Run ignition gazebo as distributed lockstep

ign sim fix alt ground truth and baro
WIP: add X3
2026-05-25 19:27:35 +08:00 · 2022-08-15 11:15:03 +02:00 · 2022-08-14 15:22:24 -04:00 · 2022-08-14 15:15:24 -04:00 · 2022-08-14 13:04:08 -04:00 · 2022-08-14 17:14:25 +02:00
275 changed files with 32922 additions and 2561 deletions
@@ -53,9 +53,6 @@
 [submodule "src/lib/events/libevents"]
 	path = src/lib/events/libevents
 	url = https://github.com/mavlink/libevents.git
-[submodule "Tools/simulation-ignition"]
-	path = Tools/simulation-ignition
-	url = https://github.com/PX4/px4-simulation-ignition.git
 [submodule "src/lib/crypto/libtomcrypt"]
 	path = src/lib/crypto/libtomcrypt
 	url = https://github.com/PX4/libtomcrypt.git
@@ -6,6 +6,11 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
+    px4_sitl_ign:
+      short: px4_sitl_ign
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_ign
    px4_sitl_rtps:
      short: px4_sitl_rtps
      buildType: RelWithDebInfo
@@ -49,185 +49,18 @@
                "group": "test"
            }
        },
-        {
-            "label": "jmavsim build",
-            "type": "shell",
-            "command": "ant create_run_jar copy_res",
-            "options": {
-                "cwd": "${workspaceFolder}/Tools/jMAVSim"
-            },
-            "problemMatcher": [],
-            "presentation":{
-                "echo": true,
-                "reveal": "never",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false,
-            }
-        },
-        {
-            "label": "jmavsim",
-            "type": "shell",
-            "dependsOn": "jmavsim build",
-            "command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
-            "options": {
-                "cwd": "${workspaceFolder}/Tools/jMAVSim/out/production",
-                "env": {
-                    "PX4_SIM_SPEED_FACTOR": "1"
-                }
-            },
-            "isBackground": true,
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": [
-                {
-                    "pattern": [
-                        {
-                            "regexp": ".",
-                            "file": 1,
-                            "location": 2,
-                            "message": 3
-                        }
-                    ],
-                    "background": {
-                        "activeOnStart": true,
-                        "beginsPattern": ".",
-                        "endsPattern": ".",
-                    }
-                }
-            ]
-        },
-        {
-            "label": "jmavsim kill",
-            "type": "shell",
-            "command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}')",
-            "presentation": {
-                "echo": false,
-                "reveal": "never",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": []
-        },
-        {
-            "label": "gazebo build",
-            "type": "shell",
-            "command": "make px4_sitl_default sitl_gazebo",
-            "options": {
-                "cwd": "${workspaceFolder}"
-            },
-            "problemMatcher": [],
-            "presentation":{
-                "echo": true,
-                "reveal": "always",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false,
-            }
-        },
-        {
-            "label": "gazebo start",
-            "type": "shell",
-            "dependsOn": "gazebo build",
-            "options": {
-                "cwd": "${workspaceFolder}",
-                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
-                    "PX4_SIM_SPEED_FACTOR": "1"
-                }
-            },
-            "command": "gzserver --verbose ${workspaceFolder}/Tools/sitl_gazebo/worlds/${input:gazeboWorld}.world",
-            "isBackground": true,
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": [
-                {
-                    "pattern": [
-                        {
-                            "regexp": ".",
-                            "file": 1,
-                            "location": 2,
-                            "message": 3
-                        }
-                    ],
-                    "background": {
-                        "activeOnStart": true,
-                        "beginsPattern": ".",
-                        "endsPattern": ".",
-                    }
-                }
-            ]
-        },
+
        {
            "label": "gazebo",
            "type": "shell",
-            "dependsOn": "gazebo start",
            "options": {
                "cwd": "${workspaceFolder}",
                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
+                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/gazebo/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
-            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/sitl_gazebo/models/${input:vehicleModel}/${input:vehicleModel}.sdf --model-name=${input:vehicleModel} -x 1.01 -y 0.98 -z 0.83",
-            "isBackground": false,
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": [
-                {
-                    "pattern": [
-                        {
-                            "regexp": ".",
-                            "file": 1,
-                            "location": 2,
-                            "message": 3
-                        }
-                    ],
-                    "background": {
-                        "activeOnStart": true,
-                        "beginsPattern": ".",
-                        "endsPattern": ".",
-                    }
-                }
-            ]
-        },
-        {
-            "label": "gazebo client",
-            "type": "shell",
-            "dependsOn": "gazebo build",
-            "options": {
-                "cwd": "${workspaceFolder}",
-                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
-                    "PX4_SIM_SPEED_FACTOR": "1"
-                }
-            },
-            "command": "gzclient --verbose",
+            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/gazebo/worlds/${input:gazeboWorld}.sdf",
            "isBackground": true,
            "presentation": {
                "echo": true,
@@ -255,10 +88,11 @@
                }
            ]
        },
+
        {
            "label": "gazebo kill",
            "type": "shell",
-            "command": "killall gzserver",
+            "command": "killall ign",
            "presentation": {
                "echo": true,
                "reveal": "silent",
@@ -270,6 +104,7 @@
            "problemMatcher": [],
            "dependsOn":["px4_sitl_cleanup"]
        },
+
        {
            "label": "px4_sitl_cleanup",
            "type": "shell",
@@ -335,39 +170,14 @@
        }
    ],
    "inputs": [
-        {
-            "type": "pickString",
-            "id": "vehicleModel",
-            "description": "gazebo model",
-            "options": [
-              "iris",
-              "typhoon_h480",
-              "plane",
-              "plane_catapult",
-              "plane_lidar",
-              "standard_vtol",
-              "tailsitter",
-              "tiltrotor",
-              "r1_rover",
-              "boat"
-            ],
-            "default": "iris"
-        },
        {
            "type": "pickString",
            "id": "gazeboWorld",
            "description": "gazebo world",
            "options": [
-                "baylands",
-                "empty",
-                "ksql_airport",
-                "mcmillan_airfield",
-                "sonoma_raceway",
-                "warehouse",
-                "windy",
-                "yosemite"
+                "x4"
            ],
-            "default": "empty"
+            "default": "x4"
        }
    ]
 }
@@ -35,5 +35,6 @@ add_subdirectory(init.d)
 add_subdirectory(mixers)
 # TODO: make this configurable from the board config, or better combine
 if("${PX4_BOARD}" MATCHES "sitl")
+	add_subdirectory(mixers-sitl)
 	add_subdirectory(init.d-posix)
 endif()
@@ -9,25 +9,4 @@

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

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

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

+param set-default SYS_CTRL_ALLOC 1
+

 param set-default CA_AIRFRAME 0

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

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

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

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

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

+set MIXER quad_x

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

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

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

+set MIXER AERT

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

 param set-default BAT_N_CELLS 3

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

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

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

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

 param set-default BAT_N_CELLS 3

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

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

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

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

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

+set MIXER skip
@@ -14,20 +14,12 @@ param set-default FW_LND_ANG 8
 param set-default FW_L1_PERIOD 12

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

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

 param set-default FW_SPOILERS_LND 0.4

@@ -49,6 +41,7 @@ param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1

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

 param set-default CA_ROTOR_COUNT 1
@@ -75,3 +68,5 @@ param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256


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

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

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

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

 param set-default RWTO_TKOFF 1

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

-param set-default CA_AIRFRAME 1
-
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-
-param set-default CA_SV_CS_COUNT 6
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS2_TRQ_P 1.0
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS3_TRQ_Y 1.0
-param set-default CA_SV_CS3_TYPE 4
-param set-default CA_SV_CS4_TYPE 9
-param set-default CA_SV_CS5_TYPE 10
-param set-default PWM_MAIN_FUNC3 204
-param set-default PWM_MAIN_FUNC4 205
-param set-default PWM_MAIN_FUNC5 101
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-param set-default PWM_MAIN_FUNC9 206
-param set-default PWM_MAIN_REV 256
-
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom
@@ -44,28 +44,5 @@ param set-default FW_USE_NPFG 1

 param set-default RWTO_TKOFF 1

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

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

 param set-default CA_ROTOR_COUNT 5
@@ -81,3 +82,5 @@ param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2

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

 param set-default MAV_TYPE 20

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

 param set-default CA_ROTOR_COUNT 4
@@ -76,3 +77,5 @@ param set-default VT_TYPE 0

 param set-default WV_EN 0

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

 param set-default MAV_TYPE 21

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

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

 param set-default CA_ROTOR0_TILT 1
-param set-default CA_ROTOR2_TILT 2
+param set-default CA_ROTOR2_TILT 3
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
@@ -36,7 +37,9 @@ param set-default CA_SV_CS2_TYPE 3
 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_TL0_CT 0
 param set-default CA_SV_TL1_CT 0
-param set-default CA_SV_TL_COUNT 2
+param set-default CA_SV_TL2_CT 0
+param set-default CA_SV_TL3_CT 0
+param set-default CA_SV_TL_COUNT 4

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
@@ -44,9 +47,11 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 204
 param set-default PWM_MAIN_FUNC6 205
-param set-default PWM_MAIN_FUNC7 201
-param set-default PWM_MAIN_FUNC8 202
-param set-default PWM_MAIN_FUNC9 203
+param set-default PWM_MAIN_FUNC7 206
+param set-default PWM_MAIN_FUNC8 207
+param set-default PWM_MAIN_FUNC9 201
+param set-default PWM_MAIN_FUNC10 202
+param set-default PWM_MAIN_FUNC11 203

 param set-default FW_L1_PERIOD 12
 param set-default FW_PR_FF 0.2
@@ -62,17 +67,23 @@ param set-default FW_T_CLMB_MAX 8
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2

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

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

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

 param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_EN 4
-param set-default VT_FWD_THRUST_SC 0.6
+param set-default VT_MOT_ID 1234
 param set-default VT_TILT_TRANS 0.6
 param set-default VT_TYPE 1
+
+set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
+set MIXER custom
@@ -5,14 +5,48 @@
 # @type Standard VTOL
 #

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

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

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

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

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

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

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

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

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

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

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

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

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

+set MIXER skip
@@ -44,25 +44,5 @@ param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0

-param set-default CA_AIRFRAME 1
-
-param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3
-
-param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS0_TRQ_R 0
-param set-default CA_SV_CS0_TRQ_Y 1
-param set-default CA_SV_CS0_TYPE 4
-param set-default CA_SV_CS1_TRQ_P 0
-param set-default CA_SV_CS1_TRQ_R -0.5
-param set-default CA_SV_CS1_TYPE 1
-param set-default CA_SV_CS2_TRQ_P 1
-param set-default CA_SV_CS2_TYPE 3
-param set-default PWM_MAIN_FUNC1 201
-param set-default PWM_MAIN_FUNC2 101
-param set-default PWM_MAIN_FUNC3 202
-param set-default PWM_MAIN_FUNC4 203
-param set-default PWM_MAIN_FUNC5 407
-param set-default PWM_MAIN_FUNC6 408
-param set-default PWM_MAIN_FUNC7 409
-
+set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
+set MIXER custom
@@ -50,25 +50,5 @@ param set-default FW_THR_CRUISE 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0

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

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

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

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

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

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

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

-
-param set-default CA_ROTOR0_PX 0.0
-param set-default CA_ROTOR0_PY 1.0
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX 0.0
-param set-default CA_ROTOR1_PY -1.0
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.866025
-param set-default CA_ROTOR2_PY -0.5
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.866025
-param set-default CA_ROTOR3_PY 0.5
-param set-default CA_ROTOR3_KM 0.05
-param set-default CA_ROTOR4_PX 0.866025
-param set-default CA_ROTOR4_PY 0.5
-param set-default CA_ROTOR4_KM 0.05
-param set-default CA_ROTOR5_PX -0.866025
-param set-default CA_ROTOR5_PY -0.5
-param set-default CA_ROTOR5_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_MAIN_FUNC6 106
+set MIXER hexa_x
@@ -0,0 +1,10 @@
+#!/bin/sh
+#
+# @name Ignition Gazebo X3
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_w
@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# @name Ignition Gazebo X4
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default MC_PITCHRATE_P 0.1
+param set-default MC_ROLLRATE_P 0.05
+
+set MIXER hexa_x
@@ -28,39 +28,4 @@ param set-default MNT_MODE_IN 4
 param set-default MNT_MODE_OUT 2
 param set-default MAV_PROTO_VER 2

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

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

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

 px4_add_romfs_files(
 	10016_iris
+	10017_iris_ctrlalloc
 	10018_iris_foggy_lidar
 	10019_omnicopter
+	10020_if750a
 	10030_px4vision
 	10040_quadx
 	10041_airplane
@@ -45,16 +47,19 @@ px4_add_romfs_files(
 	1012_iris_rplidar
 	1013_iris_vision
 	1013_iris_vision.post
+	1014_solo
 	1015_iris_obs_avoid
 	1015_iris_obs_avoid.post
 	1017_iris_opt_flow_mockup
 	1018_iris_vision_velocity
 	1019_iris_dual_gps
+	1020_uuv_generic
 	1021_uuv_hippocampus
 	1022_uuv_bluerov2_heavy
 	1030_plane
 	1031_plane_cam
 	1032_plane_catapult
+	1033_plane_lidar
 	1033_rascal
 	1034_rascal-electric
 	1035_techpod
@@ -65,16 +70,23 @@ px4_add_romfs_files(
 	1041_tailsitter
 	1042_tiltrotor
 	1043_standard_vtol_drop
-	1044_plane_lidar
+	1043_standard_vtol_drop.post
 	1060_rover
 	1061_r1_rover
 	1062_tf-r1
 	1070_boat
 	3010_quadrotor_x
 	3011_hexarotor_x
+
+	4001_x3
+
 	17001_tf-g1
 	17002_tf-g2
 	2507_cloudship
+
+	6001_x4
 	6011_typhoon_h480
 	6011_typhoon_h480.post
+	6012_typhoon_h480_ctrlalloc
+	6012_typhoon_h480_ctrlalloc.post
 )
@@ -1,5 +1,4 @@
 #!/bin/sh
 # shellcheck disable=SC2154

-#micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
-microdds_client start -t udp -p 15555
+micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
@@ -1,20 +1,33 @@
 #!/bin/sh
 # shellcheck disable=SC2154

-simulator_tcp_port=$((4560+px4_instance))

-# Check if PX4_SIM_HOSTNAME environment variable is empty
-# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
-# If both are empty use localhost for simulator
-if [ -z "${PX4_SIM_HOSTNAME}" ]; then
-  if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-    echo "PX4 SIM HOST: localhost"
-    simulator start -c $simulator_tcp_port
-  else
-    echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
-    simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
-  fi
+if ignition_simulator start
+then
+
+	sensor_baro_sim start
+	sensor_gps_sim start
+	sensor_mag_sim start
+
 else
-  echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
-  simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
+	simulator_tcp_port=$((4560+px4_instance))
+
+	# Check if PX4_SIM_HOSTNAME environment variable is empty
+	# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
+	# If both are empty use localhost for simulator
+	if [ -z "${PX4_SIM_HOSTNAME}" ]; then
+
+		if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
+			echo "PX4 SIM HOST: localhost"
+			simulator start -c $simulator_tcp_port
+		else
+			echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
+			simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
+		fi
+
+	else
+		echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
+		simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
+	fi
+
 fi
@@ -1,6 +1,6 @@
 #!/bin/sh

-set -e
+#set -e

 # PX4 commands need the 'px4-' prefix in bash.
 # (px4-alias.sh is expected to be in the PATH)
@@ -24,7 +24,7 @@ fi

 # initialize script variables
 set IO_PRESENT                  no
-set MIXER                       skip
+set MIXER                       none
 set MIXER_AUX                   none
 set MIXER_FILE                  none
 set OUTPUT_MODE                 sim
@@ -212,6 +212,7 @@ elif ! replay tryapplyparams
 then
  . px4-rc.simulator
 fi
+
 load_mon start
 battery_simulator start
 tone_alarm start
@@ -228,12 +229,6 @@ commander start

 navigator start

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

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

+set MIXER quad_x

 param set SYS_HITL 1

@@ -76,8 +76,6 @@ param set-default CA_ROTOR4_AZ 0.0
 param set-default CA_ROTOR4_PX 0.2

 param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
 param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS2_TRQ_P 1.0
@@ -108,4 +106,6 @@ param set-default CBRK_IO_SAFETY 22027

 param set-default MAV_TYPE 22

+set MIXER standard_vtol_hitl

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

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

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

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

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

+set MIXER quad_x
+set PWM_OUT 1234

 param set UAVCAN_ENABLE 0

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

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

+set MIXER AERT
+set PWM_OUT 1234

 param set UAVCAN_ENABLE 0

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

 param set-default MAV_TYPE 19

+set MIXER vtol_tailsitter_duo_sat

+set PWM_OUT 1234

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

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

+set MIXER octo_cox

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

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

+param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 2
 param set-default CA_ROTOR_COUNT 5
 param set-default CA_ROTOR0_PX 1
@@ -0,0 +1,43 @@
+#!/bin/sh
+#
+# @name Caipiroshka Duo Tailsitter
+#
+# @type VTOL Duo Tailsitter
+# @class VTOL
+#
+# @output MAIN1 motor right
+# @output MAIN2 motor left
+# @output MAIN5 elevon right
+# @output MAIN6 elevon left
+#
+# @maintainer Roman Bapst <roman@px4.io>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default MAV_TYPE 19
+
+param set-default MC_ROLL_P 6
+param set-default MC_ROLLRATE_P 0.12
+param set-default MC_ROLLRATE_I 0.002
+
+param set-default MC_PITCH_P 4.5
+param set-default MC_PITCHRATE_P 0.3
+param set-default MC_PITCHRATE_I 0.002
+
+param set-default MC_YAW_P 3.8
+param set-default MC_YAWRATE_P 0.22
+param set-default MC_YAWRATE_I 0.02
+
+param set-default VT_IDLE_PWM_MC  1080
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_MOT_ID 12
+param set-default VT_TYPE 0
+
+set MIXER vtol_tailsitter_duo
+
+set PWM_OUT 123456
@@ -0,0 +1,53 @@
+#!/bin/sh
+#
+# @name BirdsEyeView Aerobotics FireFly6
+# @type VTOL Tiltrotor
+# @class VTOL
+#
+# @maintainer Roman Bapst <roman@uaventure.com>
+#
+# @output MAIN1 Front right motor bottom
+# @output MAIN2 Front right motor top
+# @output MAIN3 Back motor bottom
+# @output MAIN4 Back motor top
+# @output MAIN5 Front left motor bottom
+# @output MAIN6 Front left motor top
+# @output AUX1 Tilt servo
+# @output AUX2 Elevon 1
+# @output AUX3 Elevon 2
+# @output AUX4 Gear
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default MAV_TYPE 21
+
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_P 0.19
+param set-default MC_ROLLRATE_I 0.002
+param set-default MC_ROLLRATE_D 0.005
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.14
+param set-default MC_PITCHRATE_I 0.002
+param set-default MC_PITCHRATE_D 0.004
+param set-default MC_YAW_P 4
+param set-default MC_YAWRATE_P 0.22
+param set-default MC_YAWRATE_I 0.02
+
+param set-default VT_FW_MOT_OFFID 34
+param set-default VT_IDLE_PWM_MC 1080
+param set-default VT_MOT_ID 123456
+param set-default VT_FW_MOT_OFFID 56
+param set-default VT_TILT_MC 0.08
+param set-default VT_TILT_TRANS 0.5
+param set-default VT_TILT_FW 0.9
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_TYPE 1
+
+set MIXER firefly6
+set MIXER_AUX firefly6
+
+set PWM_OUT 12345678
@@ -0,0 +1,46 @@
+#!/bin/sh
+#
+# @name Quadrotor X Tailsitter
+#
+# @type VTOL Quad Tailsitter
+# @class VTOL
+#
+# @maintainer Roman Bapst <roman@px4.io>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default MAV_TYPE 20
+
+param set-default CA_AIRFRAME 4
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_SV_CS_COUNT 2
+param set-default CA_SV_CS0_TRQ_P 0.5
+param set-default CA_SV_CS0_TRQ_Y 0.5
+param set-default CA_SV_CS0_TYPE 5
+param set-default CA_SV_CS1_TRQ_P 0.5
+param set-default CA_SV_CS1_TRQ_Y -0.5
+param set-default CA_SV_CS1_TYPE 6
+
+param set-default PWM_MAIN_MAX 2000
+
+param set-default VT_MOT_ID 1234
+param set-default VT_IDLE_PWM_MC  1080
+param set-default VT_TYPE 0
+
+set MIXER quad_x_vtol
+
+set PWM_OUT 1234
@@ -0,0 +1,34 @@
+#!/bin/sh
+#
+# @name Quadrotor + Tailsitter
+#
+# @type VTOL Quad Tailsitter
+# @class VTOL
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 elevon left
+# @output MAIN6 elevon right
+# @output MAIN7 canard surface
+# @output MAIN8 rudder
+#
+# @maintainer Roman Bapst <roman@px4.io>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default MAV_TYPE 20
+
+param set-default PWM_MAIN_MAX 2000
+
+param set-default VT_IDLE_PWM_MC  1080
+param set-default VT_TYPE 0
+
+set MIXER quad_+_vtol
+
+set PWM_OUT 1234
@@ -0,0 +1,59 @@
+#!/bin/sh
+#
+# @name Fun Cub Quad VTOL
+#
+# @type Standard VTOL
+# @class VTOL
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output AUX1 Aileron 1
+# @output AUX2 Aileron 2
+# @output AUX3 Elevator
+# @output AUX4 Rudder
+# @output AUX5 Throttle
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default PWM_AUX_DIS5 950
+
+param set-default MC_ROLL_P 6
+param set-default MC_ROLLRATE_P 0.17
+param set-default MC_ROLLRATE_I 0.002
+param set-default MC_ROLLRATE_D 0.004
+param set-default MC_PITCH_P 6
+param set-default MC_PITCHRATE_P 0.19
+param set-default MC_PITCHRATE_I 0.002
+param set-default MC_PITCHRATE_D 0.004
+param set-default MC_YAWRATE_P 0.22
+param set-default MC_YAWRATE_I 0.02
+param set-default MC_YAWRATE_MAX 40
+
+param set-default MPC_YAWRAUTO_MAX 40
+
+param set-default FW_PR_I 0.02
+param set-default FW_RR_FF 0.6
+param set-default FW_RR_I 0.01
+param set-default FW_THR_TRIM 0.75
+
+param set-default VT_ARSP_BLEND 6
+param set-default VT_ARSP_TRANS 12
+param set-default VT_F_TRANS_THR 0.75
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+param set-default VT_IDLE_PWM_MC 1080
+param set-default VT_TYPE 2
+
+set MIXER quad_x
+set MIXER_AUX vtol_AAERT
+
+set PWM_OUT 1234
@@ -0,0 +1,48 @@
+#!/bin/sh
+#
+# @name Generic quad delta VTOL
+#
+# @type Standard VTOL
+# @class VTOL
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output AUX1 Right elevon
+# @output AUX2 Left elevon
+# @output AUX3 Motor
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+
+param set-default MC_ROLLRATE_I 0.01
+param set-default MC_PITCHRATE_I 0.01
+param set-default MC_YAW_P 3.5
+
+param set-default MC_YAWRATE_MAX 50
+
+param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 2
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_YAWRAUTO_MAX 20
+
+param set-default PWM_AUX_DIS3 950
+
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+param set-default VT_F_TRANS_THR 0.75
+param set-default VT_IDLE_PWM_MC 1080
+param set-default VT_TYPE 2
+
+set MIXER quad_x
+set MIXER_AUX vtol_delta
+
+set PWM_OUT 1234
@@ -0,0 +1,40 @@
+#!/bin/sh
+#
+# @name Generic AAVVT v-tail plane airframe with Quad VTOL.
+#
+# @type Standard VTOL
+# @class VTOL
+#
+# @maintainer Sander Smeets <sander@droneslab.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_I 0.002
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.12
+param set-default MC_PITCHRATE_I 0.002
+param set-default MC_YAWRATE_P 0.22
+param set-default MC_YAWRATE_I 0.02
+param set-default MC_YAWRATE_MAX 40
+
+param set-default MPC_YAWRAUTO_MAX 40
+
+param set-default PWM_AUX_DIS5 950
+
+param set-default VT_F_TRANS_THR 0.75
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+param set-default VT_IDLE_PWM_MC 1080
+param set-default VT_TYPE 2
+
+set MIXER quad_x
+set MIXER_AUX vtol_AAVVT
+
+set PWM_OUT 1234
@@ -0,0 +1,52 @@
+#!/bin/sh
+#
+# @name QuadRanger
+#
+# @type Standard VTOL
+# @class VTOL
+#
+# @maintainer Sander Smeets <sander@droneslab.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+
+param set-default FW_THR_TRIM 65
+param set-default FW_RR_FF 0.6
+
+param set-default MIS_YAW_TMT 10
+
+param set-default MC_ROLL_P 7
+param set-default MC_ROLLRATE_I 0.1
+param set-default MC_ROLLRATE_D 0.004
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_I 0.1
+param set-default MC_PITCHRATE_D 0.004
+param set-default MC_YAW_P 3.5
+param set-default MC_YAWRATE_P 0.6
+param set-default MC_YAWRATE_I 0.04
+param set-default MC_YAWRATE_MAX 40
+
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_LAND_SPEED 0.8
+param set-default MPC_YAWRAUTO_MAX 40
+
+param set-default PWM_AUX_DIS5 950
+param set-default PWM_AUX_REV1 1
+param set-default PWM_AUX_REV2 1
+
+param set-default VT_ARSP_TRANS 15
+param set-default VT_ARSP_BLEND 8
+param set-default VT_F_TRANS_THR 0.75
+param set-default VT_IDLE_PWM_MC 1080
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+param set-default VT_TYPE 2
+
+set MIXER quad_x
+set MIXER_AUX vtol_AAERT
+
+set PWM_OUT 1234
@@ -0,0 +1,83 @@
+#!/bin/sh
+#
+# @name Sparkle Tech Ranger VTOL
+#
+# @type Standard VTOL
+# @class VTOL
+#
+# @maintainer Andreas Antener <andreas@uaventure.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default FW_AIRSPD_MAX   22
+param set-default FW_AIRSPD_MIN   14
+param set-default FW_AIRSPD_TRIM  16
+param set-default FW_L1_PERIOD    25
+param set-default FW_PR_P 0.060
+param set-default FW_P_RMAX_NEG   40
+param set-default FW_P_RMAX_POS   40
+param set-default FW_RR_FF    0.4
+param set-default FW_RR_P 0.04
+param set-default FW_R_RMAX   40
+
+param set-default MC_PITCHRATE_D 0.004
+param set-default MC_PITCHRATE_I 0
+param set-default MC_PITCHRATE_MAX 60
+param set-default MC_PITCHRATE_P 0.21
+param set-default MC_PITCH_P 4
+param set-default MC_ROLLRATE_D 0.004
+param set-default MC_ROLLRATE_I 0.002
+param set-default MC_ROLLRATE_MAX 60
+param set-default MC_ROLLRATE_P 0.24
+param set-default MC_ROLL_P 4
+param set-default MC_YAWRATE_I 0.02
+param set-default MC_YAWRATE_MAX 40
+param set-default MC_YAWRATE_P 0.18
+
+param set-default MIS_TAKEOFF_ALT 2.5
+param set-default MIS_YAW_TMT 20
+
+param set-default MPC_ACC_HOR_MAX 1
+param set-default MPC_HOLD_MAX_XY 0.5
+param set-default MPC_HOLD_MAX_Z  0.5
+param set-default MPC_LAND_SPEED  1
+param set-default MPC_MANTHR_MIN  0.05
+param set-default MPC_MAN_Y_MAX   120
+param set-default MPC_THR_MIN 0.07
+param set-default MPC_TILTMAX_AIR 35
+param set-default MPC_TILTMAX_LND 20
+param set-default MPC_TKO_SPEED   1
+param set-default MPC_XY_P    0.3
+param set-default MPC_XY_VEL_MAX  3
+param set-default MPC_XY_VEL_P_ACC 1
+param set-default MPC_Z_P 0.5
+param set-default MPC_Z_VEL_P_ACC 2
+param set-default MPC_YAWRAUTO_MAX 40
+
+param set-default NAV_ACC_RAD 3
+
+param set-default PWM_AUX_REV1    1
+param set-default PWM_AUX_REV2    1
+param set-default PWM_AUX_REV3    1
+param set-default PWM_AUX_REV4    1
+
+param set-default PWM_AUX_DIS5 950
+
+param set-default VT_ARSP_TRANS   15
+param set-default VT_F_TRANS_THR    0.6
+param set-default VT_IDLE_PWM_MC 1180
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+param set-default VT_TRANS_MIN_TM 5
+param set-default VT_TRANS_TIMEOUT    30
+param set-default VT_TYPE 2
+
+set MIXER quad_x
+set MIXER_AUX vtol_AAERT
+
+set PWM_OUT 1234
@@ -0,0 +1,75 @@
+#!/bin/sh
+#
+# @name E-flite Convergence
+#
+# @type VTOL Tiltrotor
+# @class VTOL
+#
+# @maintainer Andreas Antener <andreas@uaventure.com>
+#
+# @output MAIN1 Motor right
+# @output MAIN2 Motor left
+# @output MAIN3 Motor back
+# @output MAIN4 empty
+# @output MAIN5 Tilt servo right
+# @output MAIN6 Tilt servo left
+# @output MAIN7 Elevon right
+# @output MAIN8 Elevon left
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default MAV_TYPE 21
+
+param set-default CBRK_AIRSPD_CHK 162128
+
+param set-default FW_ARSP_MODE 1
+
+param set-default FW_L1_PERIOD 17
+param set-default FW_MAN_R_MAX 50
+param set-default FW_ACRO_X_MAX   270
+param set-default FW_ACRO_Y_MAX   270
+param set-default FW_ACRO_Z_MAX   180
+param set-default FW_PSP_OFF  5
+param set-default FW_RR_FF    0.33
+param set-default FW_RR_P 0.11
+
+param set-default MC_PITCHRATE_P  0.15
+param set-default MC_PITCH_P  6
+param set-default MC_ROLLRATE_P   0.15
+param set-default MC_ROLL_P   6
+param set-default MC_YAWRATE_MAX  120
+param set-default MC_YAWRATE_P    0.27
+param set-default MC_YAW_P    2.5
+
+param set-default MC_YAWRATE_P 0.3
+param set-default MPC_LAND_SPEED 1.2
+param set-default MPC_TKO_SPEED 2.5
+
+param set-default SENS_BOARD_ROT 8
+
+param set-default VT_B_TRANS_DUR  1
+param set-default VT_F_TRANS_DUR  1.2
+param set-default VT_F_TR_OL_TM   4
+param set-default VT_FW_DIFTHR_EN 1
+param set-default VT_FW_DIFTHR_SC 0.17
+param set-default VT_FW_MOT_OFFID 3
+param set-default VT_IDLE_PWM_MC 1200
+param set-default VT_MOT_ID 123
+param set-default VT_TILT_TRANS   0.45
+param set-default VT_TRANS_MIN_TM 1.2
+param set-default VT_TRANS_P2_DUR 1.3
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_TYPE 1
+
+set MIXER vtol_convergence
+
+if ! ver hwcmp MATEK_H743
+then
+	set PWM_OUT 1234
+else
+	set PWM_OUT 3456
+fi
@@ -7,14 +7,14 @@
 #
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
-# @output Motor1 motor 1
-# @output Motor2 motor 2
-# @output Motor3 motor 3
-# @output Motor4 motor 4
-# @output Servo1 Right elevon
-# @output Servo2 Left elevon
-# @output Servo3 Pusher motor
-# @output Servo4 Pusher reverse channel
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 Right elevon
+# @output MAIN6 Left elevon
+# @output MAIN7 Pusher motor
+# @output MAIN8 Pusher reverse channel
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
@@ -134,32 +134,8 @@ param set-default VT_F_TRANS_RAMP 4

 param set-default COM_RC_OVERRIDE 0

+set MIXER deltaquad
+set MIXER_AUX pass

-
-
-param set-default CA_AIRFRAME 2
-
-param set-default CA_ROTOR_COUNT 5
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-param set-default CA_ROTOR4_AX 1.0
-param set-default CA_ROTOR4_AZ 0.0
-param set-default CA_ROTOR4_PX 0.2
-
-param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS0_TYPE 1
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS1_TYPE 2
-param set-default CA_SV_CS1_TRQ_R 0.5
-param set-default CA_SV_CS2_TYPE 3
-param set-default CA_SV_CS2_TRQ_P 1.0
+set PWM_OUT 1234
+set PWM_AUX_OUT 12345
@@ -7,14 +7,14 @@
 #
 # @maintainer Silvan Fuhrer <silvan@auterion.com>
 #
-# @output Motor1 motor 1
-# @output Motor2 motor 2
-# @output Motor3 motor 3
-# @output Motor4 motor 4
-# @output Motor5 Pusher motor
-# @output Servo1 Ailerons
-# @output Servo2 A-tail left
-# @output Servo3 A-tail right
+# @output MAIN1 Ailerons
+# @output MAIN2 A-tail left
+# @output MAIN3 Pusher motor
+# @output MAIN4 A-tail right
+# @output MAIN5 motor 1
+# @output MAIN6 motor 2
+# @output MAIN7 motor 3
+# @output MAIN8 motor 4
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
@@ -94,45 +94,9 @@ param set-default VT_PSHER_RMP_DT 2
 param set-default VT_TRANS_MIN_TM 4
 param set-default VT_TYPE 2

+set MIXER babyshark
+set MIXER_AUX pass

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

+set MIXER quad_x
+set MIXER_AUX vtol_TTTTAAER

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

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

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

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

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

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

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

+set MIXER blade130

+set PWM_OUT none

 param set-default ATT_BIAS_MAX 0

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

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

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

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

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

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

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

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

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

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


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

 param set-default NAV_ACC_RAD 2

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

+set MIXER dodeca_top_cox
+set MIXER_AUX dodeca_bottom_cox

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

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

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

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

 param set-default CA_ROTOR_COUNT 1
@@ -0,0 +1,49 @@
+#!/bin/sh
+#
+# @name Phantom FPV Flying Wing
+#
+# @url https://docs.px4.io/main/en/frames_plane/wing_wing_z84.html
+#
+# @type Flying Wing
+# @class Plane
+#
+# @output MAIN1 left aileron
+# @output MAIN2 right aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_AIRSPD_MIN 13
+param set-default FW_AIRSPD_MAX 25
+param set-default FW_R_TC 0.3
+param set-default FW_P_TC 0.3
+param set-default FW_L1_PERIOD 15
+param set-default FW_PR_FF 0.2
+param set-default FW_PR_IMAX 0.2
+param set-default FW_PR_P 0.03
+param set-default FW_P_LIM_MAX 50
+param set-default FW_P_LIM_MIN -50
+param set-default FW_RR_P 0.08
+param set-default FW_R_LIM 50
+param set-default FW_R_RMAX 50
+
+param set-default PWM_MAIN_DISARM 1000
+
+# Bottom of bay and nominal zero-pitch attitude differ
+# the payload bay is pitched up about 7 degrees
+param set-default SENS_BOARD_Y_OFF 7
+
+set MIXER fw_generic_wing
+
+# Provide ESC a constant 1000 us pulse
+set PWM_OUT 4
@@ -0,0 +1,37 @@
+#!/bin/sh
+#
+# @name Skywalker X5 Flying Wing
+#
+# @type Flying Wing
+# @class Plane
+#
+# @output MAIN1 left aileron
+# @output MAIN2 right aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Julian Oes <julian@px4.io>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_AIRSPD_MIN 15
+param set-default FW_AIRSPD_TRIM 20
+param set-default FW_AIRSPD_MAX 40
+param set-default FW_R_TC 0.3
+param set-default FW_P_TC 0.3
+param set-default FW_L1_DAMPING 0.74
+param set-default FW_L1_PERIOD 16
+param set-default FW_LND_ANG 15
+param set-default FW_LND_FLALT 5
+param set-default FW_PR_FF 0.35
+param set-default FW_RR_FF 0.6
+param set-default FW_RR_P 0.04
+
+set MIXER fw_generic_wing
@@ -0,0 +1,45 @@
+#!/bin/sh
+#
+# @name Wing Wing (aka Z-84) Flying Wing
+#
+# @url https://docs.px4.io/main/en/frames_plane/wing_wing_z84.html
+#
+# @type Flying Wing
+# @class Plane
+#
+# @output MAIN1 left aileron
+# @output MAIN2 right aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default BAT1_N_CELLS 2
+param set-default FW_AIRSPD_MAX 15
+param set-default FW_AIRSPD_TRIM 13
+param set-default FW_R_TC 0.3
+param set-default FW_P_TC 0.3
+param set-default FW_L1_DAMPING 0.74
+param set-default FW_L1_PERIOD 16
+param set-default FW_LND_ANG 15
+param set-default FW_LND_FLALT 5
+param set-default FW_PR_FF 0.35
+param set-default FW_RR_FF 0.6
+param set-default FW_RR_P 0.04
+
+param set-default PWM_MAIN_DISARM 1000
+
+# Set mixer.
+set MIXER fw_generic_wing
+
+# Provide ESC a constant 1000 us pulse.
+set PWM_OUT 4
@@ -0,0 +1,49 @@
+#!/bin/sh
+#
+# @name Sparkle Tech Pigeon
+#
+# @url http://www.sparkletech.hk/
+#
+# @type Flying Wing
+# @class Plane
+#
+# @output MAIN1 left aileron
+# @output MAIN2 right aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_AIRSPD_MIN 15
+param set-default FW_AIRSPD_TRIM 20
+param set-default FW_AIRSPD_MAX 27
+param set-default FW_ATT_TC 0.3
+param set-default FW_PR_FF 0.35
+param set-default FW_PR_IMAX 0.2
+param set-default FW_PR_P 0.05
+param set-default FW_P_TC 0.3
+param set-default FW_RR_FF 0.3
+param set-default FW_RR_P 0.03
+param set-default FW_R_LIM 40
+param set-default FW_R_RMAX 50
+param set-default FW_R_TC 0.3
+
+param set-default PWM_MAIN_DISARM 1000
+
+# Bottom of bay and nominal zero-pitch attitude differ
+# the payload bay is pitched up about 7 degrees
+param set-default SENS_BOARD_Y_OFF 11.9
+
+set MIXER fw_generic_wing
+
+# Provide ESC a constant 1000 us pulse
+set PWM_OUT 4
@@ -0,0 +1,57 @@
+#!/bin/sh
+#
+# @name TBS Caipirinha
+#
+# @type Flying Wing
+# @class Plane
+#
+# @output MAIN1 left aileron
+# @output MAIN2 right aileron
+# @output MAIN4 throttle
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_AIRSPD_MAX 25
+param set-default FW_AIRSPD_MIN 12.5
+param set-default FW_AIRSPD_TRIM 16.5
+param set-default FW_L1_PERIOD 15
+param set-default FW_LND_ANG 15
+param set-default FW_LND_FLALT 8
+param set-default FW_P_LIM_MAX 20
+param set-default FW_R_LIM 45
+param set-default FW_PR_FF 0.45
+param set-default FW_PR_P 0.005
+param set-default FW_RR_FF 0.45
+param set-default FW_RR_P 0.013
+param set-default FW_P_RMAX_NEG 70
+param set-default FW_P_RMAX_POS 70
+param set-default FW_R_RMAX 70
+param set-default FW_THR_TRIM 0.55
+
+param set-default LNDFW_AIRSPD_MAX 6
+param set-default LNDFW_XYACC_MAX 4
+param set-default LNDFW_VEL_XY_MAX 3
+param set-default LNDFW_VEL_Z_MAX 5
+
+param set-default MIS_TAKEOFF_ALT 50
+
+param set-default NAV_LOITER_RAD 30
+
+param set-default PWM_MAIN_REV1 1
+param set-default PWM_MAIN_REV2 1
+param set-default PWM_MAIN_MIN 900
+param set-default PWM_MAIN_MAX 2100
+
+set MIXER fw_generic_wing
+
+set PWM_OUT 1234
@@ -5,6 +5,18 @@
 # @type Quadrotor x
 # @class Copter
 #
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 feed-through of RC AUX1 channel
+# @output MAIN6 feed-through of RC AUX2 channel
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+# @output AUX4 feed-through of RC FLAPS channel
+#
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #

@@ -0,0 +1,26 @@
+#!/bin/sh
+#
+# @name Lumenier QAV-R (raceblade) 5" arms
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer James Goppert <james.goppert@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default MC_ROLL_P 8
+param set-default MC_ROLLRATE_P 0.08
+param set-default MC_ROLLRATE_I 0.16
+param set-default MC_PITCH_P 8
+param set-default MC_PITCHRATE_P 0.1
+param set-default MC_YAWRATE_P 0.15
+
+param set-default MPC_THR_MIN 0.06
+param set-default MPC_MANTHR_MIN 0.06
+
+param set-default PWM_MAIN_MIN 1075
@@ -0,0 +1,34 @@
+#!/bin/sh
+#
+# @name Lumenier QAV250
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default ATT_BIAS_MAX 0
+
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default MPC_MANTHR_MIN 0.06
+param set-default MC_ROLL_P 6
+param set-default MC_ROLLRATE_P 0.14
+param set-default MC_ROLLRATE_I 0.23
+param set-default MC_ROLLRATE_D 0.0025
+param set-default MC_PITCH_P 7
+param set-default MC_PITCHRATE_P 0.235
+param set-default MC_PITCHRATE_I 0.17
+param set-default MC_PITCHRATE_D 0.004
+param set-default MC_YAW_P 4
+param set-default MC_YAWRATE_P 0.3
+param set-default MC_YAWRATE_I 0.2
+param set-default MPC_THR_MIN 0.06
+
+param set-default PWM_MAIN_MIN 1075
@@ -17,15 +17,3 @@ param set-default MC_ROLLRATE_P 0.18
 param set-default MC_PITCHRATE_P 0.18
 param set-default MC_ROLLRATE_I 0.15
 param set-default MC_PITCHRATE_I 0.15
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
@@ -21,15 +21,3 @@ param set-default MC_ROLLRATE_I 0.3
 param set-default MC_PITCHRATE_I 0.3
 param set-default MC_ROLLRATE_D 0.004
 param set-default MC_PITCHRATE_D 0.004
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Jaeyoung-Lim	8c7e64fb74	Run ignition gazebo as distributed lockstep	2022-08-15 11:15:03 +02:00
Daniel Agar	4c3da85b97	ign sim fix alt ground truth and baro	2022-08-14 15:22:24 -04:00
Daniel Agar	04ac07f07a	WIP: add X3	2022-08-14 15:15:24 -04:00
Daniel Agar	61226a39bd	fixed gyro scale and groundtruth dt	2022-08-14 13:04:08 -04:00
Jaeyoung-Lim	c0dec6cb6c	Fix motor layout for hexacopter_x	2022-08-14 17:14:25 +02:00
Daniel Agar	70697cd41c	WIP	2022-08-10 20:43:14 -04:00
Daniel Agar	91064202f6	WIP	2022-08-10 15:26:20 -04:00
Daniel Agar	93d00528ac	WIP: ignition gazebo direclty use transport	2022-08-10 15:26:20 -04:00
				`@@ -0,0 +1 @@`
				`mixer append /dev/pwm_output0 etc/mixers-sitl/package_drop.aux.mix`