Added hexrotor support

ROMFS/px4fmu_common/init.d/12-13_hex

@@ -0,0 +1,95 @@
+#!nsh
+
+echo "[init] PX4FMU v1, v2 with or without IO on Hex"
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	param set SYS_AUTOCONFIG 0
+
+	param set MC_ATTRATE_D 0.004
+	param set MC_ATTRATE_I 0.0
+	param set MC_ATTRATE_P 0.12
+	param set MC_ATT_D 0.0
+	param set MC_ATT_I 0.0
+	param set MC_ATT_P 7.0
+	param set MC_YAWPOS_D 0.0
+	param set MC_YAWPOS_I 0.0
+	param set MC_YAWPOS_P 2.0
+	param set MC_YAWRATE_D 0.005
+	param set MC_YAWRATE_I 0.2
+	param set MC_YAWRATE_P 0.3
+	param set NAV_TAKEOFF_ALT 3.0
+	param set MPC_TILT_MAX 0.5
+	param set MPC_THR_MAX 0.7
+	param set MPC_THR_MIN 0.3
+	param set MPC_XY_D 0
+	param set MPC_XY_P 0.5
+	param set MPC_XY_VEL_D 0
+	param set MPC_XY_VEL_I 0
+	param set MPC_XY_VEL_MAX 3
+	param set MPC_XY_VEL_P 0.2
+	param set MPC_Z_D 0
+	param set MPC_Z_P 1
+	param set MPC_Z_VEL_D 0
+	param set MPC_Z_VEL_I 0.1
+	param set MPC_Z_VEL_MAX 2
+	param set MPC_Z_VEL_P 0.20
+
+	param save
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE list: https://pixhawk.ethz.ch/mavlink/
+# 13 = hexarotor
+#
+param set MAV_TYPE 13
+
+set EXIT_ON_END no
+
+#
+# Start and configure PX4IO or FMU interface
+#
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start
+	usleep 5000
+
+	sh /etc/init.d/rc.io
+	# Set PWM values for DJI ESCs
+	px4io idle 900 900 900 900 900 900
+	px4io min 1200 1200 1200 1200 1200 1200
+	px4io max 1900 1900 1900 1900 1900 1900
+else
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS0
+	usleep 5000
+	fmu mode_pwm
+	param set BAT_V_SCALING 0.004593
+	set EXIT_ON_END yes
+fi
+
+#
+# Load mixer
+#
+mixer load /dev/pwm_output $MIXER
+
+#
+# Set PWM output frequency to 400 Hz
+#
+pwm -u 400 -m 0xff
+
+#
+# Start common for all multirotors apps
+#
+sh /etc/init.d/rc.multirotor
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi

ROMFS/px4fmu_common/init.d/rcS

@@ -177,6 +177,20 @@ then
 		sh /etc/init.d/11_dji_f450
 		set MODE custom
 	fi
+
+	if param compare SYS_AUTOSTART 12
+	then
+		set MIXER /etc/mixers/FMU_hex_x.mix
+		sh /etc/init.d/12-13_hex
+		set MODE custom
+	fi
+
+	if param compare SYS_AUTOSTART 13
+	then
+		set MIXER /etc/mixers/FMU_hex_+.mix
+		sh /etc/init.d/12-13_hex
+		set MODE custom
+	fi
 	
 	if param compare SYS_AUTOSTART 15
 	then