 # @board bitcraze_crazyflie exclude
 #
 
-set VEHICLE_TYPE mc
-set MIXER quad_x
-set PWM_OUT 1234
+. ${R}etc/init.d/rc.mc_quad_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	# Attitude & rate gains
-	#param set MC_ROLL_P 7
-	param set MC_ROLLRATE_P 0.15
-	#param set MC_ROLLRATE_I 0.9
-	param set MC_ROLLRATE_D 0.0013
+# Attitude & rate gains
+#param set MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.15
+#param set MC_ROLLRATE_I 0.9
+param set-default MC_ROLLRATE_D 0.0013
 
-	#param set MC_PITCH_P 7
-	param set MC_PITCHRATE_P 0.15
-	#param set MC_PITCHRATE_I 1.1
-	param set MC_PITCHRATE_D 0.0016
+#param set MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.15
+#param set MC_PITCHRATE_I 1.1
+param set-default MC_PITCHRATE_D 0.0016
 
-	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.2
-	#param set MC_YAWRATE_I 0.15
-	param set MC_YAWRATE_D 0
-	param set MC_YAW_FF 0.5
+param set-default MC_YAW_P 2.8
+param set-default MC_YAWRATE_P 0.2
+#param set MC_YAWRATE_I 0.15
+param set-default MC_YAWRATE_D 0
+param set-default MC_YAW_FF 0.5
 
-	#param set MC_ROLL_TC 0.19
-	#param set MC_PITCH_TC 0.16
+#param set MC_ROLL_TC 0.19
+#param set MC_PITCH_TC 0.16
 
-	# Manual mode settings: Unleash Draco R's power :)
-	#param set MPC_MAN_TILT_MAX 70
-	#param set MC_PITCHRATE_MAX 1600
-	#param set MC_ROLLRATE_MAX 1600
-	#param set MC_YAWRATE_MAX 700
-	param set MPC_MANTHR_MAX 0.9
-	param set MPC_MANTHR_MIN 0.08
-	#param set MPC_MAN_TILT_MAX 35
-	#param set MPC_TILTMAX_AIR 20
+# Manual mode settings: Unleash Draco R's power :)
+#param set MPC_MAN_TILT_MAX 70
+#param set MC_PITCHRATE_MAX 1600
+#param set MC_ROLLRATE_MAX 1600
+#param set MC_YAWRATE_MAX 700
+param set-default MPC_MANTHR_MAX 0.9
+param set-default MPC_MANTHR_MIN 0.08
+#param set MPC_MAN_TILT_MAX 35
+#param set MPC_TILTMAX_AIR 20
 
-	# Filter settings
-	param set IMU_DGYRO_CUTOFF 90
-	param set IMU_GYRO_CUTOFF 100
+# Filter settings
+param set-default IMU_DGYRO_CUTOFF 90
+param set-default IMU_GYRO_CUTOFF 100
 
-	# Thrust curve (avoids the need for TPA)
-	#param set THR_MDL_FAC 0.25
+# Thrust curve (avoids the need for TPA)
+#param set THR_MDL_FAC 0.25
 
-	# System
-	param set PWM_MAIN_MAX 1950
-	param set PWM_MAIN_MIN 1100
-	param set PWM_MAIN_RATE 0
+# System
+param set-default PWM_MAIN_RATE1 0
+param set-default PWM_MAIN_RATE2 0
+param set-default PWM_MAIN_RATE3 0
+param set-default PWM_MAIN_RATE4 0
 
-	#param set SYS_FMU_TASK 1
-	param set SENS_BOARD_ROT 10
+param set-default SENS_BOARD_ROT 10
 
-	# EKF2
-	param set EKF2_GND_EFF_DZ 6
-	param set EKF2_HGT_MODE 1
+# EKF2
+param set-default EKF2_GND_EFF_DZ 6
+param set-default EKF2_HGT_MODE 1
 
-	# Position control
-	param set MPC_Z_P 1
-	param set MPC_Z_VEL_P_ACC 4
-	param set MPC_Z_VEL_I_ACC 0.4
+# Position control
+param set-default MPC_Z_P 1
+param set-default MPC_Z_VEL_P_ACC 4
+param set-default MPC_Z_VEL_I_ACC 0.4
 
-	param set MPC_THR_MIN 0.06
-	param set MPC_THR_HOVER 0.3
+param set-default MPC_THR_MIN 0.06
+param set-default MPC_THR_HOVER 0.3
 
-	param set MIS_TAKEOFF_ALT 1.1
-	param set MPC_XY_P 1.7
-	param set MPC_XY_VEL_P_ACC 2.6
-	param set MPC_XY_VEL_I_ACC 1.2
-	param set MPC_XY_VEL_D_ACC 0.2
-	param set MPC_TKO_RAMP_T 1
-	param set MPC_TKO_SPEED 1.1
-	param set MPC_VEL_MANUAL 3
+param set-default MIS_TAKEOFF_ALT 1.1
+param set-default MPC_XY_P 1.7
+param set-default MPC_XY_VEL_P_ACC 2.6
+param set-default MPC_XY_VEL_I_ACC 1.2
+param set-default MPC_XY_VEL_D_ACC 0.2
+param set-default MPC_TKO_RAMP_T 1
+param set-default MPC_TKO_SPEED 1.1
+param set-default MPC_VEL_MANUAL 3
 
-	param set BAT_SOURCE 0
-	param set BAT_N_CELLS 4
-	param set BAT_V_DIV 10.14
-	param set BAT_A_PER_V 18.18
-	#param set CBRK_IO_SAFETY 22027
-	param set COM_DISARM_LAND 2
+param set-default BAT_SOURCE 0
+param set-default BAT_N_CELLS 4
+param set-default BAT_V_DIV 10.14
+param set-default BAT_A_PER_V 18.18
+#param set CBRK_IO_SAFETY 22027
+param set-default COM_DISARM_LAND 2
 
-	# Filter settings
-	param set IMU_GYRO_CUTOFF 90
-	param set IMU_DGYRO_CUTOFF 70
+# Filter settings
+param set-default IMU_GYRO_CUTOFF 90
+param set-default IMU_DGYRO_CUTOFF 70
 
-	# Don't try to be intelligent on RC loss: just cut the motors
-	param set NAV_RCL_ACT 6
+# Don't try to be intelligent on RC loss: just cut the motors
+param set-default NAV_RCL_ACT 6
 
-	# enable to use high-rate logging for better rate tracking analysis
-	# param set SDLOG_PROFILE 19
+# enable to use high-rate logging for better rate tracking analysis
+# param set SDLOG_PROFILE 19
 
-	# TELEM1 ttyS1 - Wifi module
-	param set MAV_0_CONFIG 101
-	param set MAV_0_RATE 0
-	param set MAV_0_MODE 2	# onboard
-	param set SER_TEL1_BAUD 921600
+# TELEM1 ttyS1 - Wifi module
+param set-default MAV_0_CONFIG 101
+param set-default MAV_0_RATE 0
+param set-default MAV_0_MODE 2	# onboard
+param set-default SER_TEL1_BAUD 921600
 
-	# TELEM2 ttyS2 - Sub 1-Ghz
-	param set MAV_1_CONFIG 102
-	param set MAV_1_MODE 0	# normal
-	param set SER_TEL2_BAUD 57600
-fi
+# TELEM2 ttyS2 - Sub 1-Ghz
+param set-default MAV_1_CONFIG 102
+param set-default MAV_1_MODE 0	# normal
+param set-default SER_TEL2_BAUD 57600

ROMFS/px4fmu_common/init.d/airframes/4072_draco

@@ -21,80 +21,79 @@
 # @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
+# use the Q attitude estimator, it works w/o mag or GPS.
+param set-default SYS_MC_EST_GROUP 3
+param set-default ATT_ACC_COMP 0
+param set-default ATT_W_ACC 0.4
+param set-default ATT_W_GYRO_BIAS 0
+param set-default SYS_HAS_MAG 0
 
-if [ $AUTOCNF = yes ]
-then
-	# use the Q attitude estimator, it works w/o mag or GPS.
-	param set SYS_MC_EST_GROUP 3
-	param set ATT_ACC_COMP 0
-	param set ATT_W_ACC 0.4
-	param set ATT_W_GYRO_BIAS 0
-	param set SYS_HAS_MAG 0
+# Attitude & rate gains
+param set-default MC_ROLL_P 8.0
+param set-default MC_ROLLRATE_P 0.11
+param set-default MC_ROLLRATE_I 0.3
+param set-default MC_ROLLRATE_D 0.0015
+param set-default MC_ROLLRATE_MAX 1600
 
-	# Attitude & rate gains
-	param set MC_ROLL_P 8.0
-	param set MC_ROLLRATE_P 0.11
-	param set MC_ROLLRATE_I 0.3
-	param set MC_ROLLRATE_D 0.0015
-	param set MC_ROLLRATE_MAX 1600
+param set-default MC_PITCH_P 8
+param set-default MC_PITCHRATE_P 0.13
+param set-default MC_PITCHRATE_I 0.35
+param set-default MC_PITCHRATE_D 0.0015
+param set-default MC_PITCHRATE_MAX 1600
 
-	param set MC_PITCH_P 8
-	param set MC_PITCHRATE_P 0.13
-	param set MC_PITCHRATE_I 0.35
-	param set MC_PITCHRATE_D 0.0015
-	param set MC_PITCHRATE_MAX 1600
+param set-default MC_YAW_P 4
+param set-default MC_YAWRATE_P 0.21
+param set-default MC_YAWRATE_I 0.3
+param set-default MC_YAWRATE_D 0.0
+param set-default MC_YAW_FF 0.5
+param set-default MC_YAWRATE_MAX 600
 
-	param set MC_YAW_P 4
-	param set MC_YAWRATE_P 0.21
-	param set MC_YAWRATE_I 0.3
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.5
-	param set MC_YAWRATE_MAX 600
+param set-default MC_ROLL_TC 0.19
+param set-default MC_PITCH_TC 0.16
+param set-default MC_AIRMODE 1
 
-	param set MC_ROLL_TC 0.19
-	param set MC_PITCH_TC 0.16
-	param set MC_AIRMODE 1
+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 MPC_MAN_TILT_MAX 60
-	param set MPC_THR_CURVE 1
-	param set MPC_THR_HOVER 0.25
+# Thrust curve (avoids the need for TPA)
+param set-default THR_MDL_FAC 0.3
 
-	# Thrust curve (avoids the need for TPA)
-	param set THR_MDL_FAC 0.3
+# System
+param set-default PWM_MAIN_MIN1 1180
+param set-default PWM_MAIN_MIN2 1180
+param set-default PWM_MAIN_MIN3 1180
+param set-default PWM_MAIN_MIN4 1180
 
-	# System
-	param set PWM_MAIN_MAX 1950
-	param set PWM_MAIN_MIN 1180
+# enable one-shot
+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
 
-	# enable one-shot
-	param set PWM_MAIN_RATE 0
+param set-default SENS_BOARD_ROT 2
 
-	param set SENS_BOARD_ROT 2
+param set-default BAT_SOURCE 0
+param set-default CBRK_IO_SAFETY 22027
+#param set COM_DISARM_LAND 3
 
-	param set BAT_SOURCE 0
-	param set CBRK_IO_SAFETY 22027
-	#param set COM_DISARM_LAND 3
+# Filter settings
+param set-default IMU_GYRO_CUTOFF 90
+param set-default IMU_DGYRO_CUTOFF 100
 
-	# Filter settings
-	param set IMU_GYRO_CUTOFF 90
-	param set IMU_DGYRO_CUTOFF 100
+# Don't try to be intelligent on RC loss: just cut the motors
+#param set NAV_RCL_ACT 6
 
-	# Don't try to be intelligent on RC loss: just cut the motors
-	#param set NAV_RCL_ACT 6
+# enable to use high-rate logging for better rate tracking analysis
+param set-default SDLOG_PROFILE 27
 
-	# enable to use high-rate logging for better rate tracking analysis
-	param set SDLOG_PROFILE 27
+# TELEM1 ttyS1
+#param set MAV_0_CONFIG 101
+#param set MAV_0_MODE 2  # onboard
+#param set MAV_0_RATE 20000
+#param set SER_TEL1_BAUD 921600
 
-	# TELEM1 ttyS1
-	#param set MAV_0_CONFIG 101
-	#param set MAV_0_MODE 2  # onboard
-	#param set MAV_0_RATE 20000
-	#param set SER_TEL1_BAUD 921600
-
-	# TELEM2 ttyS2
-	#param set MAV_1_CONFIG 0
-fi
+# TELEM2 ttyS2
+#param set MAV_1_CONFIG 0

ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s

@@ -20,123 +20,113 @@
 # @maintainer Hyon Lim <lim@uvify.com>
 #
 
-set VEHICLE_TYPE mc
-set MIXER quad_x
-set PWM_OUT 1234
+. ${R}etc/init.d/rc.mc_quad_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	# Attitude & rate gains
-	#param set MC_ROLL_P 7
-	param set MC_ROLLRATE_P 0.15
-	#param set MC_ROLLRATE_I 0.9
-	param set MC_ROLLRATE_D 0.0013
+# Attitude & rate gains
+#param set MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.15
+#param set MC_ROLLRATE_I 0.9
+param set-default MC_ROLLRATE_D 0.0013
 
-	#param set MC_PITCH_P 7
-	param set MC_PITCHRATE_P 0.15
-	#param set MC_PITCHRATE_I 1.1
-	param set MC_PITCHRATE_D 0.0016
+#param set MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.15
+#param set MC_PITCHRATE_I 1.1
+param set-default MC_PITCHRATE_D 0.0016
 
-	param set MC_YAW_P 2.8
-	param set MC_YAWRATE_P 0.2
-	#param set MC_YAWRATE_I 0.15
-	param set MC_YAWRATE_D 0
+param set-default MC_YAW_P 2.8
+param set-default MC_YAWRATE_P 0.2
+#param set MC_YAWRATE_I 0.15
+param set-default MC_YAWRATE_D 0
 
-	#param set MC_ROLL_TC 0.19
-	#param set MC_PITCH_TC 0.16
+#param set MC_ROLL_TC 0.19
+#param set MC_PITCH_TC 0.16
 
-	# Manual mode settings: Unleash Draco R's power :)
-	#param set MPC_MAN_TILT_MAX 70
-	#param set MC_PITCHRATE_MAX 1600
-	#param set MC_ROLLRATE_MAX 1600
-	#param set MC_YAWRATE_MAX 700
-	param set MPC_MANTHR_MIN 0.08
-	#param set MPC_MAN_TILT_MAX 35
-	#param set MPC_TILTMAX_AIR 20
+# Manual mode settings: Unleash Draco R's power :)
+#param set MPC_MAN_TILT_MAX 70
+#param set MC_PITCHRATE_MAX 1600
+#param set MC_ROLLRATE_MAX 1600
+#param set MC_YAWRATE_MAX 700
+param set-default MPC_MANTHR_MIN 0.08
+#param set MPC_MAN_TILT_MAX 35
+#param set MPC_TILTMAX_AIR 20
 
-	# Filter settings
-	param set IMU_GYRO_CUTOFF 100
+# Filter settings
+param set-default IMU_GYRO_CUTOFF 100
 
-	# Thrust curve (avoids the need for TPA)
-	#param set THR_MDL_FAC 0.25
+# Thrust curve (avoids the need for TPA)
+#param set THR_MDL_FAC 0.25
 
-	# Obsolete
-	#param set PWM_MAIN_MAX 1950
-	#param set PWM_MAIN_MIN 1100
-	#param set PWM_MAIN_RATE 0
+# Sensors
+param set-default SENS_BOARD_ROT 10
+# Yaw 180
+param set-default SENS_FLOW_ROT 4
+# TFMini on TELEM3
+param set-default SENS_TFMINI_CFG 103
 
-	# Sensors
-	param set SENS_BOARD_ROT 10
-	# Yaw 180
-	param set SENS_FLOW_ROT 4
-	# TFMini on TELEM3
-	param set SENS_TFMINI_CFG 103
+# Smart Battery
+param set-default SENS_EN_BATT 1
 
-	# Smart Battery
-	param set SENS_EN_BATT 1
+# EKF2
+param set-default EKF2_AID_MASK 3
+param set-default EKF2_GND_EFF_DZ 6
+param set-default EKF2_HGT_MODE 1
+param set-default EKF2_MIN_RNG 0.3
+param set-default EKF2_RNG_AID 1
 
-	# EKF2
-	param set EKF2_AID_MASK 3
-	param set EKF2_GND_EFF_DZ 6
-	param set EKF2_HGT_MODE 1
-	param set EKF2_MIN_RNG 0.3
-	param set EKF2_RNG_AID 1
+# Flow
+param set-default EKF2_OF_QMIN 70
 
-	# Flow
-	param set EKF2_OF_QMIN 70
+# Position control
+param set-default MPC_Z_P 1.1
+param set-default MPC_Z_VEL_P_ACC 6
+param set-default MPC_Z_VEL_I_ACC 1
 
-	# Position control
-	param set MPC_Z_P 1.1
-	param set MPC_Z_VEL_P_ACC 6
-	param set MPC_Z_VEL_I_ACC 1
+param set-default MPC_THR_MIN 0.06
+param set-default MPC_THR_HOVER 0.44
 
-	param set MPC_THR_MIN 0.06
-	param set MPC_THR_HOVER 0.44
+param set-default MIS_TAKEOFF_ALT 1.1
+param set-default MPC_XY_P 1.7
+param set-default MPC_XY_VEL_P_ACC 2.6
+param set-default MPC_XY_VEL_I_ACC 1.2
+param set-default MPC_XY_VEL_D_ACC 0.2
+param set-default MPC_TKO_RAMP_T 1
+param set-default MPC_TKO_SPEED 1.1
+param set-default MPC_VEL_MANUAL 3
 
-	param set MIS_TAKEOFF_ALT 1.1
-	param set MPC_XY_P 1.7
-	param set MPC_XY_VEL_P_ACC 2.6
-	param set MPC_XY_VEL_I_ACC 1.2
-	param set MPC_XY_VEL_D_ACC 0.2
-	param set MPC_TKO_RAMP_T 1
-	param set MPC_TKO_SPEED 1.1
-	param set MPC_VEL_MANUAL 3
+param set-default BAT_SOURCE 0
+param set-default BAT_N_CELLS 4
+param set-default BAT_V_DIV 10.14
+param set-default BAT_A_PER_V 18.18
+#param set CBRK_IO_SAFETY 22027
+param set-default COM_DISARM_LAND 2
 
-	param set BAT_SOURCE 0
-	param set BAT_N_CELLS 4
-	param set BAT_V_DIV 10.14
-	param set BAT_A_PER_V 18.18
-	#param set CBRK_IO_SAFETY 22027
-	param set COM_DISARM_LAND 2
+# Filter settings
+param set-default IMU_GYRO_CUTOFF 90
 
-	# Filter settings
-	param set IMU_GYRO_CUTOFF 90
+# Don't try to be intelligent on RC loss: just cut the motors
+param set-default NAV_RCL_ACT 6
 
-	# Don't try to be intelligent on RC loss: just cut the motors
-	param set NAV_RCL_ACT 6
+# enable to use high-rate logging for better rate tracking analysis
+# param set SDLOG_PROFILE 19
 
-	# enable to use high-rate logging for better rate tracking analysis
-	# param set SDLOG_PROFILE 19
+# TELEM1 ttyS1 - Wifi module
+param set-default MAV_0_CONFIG 101
+param set-default MAV_0_RATE 0
+param set-default MAV_0_MODE 2	# onboard
+param set-default SER_TEL1_BAUD 921600
 
-	# TELEM1 ttyS1 - Wifi module
-	param set MAV_0_CONFIG 101
-	param set MAV_0_RATE 0
-	param set MAV_0_MODE 2	# onboard
-	param set SER_TEL1_BAUD 921600
+# TELEM2 ttyS2 - Sub 1-Ghz
+param set-default MAV_1_CONFIG 102
+param set-default MAV_1_MODE 0	# normal
+param set-default SER_TEL2_BAUD 57600
 
-	# TELEM2 ttyS2 - Sub 1-Ghz
-	param set MAV_1_CONFIG 102
-	param set MAV_1_MODE 0	# normal
-	param set SER_TEL2_BAUD 57600
+# DSHOT
+param set-default DSHOT_CONFIG 600
 
-	# DSHOT
-	param set DSHOT_CONFIG 600
+# EKF OF POSITION
+param set-default EKF2_OF_POS_X 0.06
+param set-default EKF2_OF_POS_Y 0.03
+param set-default EKF2_OF_POS_Z -0.07
 
-	# EKF OF POSITION
-	param set EKF2_OF_POS_X 0.06
-	param set EKF2_OF_POS_Y 0.03
-	param set EKF2_OF_POS_Z -0.07
-
-	# Failsafe
-	param set COM_LOW_BAT_ACT 3
-fi
+# Failsafe
+param set-default COM_LOW_BAT_ACT 3

ROMFS/px4fmu_common/init.d/airframes/4080_zmr250

@@ -12,37 +12,25 @@
 # @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 CBRK_IO_SAFETY 22027
 
-if [ $AUTOCNF = yes ]
-then
-	param set CBRK_IO_SAFETY 22027
+param set-default MC_ROLL_P 2.2
+param set-default MC_ROLLRATE_P 0.06
+param set-default MC_ROLLRATE_I 0.2
+param set-default MC_ROLLRATE_D 0.0017
 
-	param set MC_ROLL_P 2.2
-	param set MC_ROLLRATE_P 0.06
-	param set MC_ROLLRATE_I 0.2
-	param set MC_ROLLRATE_D 0.0017
+param set-default MC_PITCH_P 2.2
+param set-default MC_PITCHRATE_P 0.06
+param set-default MC_PITCHRATE_I 0.2
+param set-default MC_PITCHRATE_D 0.0017
 
-	param set MC_PITCH_P 2.2
-	param set MC_PITCHRATE_P 0.06
-	param set MC_PITCHRATE_I 0.2
-	param set MC_PITCHRATE_D 0.0017
+param set-default MC_YAW_P 1
+param set-default MC_YAWRATE_P 0.15
+param set-default MC_YAWRATE_I 0.2
+param set-default MC_YAWRATE_D 0
 
-	param set MC_YAW_P 1
-	param set MC_YAWRATE_P 0.15
-	param set MC_YAWRATE_I 0.2
-	param set MC_YAWRATE_D 0
-
-	param set MC_ACRO_R_MAX 1000
-	param set MC_ACRO_P_MAX 1000
-	param set MC_ACRO_Y_MAX 1000
-
-	# param set NAV_RCL_ACT 6 # Lockdown
-
-	param set PWM_MAIN_MIN 1075
-	param set PWM_MAIN_RATE 400
-	param set PWM_MAIN_DISARM 900
-fi
+param set-default MC_ACRO_R_MAX 1000
+param set-default MC_ACRO_P_MAX 1000
+param set-default MC_ACRO_Y_MAX 1000

ROMFS/px4fmu_common/init.d/airframes/4090_nanomind

@@ -19,26 +19,33 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
-set PWM_OUT 1234
 
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_N_CELLS 1
+param set-default BAT_N_CELLS 1
 
-	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-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 PWM_MAIN_DISARM 0
-	param set PWM_MAIN_MIN 500
-	param set PWM_MAIN_MAX 2200
-fi
+param set-default PWM_MAIN_DIS1 0
+param set-default PWM_MAIN_DIS2 0
+param set-default PWM_MAIN_DIS3 0
+param set-default PWM_MAIN_DIS4 0
+
+param set-default PWM_MAIN_MIN1 500
+param set-default PWM_MAIN_MIN2 500
+param set-default PWM_MAIN_MIN3 500
+param set-default PWM_MAIN_MIN4 500
+
+param set-default PWM_MAIN_MAX1 2200
+param set-default PWM_MAIN_MAX2 2200
+param set-default PWM_MAIN_MAX3 2200
+param set-default PWM_MAIN_MAX4 2200