boards: CUAV Nora disable icm20649 until SPI6 BDMA is working

WIP hacks
camera_trigger fix pin_bitmask width
2026-06-14 19:50:04 +08:00 · 2021-02-22 21:24:59 -05:00 · 2021-02-22 21:24:59 -05:00 · 2021-02-22 21:24:59 -05:00 · 2021-02-22 21:24:59 -05:00 · 2021-02-22 20:33:03 -05:00
590 changed files with 18419 additions and 12682 deletions
@@ -37,6 +37,7 @@ pipeline {
          def nuttx_builds_archive = [
            target: [
                     "airmind_mindpx-v2_default",
+                     "ark_can-flow_canbootloader",
                     "ark_can-flow_default",
                     "av_x-v1_default",
                     "bitcraze_crazyflie_default",
@@ -49,36 +50,32 @@ pipeline {
                     "cubepilot_cubeorange_default",
                     "cubepilot_cubeyellow_console",
                     "cubepilot_cubeyellow_default",
+                     "holybro_can-gps-v1_canbootloader",
+                     "holybro_can-gps-v1_default",
                     "holybro_durandal-v1_default",
                     "holybro_kakutef7_default",
                     "holybro_pix32v5_default",
-                     "holybro_can-gps-v1",
-                     "holybro_can-gps-v1_canbootloader",
                     "intel_aerofc-v1_default",
                     "modalai_fc-v1_default",
                     "mro_ctrl-zero-f7_default",
                     "mro_pixracerpro_default",
                     "mro_x21-777_default",
                     "mro_x21_default",
+                     "nxp_fmuk66-e_default",
                     "nxp_fmuk66-v3_default",
                     "nxp_fmuk66-v3_rtps",
                     "nxp_fmuk66-v3_socketcan",
-                     "nxp_fmuk66-e_default",
                     "nxp_fmurt1062-v1_default",
                     "nxp_ucans32k146_default",
                     "omnibus_f4sd_default",
                     "px4_fmu-v2_default",
                     "px4_fmu-v2_fixedwing",
-                     "px4_fmu-v2_lpe",
                     "px4_fmu-v2_multicopter",
                     "px4_fmu-v2_rover",
                     "px4_fmu-v2_test",
-                     "px4_fmu-v3_ctrlalloc",
                     "px4_fmu-v3_default",
                     "px4_fmu-v4_cannode",
-                     "px4_fmu-v4_ctrlalloc",
                     "px4_fmu-v4_default",
-                     "px4_fmu-v4_optimized",
                     "px4_fmu-v4pro_default",
                     "px4_fmu-v5_ctrlalloc",
                     "px4_fmu-v5_debug",
@@ -89,10 +86,12 @@ pipeline {
                     "px4_fmu-v5_rover",
                     "px4_fmu-v5_rtps",
                     "px4_fmu-v5_stackcheck",
+                     "px4_fmu-v5_uavcanv0periph",
+                     "px4_fmu-v5_uavcanv1",
                     "px4_fmu-v5x_base_phy_DP83848C",
                     "px4_fmu-v5x_default",
-                     "px4_fmu-v6x_default",
                     "px4_fmu-v6u_default",
+                     "px4_fmu-v6x_default",
                     "px4_io-v2_default",
                     "spracing_h7extreme_default",
                     "uvify_core_default"
@@ -481,8 +481,7 @@ pipeline {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
@@ -635,7 +634,7 @@ pipeline {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                  }
@@ -52,8 +52,8 @@ jobs:
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z
    - name: check environment
@@ -34,8 +34,8 @@ jobs:
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -43,8 +43,8 @@ jobs:
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -39,8 +39,8 @@ jobs:
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -43,8 +43,8 @@ jobs:
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -19,8 +19,8 @@ jobs:
          ark_can-flow_canbootloader,
          ark_can-flow_default,
          av_x-v1_default,
-          bitcraze_crazyflie_default,
          bitcraze_crazyflie21_default,
+          bitcraze_crazyflie_default,
          cuav_can-gps-v1_canbootloader,
          cuav_can-gps-v1_default,
          cuav_nora_default,
@@ -49,17 +49,12 @@ jobs:
          omnibus_f4sd_default,
          px4_fmu-v2_default,
          px4_fmu-v2_fixedwing,
-          px4_fmu-v2_lpe,
          px4_fmu-v2_multicopter,
          px4_fmu-v2_rover,
          px4_fmu-v2_test,
-          px4_fmu-v3_ctrlalloc,
          px4_fmu-v3_default,
          px4_fmu-v4_cannode,
-          px4_fmu-v4_ctrlalloc,
          px4_fmu-v4_default,
-          px4_fmu-v4_optimized,
-          px4_fmu-v4_uavcanv1,
          px4_fmu-v4pro_default,
          px4_fmu-v5_ctrlalloc,
          px4_fmu-v5_default,
@@ -68,12 +63,12 @@ jobs:
          px4_fmu-v5_optimized,
          px4_fmu-v5_rover,
          px4_fmu-v5_rtps,
-          px4_fmu-v5_stackcheck,
+          px4_fmu-v5_uavcanv0periph,
          px4_fmu-v5_uavcanv1,
          px4_fmu-v5x_base_phy_DP83848C,
          px4_fmu-v5x_default,
-          px4_fmu-v6x_default,
          px4_fmu-v6u_default,
+          px4_fmu-v6x_default,
          px4_io-v2_default,
          spracing_h7extreme_default,
          uvify_core_default
@@ -100,8 +95,8 @@ jobs:
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -43,8 +43,8 @@ jobs:
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -43,8 +43,8 @@ jobs:
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -49,8 +49,8 @@ jobs:
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -44,8 +44,8 @@ jobs:
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -49,8 +49,8 @@ jobs:
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z

@@ -94,7 +94,7 @@ jobs:
        PX4_HOME_LON: ${{matrix.config.longitude}}
        PX4_HOME_ALT: ${{matrix.config.altitude}}
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json

    - name: Look at core files
      if: failure()
@@ -106,10 +106,6 @@ jobs:
        name: coredump
        path: px4.core

-    - name: Upload logs to flight review
-      if: failure()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ${GITHUB_WORKSPACE}/build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/*/*.ulg
-
    - name: Upload px4 binary
      if: failure()
      uses: actions/upload-artifact@v2-preview
@@ -131,6 +131,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: mro_ctrl-zero-f7_default
+    mro_pixracerpro_bootloader:
+      short: mro_pixracerpro_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: mro_pixracerpro_bootloader
+    mro_pixracerpro_default:
+      short: mro_pixracerpro_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: mro_pixracerpro_default
    mro_x21-777_default:
      short: mro_x2.1-777
      buildType: MinSizeRel
@@ -406,7 +406,6 @@ add_subdirectory(src/lib EXCLUDE_FROM_ALL)

 add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
 add_subdirectory(platforms EXCLUDE_FROM_ALL)
-add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer

 if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
 	add_subdirectory(${PX4_BOARD_DIR})
@@ -67,11 +67,9 @@ pipeline {
              unset ROS_DISTRO;
              mkdir -p colcon_ws/src;
              cd colcon_ws;
-              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
-              git clone --recursive ${WORKSPACE}/colcon_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
+              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo;
              git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
-              source /opt/ros/bouncy/setup.sh;
-              source /opt/ros/melodic/setup.sh;
+              source /opt/ros/foxy/setup.sh;
              colcon build --event-handlers console_direct+ --symlink-install;
            '''
          }
@@ -187,6 +187,46 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})

 endforeach()

+
+if(config_uavcan_peripheral_firmware)
+
+	include(ExternalProject)
+
+	foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
+		# include the px4io binary in ROMFS
+		message(STATUS "ROMFS: Building and including UAVCAN peripheral ${uavcan_peripheral_config}")
+		ExternalProject_Add(build_${uavcan_peripheral_config}
+			SOURCE_DIR ${CMAKE_SOURCE_DIR}
+			DOWNLOAD_COMMAND ""
+			UPDATE_COMMAND ""
+			CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config}
+			INSTALL_COMMAND ""
+			USES_TERMINAL_BUILD true
+			DEPENDS git_nuttx git_nuttx_apps
+			BUILD_ALWAYS 1
+		)
+
+		ExternalProject_Get_Property(build_${uavcan_peripheral_config} BINARY_DIR)
+
+		add_custom_command(
+			OUTPUT
+				${romfs_gen_root_dir}/uavcan/fw/_${uavcan_board_id}.bin
+				${uavcan_peripheral_config}.stamp
+			COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/uavcan/fw/
+			COMMAND ${CMAKE_COMMAND} -E copy ${BINARY_DIR}/deploy/*.bin ${romfs_gen_root_dir}/uavcan/fw/
+			COMMAND ls -lsa ${romfs_gen_root_dir}/uavcan/fw/
+			COMMAND ${CMAKE_COMMAND} -E touch ${uavcan_peripheral_config}.stamp
+			DEPENDS
+				build_${uavcan_peripheral_config}
+			COMMENT "ROMFS: copying ${uavcan_peripheral_config}"
+		)
+
+		list(APPEND extras_dependencies
+			${uavcan_peripheral_config}.stamp
+		)
+	endforeach()
+endif()
+
 list(APPEND extras_dependencies
 	${config_romfs_extra_dependencies}
 	)
@@ -30,13 +30,6 @@ sercon
 #
 ver all

-#
-# Start the ORB (first app to start)
-# tone_alarm and tune_control
-# is dependent.
-#
-uorb start
-
 #
 # Set the parameter file if mtd starts successfully.
 #
@@ -12,6 +12,11 @@ if [ $AUTOCNF = yes ]
 then
 	# EKF2: Multi GPS blending (as the model has 2 GPS's)
 	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
+	param set TRIG_INTERFACE 3
+	param set TRIG_MODE 4
+	param set MNT_MODE_IN 4
+	param set MNT_MODE_OUT 2
+	param set MNT_DO_STAB 2
 fi

 set MIXER quad_x
@@ -15,5 +15,6 @@ then

 fi

+set PWM_OUT 12345678
 set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
 set MIXER custom
@@ -8,6 +8,7 @@
 if [ $AUTOCNF = yes ]
 then
 	param set GND_L1_DIST 5
+	param set GND_L1_PERIOD 10
 	param set GND_SP_CTRL_MODE 1
 	param set GND_SPEED_D 0.001
 	param set GND_SPEED_I 3
@@ -16,7 +17,6 @@ then
 	param set GND_SPEED_THR_SC 1
 	param set GND_SPEED_TRIM 4
 	param set GND_THR_CRUISE 0.3
-	param set GND_THR_IDLE 0
 	param set GND_THR_MAX 0.5
 	param set GND_THR_MIN 0

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

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

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

@@ -12,3 +12,4 @@
 . ${R}etc/init.d/rc.airship_defaults

 set MIXER cloudship
+set PWM_OUT 1234
@@ -26,7 +26,6 @@ then
 	param set TRIG_MODE 4
 	param set MNT_MODE_IN 4
 	param set MNT_DO_STAB 2
-	param set MAV_PROTO_VER 2
 fi

 set MAV_TYPE 13
@@ -24,7 +24,8 @@ then

 	param set TRIG_INTERFACE 3
 	param set TRIG_MODE 4
-	param set MNT_MODE_IN 0
+	param set MNT_MODE_IN 4
+	param set MNT_MODE_OUT 2
 	param set MAV_PROTO_VER 2
 fi

@@ -20,7 +20,6 @@ module: replay
 ignore_others: false
 EOF

-uorb start
 param set SDLOG_DIRS_MAX 7

 # apply all params before ekf starts, as some params cannot be changed after startup
@@ -28,6 +28,7 @@ set MIXER_AUX                   none
 set MIXER_FILE                  none
 set OUTPUT_MODE                 sim
 set EXTRA_MIXER_MODE            none
+set PWM_OUT                     none
 set SDCARD_MIXERS_PATH          etc/mixers
 set USE_IO                      no
 set VEHICLE_TYPE                none
@@ -52,8 +53,6 @@ else
 	fi
 fi

-uorb start
-
 # Load parameters
 set PARAM_FILE eeprom/parameters_"$REQUESTED_AUTOSTART"
 param select $PARAM_FILE
@@ -110,6 +109,8 @@ udp_offboard_port_remote=$((14540+px4_instance))
 [ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
 udp_onboard_payload_port_local=$((14280+px4_instance))
 udp_onboard_payload_port_remote=$((14030+px4_instance))
+udp_onboard_gimbal_port_local=$((13030+px4_instance))
+udp_onboard_gimbal_port_remote=$((13280+px4_instance))
 udp_gcs_port_local=$((18570+px4_instance))

 if [ $AUTOCNF = yes ]
@@ -243,7 +244,7 @@ then
 	sh etc/init.d-posix/rc.mavlink_override
 else
 	# GCS link
-	mavlink start -x -u $udp_gcs_port_local -r 4000000
+	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
 	mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
 	mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
 	mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
@@ -255,12 +256,15 @@ else
 	mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local

 	# API/Offboard link
-	mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote
+	mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote

 	# Onboard link to camera
 	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote

+	# Onboard link to gimbal
+	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
 fi
+
 # execute autostart post script if any
 [ -e "$autostart_file".post ] && . "$autostart_file".post

@@ -24,9 +24,8 @@
 # @board bitcraze_crazyflie exclude
 #

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

-set MIXER quad_w

 param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.1
@@ -40,3 +39,6 @@ param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.28
 param set-default MC_YAWRATE_I 0.1
 param set-default MC_YAWRATE_D 0
+set MIXER quad_w
+
+set PWM_OUT 1234
@@ -22,9 +22,8 @@
 # @board bitcraze_crazyflie exclude
 #

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

-set MIXER quad_w

 # TODO tune roll/pitch separately
 param set-default MC_ROLL_P 7
@@ -42,3 +41,6 @@ param set-default MC_YAWRATE_D 0

 param set-default BAT_V_DIV 12.27559
 param set-default BAT_A_PER_V 15.39103
+set MIXER quad_w
+
+set PWM_OUT 1234
@@ -24,9 +24,8 @@
 # @board bitcraze_crazyflie exclude
 #

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

-set MIXER quad_w

 param set-default BAT_N_CELLS 4

@@ -42,3 +41,6 @@ param set-default MC_YAW_P 4
 param set-default MC_YAWRATE_P 0.2
 param set-default MC_YAWRATE_I 0.1
 param set-default MC_YAWRATE_D 0
+set MIXER quad_w
+
+set PWM_OUT 1234
@@ -24,9 +24,8 @@
 # @board bitcraze_crazyflie exclude
 #

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

-set MIXER quad_w

 param set-default BAT_N_CELLS 6
 param set-default BAT_V_EMPTY 3.5
@@ -45,3 +44,8 @@ param set-default MC_YAWRATE_I 0.1
 param set-default MC_YAWRATE_D 0

 param set-default MPC_XY_VEL_MAX 2
+
+param set-default PWM_MAIN_MIN 1080
+set MIXER quad_w
+
+set PWM_OUT 1234
@@ -11,5 +11,6 @@
 . ${R}etc/init.d/rc.mc_defaults

 set MIXER quad_x
+set PWM_OUT 1234

 param set SYS_HITL 1
@@ -14,6 +14,7 @@

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

+
 param set-default BAT_N_CELLS 3

 param set-default COM_RC_IN_MODE 1
@@ -69,3 +70,5 @@ param set SYS_HITL 1
 set MAV_TYPE 22

 set MIXER standard_vtol_hitl
+
+set PWM_OUT 1234
@@ -22,6 +22,9 @@
 # @board bitcraze_crazyflie exclude
 #

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

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

 set MIXER quad_x
+set PWM_OUT 1234

 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2
@@ -20,7 +20,8 @@
 # @board bitcraze_crazyflie exclude
 #

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

-# MAIN set by rc.mc_octo_defaults
 set MIXER octo_cox
+
+set PWM_OUT 12345678
@@ -21,9 +21,8 @@
 # @board bitcraze_crazyflie exclude
 #

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

-set MIXER octo_cox_w

 param set-default MC_PITCH_P 4
 param set-default MC_PITCHRATE_P 0.24
@@ -47,3 +46,6 @@ param set-default MPC_THR_MIN 0.15
 param set-default MPC_Z_VEL_MAX_DN 2

 param set-default BAT_N_CELLS 4
+set MIXER octo_cox_w
+
+set PWM_OUT 12345678
@@ -22,21 +22,18 @@
 # @board bitcraze_crazyflie exclude
 #

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

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

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

-# MAIN set by rc.mc_quad_defaults
-
-# AUX
+set MIXER quad_x
 set MIXER_AUX vtol_AAERT
-param set-default PWM_AUX_DIS1 1500
-param set-default PWM_AUX_DIS2 1500
-param set-default PWM_AUX_DIS3 1500
-param set-default PWM_AUX_DIS4 1500
-param set-default PWM_AUX_DIS5 900 # throttle
+
+set PWM_OUT 1234
@@ -19,7 +19,8 @@

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

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

 param set-default MC_ROLL_P 6
 param set-default MC_ROLLRATE_P 0.12
@@ -43,20 +44,8 @@ param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_ID 12
 param set-default VT_TYPE 0
+set MAV_TYPE 19

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

-param set-default PWM_MAIN_MAX1 1900
-param set-default PWM_MAIN_MAX2 1900
-
-param set-default PWM_MAIN_RATE1 400
-param set-default PWM_MAIN_RATE2 400
-
-param set-default PWM_MAIN_DIS1 900
-param set-default PWM_MAIN_DIS2 900
-param set-default PWM_MAIN_DIS3 1500 # right (starboard) elevon
-param set-default PWM_MAIN_DIS4 1500 # left (port) elevon.
+set PWM_OUT 123456
@@ -24,7 +24,6 @@

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

-set MAV_TYPE 21

 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.19
@@ -42,6 +41,8 @@ param set-default MC_YAWRATE_I 0.02
 param set-default MC_YAWRATE_D 0
 param set-default MC_YAWRATE_FF 0

+param set-default PWM_MAIN_RATE 400
+
 param set-default VT_FW_MOT_OFFID 34
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_MOT_ID 123456
@@ -51,40 +52,9 @@ param set-default VT_TILT_TRANS 0.5
 param set-default VT_TILT_FW 0.9
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
+set MAV_TYPE 21

-# MAIN
 set MIXER firefly6
-param set-default PWM_MAIN_MIN1 1100
-param set-default PWM_MAIN_MIN2 1100
-param set-default PWM_MAIN_MIN3 1100
-param set-default PWM_MAIN_MIN4 1100
-param set-default PWM_MAIN_MIN5 1100
-param set-default PWM_MAIN_MIN6 1100
-
-param set-default PWM_MAIN_MAX1 1900
-param set-default PWM_MAIN_MAX2 1900
-param set-default PWM_MAIN_MAX3 1900
-param set-default PWM_MAIN_MAX4 1900
-param set-default PWM_MAIN_MAX5 1900
-param set-default PWM_MAIN_MAX6 1900
-
-param set-default PWM_MAIN_RATE1 400
-param set-default PWM_MAIN_RATE2 400
-param set-default PWM_MAIN_RATE3 400
-param set-default PWM_MAIN_RATE4 400
-param set-default PWM_MAIN_RATE5 400
-param set-default PWM_MAIN_RATE6 400
-
-param set-default PWM_MAIN_DIS1 900
-param set-default PWM_MAIN_DIS2 900
-param set-default PWM_MAIN_DIS3 900
-param set-default PWM_MAIN_DIS4 900
-param set-default PWM_MAIN_DIS5 900
-param set-default PWM_MAIN_DIS6 900
-
-# AUX
 set MIXER_AUX firefly6
-param set-default PWM_MAIN_DIS1 1000 # Tilt mechanism servo mixer
-param set-default PWM_MAIN_DIS2 1500
-param set-default PWM_MAIN_DIS3 1500
-param set-default PWM_MAIN_DIS4 2000 # Landing gear
+
+set PWM_OUT 12345678
@@ -12,18 +12,18 @@
 # @board bitcraze_crazyflie exclude
 #

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

-set MAV_TYPE 20
+
+param set-default PWM_MAIN_MAX 2000
+param set-default PWM_MAIN_RATE 400

 param set-default VT_MOT_ID 1234
-param set-default VT_IDLE_PWM_MC 1080
+param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0
 param set-default VT_ELEV_MC_LOCK 1
+set MAV_TYPE 20

-# MAIN
 set MIXER quad_x_vtol
-# outputs 1-4 set by rc.mc_quad_defaults
-param set-default PWM_MAIN_DIS5 1500 # left elevon
-param set-default PWM_MAIN_DIS6 1500 # right elevon
+
+set PWM_OUT 1234
@@ -21,19 +21,17 @@
 # @board bitcraze_crazyflie exclude
 #

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

-set MAV_TYPE 20

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

-# MAIN
 set MIXER quad_+_vtol
-# outputs 1-4 set by rc.mc_quad_defaults
-param set-default PWM_MAIN_DIS5 1500
-param set-default PWM_MAIN_DIS6 1500
-param set-default PWM_MAIN_DIS7 1500
-param set-default PWM_MAIN_DIS8 1500
+
+set PWM_OUT 1234
@@ -22,10 +22,12 @@
 # @board bitcraze_crazyflie exclude
 #

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

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

 param set-default MC_ROLL_P 6
 param set-default MC_ROLLRATE_P 0.17
@@ -63,14 +65,9 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
+set MAV_TYPE 22

-
-# MAIN set by rc.mc_quad_defaults
-
-# AUX
+set MIXER quad_x
 set MIXER_AUX vtol_AAERT
-param set-default PWM_AUX_DIS1 1500
-param set-default PWM_AUX_DIS2 1500
-param set-default PWM_AUX_DIS3 1500
-param set-default PWM_AUX_DIS4 1500
-param set-default PWM_AUX_DIS5 900 # throttle
+
+set PWM_OUT 1234
@@ -20,10 +20,8 @@
 # @board bitcraze_crazyflie exclude
 #

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

-set MAV_TYPE 22

 param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.15
@@ -47,17 +45,17 @@ param set-default MPC_XY_VEL_P_ACC 2
 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_YAWRAUTO_MAX 20

+param set-default PWM_AUX_DIS3 950
+param set-default PWM_MAIN_RATE 400
+
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
+set MAV_TYPE 22

-# MAIN set by rc.mc_quad_defaults
-
-# AUX
+set MIXER quad_x
 set MIXER_AUX vtol_delta
-param set-default PWM_AUX_DIS1 1500
-param set-default PWM_AUX_DIS2 1500
-param set-default PWM_AUX_DIS3 900 # throttle
-param set-default PWM_AUX_DIS4 900 # throttle reverse
+
+set PWM_OUT 1234
@@ -12,10 +12,8 @@
 # @board bitcraze_crazyflie exclude
 #

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

-set MAV_TYPE 22

 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.15
@@ -33,20 +31,20 @@ param set-default MC_YAWRATE_I 0.02
 param set-default MC_YAWRATE_D 0
 param set-default MC_YAWRATE_FF 0
 param set-default MC_YAWRATE_MAX 40
+
 param set-default MPC_YAWRAUTO_MAX 40

+param set-default PWM_AUX_DIS5 950
+param set-default PWM_MAIN_RATE 400
+
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
+set MAV_TYPE 22

-# MAIN set by rc.mc_quad_defaults
-
-# AUX
+set MIXER quad_x
 set MIXER_AUX vtol_AAVVT
-param set-default PWM_AUX_DIS1 1500
-param set-default PWM_AUX_DIS2 1500
-param set-default PWM_AUX_DIS3 1500
-param set-default PWM_AUX_DIS4 1500
-param set-default PWM_AUX_DIS5 900 # throttle
+
+set PWM_OUT 1234
@@ -12,10 +12,8 @@
 # @board bitcraze_crazyflie exclude
 #

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

-set MAV_TYPE 22

 param set-default FW_THR_CRUISE 65
 param set-default FW_PR_P 0.08
@@ -48,6 +46,11 @@ param set-default MPC_TKO_SPEED 1.5
 param set-default MPC_LAND_SPEED 0.8
 param set-default MPC_YAWRAUTO_MAX 40

+param set-default PWM_AUX_DIS5 950
+param set-default PWM_AUX_REV1 1
+param set-default PWM_AUX_REV2 1
+param set-default PWM_MAIN_RATE 400
+
 param set-default VT_ARSP_TRANS 15
 param set-default VT_ARSP_BLEND 8
 param set-default VT_B_TRANS_DUR 4
@@ -56,13 +59,9 @@ param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_TYPE 2
+set MAV_TYPE 22

-# MAIN set by rc.mc_quad_defaults
-
-# AUX
+set MIXER quad_x
 set MIXER_AUX vtol_AAERT
-param set-default PWM_AUX_DIS1 1500
-param set-default PWM_AUX_DIS2 1500
-param set-default PWM_AUX_DIS3 1500
-param set-default PWM_AUX_DIS4 1500
-param set-default PWM_AUX_DIS5 900 # throttle
+
+set PWM_OUT 1234
@@ -12,10 +12,8 @@
 # @board bitcraze_crazyflie exclude
 #

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

-set MAV_TYPE 22

 param set-default FW_AIRSPD_MAX   22
 param set-default FW_AIRSPD_MIN   14
@@ -64,6 +62,15 @@ param set-default MPC_YAWRAUTO_MAX 40

 param set-default NAV_ACC_RAD 3

+param set-default PWM_AUX_REV1    1
+param set-default PWM_AUX_REV2    1
+param set-default PWM_AUX_REV3    1
+param set-default PWM_AUX_REV4    1
+
+param set-default PWM_AUX_DIS5 950
+
+param set-default PWM_MAIN_RATE 400
+
 param set-default VT_ARSP_TRANS   15
 param set-default VT_B_TRANS_DUR  4
 param set-default VT_F_TRANS_THR    0.6
@@ -74,17 +81,9 @@ param set-default VT_TRANS_MIN_TM 5
 param set-default VT_TRANS_TIMEOUT    30
 param set-default VT_TYPE 2

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

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

-param set-default PWM_AUX_REV1 1
-param set-default PWM_AUX_REV2 1
-param set-default PWM_AUX_REV3 1
-param set-default PWM_AUX_REV4 1
+set PWM_OUT 1234
@@ -14,7 +14,14 @@

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

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

 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 13
@@ -24,32 +31,9 @@ param set-default VT_TILT_MC 0.08
 param set-default VT_TILT_TRANS 0.5
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
+set MAV_TYPE 21

-
-# MAIN
-set MIXER quad_x
-param set-default PWM_MAIN_MIN1 1100
-param set-default PWM_MAIN_MIN2 1100
-param set-default PWM_MAIN_MIN3 1100
-param set-default PWM_MAIN_MIN4 1100
-
-param set-default PWM_MAIN_MAX1 1900
-param set-default PWM_MAIN_MAX2 1900
-param set-default PWM_MAIN_MAX3 1900
-param set-default PWM_MAIN_MAX4 1900
-
-param set-default PWM_MAIN_RATE1 400
-param set-default PWM_MAIN_RATE2 400
-param set-default PWM_MAIN_RATE3 400
-param set-default PWM_MAIN_RATE4 400
-
-param set-default PWM_MAIN_DIS1 900
-param set-default PWM_MAIN_DIS2 900
-param set-default PWM_MAIN_DIS3 900
-param set-default PWM_MAIN_DIS4 900
-
-# AUX
+set MIXER claire
 set MIXER_AUX claire
-param set-default PWM_MAIN_DIS1 1000 # tilt
-param set-default PWM_MAIN_DIS2 1500 # elevon
-param set-default PWM_MAIN_DIS3 1500 # elevon
+
+set PWM_OUT 1234
@@ -23,7 +23,6 @@

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

-set MAV_TYPE 21

 param set-default CBRK_AIRSPD_CHK 162128

@@ -61,6 +60,8 @@ param set-default MPC_LAND_SPEED 1.2
 param set-default MPC_TKO_SPEED 2.5
 param set-default MPC_Z_VEL_MAX_UP 3

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

 param set-default VT_B_TRANS_DUR  1
@@ -79,26 +80,8 @@ param set-default VT_TRANS_MIN_TM 1.2
 param set-default VT_TRANS_P2_DUR 1.3
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
+set MAV_TYPE 21

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

-param set-default PWM_MAIN_MAX1 1900
-param set-default PWM_MAIN_MAX2 1900
-param set-default PWM_MAIN_MAX3 1900
-
-param set-default PWM_MAIN_RATE1 400
-param set-default PWM_MAIN_RATE2 400
-param set-default PWM_MAIN_RATE3 400
-
-param set-default PWM_MAIN_DIS1 900
-param set-default PWM_MAIN_DIS2 900
-param set-default PWM_MAIN_DIS3 900
-param set-default PWM_MAIN_DIS5 2000 # tilt right servo (2000 up)
-param set-default PWM_MAIN_DIS6 1000 # tilt left servo (1000 up)
-param set-default PWM_MAIN_DIS7 1500 # elevon
-param set-default PWM_MAIN_DIS8 1500 # elevon
+set PWM_OUT 1234
@@ -23,7 +23,6 @@

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

-set MAV_TYPE 22

 param set-default BAT_CAPACITY 23000
 param set-default BAT_N_CELLS 4
@@ -114,6 +113,15 @@ param set-default MPC_YAWRAUTO_MAX 20
 param set-default NAV_DLL_ACT 0
 param set-default NAV_LOITER_RAD 100

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

 # TELEM2 config
@@ -143,33 +151,10 @@ param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4

 param set-default COM_RC_OVERRIDE 0
+set MAV_TYPE 22

-
-# MAIN
 set MIXER deltaquad
-param set-default PWM_MAIN_MIN1 1100
-param set-default PWM_MAIN_MIN2 1100
-param set-default PWM_MAIN_MIN3 1100
-param set-default PWM_MAIN_MIN4 1100
-
-param set-default PWM_MAIN_MAX1 1900
-param set-default PWM_MAIN_MAX2 1900
-param set-default PWM_MAIN_MAX3 1900
-param set-default PWM_MAIN_MAX4 1900
-
-param set-default PWM_MAIN_RATE1 400
-param set-default PWM_MAIN_RATE2 400
-param set-default PWM_MAIN_RATE3 400
-param set-default PWM_MAIN_RATE4 400
-
-param set-default PWM_MAIN_DIS1 900
-param set-default PWM_MAIN_DIS2 900
-param set-default PWM_MAIN_DIS3 900
-param set-default PWM_MAIN_DIS4 900
-param set-default PWM_MAIN_DIS5 1500 # left elevon
-param set-default PWM_MAIN_DIS6 1500 # right elevon
-param set-default PWM_MAIN_DIS7 900 # pusher
-param set-default PWM_MAIN_DIS8 900 # reverse thrust
-
-# AUX
 set MIXER_AUX pass
+
+set PWM_OUT 1234
+set PWM_AUX_OUT 12345
@@ -23,7 +23,7 @@

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

-set MAV_TYPE 22
+

 param set-default BAT_N_CELLS 6

@@ -87,6 +87,10 @@ param set-default MPC_Z_VEL_MAX_UP 2

 param set-default NAV_ACC_RAD	3

+param set-default PWM_MAIN_DIS3 1000
+param set-default PWM_MAIN_MIN3 1120
+param set-default PWM_MAIN_MIN 950
+
 param set-default SENS_BOARD_ROT 4

 param set-default VT_ARSP_BLEND 10
@@ -103,28 +107,9 @@ param set-default VT_PSHER_RMP_DT 2
 param set-default VT_TRANS_MIN_TM 4
 param set-default VT_TYPE 2

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

-param set-default PWM_MAIN_MAX5 1900
-param set-default PWM_MAIN_MAX6 1900
-param set-default PWM_MAIN_MAX7 1900
-param set-default PWM_MAIN_MAX8 1900
-
-param set-default PWM_MAIN_RATE5 400
-param set-default PWM_MAIN_RATE6 400
-param set-default PWM_MAIN_RATE7 400
-param set-default PWM_MAIN_RATE8 400
-
-param set-default PWM_MAIN_DIS1 1500
-param set-default PWM_MAIN_DIS2 1500
-param set-default PWM_MAIN_DIS3 900 # pusher
-param set-default PWM_MAIN_DIS4 1500
-param set-default PWM_MAIN_DIS5 900
-param set-default PWM_MAIN_DIS6 900
-param set-default PWM_MAIN_DIS7 900
-param set-default PWM_MAIN_DIS8 900
+set PWM_OUT 5678
@@ -24,14 +24,9 @@

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

-set MAV_TYPE 22

-param set-default VT_TYPE 2
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
+param set-default PWM_MAIN_RATE 400

-# MAIN
-set MIXER quad_x_vtol_AAERT
 param set-default PWM_MAIN_MIN1 1100
 param set-default PWM_MAIN_MIN2 1100
 param set-default PWM_MAIN_MIN3 1100
@@ -51,3 +46,13 @@ param set-default PWM_MAIN_DIS6 1500
 param set-default PWM_MAIN_DIS7 1500
 param set-default PWM_MAIN_DIS8 1500
 param set-default PWM_MAIN_DIS9 900
+
+param set-default VT_TYPE 2
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+set MAV_TYPE 22
+
+set MIXER quad_x_vtol_AAERT
+set MIXER_AUX none
+
+set PWM_OUT 1234
@@ -24,21 +24,18 @@
 # @board bitcraze_crazyflie exclude
 #

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

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

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

-# MAIN set by rc.mc_octo_defaults
-
-# AUX
+set MIXER octo_cox
 set MIXER_AUX vtol_AAERT
-param set-default PWM_AUX_DIS1 1500
-param set-default PWM_AUX_DIS2 1500
-param set-default PWM_AUX_DIS3 1500
-param set-default PWM_AUX_DIS4 1500
-param set-default PWM_AUX_DIS5 900 # throttle
+
+set PWM_OUT 12345678
@@ -19,26 +19,13 @@

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

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

 param set-default MAV_TYPE 19
-
-param set-default PWM_MAIN_MIN1 1100
-param set-default PWM_MAIN_MIN2 1100
-
-param set-default PWM_MAIN_MAX1 1900
-param set-default PWM_MAIN_MAX2 1900
-
-param set-default PWM_MAIN_RATE1 400
-param set-default PWM_MAIN_RATE2 400
-
-param set-default PWM_MAIN_DIS1 900
-param set-default PWM_MAIN_DIS2 900
-param set-default PWM_MAIN_DIS5 1500 # right elevon
-param set-default PWM_MAIN_DIS6 1500 # left elevon
-
-
 set MAV_TYPE 19
 set MIXER vtol_tailsitter_duo
+
+set PWM_OUT 1234
@@ -20,22 +20,4 @@

 set MIXER tri_y_yaw+

-param set-default PWM_MAIN_MIN1 1100
-param set-default PWM_MAIN_MIN2 1100
-param set-default PWM_MAIN_MIN3 1100
-param set-default PWM_MAIN_MIN4 1000
-
-param set-default PWM_MAIN_MAX1 1900
-param set-default PWM_MAIN_MAX2 1900
-param set-default PWM_MAIN_MAX3 1900
-param set-default PWM_MAIN_MAX4 2000
-
-param set-default PWM_MAIN_RATE1 400
-param set-default PWM_MAIN_RATE2 400
-param set-default PWM_MAIN_RATE3 400
-param set-default PWM_MAIN_RATE4 50
-
-param set-default PWM_MAIN_DIS1 900
-param set-default PWM_MAIN_DIS2 900
-param set-default PWM_MAIN_DIS3 900
-param set-default PWM_MAIN_DIS4 1500
+set PWM_OUT 1234
@@ -20,22 +20,4 @@

 set MIXER tri_y_yaw-

-param set-default PWM_MAIN_MIN1 1100
-param set-default PWM_MAIN_MIN2 1100
-param set-default PWM_MAIN_MIN3 1100
-param set-default PWM_MAIN_MIN4 1000
-
-param set-default PWM_MAIN_MAX1 1900
-param set-default PWM_MAIN_MAX2 1900
-param set-default PWM_MAIN_MAX3 1900
-param set-default PWM_MAIN_MAX4 2000
-
-param set-default PWM_MAIN_RATE1 400
-param set-default PWM_MAIN_RATE2 400
-param set-default PWM_MAIN_RATE3 400
-param set-default PWM_MAIN_RATE4 50
-
-param set-default PWM_MAIN_DIS1 900
-param set-default PWM_MAIN_DIS2 900
-param set-default PWM_MAIN_DIS3 900
-param set-default PWM_MAIN_DIS4 1500
+set PWM_OUT 1234
@@ -18,9 +18,9 @@
 #

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

+
 param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.17
 param set-default MC_ROLLRATE_I 0.05
@@ -39,5 +39,17 @@ param set-default MC_YAWRATE_FF 0

 param set-default NAV_ACC_RAD 2

+param set-default PWM_AUX_RATE 50
+param set-default PWM_MAIN_DISARM 900
+param set-default PWM_MAIN_MIN 1075
+param set-default PWM_MAIN_MAX 1950
+param set-default PWM_MAIN_RATE 400
+
 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
+# This is the gimbal pass mixer
+set MIXER_AUX pass
+
+# use PWM parameters for throttle channel
+set PWM_AUX_OUT 1234
+set PWM_OUT 34
@@ -25,6 +25,11 @@ set MAV_TYPE 4

 set MIXER blade130

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

 param set-default MC_ROLL_P 5
@@ -49,3 +54,5 @@ param set-default MC_ACRO_P_MAX 360

 param set-default MPC_THR_MIN 0.06
 param set-default MPC_MANTHR_MIN 0.06
+
+param set-default PWM_MAIN_MIN 1075
@@ -26,9 +26,13 @@

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

+
 param set-default BAT_CAPACITY 2500
 param set-default BAT_N_CELLS 3

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

 param set-default FW_AIRSPD_MAX 20
@@ -43,6 +47,5 @@ param set-default FW_R_LIM 40
 param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
-
 set MIXER TF-AutoG2
 set MIXER_AUX pass
@@ -21,9 +21,13 @@

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

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

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

 param set-default FW_AIRSPD_MAX 20
@@ -38,6 +42,5 @@ param set-default FW_R_LIM 40
 param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
-
 set MIXER TF-G2
 set MIXER_AUX pass
@@ -16,6 +16,7 @@

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

+
 param set-default COM_PREARM_MODE 2  # always in prearm state
 param set-default CBRK_IO_SAFETY 22027
 param set-default SDLOG_PROFILE 17
@@ -26,8 +27,8 @@ param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600

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

-param set-default MAV_TYPE 8  # MAV_TYPE_FREE_BALLOON

 set MIXER IO_pass
 set MIXER_AUX pass
@@ -24,6 +24,10 @@

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

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

-param set-default PWM_MAIN_DIS3 900
+# Rate must be set by group (see pwm info).
+# Throttle is in the same group as servos.
@@ -40,7 +40,11 @@ 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
-param set-default PWM_MAIN_DIS5 1000
+set PWM_OUT 5
@@ -40,7 +40,11 @@ param set-default FW_WR_IMAX 0.8
 param set-default FW_WR_P 1
 param set-default FW_W_RMAX 0

+# set disarmed value for the ESC
+param set-default PWM_MAIN_DISARM 1000
+
+
 set MIXER AAVVTWFF

 # use PWM parameters for throttle channel
-param set-default PWM_MAIN_DIS5 1000
+set PWM_OUT 5
@@ -41,10 +41,13 @@ 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
-param set-default PWM_MAIN_DIS5 1000
+set PWM_OUT 5
@@ -28,68 +28,23 @@

 set VEHICLE_TYPE mc

+
 param set-default NAV_ACC_RAD 2

+param set-default PWM_AUX_RATE 400
+param set-default PWM_AUX_DISARMED 900
+param set-default PWM_AUX_MIN 1075
+param set-default PWM_AUX_MAX 1950
+
+param set-default PWM_MAIN_MIN 1075
+param set-default PWM_MAIN_MAX 1950
+param set-default PWM_MAIN_RATE 400
+
 param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30
-
-# MAIN
-param set-default PWM_MAIN_MIN1 1100
-param set-default PWM_MAIN_MIN2 1100
-param set-default PWM_MAIN_MIN3 1100
-param set-default PWM_MAIN_MIN4 1100
-param set-default PWM_MAIN_MIN5 1100
-param set-default PWM_MAIN_MIN6 1100
-
-param set-default PWM_MAIN_MAX1 1900
-param set-default PWM_MAIN_MAX2 1900
-param set-default PWM_MAIN_MAX3 1900
-param set-default PWM_MAIN_MAX4 1900
-param set-default PWM_MAIN_MAX5 1900
-param set-default PWM_MAIN_MAX6 1900
-
-param set-default PWM_MAIN_RATE1 400
-param set-default PWM_MAIN_RATE2 400
-param set-default PWM_MAIN_RATE3 400
-param set-default PWM_MAIN_RATE4 400
-param set-default PWM_MAIN_RATE5 400
-param set-default PWM_MAIN_RATE6 400
-
-param set-default PWM_MAIN_DIS1 900
-param set-default PWM_MAIN_DIS2 900
-param set-default PWM_MAIN_DIS3 900
-param set-default PWM_MAIN_DIS4 900
-param set-default PWM_MAIN_DIS5 900
-param set-default PWM_MAIN_DIS6 900
-
-# AUX
-param set-default PWM_AUX_MIN1 1100
-param set-default PWM_AUX_MIN2 1100
-param set-default PWM_AUX_MIN3 1100
-param set-default PWM_AUX_MIN4 1100
-param set-default PWM_AUX_MIN5 1100
-param set-default PWM_AUX_MIN6 1100
-
-param set-default PWM_AUX_MAX1 1900
-param set-default PWM_AUX_MAX2 1900
-param set-default PWM_AUX_MAX3 1900
-param set-default PWM_AUX_MAX4 1900
-param set-default PWM_AUX_MAX5 1900
-param set-default PWM_AUX_MAX6 1900
-
-param set-default PWM_AUX_RATE1 400
-param set-default PWM_AUX_RATE2 400
-param set-default PWM_AUX_RATE3 400
-param set-default PWM_AUX_RATE4 400
-param set-default PWM_AUX_RATE5 400
-param set-default PWM_AUX_RATE6 400
-
-param set-default PWM_AUX_DIS1 900
-param set-default PWM_AUX_DIS2 900
-param set-default PWM_AUX_DIS3 900
-param set-default PWM_AUX_DIS4 900
-param set-default PWM_AUX_DIS5 900
-param set-default PWM_AUX_DIS6 900
-
 set MIXER dodeca_top_cox
 set MIXER_AUX dodeca_bottom_cox
+
+# Need to set all 8 channels
+set PWM_OUT 12345678
+set PWM_AUX_OUT 123456
@@ -19,4 +19,6 @@
 param set-default COM_PREARM_MODE 2
 param set-default CBRK_IO_SAFETY 22027

+
 set MIXER cloudship
+set PWM_OUT 1234
@@ -22,5 +22,3 @@
 . ${R}etc/init.d/rc.fw_defaults

 set MIXER fw_generic_wing
-
-param set-default PWM_MAIN_DIS4 1000
@@ -9,6 +9,10 @@
 # @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
@@ -38,8 +42,10 @@ param set-default FW_RR_FF 0.6
 param set-default FW_RR_IMAX 0.2
 param set-default FW_RR_P 0.04

+param set-default PWM_MAIN_DISARM 1000
+

 set MIXER fw_generic_wing

 # Provide ESC a constant 1000 us pulse while disarmed
-param set-default PWM_MAIN_DIS4 1000
+set PWM_OUT 4
@@ -11,6 +11,10 @@
 # @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
@@ -39,6 +43,8 @@ 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
@@ -46,5 +52,5 @@ param set-default SENS_BOARD_Y_OFF 7

 set MIXER phantom

-# Provide ESC a constant 1000 us pulse while disarmed
-param set-default PWM_MAIN_DIS4 1000
+# Provide ESC a constant 1000 us pulse
+set PWM_OUT 4
@@ -42,6 +42,8 @@ param set-default FW_PR_FF 0.35
 param set-default FW_RR_FF 0.6
 param set-default FW_RR_P 0.04

+param set-default PWM_MAIN_DISARM 1000
+

 # Configure this as plane.
 set MAV_TYPE 1
@@ -49,5 +51,5 @@ set MAV_TYPE 1
 # Set mixer.
 set MIXER wingwing

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

 param set-default NAV_LOITER_RAD 150

-set MIXER FX79

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

 set MIXER Viper
-
-param set-default PWM_MAIN_DIS4 1000
@@ -43,10 +43,14 @@ 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_DIS4 1000
+param set-default PWM_MAIN_DISARM 1000

 # Bottom of bay and nominal zero-pitch attitude differ
 # the payload bay is pitched up about 7 degrees
 param set-default SENS_BOARD_Y_OFF 11.9

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

+param set-default PWM_MAIN_DISARM 1000
+

 set MIXER fw_generic_wing.main.mix

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

 . ${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
@@ -59,7 +60,9 @@ param set-default NAV_LOITER_RAD 30

 param set-default PWM_MAIN_REV1 1
 param set-default PWM_MAIN_REV2 1
-# Provide ESC a constant 1000 us pulse
-param set-default PWM_MAIN_DIS4 1000
+param set-default PWM_MAIN_MIN 900
+param set-default PWM_MAIN_MAX 2100
+

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

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

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

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

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

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

 param set-default ATT_BIAS_MAX 0

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

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

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

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

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

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

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

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

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

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

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

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

 # RTL Parameters
 param set-default RTL_DESCEND_ALT 5
@@ -16,8 +16,15 @@
 # @maintainer Iain Galloway <iain.galloway@nxp.com>
 #

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

+set MIXER quad_x
+set PWM_OUT 1234
+
+
+
+param set-default IMU_GYRO_CUTOFF 40
+param set-default IMU_DGYRO_CUTOFF 20
 param set-default IMU_GYRO_RATEMAX 400

 param set-default MC_ROLLRATE_P 0.18
@@ -10,7 +10,7 @@
 # @board px4_fmu-v2 exclude
 #

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


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

 set MIXER direct
+set PWM_OUT 1234

 set MIXER_AUX direct_aux
+set PWM_AUX_OUT 1234
@@ -17,7 +17,11 @@
 # @board bitcraze_crazyflie exclude
 #

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

 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.1
@@ -31,3 +35,5 @@ param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.2
 param set-default MC_YAWRATE_I 0.1
 param set-default MC_YAWRATE_D 0
+
+param set-default PWM_MAIN_MIN 1200
@@ -17,14 +17,15 @@
 # @board bitcraze_crazyflie exclude
 #

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

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

 # takeoff, land and RTL settings
 param set-default MIS_TAKEOFF_ALT   4
@@ -84,3 +85,7 @@ param set-default RC5_TRIM          1500
 param set-default MAV_0_RATE 80000
 param set-default MAV_0_MODE 2
 param set-default SER_TEL1_BAUD 921600
+set MIXER quad_x
+
+set PWM_OUT 1234
+set MIXER_AUX none
@@ -12,7 +12,11 @@
 # @board bitcraze_crazyflie exclude
 #

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

 param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.14
@@ -19,9 +19,8 @@
 # @board bitcraze_crazyflie exclude
 #

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

-set MIXER quad_h

 param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.14
@@ -35,5 +34,19 @@ param set-default MC_YAW_P 4

 param set-default NAV_ACC_RAD 2

+param set-default PWM_AUX_DISARMED 950
+param set-default PWM_AUX_RATE 50
+param set-default PWM_MAIN_MIN 1100
+param set-default PWM_MAIN_MAX 1900
+param set-default PWM_MAIN_RATE 50
+
 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
+
+set MIXER quad_h
+
+set PWM_OUT 1234
+
+set MIXER_AUX pass
+
+set PWM_AUX_OUT 1234
@@ -24,8 +24,6 @@

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

-# The Whoop uses reversed props
-set MIXER quad_h

 param set-default CBRK_SUPPLY_CHK 894281
 param set-default CBRK_USB_CHK 197848
@@ -58,3 +56,7 @@ param set-default SYS_HAS_BARO 0
 param set-default SYS_HAS_MAG 0

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

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

 param set-default MC_ROLL_P 8
 param set-default MC_ROLLRATE_P 0.08
@@ -36,6 +40,10 @@ param set-default MPC_MAN_TILT_MAX 60
 # use thrust curve factor (instead of TPA)
 param set-default THR_MDL_FAC 0.3

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

@@ -21,11 +21,14 @@
 # @board bitcraze_crazyflie exclude
 #

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

 set MIXER quad_s250aq
 set MAV_TYPE 2

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

 param set-default CBRK_IO_SAFETY 22027
@@ -50,3 +53,5 @@ param set-default MC_ACRO_P_MAX 360

 param set-default MPC_THR_MIN 0.06
 param set-default MPC_MANTHR_MIN 0.06
+
+param set-default PWM_MAIN_MIN 1075
@@ -14,7 +14,11 @@
 # @board bitcraze_crazyflie exclude
 #

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

 # The set does not include a battery, but most people will probably use 4S
 param set-default BAT_N_CELLS 4
@@ -45,4 +49,8 @@ param set-default MPC_THR_HOVER 0.25
 param set-default MPC_THR_MIN 0.05
 param set-default MPC_Z_VEL_I_ACC 1.7

+param set-default PWM_MAIN_MAX 1950
+param set-default PWM_MAIN_MIN 1050
+
+param set-default PWM_MAIN_RATE 0
 param set-default THR_MDL_FAC 0.3
@@ -12,10 +12,14 @@
 # @board bitcraze_crazyflie exclude
 #

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

 set PARAM_DEFAULTS_VER 2

+
 param set-default BAT_N_CELLS 4

 param set-default GPS_1_CONFIG 0
@@ -12,7 +12,11 @@
 # @board bitcraze_crazyflie exclude
 #

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

 param set-default BAT_N_CELLS 6

@@ -27,3 +31,5 @@ param set-default MC_PITCHRATE_D 0.001
 param set-default MC_YAWRATE_P 0.2
 param set-default MC_YAWRATE_I 0
 param set-default MC_YAWRATE_D 0
+
+param set-default PWM_MAIN_MIN 1200
@@ -78,3 +78,4 @@ fi

 set MIXER quad_x
 set USE_IO no
+
@@ -21,7 +21,10 @@
 # @board bitcraze_crazyflie exclude
 #

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

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

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

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

 # EKF2
--- a/Show More
+++ b/Show More