IO: Simplify CRC check logic

- Updating Serial port mapping to be the same across all Control Zero boards
 - CAN2 Silent Pin Update

.ci/Jenkinsfile-compile

@@ -37,6 +37,7 @@ pipeline {
           def nuttx_builds_archive = [
             target: [
                      "airmind_mindpx-v2_default",
+                     "ark_can-flow_canbootloader",
                      "ark_can-flow_default",
                      "av_x-v1_default",
                      "bitcraze_crazyflie_default",
@@ -49,21 +50,21 @@ pipeline {
                      "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",
-                     "holybro_can-gps-v1",
-                     "holybro_can-gps-v1_canbootloader",
                      "intel_aerofc-v1_default",
                      "modalai_fc-v1_default",
                      "mro_ctrl-zero-f7_default",
                      "mro_pixracerpro_default",
                      "mro_x21-777_default",
                      "mro_x21_default",
+                     "nxp_fmuk66-e_default",
                      "nxp_fmuk66-v3_default",
                      "nxp_fmuk66-v3_rtps",
                      "nxp_fmuk66-v3_socketcan",
-                     "nxp_fmuk66-e_default",
                      "nxp_fmurt1062-v1_default",
                      "nxp_ucans32k146_default",
                      "omnibus_f4sd_default",
@@ -89,10 +90,12 @@ pipeline {
                      "px4_fmu-v5_rover",
                      "px4_fmu-v5_rtps",
                      "px4_fmu-v5_stackcheck",
+                     "px4_fmu-v5_uavcanv0periph",
+                     "px4_fmu-v5_uavcanv1",
                      "px4_fmu-v5x_base_phy_DP83848C",
                      "px4_fmu-v5x_default",
-                     "px4_fmu-v6x_default",
                      "px4_fmu-v6u_default",
+                     "px4_fmu-v6x_default",
                      "px4_io-v2_default",
                      "spracing_h7extreme_default",
                      "uvify_core_default"

.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 {
@@ -475,8 +481,7 @@ pipeline {
                     // configure
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
@@ -516,6 +521,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -523,7 +529,7 @@ 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 +599,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -600,7 +607,7 @@ 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 {
@@ -627,7 +634,7 @@ pipeline {
                     // configure
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                   }
@@ -666,6 +673,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -673,7 +681,7 @@ 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 +751,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -750,7 +759,7 @@ 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 +825,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -823,7 +833,7 @@ 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 +905,7 @@ pipeline {
                 }
               }
               steps {
+                checkout scm
                 sh 'export'
                 sh 'make distclean'
                 sh 'ccache -s'
@@ -902,7 +913,7 @@ 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 +979,7 @@ pipeline {
   options {
     buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '40'))
     timeout(time: 90, unit: 'MINUTES')
+    skipDefaultCheckout()
   }
 }
 
@@ -998,6 +1010,8 @@ 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 +1020,6 @@ 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"'

.github/workflows/compile_nuttx.yml

@@ -19,8 +19,8 @@ jobs:
           ark_can-flow_canbootloader,
           ark_can-flow_default,
           av_x-v1_default,
-          bitcraze_crazyflie_default,
           bitcraze_crazyflie21_default,
+          bitcraze_crazyflie_default,
           cuav_can-gps-v1_canbootloader,
           cuav_can-gps-v1_default,
           cuav_nora_default,
@@ -59,7 +59,6 @@ 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,
@@ -69,11 +68,12 @@ jobs:
           px4_fmu-v5_rover,
           px4_fmu-v5_rtps,
           px4_fmu-v5_stackcheck,
+          px4_fmu-v5_uavcanv0periph,
           px4_fmu-v5_uavcanv1,
           px4_fmu-v5x_base_phy_DP83848C,
           px4_fmu-v5x_default,
-          px4_fmu-v6x_default,
           px4_fmu-v6u_default,
+          px4_fmu-v6x_default,
           px4_io-v2_default,
           spracing_h7extreme_default,
           uvify_core_default

.github/workflows/sitl_tests.yml

@@ -94,7 +94,7 @@ jobs:
         PX4_HOME_LON: ${{matrix.config.longitude}}
         PX4_HOME_ALT: ${{matrix.config.altitude}}
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json
 
     - name: Look at core files
       if: failure()
@@ -106,10 +106,6 @@ jobs:
         name: coredump
         path: px4.core
 
-    - name: Upload logs to flight review
-      if: failure()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ${GITHUB_WORKSPACE}/build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/*/*.ulg
-
     - name: Upload px4 binary
       if: failure()
       uses: actions/upload-artifact@v2-preview

.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

.vscode/cmake-variants.yaml

@@ -131,6 +131,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: mro_ctrl-zero-f7_default
+    mro_pixracerpro_bootloader:
+      short: mro_pixracerpro_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: mro_pixracerpro_bootloader
+    mro_pixracerpro_default:
+      short: mro_pixracerpro_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: mro_pixracerpro_default
     mro_x21-777_default:
       short: mro_x2.1-777
       buildType: MinSizeRel

CMakeLists.txt

@@ -406,7 +406,6 @@ add_subdirectory(src/lib EXCLUDE_FROM_ALL)
 
 add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
 add_subdirectory(platforms EXCLUDE_FROM_ALL)
-add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer
 
 if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
 	add_subdirectory(${PX4_BOARD_DIR})

Jenkinsfile

@@ -67,11 +67,9 @@ pipeline {
               unset ROS_DISTRO;
               mkdir -p colcon_ws/src;
               cd colcon_ws;
-              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
-              git clone --recursive ${WORKSPACE}/colcon_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
+              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo;
               git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
-              source /opt/ros/bouncy/setup.sh;
-              source /opt/ros/melodic/setup.sh;
+              source /opt/ros/foxy/setup.sh;
               colcon build --event-handlers console_direct+ --symlink-install;
             '''
           }

ROMFS/CMakeLists.txt

@@ -187,6 +187,46 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
 
 endforeach()
 
+
+if(config_uavcan_peripheral_firmware)
+
+	include(ExternalProject)
+
+	foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
+		# include the px4io binary in ROMFS
+		message(STATUS "ROMFS: Building and including UAVCAN peripheral ${uavcan_peripheral_config}")
+		ExternalProject_Add(build_${uavcan_peripheral_config}
+			SOURCE_DIR ${CMAKE_SOURCE_DIR}
+			DOWNLOAD_COMMAND ""
+			UPDATE_COMMAND ""
+			CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config}
+			INSTALL_COMMAND ""
+			USES_TERMINAL_BUILD true
+			DEPENDS git_nuttx git_nuttx_apps
+			BUILD_ALWAYS 1
+		)
+
+		ExternalProject_Get_Property(build_${uavcan_peripheral_config} BINARY_DIR)
+
+		add_custom_command(
+			OUTPUT
+				${romfs_gen_root_dir}/uavcan/fw/_${uavcan_board_id}.bin
+				${uavcan_peripheral_config}.stamp
+			COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/uavcan/fw/
+			COMMAND ${CMAKE_COMMAND} -E copy ${BINARY_DIR}/deploy/*.bin ${romfs_gen_root_dir}/uavcan/fw/
+			COMMAND ls -lsa ${romfs_gen_root_dir}/uavcan/fw/
+			COMMAND ${CMAKE_COMMAND} -E touch ${uavcan_peripheral_config}.stamp
+			DEPENDS
+				build_${uavcan_peripheral_config}
+			COMMENT "ROMFS: copying ${uavcan_peripheral_config}"
+		)
+
+		list(APPEND extras_dependencies
+			${uavcan_peripheral_config}.stamp
+		)
+	endforeach()
+endif()
+
 list(APPEND extras_dependencies
 	${config_romfs_extra_dependencies}
 	)

ROMFS/cannode/init.d/rcS

@@ -30,13 +30,6 @@ sercon
 #
 ver all
 
-#
-# Start the ORB (first app to start)
-# tone_alarm and tune_control
-# is dependent.
-#
-uorb start
-
 #
 # Set the parameter file if mtd starts successfully.
 #

ROMFS/px4fmu_common/init.d-posix/airframes/10020_if750a

@@ -12,6 +12,11 @@ if [ $AUTOCNF = yes ]
 then
 	# EKF2: Multi GPS blending (as the model has 2 GPS's)
 	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
+	param set TRIG_INTERFACE 3
+	param set TRIG_MODE 4
+	param set MNT_MODE_IN 4
+	param set MNT_MODE_OUT 2
+	param set MNT_DO_STAB 2
 fi
 
 set MIXER quad_x

ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover

@@ -8,6 +8,7 @@
 if [ $AUTOCNF = yes ]
 then
 	param set GND_L1_DIST 5
+	param set GND_L1_PERIOD 10
 	param set GND_SP_CTRL_MODE 1
 	param set GND_SPEED_D 0.001
 	param set GND_SPEED_I 3
@@ -16,7 +17,6 @@ then
 	param set GND_SPEED_THR_SC 1
 	param set GND_SPEED_TRIM 4
 	param set GND_THR_CRUISE 0.3
-	param set GND_THR_IDLE 0
 	param set GND_THR_MAX 0.5
 	param set GND_THR_MIN 0
 

ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover

@@ -17,7 +17,6 @@ then
 	param set GND_SPEED_THR_SC 1
 	param set GND_SPEED_TRIM 4
 	param set GND_THR_CRUISE 0.3
-	param set GND_THR_IDLE 0
 	param set GND_THR_MAX 0.5
 	param set GND_THR_MIN 0
 

ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1

@@ -22,7 +22,6 @@ then
 	param set GND_SPEED_TRIM 15
 	param set GND_SPEED_MAX 25
 	param set GND_THR_CRUISE 0.3
-	param set GND_THR_IDLE 0
 	param set GND_THR_MAX 0.5
 	param set GND_THR_MIN 0
 

ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat

@@ -17,7 +17,6 @@ then
 	param set GND_SPEED_THR_SC 1
 	param set GND_SPEED_TRIM 1
 	param set GND_THR_CRUISE 0.85
-	param set GND_THR_IDLE 0
 	param set GND_THR_MAX 1
 	param set GND_THR_MIN 0
 

ROMFS/px4fmu_common/init.d-posix/airframes/3011_hexarotor_x

@@ -26,7 +26,6 @@ then
 	param set TRIG_MODE 4
 	param set MNT_MODE_IN 4
 	param set MNT_DO_STAB 2
-	param set MAV_PROTO_VER 2
 fi
 
 set MAV_TYPE 13

ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480

@@ -24,7 +24,8 @@ then
 
 	param set TRIG_INTERFACE 3
 	param set TRIG_MODE 4
-	param set MNT_MODE_IN 0
+	param set MNT_MODE_IN 4
+	param set MNT_MODE_OUT 2
 	param set MAV_PROTO_VER 2
 fi
 

ROMFS/px4fmu_common/init.d-posix/rc.replay

@@ -20,7 +20,6 @@ module: replay
 ignore_others: false
 EOF
 
-uorb start
 param set SDLOG_DIRS_MAX 7
 
 # apply all params before ekf starts, as some params cannot be changed after startup

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -53,8 +53,6 @@ else
 	fi
 fi
 
-uorb start
-
 # Load parameters
 set PARAM_FILE eeprom/parameters_"$REQUESTED_AUTOSTART"
 param select $PARAM_FILE
@@ -111,6 +109,8 @@ udp_offboard_port_remote=$((14540+px4_instance))
 [ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
 udp_onboard_payload_port_local=$((14280+px4_instance))
 udp_onboard_payload_port_remote=$((14030+px4_instance))
+udp_onboard_gimbal_port_local=$((13030+px4_instance))
+udp_onboard_gimbal_port_remote=$((13280+px4_instance))
 udp_gcs_port_local=$((18570+px4_instance))
 
 if [ $AUTOCNF = yes ]
@@ -244,7 +244,7 @@ then
 	sh etc/init.d-posix/rc.mavlink_override
 else
 	# GCS link
-	mavlink start -x -u $udp_gcs_port_local -r 4000000
+	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
 	mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
 	mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
 	mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
@@ -256,12 +256,15 @@ else
 	mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
 
 	# API/Offboard link
-	mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote
+	mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
 
 	# Onboard link to camera
 	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
 
+	# Onboard link to gimbal
+	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
 fi
+
 # execute autostart post script if any
 [ -e "$autostart_file".post ] && . "$autostart_file".post
 

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -42,7 +42,6 @@ px4_add_romfs_files(
 	rc.fw_apps
 	rc.fw_defaults
 	rc.interface
-	rc.io
 	rc.logging
 	rc.mc_apps
 	rc.mc_defaults

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

@@ -26,22 +26,19 @@
 
 . ${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
 
+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
 set MIXER quad_w
 
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris

@@ -24,26 +24,23 @@
 
 . ${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
+# 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
 set MIXER quad_w
 
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d

@@ -26,24 +26,21 @@
 
 . ${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
+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
 set MIXER quad_w
 
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance

@@ -26,29 +26,26 @@
 
 . ${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-default BAT_N_CELLS 6
+param set-default BAT_V_EMPTY 3.5
 
-	param set MPC_XY_VEL_MAX 2
+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 PWM_MAIN_MIN 1080
-fi
+param set-default MPC_XY_VEL_MAX 2
 
+param set-default PWM_MAIN_MIN 1080
 set MIXER quad_w
 
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil

@@ -14,57 +14,56 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_N_CELLS 3
 
-	param set COM_RC_IN_MODE 1
+param set-default BAT_N_CELLS 3
 
-	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 COM_RC_IN_MODE 1
 
-	param set FW_AIRSPD_MAX 25
-	param set FW_AIRSPD_MIN 14
-	param set FW_AIRSPD_TRIM 16
+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 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 FW_AIRSPD_MAX 25
+param set-default FW_AIRSPD_MIN 14
+param set-default FW_AIRSPD_TRIM 16
 
-	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 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 NAV_ACC_RAD 5
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 80
+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 RTL_DESCEND_ALT 10
-	param set RTL_RETURN_ALT 30
+param set-default NAV_ACC_RAD 5
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 80
 
-	param set SDLOG_DIRS_MAX 7
-	param set SYS_RESTART_TYPE 2
+param set-default RTL_DESCEND_ALT 10
+param set-default RTL_RETURN_ALT 30
+
+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
 

ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik

@@ -23,32 +23,29 @@
 
 . ${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-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 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-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 MPC_HOLD_MAX_XY 0.25
-	param set MPC_THR_MIN 0.15
-	param set MPC_Z_VEL_MAX_DN 2
+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 BAT_N_CELLS 4
-fi
+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
 set MIXER octo_cox_w
 
 set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard

@@ -24,16 +24,13 @@
 
 . ${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
+param set-default PWM_AUX_DIS5 950
+param set-default PWM_MAIN_RATE 400
 
+param set-default VT_TYPE 2
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
 set MAV_TYPE 22
 
 set MIXER quad_x

ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol

@@ -19,34 +19,31 @@
 
 . ${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-default MAV_TYPE 19
 
-	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-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
 
-	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-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 VT_IDLE_PWM_MC  1080
-	param set VT_ELEV_MC_LOCK 0
-	param set VT_MOT_ID 12
-	param set VT_TYPE 0
-fi
+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
 set MAV_TYPE 19
 
 set MIXER vtol_tailsitter_duo

ROMFS/px4fmu_common/init.d/airframes/13002_firefly6

@@ -24,37 +24,34 @@
 
 . ${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-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
 
-	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
+param set-default PWM_MAIN_RATE 400
 
+param set-default VT_FW_MOT_OFFID 34
+param set-default VT_IDLE_PWM_MC 1080
+param set-default VT_MOT_ID 123456
+param set-default VT_FW_MOT_OFFID 56
+param set-default VT_TILT_MC 0.08
+param set-default VT_TILT_TRANS 0.5
+param set-default VT_TILT_FW 0.9
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_TYPE 1
 set MAV_TYPE 21
 
 set MIXER firefly6

ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter

@@ -14,17 +14,14 @@
 
 . ${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
+param set-default PWM_MAIN_MAX 2000
+param set-default PWM_MAIN_RATE 400
 
+param set-default VT_MOT_ID 1234
+param set-default VT_IDLE_PWM_MC  1080
+param set-default VT_TYPE 0
+param set-default VT_ELEV_MC_LOCK 1
 set MAV_TYPE 20
 
 set MIXER quad_x_vtol

ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter

@@ -23,16 +23,13 @@
 
 . ${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
+param set-default PWM_MAIN_MAX 2000
+param set-default PWM_MAIN_RATE 400
 
+param set-default VT_IDLE_PWM_MC  1080
+param set-default VT_TYPE 0
+param set-default VT_ELEV_MC_LOCK 1
 set MAV_TYPE 20
 
 set MIXER quad_+_vtol

ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad

@@ -24,50 +24,47 @@
 
 . ${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-default PWM_AUX_DIS5 950
 
-	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-default PWM_MAIN_RATE 400
 
-	param set MPC_YAWRAUTO_MAX 40
+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
 
-	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-default MPC_YAWRAUTO_MAX 40
 
-	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
+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
 set MAV_TYPE 22
 
 set MIXER quad_x

ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta

@@ -22,40 +22,37 @@
 
 . ${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-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
 
-	param set PWM_AUX_DIS3 950
-	param set PWM_MAIN_RATE 400
+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 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
+param set-default PWM_AUX_DIS3 950
+param set-default PWM_MAIN_RATE 400
 
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+param set-default VT_F_TRANS_THR 0.75
+param set-default VT_IDLE_PWM_MC 1080
+param set-default VT_TYPE 2
 set MAV_TYPE 22
 
 set MIXER quad_x

ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad

@@ -14,37 +14,34 @@
 
 . ${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-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 PWM_AUX_DIS5 950
-	param set PWM_MAIN_RATE 400
+param set-default MPC_YAWRAUTO_MAX 40
 
-	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
+param set-default PWM_AUX_DIS5 950
+param set-default PWM_MAIN_RATE 400
 
+param set-default VT_F_TRANS_THR 0.75
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+param set-default VT_IDLE_PWM_MC 1080
+param set-default VT_TYPE 2
 set MAV_TYPE 22
 
 set MIXER quad_x

ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger

@@ -14,54 +14,51 @@
 
 . ${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-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
 
-	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-default MIS_YAW_TMT 10
 
-	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-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 PWM_AUX_DIS5 950
-	param set PWM_AUX_REV1 1
-	param set PWM_AUX_REV2 1
-	param set PWM_MAIN_RATE 400
+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 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
+param set-default PWM_AUX_DIS5 950
+param set-default PWM_AUX_REV1 1
+param set-default PWM_AUX_REV2 1
+param set-default PWM_MAIN_RATE 400
 
+param set-default VT_ARSP_TRANS 15
+param set-default VT_ARSP_BLEND 8
+param set-default VT_B_TRANS_DUR 4
+param set-default VT_F_TRANS_THR 0.75
+param set-default VT_IDLE_PWM_MC 1080
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+param set-default VT_TYPE 2
 set MAV_TYPE 22
 
 set MIXER quad_x

ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger

@@ -14,75 +14,72 @@
 
 . ${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-default FW_AIRSPD_MAX   22
+param set-default FW_AIRSPD_MIN   14
+param set-default FW_AIRSPD_TRIM  16
+param set-default FW_L1_PERIOD    25
+param set-default FW_PR_P 0.060
+param set-default FW_P_RMAX_NEG   40
+param set-default FW_P_RMAX_POS   40
+param set-default FW_RR_FF    0.4
+param set-default FW_RR_P 0.04
+param set-default FW_R_RMAX   40
 
-	param set MIS_TAKEOFF_ALT 2.5
-	param set MIS_YAW_TMT 20
+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 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-default MIS_TAKEOFF_ALT 2.5
+param set-default MIS_YAW_TMT 20
 
-	param set NAV_ACC_RAD 3
+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 PWM_AUX_REV1    1
-	param set PWM_AUX_REV2    1
-	param set PWM_AUX_REV3    1
-	param set PWM_AUX_REV4    1
+param set-default NAV_ACC_RAD 3
 
-	param set PWM_AUX_DIS5 950
+param set-default PWM_AUX_REV1    1
+param set-default PWM_AUX_REV2    1
+param set-default PWM_AUX_REV3    1
+param set-default PWM_AUX_REV4    1
 
-	param set PWM_MAIN_RATE 400
+param set-default PWM_AUX_DIS5 950
 
-	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
+param set-default PWM_MAIN_RATE 400
 
-fi
+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
 
 set MAV_TYPE 22
 

ROMFS/px4fmu_common/init.d/airframes/13010_claire

@@ -14,26 +14,23 @@
 
 . ${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-default PWM_AUX_DISARMED 1000
+param set-default PWM_AUX_MAX 2000
+param set-default PWM_AUX_MIN 1000
+param set-default PWM_AUX_RATE 50
 
-	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
+param set-default PWM_MAIN_MAX 2000
+param set-default PWM_MAIN_RATE 400
 
+param set-default VT_MOT_ID 1234
+param set-default VT_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 MAV_TYPE 21
 
 set MIXER claire

ROMFS/px4fmu_common/init.d/airframes/13012_convergence

@@ -23,66 +23,63 @@
 
 . ${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-default CBRK_AIRSPD_CHK 162128
 
-	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-default FW_ARSP_MODE 1
 
-	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-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 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-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 PWM_MAIN_RATE 400
+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 SENS_BOARD_ROT 8
+param set-default PWM_MAIN_RATE 400
 
-	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
+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
 set MAV_TYPE 21
 
 set MIXER vtol_convergence

ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad

@@ -23,137 +23,134 @@
 
 . ${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-default BAT_CAPACITY 23000
+param set-default BAT_N_CELLS 4
+param set-default BAT_R_INTERNAL 0.0025
 
-	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-default CBRK_AIRSPD_CHK 162128
+param set-default CBRK_IO_SAFETY 22027
 
-	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-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 LNDMC_ALT_MAX 9999
-	param set LNDMC_XY_VEL_MAX 1
-	param set LNDMC_Z_VEL_MAX 0.7
+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 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-default LNDMC_ALT_MAX 9999
+param set-default LNDMC_XY_VEL_MAX 1
+param set-default LNDMC_Z_VEL_MAX 0.7
 
-	param set MIS_DIST_1WP 100
-	param set MIS_DIST_WPS 100000
-	param set MIS_TAKEOFF_ALT 15
+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 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_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-default MIS_DIST_1WP 100
+param set-default MIS_DIST_WPS 100000
+param set-default MIS_TAKEOFF_ALT 15
 
-	param set NAV_DLL_ACT 0
-	param set NAV_LOITER_RAD 100
+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 PWM_AUX_DISARMED 950
+param set-default NAV_DLL_ACT 0
+param set-default NAV_LOITER_RAD 100
 
-	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-default PWM_AUX_DISARMED 950
 
-	param set PWM_MAIN_RATE 400
+param set-default PWM_MAIN_DIS5 1500
+param set-default PWM_MAIN_DIS6 1500
+param set-default PWM_MAIN_DIS7 900
+param set-default PWM_MAIN_DIS8 900
 
-	param set SENS_BOARD_ROT 18
+param set-default PWM_MAIN_RATE 400
 
-	# 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-default SENS_BOARD_ROT 18
 
-	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
+# 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 COM_RC_OVERRIDE 0
-fi
+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
 set MAV_TYPE 22
 
 set MIXER deltaquad

ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark

@@ -23,92 +23,89 @@
 
 . ${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-default BAT_N_CELLS 6
 
-	param set IMU_GYRO_CUTOFF 40
+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 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-default IMU_GYRO_CUTOFF 40
 
-	param set MIS_TAKEOFF_ALT	30
+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 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-default MIS_TAKEOFF_ALT	30
 
-	param set NAV_ACC_RAD	3
+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 PWM_MAIN_DIS3 1000
-	param set PWM_MAIN_MIN3 1120
-	param set PWM_MAIN_MIN 950
+param set-default NAV_ACC_RAD	3
 
-	param set SENS_BOARD_ROT 4
+param set-default PWM_MAIN_DIS3 1000
+param set-default PWM_MAIN_MIN3 1120
+param set-default PWM_MAIN_MIN 950
 
-	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
+param set-default SENS_BOARD_ROT 4
 
-fi
+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
 
 set MAV_TYPE 22
 

ROMFS/px4fmu_common/init.d/airframes/13015_generic_vtol_standard

@@ -24,35 +24,32 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set PWM_MAIN_RATE 400
 
-	param set PWM_MAIN_MIN1 1100
-	param set PWM_MAIN_MIN2 1100
-	param set PWM_MAIN_MIN3 1100
-	param set PWM_MAIN_MIN4 1100
+param set-default PWM_MAIN_RATE 400
 
-	param set PWM_MAIN_MAX1 1900
-	param set PWM_MAIN_MAX2 1900
-	param set PWM_MAIN_MAX3 1900
-	param set PWM_MAIN_MAX4 1900
+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 PWM_MAIN_DIS1 900
-	param set PWM_MAIN_DIS2 900
-	param set PWM_MAIN_DIS3 900
-	param set PWM_MAIN_DIS4 900
-	param set PWM_MAIN_DIS5 1500
-	param set PWM_MAIN_DIS6 1500
-	param set PWM_MAIN_DIS7 1500
-	param set PWM_MAIN_DIS8 1500
-	param set PWM_MAIN_DIS9 900
+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 VT_TYPE 2
-	param set VT_MOT_ID 1234
-	param set VT_FW_MOT_OFFID 1234
-fi
+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
 
+param set-default VT_TYPE 2
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
 set MAV_TYPE 22
 
 set MIXER quad_x_vtol_AAERT

ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo

@@ -26,16 +26,13 @@
 
 . ${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
+param set-default PWM_AUX_DIS5 950
+param set-default PWM_MAIN_RATE 400
 
+param set-default VT_TYPE 2
+param set-default VT_MOT_ID 12345678
+param set-default VT_FW_MOT_OFFID 12345678
 set MAV_TYPE 22
 
 set MIXER octo_cox

ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter

@@ -19,15 +19,12 @@
 
 . ${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 MAV_TYPE 19
-fi
+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
 set MAV_TYPE 19
 set MIXER vtol_tailsitter_duo
 

ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli

@@ -20,36 +20,33 @@
 . ${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 NAV_ACC_RAD 2
+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 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-default NAV_ACC_RAD 2
 
-	param set RTL_RETURN_ALT 30
-	param set RTL_DESCEND_ALT 10
-fi
+param set-default PWM_AUX_RATE 50
+param set-default PWM_MAIN_DISARM 900
+param set-default PWM_MAIN_MIN 1075
+param set-default PWM_MAIN_MAX 1950
+param set-default PWM_MAIN_RATE 400
 
+param set-default RTL_RETURN_ALT 30
+param set-default RTL_DESCEND_ALT 10
 # This is the gimbal pass mixer
 set MIXER_AUX pass
 

ROMFS/px4fmu_common/init.d/airframes/16001_helicopter

@@ -27,34 +27,32 @@ set MIXER blade130
 
 #set PWM_OUT 1234
 
-if [ $AUTOCNF = yes ]
-then
-	param set ATT_BIAS_MAX 0
 
-	param set CBRK_IO_SAFETY 22027
+param set-default ATT_BIAS_MAX 0
 
-	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-default CBRK_IO_SAFETY 22027
 
-	param set MPC_THR_MIN 0.06
-	param set MPC_MANTHR_MIN 0.06
+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 PWM_MAIN_MIN 1075
-fi
+param set-default MPC_THR_MIN 0.06
+param set-default MPC_MANTHR_MIN 0.06
+
+param set-default PWM_MAIN_MIN 1075

ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2

@@ -26,29 +26,26 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_CAPACITY 2500
-	param set BAT_N_CELLS 3
 
-	param set PWM_AUX_RATE 50
-	param set PWM_MAIN_RATE 50
+param set-default BAT_CAPACITY 2500
+param set-default BAT_N_CELLS 3
 
-	param set SENS_BOARD_ROT 8
+param set-default PWM_AUX_RATE 50
+param set-default PWM_MAIN_RATE 50
 
-	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-default SENS_BOARD_ROT 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_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-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 +21,26 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_CAPACITY 3300
-	param set BAT_N_CELLS 3
 
-	param set PWM_AUX_RATE 50
-	param set PWM_MAIN_RATE 50
+param set-default BAT_CAPACITY 3300
+param set-default BAT_N_CELLS 3
 
-	param set SENS_BOARD_ROT 4
+param set-default PWM_AUX_RATE 50
+param set-default PWM_MAIN_RATE 50
 
-	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-default SENS_BOARD_ROT 4
 
-	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_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-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 +16,19 @@
 
 . ${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 SENS_BOARD_ROT 0
+param set-default COM_PREARM_MODE 2  # always in prearm state
+param set-default CBRK_IO_SAFETY 22027
+param set-default SDLOG_PROFILE 17
+param set-default SDLOG_MODE 2
+param set-default MAV_0_MODE 1
+param set-default MAV_0_CONFIG 102
+param set-default GPS_UBX_DYNMODEL 8
+param set-default SER_TEL2_BAUD 9600
+
+param set-default SENS_BOARD_ROT 0
         param set MAV_TYPE 8  # MAV_TYPE_FREE_BALLOON
 
-fi
-
 
 set MIXER IO_pass
 set MIXER_AUX pass

ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane

@@ -24,11 +24,8 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set PWM_AUX_RATE 50
-	param set PWM_MAIN_RATE 50
-fi
+param set-default PWM_AUX_RATE 50
+param set-default PWM_MAIN_RATE 50
 
 set MIXER AETRFG
 

ROMFS/px4fmu_common/init.d/airframes/2105_maja

@@ -26,25 +26,23 @@
 
 . ${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
+param set-default FW_WR_FF 0.2
+param set-default FW_WR_I 0.2
+param set-default FW_WR_IMAX 0.8
+param set-default FW_WR_P 1
+param set-default FW_W_RMAX 0
+
+# set disarmed value for the ESC
+param set-default PWM_MAIN_DISARM 1000
 
-	# set disarmed value for the ESC
-	param set PWM_MAIN_DISARM 1000
-fi
 
 set MIXER AAERTWF
 

ROMFS/px4fmu_common/init.d/airframes/2106_albatross

@@ -26,25 +26,23 @@
 
 . ${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
+param set-default FW_WR_FF 0.2
+param set-default FW_WR_I 0.2
+param set-default FW_WR_IMAX 0.8
+param set-default FW_WR_P 1
+param set-default FW_W_RMAX 0
+
+# set disarmed value for the ESC
+param set-default PWM_MAIN_DISARM 1000
 
-	# set disarmed value for the ESC
-	param set PWM_MAIN_DISARM 1000
-fi
 
 set MIXER AAVVTWFF
 

ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon

@@ -27,25 +27,22 @@
 
 . ${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
+param set-default FW_WR_FF 0.2
+param set-default FW_WR_I 0.2
+param set-default FW_WR_IMAX 0.8
+param set-default FW_WR_P 1
+param set-default FW_W_RMAX 0
 
-	# set disarmed value for the ESC
-	param set PWM_MAIN_DISARM 1000
-fi
+# set disarmed value for the ESC
+param set-default PWM_MAIN_DISARM 1000
 
 # The Mini Talon does not have a wheel and
 # no flaps. I leave them here because the mixer

ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox

@@ -28,23 +28,20 @@
 
 set VEHICLE_TYPE mc
 
-if [ $AUTOCNF = yes ]
-then
-	param set 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 NAV_ACC_RAD 2
 
-	param set PWM_MAIN_MIN 1075
-	param set PWM_MAIN_MAX 1950
-	param set PWM_MAIN_RATE 400
+param set-default PWM_AUX_RATE 400
+param set-default PWM_AUX_DISARMED 900
+param set-default PWM_AUX_MIN 1075
+param set-default PWM_AUX_MAX 1950
 
-	param set RTL_DESCEND_ALT 10
-	param set RTL_RETURN_ALT 30
-fi
+param set-default PWM_MAIN_MIN 1075
+param set-default PWM_MAIN_MAX 1950
+param set-default PWM_MAIN_RATE 400
 
+param set-default RTL_DESCEND_ALT 10
+param set-default RTL_RETURN_ALT 30
 set MIXER dodeca_top_cox
 set MIXER_AUX dodeca_bottom_cox
 

ROMFS/px4fmu_common/init.d/airframes/2507_cloudship

@@ -16,11 +16,9 @@
 
 . ${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/3030_io_camflyer

@@ -22,30 +22,28 @@
 
 . ${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-default PWM_MAIN_DISARM 1000
 
-	param set PWM_MAIN_DISARM 1000
-fi
 
 set MIXER fw_generic_wing
 

ROMFS/px4fmu_common/init.d/airframes/3031_phantom

@@ -24,33 +24,31 @@
 
 . ${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
+param set-default PWM_MAIN_DISARM 1000
+
+# Bottom of bay and nominal zero-pitch attitude differ
+# the payload bay is pitched up about 7 degrees
+param set-default SENS_BOARD_Y_OFF 7
 
-	# 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
 

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 +24,26 @@
 
 . ${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-default PWM_MAIN_DISARM 1000
 
-	param set PWM_MAIN_DISARM 1000
-fi
 
 # Configure this as plane.
 set MAV_TYPE 1

ROMFS/px4fmu_common/init.d/airframes/3034_fx79

@@ -21,13 +21,11 @@
 
 . ${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-default NAV_LOITER_RAD 150
 
-	param set NAV_LOITER_RAD 150
-fi
 
 set MIXER FX79

ROMFS/px4fmu_common/init.d/airframes/3036_pigeon

@@ -23,34 +23,32 @@
 
 . ${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_DISARM 1000
+
+# Bottom of bay and nominal zero-pitch attitude differ
+# the payload bay is pitched up about 7 degrees
+param set-default SENS_BOARD_Y_OFF 11.9
 
-	# 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
 
 set MIXER phantom
 

ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod

@@ -23,70 +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
+param set-default PWM_MAIN_DISARM 1000
 
-	# 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
 

ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha

@@ -21,49 +21,48 @@
 
 . ${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 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 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 MIS_TAKEOFF_ALT 50
+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 NAV_LOITER_RAD 30
+param set-default MIS_TAKEOFF_ALT 50
+
+param set-default NAV_LOITER_RAD 30
+
+param set-default PWM_MAIN_REV1 1
+param set-default PWM_MAIN_REV2 1
+param set-default PWM_MAIN_MIN 900
+param set-default PWM_MAIN_MAX 2100
 
-	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
 
 set MIXER caipi
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/4003_qavr5

@@ -16,23 +16,21 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
-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-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
 
-	param set PWM_MAIN_MIN 1075
-fi
+param set-default MPC_THR_MIN 0.06
+param set-default MPC_MANTHR_MIN 0.06
+
+param set-default PWM_MAIN_MIN 1075

ROMFS/px4fmu_common/init.d/airframes/4009_qav250

@@ -16,26 +16,24 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
-if [ $AUTOCNF = yes ]
-then
-	param set ATT_BIAS_MAX 0
 
-	param set CBRK_IO_SAFETY 22027
+param set-default ATT_BIAS_MAX 0
 
-	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-default CBRK_IO_SAFETY 22027
 
-	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
+
+param set-default PWM_MAIN_MIN 1075

ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330

@@ -13,21 +13,18 @@
 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
+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
 
-	# DJI ESCs do not support calibration and need a higher min
-	param set PWM_MAIN_MIN 1230
-fi
+# DJI ESCs do not support calibration and need a higher min
+param set-default PWM_MAIN_MIN 1230

ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450

@@ -13,21 +13,18 @@
 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
+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
 
-	# DJI ESCs do not support calibration and need a higher min
-	param set PWM_MAIN_MIN 1230
-fi
+# DJI ESCs do not support calibration and need a higher min
+param set-default PWM_MAIN_MIN 1230

ROMFS/px4fmu_common/init.d/airframes/4014_s500

@@ -16,12 +16,10 @@
 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

@@ -16,14 +16,13 @@
 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 IMU_GYRO_CUTOFF 30
+param set-default IMU_DGYRO_CUTOFF 30
+
+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

@@ -19,121 +19,119 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
-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 COM_OBS_AVOID 1
-	param set COM_DISARM_LAND 0.5
+# System parameters
+# use FMU motor outputs for less delay in the rate control loop
+param set-default SYS_USE_IO 0
 
-	# 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
+# Commander Parameters
+param set-default COM_OBS_AVOID 1
+param set-default COM_DISARM_LAND 0.5
 
-	# 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
+# 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
 
-	# 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
+# 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
 
-	# 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
+# 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
 
-	# Navigator Parameters
-	param set NAV_ACC_RAD 2
+# 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
 
-	# PWM and RC Parameters
-	param set PWM_MAIN_MAX 1950
-	param set PWM_MAIN_MIN 1075
+# Navigator Parameters
+param set-default NAV_ACC_RAD 2
 
-	# use oneshot motor output protocol
-	param set PWM_MAIN_RATE 0
+# PWM and RC Parameters
+param set-default PWM_MAIN_MAX 1950
+param set-default PWM_MAIN_MIN 1075
 
-	# RTL Parameters
-	param set RTL_DESCEND_ALT 5
-	param set RTL_RETURN_ALT 5
-	param set RTL_CONE_ANG 45
+# use oneshot motor output protocol
+param set-default PWM_MAIN_RATE 0
 
-	# Logging Parameters
-	param set SDLOG_PROFILE 131
+# RTL Parameters
+param set-default RTL_DESCEND_ALT 5
+param set-default RTL_RETURN_ALT 5
+param set-default RTL_CONE_ANG 45
 
-	# 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
+# Logging Parameters
+param set-default SDLOG_PROFILE 131
 
-	# Power Parameters
-	param set BAT_N_CELLS 4
-	param set BAT_A_PER_V 36.364
-	param set BAT_V_DIV 18.182
+# 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
 
-	# Circuit breakers
-	param set CBRK_IO_SAFETY 22027
+# 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
 
-	param set THR_MDL_FAC 0.3
-fi
+# Circuit breakers
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default THR_MDL_FAC 0.3

ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames

@@ -21,19 +21,16 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
-if [ $AUTOCNF = yes ]
-then
 
-	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-default IMU_GYRO_CUTOFF 40
+param set-default IMU_DGYRO_CUTOFF 20
+param set-default IMU_GYRO_RATEMAX 400
 
-	param set MC_PITCHRATE_P 0.18
-	param set MC_PITCHRATE_I 0.15
-	param set MC_PITCHRATE_D 0.003
+param set-default MC_ROLLRATE_P 0.18
+param set-default MC_ROLLRATE_I 0.15
+param set-default MC_ROLLRATE_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

@@ -13,44 +13,41 @@
 . ${R}etc/init.d/rc.mc_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

ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb

@@ -22,20 +22,18 @@
 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
+
+param set-default PWM_MAIN_MIN 1200

ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo

@@ -19,77 +19,72 @@
 
 . ${R}etc/init.d/rc.mc_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
 
-	# 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
+# 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
 
-	# 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
+# 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
 
-	# 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
+# 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
 
-	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
+# RC configuration
+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
 
-	# 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
+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
 set MIXER quad_x
 
 set PWM_OUT 1234
 set MIXER_AUX none
-

ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad

@@ -17,15 +17,13 @@
 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

@@ -21,29 +21,27 @@
 
 . ${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-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
 
-	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-default NAV_ACC_RAD 2
 
-	param set RTL_RETURN_ALT 30
-	param set RTL_DESCEND_ALT 10
-fi
+param set-default PWM_AUX_DISARMED 950
+param set-default PWM_AUX_RATE 50
+param set-default PWM_MAIN_MIN 1100
+param set-default PWM_MAIN_MAX 1900
+param set-default PWM_MAIN_RATE 50
+
+param set-default RTL_RETURN_ALT 30
+param set-default RTL_DESCEND_ALT 10
 
 set MIXER quad_h
 

ROMFS/px4fmu_common/init.d/airframes/4041_beta75x

@@ -24,41 +24,38 @@
 
 . ${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-default CBRK_SUPPLY_CHK 894281
+param set-default CBRK_USB_CHK 197848
 
-	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-default IMU_GYRO_CUTOFF 100
+param set-default IMU_DGYRO_CUTOFF 60
 
-	param set MPC_MANTHR_MIN 0
-	param set MPC_MAN_TILT_MAX 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 MOT_ORDERING 1
-	param set DSHOT_CONFIG 600
+param set-default MPC_MANTHR_MIN 0
+param set-default MPC_MAN_TILT_MAX 60
 
-	param set SYS_HAS_BARO 0
-	param set SYS_HAS_MAG 0
+param set-default MOT_ORDERING 1
+param set-default DSHOT_CONFIG 600
 
-	param set BAT_N_CELLS 2
-fi
+param set-default SYS_HAS_BARO 0
+param set-default SYS_HAS_MAG 0
 
+param set-default BAT_N_CELLS 2
 # The Whoop uses reversed props
 set MIXER quad_h
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/4050_generic_250

@@ -16,40 +16,38 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
-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 MC_ROLLRATE_MAX 1600
-	param set MC_PITCHRATE_MAX 1600
-	param set MC_YAWRATE_MAX 1000
+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
 
-	param set MPC_MANTHR_MIN 0
-	param set MPC_MAN_TILT_MAX 60
+param set-default MC_ROLLRATE_MAX 1600
+param set-default MC_PITCHRATE_MAX 1600
+param set-default MC_YAWRATE_MAX 1000
 
-	# use thrust curve factor (instead of TPA)
-	param set THR_MDL_FAC 0.3
+param set-default MPC_MANTHR_MIN 0
+param set-default MPC_MAN_TILT_MAX 60
 
-	param set PWM_MAIN_MIN 1075
-	# enable one-shot
-	param set PWM_MAIN_RATE 0
+# use thrust curve factor (instead of TPA)
+param set-default THR_MDL_FAC 0.3
 
-	# enable high-rate logging profile (helps with tuning)
-	param set SDLOG_PROFILE 19
+param set-default PWM_MAIN_MIN 1075
+# enable one-shot
+param set-default PWM_MAIN_RATE 0
 
-	param set IMU_DGYRO_CUTOFF 50
-	param set IMU_GYRO_CUTOFF 90
+# enable high-rate logging profile (helps with tuning)
+param set-default SDLOG_PROFILE 19
 
-	param set CBRK_IO_SAFETY 22027
-fi
+param set-default IMU_DGYRO_CUTOFF 50
+param set-default IMU_GYRO_CUTOFF 90
+
+param set-default CBRK_IO_SAFETY 22027

ROMFS/px4fmu_common/init.d/airframes/4051_s250aq

@@ -28,32 +28,30 @@ set MAV_TYPE 2
 
 set PWM_OUT 1234
 
-if [ $AUTOCNF = yes ]
-then
-	param set ATT_BIAS_MAX 0
 
-	param set CBRK_IO_SAFETY 22027
+param set-default ATT_BIAS_MAX 0
 
-	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-default CBRK_IO_SAFETY 22027
 
-	param set MPC_THR_MIN 0.06
-	param set MPC_MANTHR_MIN 0.06
+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 PWM_MAIN_MIN 1075
-fi
+param set-default MPC_THR_MIN 0.06
+param set-default MPC_MANTHR_MIN 0.06
+
+param set-default PWM_MAIN_MIN 1075

ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250

@@ -19,41 +19,38 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
-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 IMU_GYRO_CUTOFF 120
-	param set IMU_DGYRO_CUTOFF 45
+# The set does not include a battery, but most people will probably use 4S
+param set-default BAT_N_CELLS 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-default IMU_GYRO_CUTOFF 120
+param set-default IMU_DGYRO_CUTOFF 45
 
-	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-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 PWM_MAIN_MAX 1950
-	param set PWM_MAIN_MIN 1050
+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 PWM_MAIN_RATE 0
-	param set THR_MDL_FAC 0.3
-fi
+param set-default PWM_MAIN_MAX 1950
+param set-default PWM_MAIN_MIN 1050
 
+param set-default PWM_MAIN_RATE 0
+param set-default THR_MDL_FAC 0.3

ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2

@@ -19,49 +19,46 @@ set PWM_OUT 1234
 
 set PARAM_DEFAULTS_VER 2
 
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_N_CELLS 4
 
-	param set GPS_1_CONFIG 0
-	param set RC_PORT_CONFIG 201
+param set-default BAT_N_CELLS 4
 
-	param set IMU_GYRO_CUTOFF 80
-	param set IMU_DGYRO_CUTOFF 50
-	param set IMU_GYRO_RATEMAX 2000
+param set-default GPS_1_CONFIG 0
+param set-default RC_PORT_CONFIG 201
 
-	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 IMU_GYRO_CUTOFF 80
+param set-default IMU_DGYRO_CUTOFF 50
+param set-default IMU_GYRO_RATEMAX 2000
 
-	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_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_YAWRATE_MAX 1000
-	param set MC_YAWRATE_P 0.15
-	param set MC_YAW_P 4
+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 MOT_ORDERING 1
-	param set MPC_MANTHR_MIN 0
-	param set MPC_MAN_TILT_MAX 60
+param set-default MC_YAWRATE_MAX 1000
+param set-default MC_YAWRATE_P 0.15
+param set-default MC_YAW_P 4
 
-	param set DSHOT_CONFIG 1200
+param set-default MOT_ORDERING 1
+param set-default MPC_MANTHR_MIN 0
+param set-default MPC_MAN_TILT_MAX 60
 
-	param set OSD_ATXXXX_CFG 1
-	param set TEL_FRSKY_CONFIG 300
+param set-default DSHOT_CONFIG 1200
 
-	param set THR_MDL_FAC 0.35
+param set-default OSD_ATXXXX_CFG 1
+param set-default TEL_FRSKY_CONFIG 300
 
-	param set MPC_THR_CURVE 1
-	param set MPC_THR_HOVER 0.12
+param set-default THR_MDL_FAC 0.35
 
-	param set MC_AIRMODE 1
+param set-default MPC_THR_CURVE 1
+param set-default MPC_THR_HOVER 0.12
 
-	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

@@ -17,21 +17,19 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
-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-default BAT_N_CELLS 6
 
-	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
+
+param set-default PWM_MAIN_MIN 1200

ROMFS/px4fmu_common/init.d/airframes/4070_aerofc

@@ -21,61 +21,59 @@
 #
 # 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

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

@@ -25,99 +25,97 @@ set VEHICLE_TYPE mc
 set MIXER quad_x
 set PWM_OUT 1234
 
-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
 
-	#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
+# 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_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 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_ROLL_TC 0.19
-	#param set MC_PITCH_TC 0.16
+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
 
-	# 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
+#param set MC_ROLL_TC 0.19
+#param set MC_PITCH_TC 0.16
 
-	# Filter settings
-	param set IMU_DGYRO_CUTOFF 90
-	param set IMU_GYRO_CUTOFF 100
+# 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
 
-	# Thrust curve (avoids the need for TPA)
-	#param set THR_MDL_FAC 0.25
+# Filter settings
+param set-default IMU_DGYRO_CUTOFF 90
+param set-default IMU_GYRO_CUTOFF 100
 
-	# System
-	param set PWM_MAIN_MAX 1950
-	param set PWM_MAIN_MIN 1100
-	param set PWM_MAIN_RATE 0
+# Thrust curve (avoids the need for TPA)
+#param set THR_MDL_FAC 0.25
 
-	#param set SYS_FMU_TASK 1
-	param set SENS_BOARD_ROT 10
+# System
+param set-default PWM_MAIN_MAX 1950
+param set-default PWM_MAIN_MIN 1100
+param set-default PWM_MAIN_RATE 0
 
-	# EKF2
-	param set EKF2_GND_EFF_DZ 6
-	param set EKF2_HGT_MODE 1
+#param set SYS_FMU_TASK 1
+param set-default SENS_BOARD_ROT 10
 
-	# 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
+# EKF2
+param set-default EKF2_GND_EFF_DZ 6
+param set-default EKF2_HGT_MODE 1
 
-	param set MPC_THR_MIN 0.06
-	param set MPC_THR_HOVER 0.3
+# 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 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 MPC_THR_MIN 0.06
+param set-default MPC_THR_HOVER 0.3
 
-	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 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
 
-	# Filter settings
-	param set IMU_GYRO_CUTOFF 90
-	param set IMU_DGYRO_CUTOFF 70
+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
 
-	# Don't try to be intelligent on RC loss: just cut the motors
-	param set NAV_RCL_ACT 6
+# Filter settings
+param set-default IMU_GYRO_CUTOFF 90
+param set-default IMU_DGYRO_CUTOFF 70
 
-	# enable to use high-rate logging for better rate tracking analysis
-	# param set SDLOG_PROFILE 19
+# Don't try to be intelligent on RC loss: just cut the motors
+param set-default NAV_RCL_ACT 6
 
-	# 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
+# enable to use high-rate logging for better rate tracking analysis
+# param set SDLOG_PROFILE 19
 
-	# 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
+# 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-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

@@ -26,75 +26,73 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
-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 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
+# 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
 
-	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
+# 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
 
-	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_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_ROLL_TC 0.19
-	param set MC_PITCH_TC 0.16
-	param set MC_AIRMODE 1
+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 MPC_MAN_TILT_MAX 60
-	param set MPC_THR_CURVE 1
-	param set MPC_THR_HOVER 0.25
+param set-default MC_ROLL_TC 0.19
+param set-default MC_PITCH_TC 0.16
+param set-default MC_AIRMODE 1
 
-	# Thrust curve (avoids the need for TPA)
-	param set THR_MDL_FAC 0.3
+param set-default MPC_MAN_TILT_MAX 60
+param set-default MPC_THR_CURVE 1
+param set-default MPC_THR_HOVER 0.25
 
-	# System
-	param set PWM_MAIN_MAX 1950
-	param set PWM_MAIN_MIN 1180
+# Thrust curve (avoids the need for TPA)
+param set-default THR_MDL_FAC 0.3
 
-	# enable one-shot
-	param set PWM_MAIN_RATE 0
+# System
+param set-default PWM_MAIN_MAX 1950
+param set-default PWM_MAIN_MIN 1180
 
-	param set SENS_BOARD_ROT 2
+# enable one-shot
+param set-default PWM_MAIN_RATE 0
 
-	param set BAT_SOURCE 0
-	param set CBRK_IO_SAFETY 22027
-	#param set COM_DISARM_LAND 3
+param set-default SENS_BOARD_ROT 2
 
-	# Filter settings
-	param set IMU_GYRO_CUTOFF 90
-	param set IMU_DGYRO_CUTOFF 100
+param set-default BAT_SOURCE 0
+param set-default CBRK_IO_SAFETY 22027
+#param set COM_DISARM_LAND 3
 
-	# Don't try to be intelligent on RC loss: just cut the motors
-	#param set NAV_RCL_ACT 6
+# Filter settings
+param set-default IMU_GYRO_CUTOFF 90
+param set-default IMU_DGYRO_CUTOFF 100
 
-	# enable to use high-rate logging for better rate tracking analysis
-	param set SDLOG_PROFILE 27
+# Don't try to be intelligent on RC loss: just cut the motors
+#param set NAV_RCL_ACT 6
 
-	# 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
+# enable to use high-rate logging for better rate tracking analysis
+param set-default SDLOG_PROFILE 27
 
-	# TELEM2 ttyS2
-	#param set MAV_1_CONFIG 0
-fi
+# 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

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

@@ -24,119 +24,117 @@ set VEHICLE_TYPE mc
 set MIXER quad_x
 set PWM_OUT 1234
 
-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
 
-	#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
+# 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_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_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_ROLL_TC 0.19
-	#param set MC_PITCH_TC 0.16
+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
 
-	# 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
+#param set MC_ROLL_TC 0.19
+#param set MC_PITCH_TC 0.16
 
-	# Filter settings
-	param set IMU_GYRO_CUTOFF 100
+# 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
 
-	# Thrust curve (avoids the need for TPA)
-	#param set THR_MDL_FAC 0.25
+# Filter settings
+param set-default IMU_GYRO_CUTOFF 100
 
-	# Obsolete
-	#param set PWM_MAIN_MAX 1950
-	#param set PWM_MAIN_MIN 1100
-	#param set PWM_MAIN_RATE 0
+# Thrust curve (avoids the need for TPA)
+#param set THR_MDL_FAC 0.25
 
-	# Sensors
-	param set SENS_BOARD_ROT 10
-	# Yaw 180
-	param set SENS_FLOW_ROT 4
-	# TFMini on TELEM3
-	param set SENS_TFMINI_CFG 103
+# Obsolete
+#param set PWM_MAIN_MAX 1950
+#param set PWM_MAIN_MIN 1100
+#param set PWM_MAIN_RATE 0
 
-	# Smart Battery
-	param set SENS_EN_BATT 1
+# 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
 
-	# 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
+# Smart Battery
+param set-default SENS_EN_BATT 1
 
-	# Flow
-	param set EKF2_OF_QMIN 70
+# 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
 
-	# 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
+# Flow
+param set-default EKF2_OF_QMIN 70
 
-	param set MPC_THR_MIN 0.06
-	param set MPC_THR_HOVER 0.44
+# 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
 
-	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 MPC_THR_MIN 0.06
+param set-default MPC_THR_HOVER 0.44
 
-	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 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
 
-	# Filter settings
-	param set IMU_GYRO_CUTOFF 90
+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
 
-	# Don't try to be intelligent on RC loss: just cut the motors
-	param set NAV_RCL_ACT 6
+# Filter settings
+param set-default IMU_GYRO_CUTOFF 90
 
-	# enable to use high-rate logging for better rate tracking analysis
-	# param set SDLOG_PROFILE 19
+# Don't try to be intelligent on RC loss: just cut the motors
+param set-default NAV_RCL_ACT 6
 
-	# 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
+# enable to use high-rate logging for better rate tracking analysis
+# param set SDLOG_PROFILE 19
 
-	# TELEM2 ttyS2 - Sub 1-Ghz
-	param set MAV_1_CONFIG 102
-	param set MAV_1_MODE 0	# normal
-	param set SER_TEL2_BAUD 57600
+# 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
 
-	# DSHOT
-	param set DSHOT_CONFIG 600
+# 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
 
-	# 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
+# DSHOT
+param set-default DSHOT_CONFIG 600
 
-	# Failsafe
-	param set COM_LOW_BAT_ACT 3
-fi
+# 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
+
+# Failsafe
+param set-default COM_LOW_BAT_ACT 3

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

@@ -17,32 +17,30 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
-if [ $AUTOCNF = yes ]
-then
-	param set CBRK_IO_SAFETY 22027
 
-	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 CBRK_IO_SAFETY 22027
 
-	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_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_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-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_ACRO_R_MAX 1000
-	param set MC_ACRO_P_MAX 1000
-	param set MC_ACRO_Y_MAX 1000
+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 NAV_RCL_ACT 6 # Lockdown
+param set-default MC_ACRO_R_MAX 1000
+param set-default MC_ACRO_P_MAX 1000
+param set-default MC_ACRO_Y_MAX 1000
 
-	param set PWM_MAIN_MIN 1075
-	param set PWM_MAIN_RATE 400
-	param set PWM_MAIN_DISARM 900
-fi
+# param set NAV_RCL_ACT 6 # Lockdown
+
+param set-default PWM_MAIN_MIN 1075
+param set-default PWM_MAIN_RATE 400
+param set-default PWM_MAIN_DISARM 900

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

@@ -21,24 +21,22 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
-if [ $AUTOCNF = yes ]
-then
-	param set 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 BAT_N_CELLS 1
 
-	param set PWM_MAIN_DISARM 0
-	param set PWM_MAIN_MIN 500
-	param set PWM_MAIN_MAX 2200
-fi
+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 PWM_MAIN_DISARM 0
+param set-default PWM_MAIN_MIN 500
+param set-default PWM_MAIN_MAX 2200

ROMFS/px4fmu_common/init.d/airframes/4250_teal

@@ -28,169 +28,166 @@ echo "Executing 4250_teal script."
 set MIXER quad_x
 set PWM_OUT 1234
 
-if [ $AUTOCNF = yes ]
-then
-	# First thing, reset all params to default... EXCEPT THIS LIST
-	param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* CAL_MAG* SENS_BOARD* EKF2_MAGBIAS*
 
-	# battery
-	param set BAT_CAPACITY 2750
-	param set BAT_CRIT_THR 0.15
-	param set BAT_EMERGEN_THR 0.075
-	param set BAT_LOW_THR 0.20
-	param set BAT_N_CELLS 4
-	param set BAT_R_INTERNAL 0.06
-	param set BAT_SOURCE 1
-	param set BAT_V_CHARGED 4.15
-	param set BAT_V_DIV 11.1625
-	param set BAT_V_EMPTY 3.65
-	param set BAT_V_OFFS_CURR -0.0045
+# First thing, reset all params to default... EXCEPT THIS LIST
+param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* CAL_MAG* SENS_BOARD* EKF2_MAGBIAS*
 
-	# sensor calibration
-	param set CAL_MAG_SIDES 63
-	param set SENS_BOARD_ROT 0
+# battery
+param set-default BAT_CAPACITY 2750
+param set-default BAT_CRIT_THR 0.15
+param set-default BAT_EMERGEN_THR 0.075
+param set-default BAT_LOW_THR 0.20
+param set-default BAT_N_CELLS 4
+param set-default BAT_R_INTERNAL 0.06
+param set-default BAT_SOURCE 1
+param set-default BAT_V_CHARGED 4.15
+param set-default BAT_V_DIV 11.1625
+param set-default BAT_V_EMPTY 3.65
+param set-default BAT_V_OFFS_CURR -0.0045
 
-	# circuit breakers
-	param set CBRK_IO_SAFETY 22027
-	param set CBRK_USB_CHK 197848
+# sensor calibration
+param set-default CAL_MAG_SIDES 63
+param set-default SENS_BOARD_ROT 0
 
-	# commander
-	param set COM_DISARM_LAND 0.1
-	# Return mode at critically low level, Land mode at current position if reaching dangerously low levels.
-	param set COM_LOW_BAT_ACT 3
+# circuit breakers
+param set-default CBRK_IO_SAFETY 22027
+param set-default CBRK_USB_CHK 197848
 
-	# ekf2
-	param set EKF2_AID_MASK 1
-	param set EKF2_MAG_TYPE 1
-	param set EKF2_GPS_CHECK 511
-	param set EKF2_GPS_POS_X -0.04
-	param set EKF2_IMU_POS_X -0.06
-	param set EKF2_PCOEF_XN 0.1
-	param set EKF2_PCOEF_XP -0.5
-	param set EKF2_RNG_AID 1
-	param set EKF2_RNG_A_VMAX 20
-	param set EKF2_RNG_NOISE 0.2
-	param set EKF2_MIN_RNG 0.07
+# commander
+param set-default COM_DISARM_LAND 0.1
+# Return mode at critically low level, Land mode at current position if reaching dangerously low levels.
+param set-default COM_LOW_BAT_ACT 3
 
-	# gps
-	param set GPS_UBX_DYNMODEL 7
+# ekf2
+param set-default EKF2_AID_MASK 1
+param set-default EKF2_MAG_TYPE 1
+param set-default EKF2_GPS_CHECK 511
+param set-default EKF2_GPS_POS_X -0.04
+param set-default EKF2_IMU_POS_X -0.06
+param set-default EKF2_PCOEF_XN 0.1
+param set-default EKF2_PCOEF_XP -0.5
+param set-default EKF2_RNG_AID 1
+param set-default EKF2_RNG_A_VMAX 20
+param set-default EKF2_RNG_NOISE 0.2
+param set-default EKF2_MIN_RNG 0.07
 
-	# geofence
-	# Geofence violation action -- Warning.
-	param set GF_ACTION 1
+# gps
+param set-default GPS_UBX_DYNMODEL 7
 
-	# land detector
-	param set LNDMC_XY_VEL_MAX 1
-	# This is set high because we have lots of vibrations while in contact with ground.
-	param set LNDMC_ROT_MAX 50
+# geofence
+# Geofence violation action -- Warning.
+param set-default GF_ACTION 1
 
-	# serial comms
-	param set SER_TEL1_BAUD 921600
-	param set SER_TEL2_BAUD 921600
+# land detector
+param set-default LNDMC_XY_VEL_MAX 1
+# This is set high because we have lots of vibrations while in contact with ground.
+param set-default LNDMC_ROT_MAX 50
 
-	# mavlink stream configuration
-	# TEL1 ttyS1 -- disabled. TX1 FTDI UART has issues.
-	param set MAV_0_CONFIG 0
-	param set MAV_0_RATE 800000
+# serial comms
+param set-default SER_TEL1_BAUD 921600
+param set-default SER_TEL2_BAUD 921600
 
-	# TEL2 ttyS2 -- Primary MAVLINK stream to companion computer.
-	param set MAV_1_CONFIG 102
-	param set MAV_1_RATE 800000
+# mavlink stream configuration
+# TEL1 ttyS1 -- disabled. TX1 FTDI UART has issues.
+param set-default MAV_0_CONFIG 0
+param set-default MAV_0_RATE 800000
 
-	# mc_att_control
-	param set MC_ACRO_P_MAX 360
-	param set MC_ACRO_R_MAX 360
-	param set MC_ACRO_Y_MAX 360
+# TEL2 ttyS2 -- Primary MAVLINK stream to companion computer.
+param set-default MAV_1_CONFIG 102
+param set-default MAV_1_RATE 800000
 
-	param set MC_ROLL_P 6
-	param set MC_ROLLRATE_P 0.055
-	param set MC_ROLLRATE_I 0.2
-	param set MC_ROLLRATE_D 0.0012
-	param set MC_ROLLRATE_MAX 180
+# mc_att_control
+param set-default MC_ACRO_P_MAX 360
+param set-default MC_ACRO_R_MAX 360
+param set-default MC_ACRO_Y_MAX 360
 
-	param set MC_PITCH_P 6.5
-	param set MC_PITCHRATE_P 0.06
-	param set MC_PITCHRATE_I 0.2
-	param set MC_PITCHRATE_D 0.0012
-	param set MC_PITCHRATE_MAX 180
+param set-default MC_ROLL_P 6
+param set-default MC_ROLLRATE_P 0.055
+param set-default MC_ROLLRATE_I 0.2
+param set-default MC_ROLLRATE_D 0.0012
+param set-default MC_ROLLRATE_MAX 180
 
-	param set MC_YAW_P 1
-	param set MC_YAWRATE_P 0.08
-	param set MC_YAWRATE_I 0.08
-	param set MC_YAWRATE_D 0
-	param set MC_YAWRATE_MAX 180
+param set-default MC_PITCH_P 6.5
+param set-default MC_PITCHRATE_P 0.06
+param set-default MC_PITCHRATE_I 0.2
+param set-default MC_PITCHRATE_D 0.0012
+param set-default MC_PITCHRATE_MAX 180
 
-	# Set to reduce voltage transients as seen by battery management system.
-	param set MOT_SLEW_MAX 0.15
+param set-default MC_YAW_P 1
+param set-default MC_YAWRATE_P 0.08
+param set-default MC_YAWRATE_I 0.08
+param set-default MC_YAWRATE_D 0
+param set-default MC_YAWRATE_MAX 180
 
-	#### CONTROLLER ###
-	param set MPC_LAND_ALT1 8
-	param set MPC_LAND_ALT2 5
-	param set MPC_TKO_RAMP_T 0.75
-	param set MPC_TKO_SPEED 0.75
-	param set MPC_TILTMAX_LND 18
-	param set MPC_TILTMAX_AIR 45
-	param set MPC_MAN_TILT_MAX 45
+# Set to reduce voltage transients as seen by battery management system.
+param set-default MOT_SLEW_MAX 0.15
 
-	param set MPC_MANTHR_MAX 0.85
-	param set MPC_MANTHR_MIN 0.15
-	# Full throttle can trip over current protection on BMS.
-	param set MPC_THR_MAX 0.85
-	param set MPC_THR_MIN 0.15
+#### CONTROLLER ###
+param set-default MPC_LAND_ALT1 8
+param set-default MPC_LAND_ALT2 5
+param set-default MPC_TKO_RAMP_T 0.75
+param set-default MPC_TKO_SPEED 0.75
+param set-default MPC_TILTMAX_LND 18
+param set-default MPC_TILTMAX_AIR 45
+param set-default MPC_MAN_TILT_MAX 45
 
-	param set MPC_VEL_MANUAL 26.5
-	# RTL speed, it was too fast and scaring people.
-	param set MPC_XY_CRUISE 15
+param set-default MPC_MANTHR_MAX 0.85
+param set-default MPC_MANTHR_MIN 0.15
+# Full throttle can trip over current protection on BMS.
+param set-default MPC_THR_MAX 0.85
+param set-default MPC_THR_MIN 0.15
 
-	param set MPC_MAN_Y_MAX 200
+param set-default MPC_VEL_MANUAL 26.5
+# RTL speed, it was too fast and scaring people.
+param set-default MPC_XY_CRUISE 15
 
-	param set MPC_JERK_MAX 5
-	param set MPC_ACC_UP_MAX 10
-	param set MPC_ACC_DOWN_MAX 10
-	param set MPC_ACC_HOR 10
-	param set MPC_ACC_HOR_MAX 15
+param set-default MPC_MAN_Y_MAX 200
 
-	param set MPC_XY_P 1.15
-	param set MPC_XY_VEL_P_ACC 2.8
-	param set MPC_XY_VEL_I_ACC 0.28
-	param set MPC_XY_VEL_D_ACC 0.28
-	param set MPC_XY_VEL_MAX 26.5
+param set-default MPC_JERK_MAX 5
+param set-default MPC_ACC_UP_MAX 10
+param set-default MPC_ACC_DOWN_MAX 10
+param set-default MPC_ACC_HOR 10
+param set-default MPC_ACC_HOR_MAX 15
 
-	param set MPC_Z_P 0.85
-	param set MPC_Z_VEL_P_ACC 5
-	param set MPC_Z_VEL_I_ACC 1.7
-	param set MPC_Z_VEL_D_ACC 0.4
-	# Documentation says limit is 8.0, but does not seem to be enforced in code.
-	param set MPC_Z_VEL_MAX_UP 20
-	param set MPC_Z_VEL_MAX_DN 2.5
-	#### CONTROLLER ###
+param set-default MPC_XY_P 1.15
+param set-default MPC_XY_VEL_P_ACC 2.8
+param set-default MPC_XY_VEL_I_ACC 0.28
+param set-default MPC_XY_VEL_D_ACC 0.28
+param set-default MPC_XY_VEL_MAX 26.5
 
-	# navigator
-	param set NAV_ACC_RAD 2.5
-	# RC loss failsafe behavior -- hold mode.
-	param set NAV_RCL_ACT 1
+param set-default MPC_Z_P 0.85
+param set-default MPC_Z_VEL_P_ACC 5
+param set-default MPC_Z_VEL_I_ACC 1.7
+param set-default MPC_Z_VEL_D_ACC 0.4
+# Documentation says limit is 8.0, but does not seem to be enforced in code.
+param set-default MPC_Z_VEL_MAX_UP 20
+param set-default MPC_Z_VEL_MAX_DN 2.5
+#### CONTROLLER ###
 
-	# pwm control
-	param set PWM_MAIN_DISARM 900
-	param set PWM_MAIN_MAX 1850
-	param set PWM_MAIN_MIN 1075
-	# Oneshot125
-	param set PWM_MAIN_RATE 0
+# navigator
+param set-default NAV_ACC_RAD 2.5
+# RC loss failsafe behavior -- hold mode.
+param set-default NAV_RCL_ACT 1
 
-	# rtl
-	param set RTL_DESCEND_ALT 5
-	param set RTL_LAND_DELAY 5
-	param set RTL_MIN_DIST 7.5
-	param set RTL_RETURN_ALT 25
+# pwm control
+param set-default PWM_MAIN_DISARM 900
+param set-default PWM_MAIN_MAX 1850
+param set-default PWM_MAIN_MIN 1075
+# Oneshot125
+param set-default PWM_MAIN_RATE 0
 
-	# calibration
-	param set CAL_ACC0_PRIO 255
-	param set CAL_ACC1_PRIO 0
+# rtl
+param set-default RTL_DESCEND_ALT 5
+param set-default RTL_LAND_DELAY 5
+param set-default RTL_MIN_DIST 7.5
+param set-default RTL_RETURN_ALT 25
 
-	param set CAL_GYRO0_PRIO 255
-	param set CAL_GYRO1_PRIO 0
-fi
+# calibration
+param set-default CAL_ACC0_PRIO 255
+param set-default CAL_ACC1_PRIO 0
 
+param set-default CAL_GYRO0_PRIO 255
+param set-default CAL_GYRO1_PRIO 0
 # Logger mode. Default(1) + estimator replay(2) + thermal calibration(4)
 param set SDLOG_PROFILE 6
 

ROMFS/px4fmu_common/init.d/airframes/4500_clover4

@@ -17,19 +17,17 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
-if [ $AUTOCNF = yes ]
-then
-	param set MC_PITCHRATE_P 0.087
-	param set MC_PITCHRATE_I 0.037
-	param set MC_PITCHRATE_D 0.0044
-	param set MC_PITCH_P 8.5
-	param set MC_ROLLRATE_P 0.087
-	param set MC_ROLLRATE_I 0.037
-	param set MC_ROLLRATE_D 0.0044
-	param set MC_ROLL_P 8.5
-	param set MPC_XY_VEL_P_ACC 2.2
-	param set MPC_XY_VEL_D_ACC 0.26
-	param set MPC_XY_P 1.1
-	param set MPC_Z_VEL_P_ACC 4.8
-	param set MPC_Z_P 1.2
-fi
+
+param set-default MC_PITCHRATE_P 0.087
+param set-default MC_PITCHRATE_I 0.037
+param set-default MC_PITCHRATE_D 0.0044
+param set-default MC_PITCH_P 8.5
+param set-default MC_ROLLRATE_P 0.087
+param set-default MC_ROLLRATE_I 0.037
+param set-default MC_ROLLRATE_D 0.0044
+param set-default MC_ROLL_P 8.5
+param set-default MPC_XY_VEL_P_ACC 2.2
+param set-default MPC_XY_VEL_D_ACC 0.26
+param set-default MPC_XY_P 1.1
+param set-default MPC_Z_VEL_P_ACC 4.8
+param set-default MPC_Z_P 1.2

ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie

@@ -19,59 +19,56 @@
 
 set MIXER quad_x_cw
 set PWM_OUT 1234
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_N_CELLS 1
-	param set BAT_CAPACITY 240
-	param set BAT_SOURCE 1
 
-	param set CBRK_SUPPLY_CHK 894281
-	param set CBRK_USB_CHK 197848
-	param set COM_RC_IN_MODE 1
+param set-default BAT_N_CELLS 1
+param set-default BAT_CAPACITY 240
+param set-default BAT_SOURCE 1
 
-	param set EKF2_ABL_LIM 2
-	param set EKF2_AID_MASK 3
-	param set EKF2_HGT_MODE 2
-	param set EKF2_MAG_TYPE 1
-	param set EKF2_OF_DELAY 10
+param set-default CBRK_SUPPLY_CHK 894281
+param set-default CBRK_USB_CHK 197848
+param set-default COM_RC_IN_MODE 1
 
-	param set IMU_GYRO_CUTOFF 100
-	param set IMU_ACCEL_CUTOFF 30
+param set-default EKF2_ABL_LIM 2
+param set-default EKF2_AID_MASK 3
+param set-default EKF2_HGT_MODE 2
+param set-default EKF2_MAG_TYPE 1
+param set-default EKF2_OF_DELAY 10
 
-	param set MC_AIRMODE 1
-	param set IMU_DGYRO_CUTOFF 70
-	param set MC_PITCHRATE_D 0.002
-	param set MC_PITCHRATE_I 0.2
-	param set MC_PITCHRATE_P 0.07
-	param set MC_PITCH_P 6.5
-	param set MC_ROLLRATE_D 0.002
-	param set MC_ROLLRATE_I 0.2
-	param set MC_ROLLRATE_P 0.07
-	param set MC_ROLL_P 6.5
-	param set MC_YAW_P 3
+param set-default IMU_GYRO_CUTOFF 100
+param set-default IMU_ACCEL_CUTOFF 30
 
-	param set MPC_THR_HOVER 0.7
-	param set MPC_THR_MAX 1
-	param set MPC_Z_P 1.5
-	param set MPC_Z_VEL_P_ACC 8
-	param set MPC_Z_VEL_I_ACC 6
-	param set MPC_HOLD_MAX_XY 0.1
-	param set MPC_MAX_FLOW_HGT 3
+param set-default MC_AIRMODE 1
+param set-default IMU_DGYRO_CUTOFF 70
+param set-default MC_PITCHRATE_D 0.002
+param set-default MC_PITCHRATE_I 0.2
+param set-default MC_PITCHRATE_P 0.07
+param set-default MC_PITCH_P 6.5
+param set-default MC_ROLLRATE_D 0.002
+param set-default MC_ROLLRATE_I 0.2
+param set-default MC_ROLLRATE_P 0.07
+param set-default MC_ROLL_P 6.5
+param set-default MC_YAW_P 3
 
-	param set NAV_RCL_ACT 3
+param set-default MPC_THR_HOVER 0.7
+param set-default MPC_THR_MAX 1
+param set-default MPC_Z_P 1.5
+param set-default MPC_Z_VEL_P_ACC 8
+param set-default MPC_Z_VEL_I_ACC 6
+param set-default MPC_HOLD_MAX_XY 0.1
+param set-default MPC_MAX_FLOW_HGT 3
 
-	param set PWM_MAIN_DISARM 0
-	param set PWM_MAIN_MIN 0
-	param set PWM_MAIN_MAX 255
+param set-default NAV_RCL_ACT 3
 
-	# Run the motors at 328.125 kHz (recommended)
-	param set PWM_MAIN_RATE 3921
+param set-default PWM_MAIN_DISARM 0
+param set-default PWM_MAIN_MIN 0
+param set-default PWM_MAIN_MAX 255
 
-	param set SDLOG_PROFILE 1
+# Run the motors at 328.125 kHz (recommended)
+param set-default PWM_MAIN_RATE 3921
 
-	param set SENS_FLOW_MINRNG 0.05
+param set-default SDLOG_PROFILE 1
 
-fi
+param set-default SENS_FLOW_MINRNG 0.05
 
 set PWM_MAIN_DISARM none
 set PWM_MAIN_MAX none

ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21

@@ -19,59 +19,56 @@
 
 set MIXER quad_x_cw
 set PWM_OUT 1234
-if [ $AUTOCNF = yes ]
-then
-	param set SYS_MC_EST_GROUP 3
-	param set SYS_HAS_MAG 0
 
-	param set BAT_N_CELLS 1
-	param set BAT1_N_CELLS 1
-	param set BAT1_SOURCE 1
+param set-default SYS_MC_EST_GROUP 3
+param set-default SYS_HAS_MAG 0
 
-	param set CBRK_SUPPLY_CHK 894281
-	param set CBRK_USB_CHK 197848
-	param set COM_RC_IN_MODE 1
+param set-default BAT_N_CELLS 1
+param set-default BAT1_N_CELLS 1
+param set-default BAT1_SOURCE 1
 
-	param set IMU_GYRO_CUTOFF 100
-	param set IMU_ACCEL_CUTOFF 30
+param set-default CBRK_SUPPLY_CHK 894281
+param set-default CBRK_USB_CHK 197848
+param set-default COM_RC_IN_MODE 1
 
-	param set MC_AIRMODE 1
-	param set IMU_DGYRO_CUTOFF 70
-	param set MC_PITCHRATE_D 0.002
-	param set MC_PITCHRATE_I 0.2
-	param set MC_PITCHRATE_P 0.07
-	param set MC_PITCH_P 6.5
-	param set MC_ROLLRATE_D 0.002
-	param set MC_ROLLRATE_I 0.2
-	param set MC_ROLLRATE_P 0.07
-	param set MC_ROLL_P 6.5
-	param set MC_YAW_P 3
+param set-default IMU_GYRO_CUTOFF 100
+param set-default IMU_ACCEL_CUTOFF 30
 
-	param set MPC_THR_HOVER 0.7
-	param set MPC_THR_MAX 1
-	param set MPC_Z_P 1.5
-	param set MPC_Z_VEL_P_ACC 8
-	param set MPC_Z_VEL_I_ACC 6
-	param set MPC_HOLD_MAX_XY 0.1
-	param set MPC_MAX_FLOW_HGT 3
-	#param set IMU_GYRO_NF_FREQ 10
-	#param set IMU_GYRO_NF_BW 20
+param set-default MC_AIRMODE 1
+param set-default IMU_DGYRO_CUTOFF 70
+param set-default MC_PITCHRATE_D 0.002
+param set-default MC_PITCHRATE_I 0.2
+param set-default MC_PITCHRATE_P 0.07
+param set-default MC_PITCH_P 6.5
+param set-default MC_ROLLRATE_D 0.002
+param set-default MC_ROLLRATE_I 0.2
+param set-default MC_ROLLRATE_P 0.07
+param set-default MC_ROLL_P 6.5
+param set-default MC_YAW_P 3
 
-	param set NAV_RCL_ACT 3
+param set-default MPC_THR_HOVER 0.7
+param set-default MPC_THR_MAX 1
+param set-default MPC_Z_P 1.5
+param set-default MPC_Z_VEL_P_ACC 8
+param set-default MPC_Z_VEL_I_ACC 6
+param set-default MPC_HOLD_MAX_XY 0.1
+param set-default MPC_MAX_FLOW_HGT 3
+#param set IMU_GYRO_NF_FREQ 10
+#param set IMU_GYRO_NF_BW 20
 
-	param set PWM_MAIN_DISARM 0
-	param set PWM_MAIN_MIN 0
-	param set PWM_MAIN_MAX 255
+param set-default NAV_RCL_ACT 3
 
-	# Run the motors at 328.125 kHz (recommended)
-	param set PWM_MAIN_RATE 3921
+param set-default PWM_MAIN_DISARM 0
+param set-default PWM_MAIN_MIN 0
+param set-default PWM_MAIN_MAX 255
 
-	param set SDLOG_PROFILE 1
+# Run the motors at 328.125 kHz (recommended)
+param set-default PWM_MAIN_RATE 3921
 
-	param set SENS_FLOW_MINRNG 0.05
+param set-default SDLOG_PROFILE 1
 
+param set-default SENS_FLOW_MINRNG 0.05
 
-fi
 
 set PWM_MAIN_DISARM none
 set PWM_MAIN_MAX none

ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle

@@ -16,45 +16,39 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_N_CELLS 2
 
-	param set EKF2_ANGERR_INIT 0.01
-	param set EKF2_GBIAS_INIT 0.01
-	param set EKF2_MAG_TYPE 1
+param set-default BAT_N_CELLS 2
 
-	param set FW_AIRSPD_MAX 3
-	param set FW_AIRSPD_MIN 0
-	param set FW_AIRSPD_TRIM 1
+param set-default EKF2_ANGERR_INIT 0.01
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_MAG_TYPE 1
 
-	param set GND_L1_DIST 10
-	param set GND_SP_CTRL_MODE 1
-	param set GND_SPEED_P 0.25
-	param set GND_SPEED_I 3
-	param set GND_SPEED_D 0.001
-	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_THR_SC 1
-	param set GND_THR_IDLE 0
-	param set GND_THR_CRUISE 0.3
-	param set GND_THR_MAX 0.5
-	param set GND_THR_MIN 0
-	param set GND_WR_P 2
-	param set GND_WR_I 0.9674
-	param set GND_WR_IMAX 0.1
-	param set GND_WR_D 1.2
+param set-default FW_AIRSPD_MAX 3
+param set-default FW_AIRSPD_MIN 0
+param set-default FW_AIRSPD_TRIM 1
 
-	param set MIS_LTRMIN_ALT 0.01
-	param set MIS_TAKEOFF_ALT 0.01
+# Settings for a typical wheelbase 0f 0.3m
+param set-default GND_L1_DIST 1
+param set-default GND_L1_PERIOD 5
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_I 3
+param set-default GND_SPEED_D 0.001
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_THR_SC 1
+param set-default GND_THR_CRUISE 0.3
+param set-default GND_THR_MAX 0.5
+param set-default GND_THR_MIN 0
 
-	param set NAV_ACC_RAD 0.5
+param set-default MIS_LTRMIN_ALT 0.01
+param set-default MIS_TAKEOFF_ALT 0.01
 
-	# Provide ESC a constant 1500 us pulse
-	param set PWM_MAIN_DISARM 1500
-	param set PWM_MAIN_MAX 2000
-	param set PWM_MAIN_MIN 1000
-fi
+param set-default NAV_ACC_RAD 0.5
 
+# Provide ESC a constant 1500 us pulse
+param set-default PWM_MAIN_DISARM 1500
+param set-default PWM_MAIN_MAX 2000
+param set-default PWM_MAIN_MIN 1000
 # Configure this as rover
 set MAV_TYPE 10
 

ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover

@@ -21,67 +21,63 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_N_CELLS 4
 
-	param set EKF2_GBIAS_INIT 0.01
-	param set EKF2_ANGERR_INIT 0.01
-	param set EKF2_MAG_TYPE 1
+param set-default BAT_N_CELLS 4
 
-	param set FW_AIRSPD_MIN 0
-	param set FW_AIRSPD_TRIM 1
-	param set FW_AIRSPD_MAX 3
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_ANGERR_INIT 0.01
+param set-default EKF2_MAG_TYPE 1
 
-	param set GND_SP_CTRL_MODE 1
-	param set GND_L1_DIST 5
-	param set GND_L1_PERIOD 3
-	param set GND_THR_IDLE 0
-	param set GND_THR_CRUISE 0.7
-	param set GND_THR_MAX 0.5
+param set-default FW_AIRSPD_MIN 0
+param set-default FW_AIRSPD_TRIM 1
+param set-default FW_AIRSPD_MAX 3
 
-	# Because this is differential drive, it can make a turn with radius 0.
-	# This corresponds to a turn angle of pi radians.
-	# If a special case is made for differential-drive, this will need to change.
-	param set GND_MAX_ANG 3.142
-	param set GND_WHEEL_BASE 0.3
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_L1_DIST 5
+param set-default GND_L1_PERIOD 3
+param set-default GND_THR_CRUISE 0.7
+param set-default GND_THR_MAX 0.5
 
-	# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
-	# to support negative throttle.
-	param set GND_THR_MIN 0
-	param set GND_SPEED_P 0.25
-	param set GND_SPEED_I 3
-	param set GND_SPEED_D 0.001
-	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_THR_SC 1
+# Because this is differential drive, it can make a turn with radius 0.
+# This corresponds to a turn angle of pi radians.
+# If a special case is made for differential-drive, this will need to change.
+param set-default GND_MAX_ANG 3.142
+param set-default GND_WHEEL_BASE 0.3
 
-	param set MIS_LTRMIN_ALT 0.01
-	param set MIS_TAKEOFF_ALT 0.01
+# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
+# to support negative throttle.
+param set-default GND_THR_MIN 0
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_I 3
+param set-default GND_SPEED_D 0.001
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_THR_SC 1
 
-	param set NAV_ACC_RAD 0.5
+param set-default MIS_LTRMIN_ALT 0.01
+param set-default MIS_TAKEOFF_ALT 0.01
 
-	# Provide ESC a constant 1500 us pulse, which corresponds to
-	# idle on the Roboclaw motor controller on the Aion R1
-	param set PWM_MAIN_DISARM 1500
-	param set PWM_MAIN_DIS0 1500
-	param set PWM_MAIN_DIS1 1500
-	param set PWM_MAIN_MAX 2000
-	param set PWM_MAIN_MIN 1000
+param set-default NAV_ACC_RAD 0.5
 
-	# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
-	param set CBRK_AIRSPD_CHK 162128
+# Provide ESC a constant 1500 us pulse, which corresponds to
+# idle on the Roboclaw motor controller on the Aion R1
+param set-default PWM_MAIN_DISARM 1500
+param set-default PWM_MAIN_DIS0 1500
+param set-default PWM_MAIN_DIS1 1500
+param set-default PWM_MAIN_MAX 2000
+param set-default PWM_MAIN_MIN 1000
 
-	# Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians
-	param set GND_MAX_ANG 3.1415
+# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
 
-	param set RBCLW_BAUD 8
-	param set RBCLW_COUNTS_REV 1200
-	param set RBCLW_ADDRESS 128
-	# param set SER_TEL4_BAUD 115200
-	# 104 corresponds to Telem 4
-	param set RBCLW_SER_CFG 104
-fi
+# Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians
+param set-default GND_MAX_ANG 3.1415
 
+param set-default RBCLW_BAUD 8
+param set-default RBCLW_COUNTS_REV 1200
+param set-default RBCLW_ADDRESS 128
+# param set SER_TEL4_BAUD 115200
+# 104 corresponds to Telem 4
+param set-default RBCLW_SER_CFG 104
 # Start this driver after setting parameters, because the driver uses some of those parameters.
 # roboclaw start /dev/ttyS3
 

ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx

@@ -21,55 +21,51 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_N_CELLS 2
 
-	param set EKF2_GBIAS_INIT 0.01
-	param set EKF2_ANGERR_INIT 0.01
-	param set EKF2_MAG_TYPE 1
+param set-default BAT_N_CELLS 2
 
-	param set FW_AIRSPD_MIN 0
-	param set FW_AIRSPD_TRIM 1
-	param set FW_AIRSPD_MAX 3
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_ANGERR_INIT 0.01
+param set-default EKF2_MAG_TYPE 1
 
-	param set GND_THR_IDLE 0
-	param set GND_THR_CRUISE 0.3
-	param set GND_THR_MAX 0.5
+param set-default FW_AIRSPD_MIN 0
+param set-default FW_AIRSPD_TRIM 1
+param set-default FW_AIRSPD_MAX 3
 
-	# Differential drive acts like ackermann steering with a maximum turn angle of 60 degrees, or pi/3 radians
-	param set GND_MAX_ANG 1.042
-	param set GND_WHEEL_BASE 0.17
+param set-default GND_THR_CRUISE 0.3
+param set-default GND_THR_MAX 0.5
 
-	# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
-	# to support negative throttle.
-	param set GND_THR_MIN 0.0
-	param set GND_SPEED_P 0.25
-	param set GND_SPEED_I 3
-	param set GND_SPEED_D 0.001
-	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_THR_SC 1
+# Differential drive acts like ackermann steering with a maximum turn angle of 60 degrees, or pi/3 radians
+param set-default GND_MAX_ANG 1.042
+param set-default GND_WHEEL_BASE 0.17
 
-	param set MIS_LTRMIN_ALT 0.01
-	param set MIS_TAKEOFF_ALT 0.01
+# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
+# to support negative throttle.
+param set-default GND_THR_MIN 0.0
+param set-default GND_SPEED_P 0.25
+param set-default GND_SPEED_I 3
+param set-default GND_SPEED_D 0.001
+param set-default GND_SPEED_IMAX 0.125
+param set-default GND_SPEED_THR_SC 1
 
-	param set NAV_ACC_RAD 0.5
+param set-default MIS_LTRMIN_ALT 0.01
+param set-default MIS_TAKEOFF_ALT 0.01
 
-	# Provide ESC a constant 1500 us pulse to idle
-	param set PWM_MAIN_DISARM 1500
-	param set PWM_MAIN_DIS3 1485
-	param set PWM_MAIN_DIS4 1485
-	param set PWM_MAIN_FAIL3 1485
-	param set PWM_MAIN_FAIL4 1485
-	param set PWM_MAIN_MAX 2000
-	param set PWM_MAIN_MIN 1000
-	param set PWM_MAIN_MIN3 970
-	param set PWM_MAIN_MIN4 970
+param set-default NAV_ACC_RAD 0.5
 
-	# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
-	param set CBRK_AIRSPD_CHK 162128
+# Provide ESC a constant 1500 us pulse to idle
+param set-default PWM_MAIN_DISARM 1500
+param set-default PWM_MAIN_DIS3 1485
+param set-default PWM_MAIN_DIS4 1485
+param set-default PWM_MAIN_FAIL3 1485
+param set-default PWM_MAIN_FAIL4 1485
+param set-default PWM_MAIN_MAX 2000
+param set-default PWM_MAIN_MIN 1000
+param set-default PWM_MAIN_MIN3 970
+param set-default PWM_MAIN_MIN4 970
 
-fi
+# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
 
 # Configure this as rover
 set MAV_TYPE 10

ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic

@@ -14,17 +14,14 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	#Set data link loss failsafe mode (0: disabled)
-	param set NAV_DLL_ACT 0
 
-	# disable circuit breaker for airspeed sensor
-	param set CBRK_AIRSPD_CHK 162128
+#Set data link loss failsafe mode (0: disabled)
+param set-default NAV_DLL_ACT 0
 
-	#param set CBRK_GPSFAIL 240024
-fi
+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
 
+#param set CBRK_GPSFAIL 240024
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}
 

ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus

@@ -14,17 +14,14 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	#Set data link loss failsafe mode (0: disabled)
-	param set NAV_DLL_ACT 0
 
-	# disable circuit breaker for airspeed sensor
-	param set CBRK_AIRSPD_CHK 162128
+#Set data link loss failsafe mode (0: disabled)
+param set-default NAV_DLL_ACT 0
 
-	#param set CBRK_GPSFAIL 240024
-fi
+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
 
+#param set CBRK_GPSFAIL 240024
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}
 

ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy

@@ -23,28 +23,25 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
-if [ $AUTOCNF = yes ]
-then
-	#Set data link loss failsafe mode (0: disabled)
-	param set NAV_DLL_ACT 0
 
-	# disable circuit breaker for airspeed sensor
-	param set CBRK_AIRSPD_CHK 162128
-	# companion computer is connected via USB permanently
-	param set CBRK_USB_CHK 197848
-	param set CBRK_IO_SAFETY 22027
+#Set data link loss failsafe mode (0: disabled)
+param set-default NAV_DLL_ACT 0
 
-	param set COM_PREARM_MODE 0
+# disable circuit breaker for airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+# companion computer is connected via USB permanently
+param set-default CBRK_USB_CHK 197848
+param set-default CBRK_IO_SAFETY 22027
 
-	param set MAV_1_CONFIG 102
+param set-default COM_PREARM_MODE 0
 
-	param set BAT1_A_PER_V 37.8798
-	param set BAT1_CAPACITY 18000
-	param set BAT1_V_DIV 11.0
-	param set BAT1_N_CELLS 4
-	param set BAT_V_OFFS_CURR 0.33
-fi
+param set-default MAV_1_CONFIG 102
 
+param set-default BAT1_A_PER_V 37.8798
+param set-default BAT1_CAPACITY 18000
+param set-default BAT1_V_DIV 11.0
+param set-default BAT1_N_CELLS 4
+param set-default BAT_V_OFFS_CURR 0.33
 set PWM_OUT 12345678
 # set MIXER IO_pass
 set MIXER vectored6dof

ROMFS/px4fmu_common/init.d/airframes/6002_draco_r

@@ -30,109 +30,106 @@
 set MIXER hexa_x
 set PWM_OUT 12345678
 
-if [ $AUTOCNF = yes ]
-then
-	###############################################
-	# Attitude & rate gains
-	###############################################
-	# Roll
-	param set MC_ROLL_P 6.5
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.0013
-	param set MC_ROLLRATE_MAX 800
-	# Pitch
-	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 0.0016
-	param set MC_PITCHRATE_MAX 800
-	# Yaw
-	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 MC_YAW_FF 0
-	param set MC_YAWRATE_MAX 700
 
-	###############################################
-	# Multirotor Position Gains
-	###############################################
-	param set MPC_ACC_HOR 8
-	param set MPC_THR_MIN 0.06
-	param set MPC_THR_HOVER 0.3
-	# altitude control gains
-	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 gains
-	param set MPC_XY_P 0.9500
-	param set MPC_XY_VEL_P_ACC 1.8
-	param set MPC_XY_VEL_I_ACC 0.4
-	param set MPC_XY_VEL_D_ACC 0.2
-	# etc gains
-	param set MPC_TKO_RAMP_T 0.4
-	param set MPC_TKO_SPEED 1.5
-	param set MPC_VEL_MANUAL 5
+###############################################
+# Attitude & rate gains
+###############################################
+# Roll
+param set-default MC_ROLL_P 6.5
+param set-default MC_ROLLRATE_P 0.15
+param set-default MC_ROLLRATE_I 0.05
+param set-default MC_ROLLRATE_D 0.0013
+param set-default MC_ROLLRATE_MAX 800
+# Pitch
+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 0.0016
+param set-default MC_PITCHRATE_MAX 800
+# Yaw
+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 MC_YAW_FF 0
+param set-default MC_YAWRATE_MAX 700
 
-	# Filter settings
-	param set IMU_DGYRO_CUTOFF 90
-	param set IMU_GYRO_CUTOFF 100
+###############################################
+# Multirotor Position Gains
+###############################################
+param set-default MPC_ACC_HOR 8
+param set-default MPC_THR_MIN 0.06
+param set-default MPC_THR_HOVER 0.3
+# altitude control gains
+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
+# position control gains
+param set-default MPC_XY_P 0.9500
+param set-default MPC_XY_VEL_P_ACC 1.8
+param set-default MPC_XY_VEL_I_ACC 0.4
+param set-default MPC_XY_VEL_D_ACC 0.2
+# etc gains
+param set-default MPC_TKO_RAMP_T 0.4
+param set-default MPC_TKO_SPEED 1.5
+param set-default MPC_VEL_MANUAL 5
 
-	# Thrust curve (avoids the need for TPA)
-	param set THR_MDL_FAC 0.25
+# Filter settings
+param set-default IMU_DGYRO_CUTOFF 90
+param set-default IMU_GYRO_CUTOFF 100
 
-	# System
-	param set PWM_MAIN_MAX 1950
-	param set PWM_MAIN_MIN 1100
-	param set PWM_MAIN_DIS5 980
-	param set PWM_MAIN_DIS6 980
+# Thrust curve (avoids the need for TPA)
+param set-default THR_MDL_FAC 0.25
 
-	# DSHOT
-	param set DSHOT_CONFIG 600
+# System
+param set-default PWM_MAIN_MAX 1950
+param set-default PWM_MAIN_MIN 1100
+param set-default PWM_MAIN_DIS5 980
+param set-default PWM_MAIN_DIS6 980
 
-	param set MIS_TAKEOFF_ALT 1.1
+# DSHOT
+param set-default DSHOT_CONFIG 600
 
-	#####################################
-	# EKF
-	#####################################
-	# Height mode as GPS
-	param set EKF2_HGT_MODE 1
-	# Enable optical flow and GPS
-	param set EKF2_AID_MASK 1
-	param set EKF2_RNG_AID 1
-	param set EKF2_MAG_TYPE 1
-	param set EKF2_OF_QMIN 80
+param set-default MIS_TAKEOFF_ALT 1.1
 
-	# default horizontal stablization sensors
-	param set SENS_EN_PMW3901 1
-	param set SENS_EN_PX4FLOW 1
-	param set SENS_EN_LL40LS 2
-	param set SENS_FLOW_ROT 2
+#####################################
+# EKF
+#####################################
+# Height mode as GPS
+param set-default EKF2_HGT_MODE 1
+# Enable optical flow and GPS
+param set-default EKF2_AID_MASK 1
+param set-default EKF2_RNG_AID 1
+param set-default EKF2_MAG_TYPE 1
+param set-default EKF2_OF_QMIN 80
 
-	#
-	param set CBRK_IO_SAFETY 22027
-	param set COM_DISARM_LAND 3
+# default horizontal stablization sensors
+param set-default SENS_EN_PMW3901 1
+param set-default SENS_EN_PX4FLOW 1
+param set-default SENS_EN_LL40LS 2
+param set-default SENS_FLOW_ROT 2
 
-	# PWM ONESHOT
-	param set PWM_MAIN_RATE 0
+#
+param set-default CBRK_IO_SAFETY 22027
+param set-default COM_DISARM_LAND 3
 
-	# Battery
-	param set BAT_SOURCE 0
-	param set BAT_N_CELLS 4
-	param set BAT_V_DIV 10.133
+# PWM ONESHOT
+param set-default PWM_MAIN_RATE 0
 
-	# TELEM1 ttyS1
-	param set MAV_0_CONFIG 101
-	param set MAV_0_MODE 0	# onboard
-	param set MAV_0_FORWARD 1
-	param set SER_TEL1_BAUD 57600
+# Battery
+param set-default BAT_SOURCE 0
+param set-default BAT_N_CELLS 4
+param set-default BAT_V_DIV 10.133
 
-	# TELEM2 ttyS2
-	param set MAV_1_CONFIG 102
-	param set MAV_1_MODE 2
-	param set MAV_1_FORWARD 1
-	param set MAV_1_RATE 800000
-	param set SER_TEL2_BAUD 921600
-fi
+# TELEM1 ttyS1
+param set-default MAV_0_CONFIG 101
+param set-default MAV_0_MODE 0	# onboard
+param set-default MAV_0_FORWARD 1
+param set-default SER_TEL1_BAUD 57600
 
+# TELEM2 ttyS2
+param set-default MAV_1_CONFIG 102
+param set-default MAV_1_MODE 2
+param set-default MAV_1_FORWARD 1
+param set-default MAV_1_RATE 800000
+param set-default SER_TEL2_BAUD 921600

ROMFS/px4fmu_common/init.d/airframes/6003_hexa_x_ctrlalloc

@@ -13,62 +13,59 @@
 . ${R}etc/init.d/rc.mc_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_ACT4_MIN 0.0
-	param set CA_ACT5_MIN 0.0
+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_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 CA_ACT4_MAX 1.0
-	param set CA_ACT5_MAX 1.0
+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_ACT4_MIN 0.0
+param set-default CA_ACT5_MIN 0.0
 
-	param set CA_MC_R0_PX 0.0
-	param set CA_MC_R0_PY 0.275
-	param set CA_MC_R0_CT 6.5
-	param set CA_MC_R0_KM -0.05
+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
+param set-default CA_ACT4_MAX 1.0
+param set-default CA_ACT5_MAX 1.0
 
-	param set CA_MC_R1_PX 0.0
-	param set CA_MC_R1_PY -0.275
-	param set CA_MC_R1_CT 6.5
-	param set CA_MC_R1_KM 0.05
+param set-default CA_MC_R0_PX 0.0
+param set-default CA_MC_R0_PY 0.275
+param set-default CA_MC_R0_CT 6.5
+param set-default CA_MC_R0_KM -0.05
 
-	param set CA_MC_R2_PX 0.238
-	param set CA_MC_R2_PY -0.1375
-	param set CA_MC_R2_CT 6.5
-	param set CA_MC_R2_KM -0.05
+param set-default CA_MC_R1_PX 0.0
+param set-default CA_MC_R1_PY -0.275
+param set-default CA_MC_R1_CT 6.5
+param set-default CA_MC_R1_KM 0.05
 
-	param set CA_MC_R3_PX -0.238
-	param set CA_MC_R3_PY 0.1375
-	param set CA_MC_R3_CT 6.5
-	param set CA_MC_R3_KM 0.05
+param set-default CA_MC_R2_PX 0.238
+param set-default CA_MC_R2_PY -0.1375
+param set-default CA_MC_R2_CT 6.5
+param set-default CA_MC_R2_KM -0.05
 
-	param set CA_MC_R4_PX 0.238
-	param set CA_MC_R4_PY 0.1375
-	param set CA_MC_R4_CT 6.5
-	param set CA_MC_R4_KM 0.05
+param set-default CA_MC_R3_PX -0.238
+param set-default CA_MC_R3_PY 0.1375
+param set-default CA_MC_R3_CT 6.5
+param set-default CA_MC_R3_KM 0.05
 
-	param set CA_MC_R5_PX -0.238
-	param set CA_MC_R5_PY -0.1375
-	param set CA_MC_R5_CT 6.5
-	param set CA_MC_R5_KM -0.05
+param set-default CA_MC_R4_PX 0.238
+param set-default CA_MC_R4_PY 0.1375
+param set-default CA_MC_R4_CT 6.5
+param set-default CA_MC_R4_KM 0.05
 
-fi
+param set-default CA_MC_R5_PX -0.238
+param set-default CA_MC_R5_PY -0.1375
+param set-default CA_MC_R5_CT 6.5
+param set-default CA_MC_R5_KM -0.05
 
 set MIXER direct
 set PWM_OUT 123456