Format and comment fw, mc, vtol, and ugv vehicle apps and default startup scripts.

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -2,6 +2,8 @@
 #
 # Standard apps for fixed wing
 #
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
 
 # LPE
 if param compare SYS_MC_EST_GROUP 1
@@ -12,22 +14,22 @@ then
 fi
 
 #
-# Start the attitude and position estimator
+# Start the attitude and position estimator.
 #
 ekf2 start
 
 #
-# Start attitude controller
+# Start attitude controller.
 #
 fw_att_control start
 fw_pos_control_l1 start
 
 #
-# Start Land Detector
+# Start Land Detector.
 #
 land_detector start fixedwing
 
 #
-# Start Wind and Airspeed Scale Estimator
+# Start Wind and Airspeed Scale Estimator.
 #
 #wind_estimator start

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -1,11 +1,16 @@
 #!nsh
+#
+# Fixed wing default parameters
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
 
 set VEHICLE_TYPE fw
 
 if [ $AUTOCNF == yes ]
 then
 	#
-	# Default parameters for FW
+	# Default parameters for fixed wing uavs.
 	#
 	param set COM_POS_FS_DELAY 5
 	param set COM_POS_FS_EPH 25
@@ -23,8 +28,8 @@ then
 	param set RTL_DESCEND_ALT 100
 	param set RTL_LAND_DELAY -1
 
-	# FW uses L1 distance for acceptance radius
+	# FW uses L1 distance for acceptance radius,
-	#  set a smaller NAV_ACC_RAD for vertical acceptance distance
+	#  set a smaller NAV_ACC_RAD for vertical acceptance distance.
 	param set NAV_ACC_RAD 10
 
 	param set MIS_LTRMIN_ALT 25
@@ -32,11 +37,11 @@ then
 
 	param set PWM_RATE 50
 
-	# FW takeoff acceleration can easily exceed ublox GPS 2G default
+	# FW takeoff acceleration can easily exceed ublox GPS 2G default.
 	param set GPS_UBX_DYNMODEL 8
 fi
 
-# This is the gimbal pass mixer
+# This is the gimbal pass mixer.
 set MIXER_AUX pass
 set PWM_AUX_RATE 50
 set PWM_AUX_OUT 1234

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -1,14 +1,14 @@
 #!nsh
 #
-# Standard apps for multirotors:
+# Standard apps for multirotors. Attitude/Position estimator, Attitude/Position control.
-# att & pos estimator, att & pos control.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
-
+###############################################################################
-#---------------------------------------
+#                       Begin Estimator Group Selection                       #
-# Estimator group selction
+###############################################################################
-#
+# INAV (deprecated).
-# INAV (deprecated)
 if param compare SYS_MC_EST_GROUP 0
 then
 	echo "ERROR [init] Estimator INAV deprecated. Using EKF2"
@@ -31,18 +31,26 @@ then
 	fi
 fi
 
-# EKF
+# EKF2
 if param compare SYS_MC_EST_GROUP 2
 then
 	ekf2 start
 fi
-#---------------------------------------
+###############################################################################
+#                        End Estimator Group Selection                        #
+###############################################################################
 
+#
+# Start Multicopter Attitude Controller.
+#
 mc_att_control start
 
+#
+# Start Multicopter Position Controller.
+#
 mc_pos_control start
 
 #
-# Start Land Detector
+# Start Multicopter Land Detector.
 #
 land_detector start multicopter

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -1,20 +1,26 @@
 #!nsh
+#
+# Multicopter default parameters.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
 
 set VEHICLE_TYPE mc
 
 if [ $AUTOCNF == yes ]
 then
 	param set NAV_ACC_RAD 2.0
+
 	param set RTL_RETURN_ALT 30.0
 	param set RTL_DESCEND_ALT 10.0
-	param set PWM_MIN 1075
-	param set PWM_MAX 1950
-	param set PWM_RATE 400
-
 	param set RTL_LAND_DELAY 0
+
+	param set PWM_MAX 1950
+	param set PWM_MIN 1075
+	param set PWM_RATE 400
 fi
 
-# This is the gimbal pass mixer
+# This is the gimbal pass mixer.
 set MIXER_AUX pass
 set PWM_AUX_RATE 50
 set PWM_AUX_OUT 1234

ROMFS/px4fmu_common/init.d/rc.ugv_apps

@@ -1,10 +1,12 @@
 #!nsh
 #
-# Standard apps for unmanned ground vehicles (UGV)
+# Standard apps for unmanned ground vehicles (UGV).
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
 #
-# Start the attitude and position estimator
+# Start the attitude and position estimator.
 #
 ekf2 start
 #attitude_estimator_q start
@@ -12,13 +14,13 @@ ekf2 start
 
 
 #
-# Start attitude controllers
+# Start attitude controllers.
 #
 gnd_att_control start
 gnd_pos_control start
 
 
 #
-# Start Land Detector
+# Start Land Detector.
 #
 land_detector start ugv

ROMFS/px4fmu_common/init.d/rc.ugv_defaults

@@ -1,4 +1,9 @@
 #!nsh
+#
+# UGV default parameters.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
 
 set VEHICLE_TYPE ugv
 
@@ -7,14 +12,14 @@ then
 #
 # Default parameters for UGVs
 #
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+
 	param set NAV_DLL_ACT 0
 	param set NAV_ACC_RAD 2.0
 
 	# temporary
 	param set NAV_FW_ALT_RAD 1000
-
-	param set MIS_LTRMIN_ALT 0.01
-	param set MIS_TAKEOFF_ALT 0.01
 fi
 
 # Enable servo output on pins 3 and 4 (steering and thrust)

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -1,14 +1,14 @@
 #!nsh
 #
-# Standard apps for vtol:
+# Standard apps for vtol: Attitude/Position estimator, Attitude/Position control.
-# att & pos estimator, att & pos control.
 #
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
+###############################################################################
+#                       Begin Estimator group selection                       #
+###############################################################################
 
-#---------------------------------------
-# Estimator group selction
-#
 # INAV (deprecated)
 if param compare SYS_MC_EST_GROUP 0
 then
@@ -37,7 +37,10 @@ if param compare SYS_MC_EST_GROUP 2
 then
 	ekf2 start
 fi
-#---------------------------------------
+
+###############################################################################
+#                        End Estimator group selection                        #
+###############################################################################
 
 
 vtol_att_control start

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -1,4 +1,9 @@
 #!nsh
+#
+# VTOL default parameters.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
 
 set VEHICLE_TYPE vtol
 
@@ -18,5 +23,5 @@ then
 	param set RTL_LAND_DELAY 0
 fi
 
-# set environment variables (!= parameters)
+# Set environment variables (!= parameters)
 set PWM_RATE 400

ROMFS/px4fmu_common/init.d/rcS

@@ -129,10 +129,14 @@ then
 	#
 	uorb start
 
+	#
 	# Start tone driver
+	#
 	tone_alarm start
 
+	#
 	# play startup tone
+	#
 	tune_control play -t 1
 
 	#