unmanned ground vehicle (UGV) controllers and Traxxas Stampede configuration (#7175)

ROMFS/px4fmu_common/init.d/50002_traxxas_stampede_2wd

@@ -0,0 +1,61 @@
+#!nsh
+#
+# @name Traxxas stampede vxl 2wd
+#
+# @url https://traxxas.com/products/models/electric/stampede-vxl-tsm
+#
+# @type Rover
+# 
+# @output MAIN2 steering
+# @output MAIN4 throttle
+#
+# @maintainer Marco Zorzi
+#
+
+sh /etc/init.d/rc.gnd_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set BAT_N_CELLS 7
+	
+	param set FW_AIRSPD_MIN 0
+	param set FW_AIRSPD_TRIM 1
+	param set FW_AIRSPD_MAX 3
+	
+	param set NAV_ACC_RAD 0.5
+
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+	
+	param set EKF2_GBIAS_INIT 0.01
+	param set EKF2_ANGERR_INIT 0.01
+	param set EKF2_MAG_TYPE 1
+
+	param set GND_WR_P 2
+	param set GND_WR_I 0.9674
+	param set GND_WR_IMAX 0.1
+	param set GND_WR_D 1.2
+	param set GND_SP_CTRL_MODE 1
+	param set GND_L1_DIST 10
+	param set GND_THR_IDLE 0
+	param set GND_THR_CRUISE 0
+	param set GND_THR_MAX 0.5
+	param set GND_THR_MIN 0
+	param set GND_SPEED_P 0.25
+	param set GND_SPEED_I 0.001
+	param set GND_SPEED_D 3
+	param set GND_SPEED_IMAX 0.125
+	param set GND_SPEED_THR_SC 1
+
+fi
+
+# Configure this as ugv
+set MAV_TYPE 10
+# Set mixer
+set MIXER stampede
+
+# Provide ESC a constant 1500 us pulse
+set PWM_DISARMED 1500
+set PWM_MAIN_REV2 1
+set PWM_MAX 2000
+set PWM_MIN 1000

ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_defaults

@@ -1,6 +1,6 @@
 #!nsh
 
-set VEHICLE_TYPE rover
+set VEHICLE_TYPE ugv
 
 # This section can be enabled once tuning parameters for this particular
 # rover model are known. It allows to configure default gains via the GUI

ROMFS/px4fmu_common/init.d/rc.gnd_apps

@@ -0,0 +1,24 @@
+#!nsh
+#
+# Standard apps for unmanned ground vehicles (UGV)
+#
+
+#
+# Start the attitude and position estimator
+#
+ekf2 start
+#attitude_estimator_q start
+#local_position_estimator start
+
+
+#
+# Start attitude controllers
+#
+gnd_att_control start
+gnd_pos_control start
+
+
+#
+# Start Land Detector
+#
+land_detector start ugv

ROMFS/px4fmu_common/init.d/rc.gnd_defaults

@@ -0,0 +1,32 @@
+#!nsh
+
+set VEHICLE_TYPE ugv
+
+if [ $AUTOCNF == yes ]
+then
+#
+# Default parameters for UGVs
+#
+	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)
+# but also include 1+2 as they form together one output group
+# and need to be set together.
+set PWM_OUT 1234
+
+# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
+# may damage analog servos.
+set PWM_RATE 50
+
+# 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/rcS

@@ -1042,20 +1042,29 @@ then
 	fi
 
 	#
-	# Rover setup
+	# UGV setup
 	#
-	if [ $VEHICLE_TYPE == rover ]
+	if [ $VEHICLE_TYPE == ugv ]
 	then
-		# 10 is MAV_TYPE_GROUND_ROVER
-		set MAV_TYPE 10
+		if [ $MIXER == none ]
+		then
+			# Set default mixer for UGV if not defined
+			set MIXER stampede
+		fi
+
+		if [ $MAV_TYPE == none ]
+		then
+			# Use MAV_TYPE = 10 (UGV) if not defined
+			set MAV_TYPE 10
+		fi
+
+		param set MAV_TYPE ${MAV_TYPE}
 
 		# Load mixer and configure outputs
 		sh /etc/init.d/rc.interface
 
-		# Start standard rover apps
-		sh /etc/init.d/rc.axialracing_ax10_apps
-
-		param set MAV_TYPE 10
+		# Start standard UGV apps
+		sh /etc/init.d/rc.gnd_apps
 	fi
 
 	#