Switch simulated solo to control allocation

* fix icp so it compiles
* add icp10111 and icp10100 DEVTPYE

ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris

@@ -9,4 +9,28 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_w
+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

ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc

@@ -1,37 +0,0 @@
-#!/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

ROMFS/px4fmu_common/init.d-posix/airframes/1014_solo

@@ -7,7 +7,31 @@
 
 . ${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 0.145
+param set-default CA_ROTOR0_PY 0.145
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.145
+param set-default CA_ROTOR1_PY -0.145
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.145
+param set-default CA_ROTOR2_PY -0.145
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.145
+param set-default CA_ROTOR3_PY 0.145
+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-default MC_PITCHRATE_P 0.1
 param set-default MC_ROLLRATE_P 0.05
 
-set MIXER quad_x
+set MIXER skip
+set MIXER_AUX none

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -33,7 +33,6 @@
 
 px4_add_romfs_files(
 	10016_iris
-	10017_iris_ctrlalloc
 	10018_iris_foggy_lidar
 	10019_omnicopter
 	10020_if750a

src/drivers/barometer/invensense/Kconfig

@@ -0,0 +1,3 @@
+menu "Invensense"
+rsource "*/Kconfig"
+endmenu #Invensense

src/drivers/barometer/invensense/icp10100/CMakeLists.txt

@@ -32,7 +32,7 @@
 ############################################################################
 
 px4_add_module(
-	MODULE drivers__invensense__icp10100
+	MODULE drivers__barometer__invensense__icp10100
 	MAIN icp10100
 	COMPILE_FLAGS
 	SRCS

src/drivers/barometer/invensense/icp10100/ICP10100.cpp

@@ -233,7 +233,6 @@ ICP10100::RunImpl()
 				float b = (_pcal[0] - a) * (s1 + c);
 				float _pressure_Pa = a + b / (c + _raw_p);
 
-				const hrt_abstime nowx = hrt_absolute_time();
 				float temperature = _temperature_C;
 				float pressure = _pressure_Pa;
 

src/drivers/barometer/invensense/icp10100/Kconfig

@@ -0,0 +1,7 @@
+menuconfig DRIVERS_BAROMETER_INVENSENSE_ICP10100
+	bool "icp10100"
+	default n
+	---help---
+		Enable support for icp10100
+
+

src/drivers/barometer/invensense/icp10111/CMakeLists.txt

@@ -32,7 +32,7 @@
 ############################################################################
 
 px4_add_module(
-	MODULE drivers__invensense__icp10111
+	MODULE drivers__barometer__invensense__icp10111
 	MAIN icp10111
 	COMPILE_FLAGS
 	SRCS

src/drivers/barometer/invensense/icp10111/Kconfig

@@ -0,0 +1,6 @@
+menuconfig DRIVERS_BAROMETER_INVENSENSE_ICP10111
+	bool "icp10100"
+	default n
+	---help---
+		Enable support for icp10111
+

src/drivers/drv_sensor.h

@@ -213,6 +213,9 @@
 #define DRV_FLOW_DEVTYPE_PX4FLOW 0xB5
 #define DRV_FLOW_DEVTYPE_PAA3905 0xB6
 
+#define DRV_BARO_DEVTYPE_ICP10100 0xC0
+#define DRV_BARO_DEVTYPE_ICP10111 0xC1
+
 #define DRV_DEVTYPE_UNUSED		0xff
 
 #endif /* _DRV_SENSOR_H */