Merged beta into master

.gitignore

@@ -51,3 +51,4 @@ xcode
 src/platforms/posix/px4_messages/
 src/platforms/posix-arm/px4_messages/
 src/platforms/qurt/px4_messages/
+ROMFS/*/*/rc.autostart

ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil

@@ -1,7 +1,15 @@
 #!nsh
 #
-# HILStar
+# @name HILStar (XPlane)
-# <lorenz@px4.io>
+#
+# @type Simulation
+#
+# @output MAIN1 aileron
+# @output MAIN2 elevator
+# @output MAIN3 rudder
+# @output MAIN4 throttle
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults

ROMFS/px4fmu_common/init.d/10015_tbs_discovery

@@ -1,8 +1,10 @@
 #!nsh
 #
-# Team Blacksheep Discovery Quadcopter
+# @name Team Blacksheep Discovery
 #
-# Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io>
+# @type Quadrotor Wide
+#
+# @maintainer Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/10016_3dr_iris

@@ -1,8 +1,10 @@
 #!nsh
 #
-# 3DR Iris Quadcopter
+# @name 3DR Iris Quadrotor
 #
-# Anton Babushkin <anton@px4.io>
+# @type Quadrotor Wide
+#
+# @maintainer Anton Babushkin <anton@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d

@@ -1,8 +1,10 @@
 #!nsh
 #
-# Steadidrone QU4D
+# @name Steadidrone QU4D
 #
-# Thomas Gubler <thomas@px4.io>
+# @type Quadrotor Wide
+#
+# @maintainer Thomas Gubler <thomas@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/10018_tbs_endurance

@@ -1,10 +1,10 @@
 #!nsh
 #
-# Team Blacksheep Discovery Long Range Quadcopter
+# @name Team Blacksheep Discovery Endurance
 #
-# Setup: 15 x 5" Props, 6S 4000mAh TBS LiPo, TBS 30A ESCs, TBS 400kV Motors
+# @type Quadrotor Wide
 #
-# Simon Wilks <simon@px4.io>
+# @maintainer Simon Wilks <simon@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/10019_sk450_deadcat

@@ -1,8 +1,10 @@
 #!nsh
 #
-# HobbyKing SK450 DeadCat modification
+# @name HobbyKing SK450 DeadCat modification
 #
-# Anton Matosov <anton.matosov@gmail.com>
+# @type Quadrotor Wide
+#
+# @maintainer Anton Matosov <anton.matosov@gmail.com>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil

@@ -1,8 +1,10 @@
 #!nsh
 #
-# HIL Quadcopter X
+# @name HIL Quadcopter X
 #
-# Anton Babushkin <anton@px4.io>
+# @type Simulation
+#
+# @maintainer Anton Babushkin <anton@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/10020_3dr_quad

@@ -1,32 +1,25 @@
 #!nsh
 #
-# @name 3DR Iris Quadrotor
+# @name 3DR DIY Quad
 #
-# @type Quadrotor Wide
+# @type Quadrotor x
 #
-# @maintainer Anton Babushkin <anton@px4.io>
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF == yes ]
 then
-	# TODO tune roll/pitch separately
+	param set MC_ROLL_P 6.5
-	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.08
-	param set MC_ROLLRATE_P 0.13
+	param set MC_ROLLRATE_I 0.1
-	param set MC_ROLLRATE_I 0.05
 	param set MC_ROLLRATE_D 0.004
-	param set MC_PITCH_P 7.0
+	param set MC_PITCH_P 6.0
-	param set MC_PITCHRATE_P 0.13
+	param set MC_PITCHRATE_P 0.16
-	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_I 0.09
 	param set MC_PITCHRATE_D 0.004
-	param set MC_YAW_P 2.5
+	param set MC_YAW_P 4
-	param set MC_YAWRATE_P 0.25
-	param set MC_YAWRATE_I 0.25
-	param set MC_YAWRATE_D 0.0
-
-	param set BAT_V_SCALING 0.00989
-	param set BAT_C_SCALING 0.0124
 fi
 
 set MIXER quad_x

ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil

@@ -1,8 +1,10 @@
 #!nsh
 #
-# HIL Quadcopter +
+# @name HIL Quadcopter +
 #
-# Anton Babushkin <anton@px4.io>
+# @type Simulation
+#
+# @maintainer Anton Babushkin <anton@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil

@@ -1,8 +1,10 @@
 #!nsh
 #
-# HIL Rascal 110 (Flightgear)
+# @name HIL Rascal 110 (Flightgear)
 #
-# Thomas Gubler <thomas@px4.io>
+# @type Simulation
+#
+# @maintainer Thomas Gubler <thomas@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults

ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil

@@ -1,8 +1,10 @@
 #!nsh
 #
-# HIL Malolo 1 (Flightgear)
+# @name HIL Malolo 1 (Flightgear)
 #
-# Thomas Gubler <thomas@px4.io>
+# @type Simulation
+#
+# @maintainer Thomas Gubler <thomas@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults

ROMFS/px4fmu_common/init.d/11001_hexa_cox

@@ -1,8 +1,10 @@
 #!nsh
 #
-# Generic 10" Hexa coaxial geometry
+# @name Generic Hexa coaxial geometry
 #
-# Lorenz Meier <lorenz@px4.io>
+# @type Hexarotor Coaxial
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/12001_octo_cox

@@ -1,8 +1,10 @@
 #!nsh
 #
-# Generic 10" Octo coaxial geometry
+# @name Generic 10" Octo coaxial geometry
 #
-# Lorenz Meier <lorenz@px4.io>
+# @type Octorotor Coaxial
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol

@@ -1,7 +1,10 @@
+#!nsh
 #
-# Generic configuration file for caipirinha VTOL version
+# @name Duorotor Tailsitter
 #
-# Roman Bapst <bapstr@gmail.com>
+# @type VTOL Tailsitter
+#
+# @maintainer Roman Bapst <roman@px4.io>
 #
 
 sh /etc/init.d/rc.vtol_defaults

ROMFS/px4fmu_common/init.d/13002_firefly6

@@ -1,8 +1,10 @@
 #!nsh
 #
-# Generic configuration file for BirdsEyeView Aerobotics FireFly6
+# @name BirdsEyeView Aerobotics FireFly6
 #
-# Roman Bapst <bapstroman@gmail.com>
+# @type VTOL Tiltrotor
+#
+# @maintainer Roman Bapst <roman@px4.io>
 #
 
 sh /etc/init.d/rc.vtol_defaults

ROMFS/px4fmu_common/init.d/13003_quad_tailsitter

@@ -1,7 +1,10 @@
+#!nsh
 #
-# Generic configuration file for a tailsitter with motors in X configuration.
+# @name Quadrotor X Tailsitter
 #
-# Roman Bapst <bapstroman@gmail.com>
+# @type VTOL Tailsitter
+#
+# @maintainer Roman Bapst <roman@px4.io>
 #
 
 sh /etc/init.d/rc.vtol_defaults

ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter

@@ -0,0 +1,21 @@
+#!nsh
+#
+# @name Quadrotor + Tailsitter
+#
+# @type VTOL Tailsitter
+#
+# @maintainer Roman Bapst <roman@px4.io>
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+set MIXER quad_+_vtol
+
+set PWM_OUT 1234
+set PWM_MAX 2000
+set PWM_RATE 400
+set MAV_TYPE 20
+param set VT_MOT_COUNT 4
+param set VT_IDLE_PWM_MC  1080
+param set VT_TYPE 0
+param set VT_ELEV_MC_LOCK 1

ROMFS/px4fmu_common/init.d/14001_tri_y_yaw+

@@ -1,9 +1,10 @@
 #!nsh
 #
-# Generic Tricopter Y Geometry
+# @name Generic Tricopter Y+ Geometry
-# Yaw Servo +Output ==> +Yaw Vehicle Rotation
 #
-# Trent Lukaczyk <aerialhedgehog@gmail.com>
+# @type Tricopter Y+
+#
+# @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/14002_tri_y_yaw-

@@ -1,9 +1,10 @@
 #!nsh
 #
-# Generic Tricopter Y Geometry
+# @name Generic Tricopter Y- Geometry
-# Yaw Servo +Output ==> -Yaw Vehicle Rotation
 #
-# Trent Lukaczyk <aerialhedgehog@gmail.com>
+# @type Tricopter Y-
+#
+# @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/2100_mpx_easystar

@@ -1,6 +1,10 @@
 #!nsh
 #
-# MPX EasyStar Plane
+# @name Multiplex Easystar
+#
+# @type Standard Plane
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults

ROMFS/px4fmu_common/init.d/2101_fw_AERT

@@ -1,4 +1,21 @@
 #!nsh
+#
+# @name Standard AERT Plane
+#
+# @type Standard Plane
+#
+# @output MAIN1 aileron
+# @output MAIN2 elevator
+# @output MAIN4 rudder
+# @output MAIN3 throttle
+# @output MAIN5 flaps
+#
+# @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 Lorenz Meier <lorenz@px4.io>
+#
 
 sh /etc/init.d/rc.fw_defaults
 

ROMFS/px4fmu_common/init.d/2102_3dr_skywalker

@@ -1,4 +1,21 @@
 #!nsh
+#
+# @name Skywalker (3DR Aero)
+#
+# @type Standard Plane
+#
+# @output MAIN1 aileron
+# @output MAIN2 elevator
+# @output MAIN4 rudder
+# @output MAIN3 throttle
+# @output MAIN5 flaps
+#
+# @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 Lorenz Meier <lorenz@px4.io>
+#
 
 sh /etc/init.d/rc.fw_defaults
 

ROMFS/px4fmu_common/init.d/2103_skyhunter_1800

@@ -1,4 +1,19 @@
 #!nsh
+#
+# @name Skyhunter 1800
+#
+# @type Standard Plane
+#
+# @output MAIN1 aileron
+# @output MAIN2 elevator
+# @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 Lorenz Meier <lorenz@px4.io>
+#
 
 sh /etc/init.d/rc.fw_defaults
 

ROMFS/px4fmu_common/init.d/2104_fw_AETR

@@ -1,4 +1,21 @@
 #!nsh
+#
+# @name Standard AETR Plane
+#
+# @type Standard Plane
+#
+# @output MAIN1 aileron
+# @output MAIN2 elevator
+# @output MAIN3 throttle
+# @output MAIN4 rudder
+# @output MAIN5 flaps
+#
+# @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 Lorenz Meier <lorenz@px4.io>
+#
 
 sh /etc/init.d/rc.fw_defaults
 

ROMFS/px4fmu_common/init.d/3030_io_camflyer

@@ -1,4 +1,21 @@
 #!nsh
+#
+# @name IO Camflyer
+#
+# @url https://pixhawk.org/platforms/planes/bormatec_camflyer_q
+#
+# @type Flying Wing
+#
+# @output MAIN1 left aileron
+# @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@px4.io>
+#
 
 sh /etc/init.d/rc.fw_defaults
 
@@ -17,11 +34,9 @@ then
 	param set FW_LND_TLALT 5
 	param set FW_THR_LND_MAX 0
 	param set FW_PR_FF 0.35
-	param set FW_PR_I 0.005
 	param set FW_PR_IMAX 0.4
 	param set FW_PR_P 0.08
 	param set FW_RR_FF 0.6
-	param set FW_RR_I 0.005
 	param set FW_RR_IMAX 0.2
 	param set FW_RR_P 0.04
 fi

ROMFS/px4fmu_common/init.d/3031_phantom

@@ -1,8 +1,20 @@
 #!nsh
 #
-# Phantom FPV Flying Wing
+# @name Phantom FPV Flying Wing
 #
-# Simon Wilks <simon@px4.io>
+# @url https://pixhawk.org/platforms/planes/z-84_wing_wing
+#
+# @type Flying Wing
+#
+# @output MAIN1 left aileron
+# @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@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults
@@ -16,14 +28,12 @@ then
 	param set FW_L1_DAMPING 0.75
 	param set FW_L1_PERIOD 15
 	param set FW_PR_FF 0.2
-	param set FW_PR_I 0.005
 	param set FW_PR_IMAX 0.2
 	param set FW_PR_P 0.03
 	param set FW_P_LIM_MAX 50
 	param set FW_P_LIM_MIN -50
 	param set FW_P_ROLLFF 1
 	param set FW_RR_FF 0.5
-	param set FW_RR_I 0.02
 	param set FW_RR_IMAX 0.2
 	param set FW_RR_P 0.08
 	param set FW_R_LIM 50

ROMFS/px4fmu_common/init.d/3032_skywalker_x5

@@ -1,8 +1,20 @@
 #!nsh
 #
-# Skywalker X5 Flying Wing
+# @name Skywalker X5 Flying Wing
 #
-# Thomas Gubler <thomas@px4.io>, Julian Oes <julian@px4.io>
+# @url https://pixhawk.org/platforms/planes/skywalker_x5
+#
+# @type Flying Wing
+#
+# @output MAIN1 left aileron
+# @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 Thomas Gubler <thomas@px4.io>, Julian Oes <julian@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults

ROMFS/px4fmu_common/init.d/3033_wingwing

@@ -1,8 +1,20 @@
 #!nsh
 #
-# Wing Wing (aka Z-84) Flying Wing
+# @name Wing Wing (aka Z-84) Flying Wing
 #
-# Simon Wilks <simon@px4.io>
+# @url https://pixhawk.org/platforms/planes/z-84_wing_wing
+#
+# @type Flying Wing
+#
+# @output MAIN1 left aileron
+# @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@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults

ROMFS/px4fmu_common/init.d/3034_fx79

@@ -1,8 +1,10 @@
 #!nsh
 #
-# FX-79 Buffalo Flying Wing
+# @name FX-79 Buffalo Flying Wing
 #
-# Simon Wilks <simon@px4.io>
+# @type Flying Wing
+#
+# @maintainer Simon Wilks <simon@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults

ROMFS/px4fmu_common/init.d/3035_viper

@@ -1,8 +1,11 @@
+#
 #!nsh
 #
-# Viper
+# @name Viper
 #
-# Simon Wilks <simon@px4.io>
+# @type Flying Wing
+#
+# @maintainer Simon Wilks <simon@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults

ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha

@@ -1,8 +1,10 @@
 #!nsh
 #
-# TBS Caipirinha
+# @name TBS Caipirinha
 #
-# Lorenz Meier <lorenz@px4.io>
+# @type Flying Wing
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults
@@ -22,16 +24,17 @@ then
 	param set FW_LND_TLALT 5
 	param set FW_THR_LND_MAX 0
 	param set FW_PR_FF 0.35
-	param set FW_PR_I 0.01
 	param set FW_PR_IMAX 0.4
 	param set FW_PR_P 0.08
 	param set FW_RR_FF 0.6
-	param set FW_RR_I 0.01
 	param set FW_RR_IMAX 0.2
 	param set FW_RR_P 0.04
 	param set SYS_COMPANION 157600
 	param set PWM_MAIN_REV0 1
 	param set PWM_MAIN_REV1 1
+	param set PWM_DISARMED 0
+	param set PWM_MIN 900
+	param set PWM_MAX 2100
 fi
 
 set PWM_DISARMED p:PWM_DISARMED

ROMFS/px4fmu_common/init.d/4001_quad_x

@@ -1,8 +1,14 @@
 #!nsh
 #
-# Generic 10" Quad X geometry
+# @name Generic Quadrotor X config
 #
-# Lorenz Meier <lorenz@px4.io>
+# @type Quadrotor x
+#
+# @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 Lorenz Meier <lorenz@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/4008_ardrone

@@ -1,6 +1,10 @@
 #!nsh
 #
-# ARDrone
+# @name AR.Drone Frame
+#
+# @type Quadrotor x
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/4010_dji_f330

@@ -1,8 +1,14 @@
 #!nsh
 #
-# DJI Flame Wheel F330
+# @name DJI Flame Wheel F330
 #
-# Anton Babushkin <anton@px4.io>
+# @type Quadrotor x
+#
+# @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 Lorenz Meier <lorenz@px4.io>
 #
 
 sh /etc/init.d/4001_quad_x
@@ -21,7 +27,12 @@ then
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
+	# DJI ESCs do not support calibration and need a higher min
+	param set PWM_MIN 1230
 fi
 
-set PWM_MIN 1200
+# Transitional support: ensure suitable PWM min/max param values
-set PWM_MAX 1950
+if param compare PWM_MIN 1075
+then
+	param set PWM_MIN 1230
+fi

ROMFS/px4fmu_common/init.d/4011_dji_f450

@@ -1,8 +1,14 @@
 #!nsh
 #
-# DJI Flame Wheel F450
+# @name DJI Flame Wheel F450
 #
-# Lorenz Meier <lorenz@px4.io>
+# @type Quadrotor x
+#
+# @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 Lorenz Meier <lorenz@px4.io>
 #
 
 sh /etc/init.d/4001_quad_x
@@ -22,7 +28,12 @@ then
 	param set MC_YAWRATE_P 0.3
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
+	# DJI ESCs do not support calibration and need a higher min
+	param set PWM_MIN 1230
 fi
 
-set PWM_MIN 1230
+# Transitional support: ensure suitable PWM min/max param values
-set PWM_MAX 1950
+if param compare PWM_MIN 1075
+then
+	param set PWM_MIN 1230
+fi

ROMFS/px4fmu_common/init.d/4012_quad_x_can

@@ -1,8 +1,10 @@
 #!nsh
 #
-# F450-sized quadrotor with CAN
+# @name F450-sized quadrotor with CAN
 #
-# Pavel Kirienko <pavel@px4.io>
+# @type Quadrotor x
+#
+# @maintainer Pavel Kirienko <pavel@px4.io>
 #
 
 sh /etc/init.d/4001_quad_x

ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb

@@ -1,11 +1,11 @@
 #!nsh
 #
-# Hobbyking Micro Integrated PCB Quadcopter
+# @name Hobbyking Micro PCB
-# with SimonK ESC firmware and Mystery A1510 motors
 #
-# Thomas Gubler <thomas@px4.io>
+# @type Quadrotor x
+#
+# @maintainer Thomas Gubler <thomas@px4.io>
 #
-echo "HK Micro PCB Quad"
 
 sh /etc/init.d/4001_quad_x
 

ROMFS/px4fmu_common/init.d/50001_axialracing_ax10

@@ -1,9 +1,10 @@
 #!nsh
 #
-# loading default values for the axialracing ax10 
+# @name Axial Racing AX10
+#
+# @type Rover
 #
 
-#load some defaults e.g. PWM values
 sh /etc/init.d/rc.axialracing_ax10_defaults
 
 #choose a mixer, for rover control we need a plain passthrough to the servos

ROMFS/px4fmu_common/init.d/5001_quad_+

@@ -1,8 +1,10 @@
 #!nsh
 #
-# Generic 10" Quad + geometry
+# @name Generic 10" Quad + geometry
 #
-# Anton Babushkin <anton@px4.io>
+# @type Quadrotor +
+#
+# @maintainer Anton Babushkin <anton@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/6001_hexa_x

@@ -1,8 +1,14 @@
 #!nsh
 #
-# Generic 10" Hexa X geometry
+# @name Generic Hexarotor x geometry
 #
-# Anton Babushkin <anton@px4.io>
+# @type Hexarotor x
+#
+# @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 Anton Babushkin <anton@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/7001_hexa_+

@@ -1,8 +1,14 @@
 #!nsh
 #
-# Generic 10" Hexa + geometry
+# @name Generic Hexarotor + geometry
 #
-# Anton Babushkin <anton@px4.io>
+# @type Hexarotor +
+#
+# @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 Anton Babushkin <anton@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/8001_octo_x

@@ -1,8 +1,14 @@
 #!nsh
 #
-# Generic 10" Octo X geometry
+# @name Generic Octocopter X geometry
 #
-# Anton Babushkin <anton@px4.io>
+# @type Octorotor x
+#
+# @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 Anton Babushkin <anton@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/9001_octo_+

@@ -1,8 +1,14 @@
 #!nsh
 #
-# Generic 10" Octo + geometry
+# @name Generic Octocopter + geometry
 #
-# Anton Babushkin <anton@px4.io>
+# @type Octorotor +
+#
+# @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 Anton Babushkin <anton@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/rc.autostart

@@ -1,310 +0,0 @@
-#
-# SYS_AUTOSTART = 0 means no autostart (default)
-#
-# AUTOSTART PARTITION:
-#  0   	..	 999		Reserved (historical)
-#  1000	..	 1999		Simulation setups
-#  2000	..	 2999		Standard planes
-#  3000	..	 3999		Flying wing
-#  4000	..	 4999		Quad X
-#  5000	..	 5999		Quad +
-#  6000	..	 6999		Hexa X
-#  7000	..	 7999		Hexa +
-#  8000	..	 8999		Octo X
-#  9000	..	 9999		Octo +
-# 10000	..	10999		Wide arm / H frame
-# 11000	..	11999		Hexa Cox
-# 12000	..	12999		Octo Cox
-# 13000 ..  13999		VTOL
-# 14000 ..  14999       Tri Y
-
-#
-# Simulation
-#
-
-if param compare SYS_AUTOSTART 901
-then
-	sh /etc/init.d/901_bottle_drop_test.hil
-	set MODE custom
-fi
-
-if param compare SYS_AUTOSTART 1000
-then
-	sh /etc/init.d/1000_rc_fw_easystar.hil
-fi
-
-if param compare SYS_AUTOSTART 1001
-then
-	sh /etc/init.d/1001_rc_quad_x.hil
-fi
-
-if param compare SYS_AUTOSTART 1003
-then
-	sh /etc/init.d/1003_rc_quad_+.hil
-fi
-
-if param compare SYS_AUTOSTART 1004
-then
-	sh /etc/init.d/1004_rc_fw_Rascal110.hil
-fi
-
-if param compare SYS_AUTOSTART 1005
-then
-	sh /etc/init.d/1005_rc_fw_Malolo1.hil
-fi
-
-#
-# Plane
-#
-
-if param compare SYS_AUTOSTART 2100 100
-then
-	sh /etc/init.d/2100_mpx_easystar
-	set MODE custom
-fi
-
-if param compare SYS_AUTOSTART 2101 101
-then
-	sh /etc/init.d/2101_fw_AERT
-	set MODE custom
-fi
-
-if param compare SYS_AUTOSTART 2102 102
-then
-	sh /etc/init.d/2102_3dr_skywalker
-	set MODE custom
-fi
-
-if param compare SYS_AUTOSTART 2103 103
-then
-        sh /etc/init.d/2103_skyhunter_1800
-        set MODE custom
-fi
-
-if param compare SYS_AUTOSTART 2104
-then
-	sh /etc/init.d/2104_fw_AETR
-	set MODE custom
-fi
-
-#
-# Flying wing
-#
-
-if param compare SYS_AUTOSTART 3030 30
-then
-	sh /etc/init.d/3030_io_camflyer
-fi
-
-if param compare SYS_AUTOSTART 3031 31
-then
-	sh /etc/init.d/3031_phantom
-fi
-
-if param compare SYS_AUTOSTART 3032 32
-then
-	sh /etc/init.d/3032_skywalker_x5
-fi
-
-if param compare SYS_AUTOSTART 3033 33
-then
-	sh /etc/init.d/3033_wingwing
-fi
-
-if param compare SYS_AUTOSTART 3034 34
-then
-	sh /etc/init.d/3034_fx79
-fi
-
-if param compare SYS_AUTOSTART 3035 35
-then
-	sh /etc/init.d/3035_viper
-fi
-
-if param compare SYS_AUTOSTART 3100
-then
-	sh /etc/init.d/3100_tbs_caipirinha
-fi
-
-#
-# Quad X
-#
-
-if param compare SYS_AUTOSTART 4001
-then
-	sh /etc/init.d/4001_quad_x
-fi
-
-#
-# ARDrone
-#
-
-if param compare SYS_AUTOSTART 4008 8
-then
-    sh /etc/init.d/4008_ardrone
-fi
-
-if param compare SYS_AUTOSTART 4010 10
-then
-	sh /etc/init.d/4010_dji_f330
-fi
-
-if param compare SYS_AUTOSTART 4011 11
-then
-	sh /etc/init.d/4011_dji_f450
-fi
-
-if param compare SYS_AUTOSTART 4012
-then
-	sh /etc/init.d/4012_quad_x_can
-fi
-
-if param compare SYS_AUTOSTART 4020
-then
-	sh /etc/init.d/4020_hk_micro_pcb
-fi
-
-#
-# Quad +
-#
-
-if param compare SYS_AUTOSTART 5001
-then
-	sh /etc/init.d/5001_quad_+
-fi
-
-#
-# Hexa X
-#
-
-if param compare SYS_AUTOSTART 6001
-then
-	sh /etc/init.d/6001_hexa_x
-fi
-
-#
-# Hexa +
-#
-
-if param compare SYS_AUTOSTART 7001
-then
-	sh /etc/init.d/7001_hexa_+
-fi
-
-#
-# Octo X
-#
-
-if param compare SYS_AUTOSTART 8001
-then
-	sh /etc/init.d/8001_octo_x
-fi
-
-#
-# Octo +
-#
-
-if param compare SYS_AUTOSTART 9001
-then
-	sh /etc/init.d/9001_octo_+
-fi
-
-#
-# Wide arm / H frame
-#
-
-if param compare SYS_AUTOSTART 10015 15
-then
-	sh /etc/init.d/10015_tbs_discovery
-fi
-
-if param compare SYS_AUTOSTART 10016 16
-then
-	sh /etc/init.d/10016_3dr_iris
-fi
-
-if param compare SYS_AUTOSTART 10017
-then
-	sh /etc/init.d/10017_steadidrone_qu4d
-fi
-
-if param compare SYS_AUTOSTART 10018 18
-then
-	sh /etc/init.d/10018_tbs_endurance
-fi
-
-if param compare SYS_AUTOSTART 10019
-then
-	sh /etc/init.d/10019_sk450_deadcat
-fi
-
-#
-# Hexa Coaxial
-#
-
-if param compare SYS_AUTOSTART 11001
-then
-	sh /etc/init.d/11001_hexa_cox
-fi
-
-#
-# Octo Coaxial
-#
-
-if param compare SYS_AUTOSTART 12001
-then
-	sh /etc/init.d/12001_octo_cox
-fi
-
-# 13000 is historically reserved for the quadshot
-
-#
-# VTOL Caipririnha (Tailsitter)
-#
-if param compare SYS_AUTOSTART 13001
-then
-	sh /etc/init.d/13001_caipirinha_vtol
-fi
-
-#
-# VTOL BirdsEyeView FireFly x6 (Tilt-Rotor)
-#
-if param compare SYS_AUTOSTART 13002
-then
-	sh /etc/init.d/13002_firefly6
-fi
-
-#
-# Tailsitter with 4 motors in x config
-#
-if param compare SYS_AUTOSTART 13003
-then
-	sh /etc/init.d/13003_quad_tailsitter
-fi
-
-#
-# TriCopter Y Yaw+
-#
-if param compare SYS_AUTOSTART 14001
-then
-	sh /etc/init.d/14001_tri_y_yaw+
-fi
-
-#
-# TriCopter Y Yaw-
-#
-if param compare SYS_AUTOSTART 14002
-then
-	sh /etc/init.d/14002_tri_y_yaw-
-fi
-
-
-
-#
-# Ground Rover AxialRacing AX10
-#
-if param compare SYS_AUTOSTART 50001
-then
-	sh /etc/init.d/50001_axialracing_ax10
-fi
-

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -14,12 +14,31 @@ 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_DISARMED 900
+	param set PWM_MIN 1075
+	param set PWM_MAX 1950
 fi
 
+# Transitional support: ensure suitable PWM min/max param values
+if param compare PWM_MIN 1000
+then
+	param set PWM_MIN 1075
+fi
+if param compare PWM_MAX 2000
+then
+	param set PWM_MAX 1950
+fi
+if param compare PWM_DISARMED 0
+then
+	param set PWM_DISARMED 900
+fi
+
+# set environment variables (!= parameters)
 set PWM_RATE 400
-set PWM_DISARMED 900
+# tell the mixer to use parameters for these instead
-set PWM_MIN 1075
+set PWM_DISARMED p:PWM_DISARMED
-set PWM_MAX 2000
+set PWM_MIN p:PWM_MIN
+set PWM_MAX p:PWM_MAX
 
 # This is the gimbal pass mixer
 set MIXER_AUX pass

ROMFS/px4fmu_common/init.d/rcS

@@ -575,7 +575,7 @@ then
 			fi
 			if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
 			then
-				set MAV_TYPE 2
+				set MAV_TYPE 15
 			fi
 			if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
 			then
@@ -599,6 +599,7 @@ then
 		if [ $MAV_TYPE == none ]
 		then
 			echo "Unknown MAV_TYPE"
+			param set MAV_TYPE 2
 		else
 			param set MAV_TYPE $MAV_TYPE
 		fi
@@ -642,6 +643,7 @@ then
 		if [ $MAV_TYPE == none ]
 		then
 			echo "Unknown MAV_TYPE"
+			param set MAV_TYPE 19
 		else
 			param set MAV_TYPE $MAV_TYPE
 		fi
@@ -672,6 +674,8 @@ then
 		then
 			sh /etc/init.d/rc.axialracing_ax10_apps
 		fi
+
+		param set MAV_TYPE 10
 	fi
 
 	unset MIXER
@@ -708,7 +712,7 @@ then
 	fi
 	unset EXIT_ON_END
 
-	# Run no SD alarm last
+	# Run no SD alarm
 	if [ $LOG_FILE == /dev/null ]
 	then
 		echo "[i] No microSD card found"
@@ -716,6 +720,9 @@ then
 		tone_alarm error
 	fi
 
+	# Boot is complete, inform MAVLink app(s) that the system is now fully up and running
+	mavlink boot_complete
+
 # End of autostart
 fi
 

ROMFS/px4fmu_common/mixers/quad_+_vtol.main.mix

@@ -0,0 +1,28 @@
+Mixer for Tailsitter with + motor configuration and elevons
+===========================================================
+
+This file defines a single mixer for tailsitter with motors in X configuration.  All controls
+are mixed 100%.
+
+R: 4+ 10000 10000 10000 0
+
+# mixer for the elevons
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 0  10000  10000      0 -10000  10000
+S: 1 1  10000  10000      0 -10000  10000
+
+M: 2
+O:       10000   10000    0 -10000  10000
+S: 1 0   10000   10000    0 -10000  10000
+S: 1 1  -10000  -10000    0 -10000  10000
+
+# mixer for canard surface
+M: 1
+O:       10000   10000    0 -10000  10000
+S: 1 1  -10000  -10000    0 -10000  10000
+
+# mixer for rudder
+M: 1
+O:       10000   10000    0 -10000  10000
+S: 1 2  -10000  -10000    0 -10000  10000

Tools/px4airframes/README.md

@@ -0,0 +1 @@
+This folder contains a python library used by px_process_params.py

Tools/px4airframes/__init__.py

@@ -0,0 +1 @@
+__all__ = ["srcscanner", "srcparser", "xmlout", "rcout"]

Tools/px4airframes/rcout.py

@@ -0,0 +1,54 @@
+from xml.sax.saxutils import escape
+import codecs
+
+class RCOutput():
+    def __init__(self, groups, board):
+        result = (  "#\n"
+                    "#\n"
+                    "#  THIS FILE IS AUTO-GENERATED. DO NOT EDIT!\n"
+                    "#\n"
+                    "#\n"
+                    "# SYS_AUTOSTART = 0 means no autostart (default)\n"
+                    "#\n"
+                    "# AUTOSTART PARTITION:\n"
+                    "#  0    ..   999        Reserved (historical)\n"
+                    "#  1000 ..   1999       Simulation setups\n"
+                    "#  2000 ..   2999       Standard planes\n"
+                    "#  3000 ..   3999       Flying wing\n"
+                    "#  4000 ..   4999       Quadrotor x\n"
+                    "#  5000 ..   5999       Quadrotor +\n"
+                    "#  6000 ..   6999       Hexarotor x\n"
+                    "#  7000 ..   7999       Hexarotor +\n"
+                    "#  8000 ..   8999       Octorotor x\n"
+                    "#  9000 ..   9999       Octorotor +\n"
+                    "# 10000 ..  10999       Quadrotor Wide arm / H frame\n"
+                    "# 11000 ..  11999       Hexa Cox\n"
+                    "# 12000 ..  12999       Octo Cox\n"
+                    "# 13000 ..  13999       VTOL\n"
+                    "# 14000 ..  14999       Tri Y\n"
+                    "\n")
+        for group in groups:
+            result += "# GROUP: %s\n\n" % group.GetName()
+            for param in group.GetParams():
+                path = param.GetPath().rsplit('/', 1)[1]
+                id_val = param.GetId()
+                name = param.GetFieldValue("short_desc")
+                long_desc = param.GetFieldValue("long_desc")
+
+                result +=   "#\n"
+                result +=   "# %s\n" % param.GetName()
+                result +=   "if param compare SYS_AUTOSTART %s\n" % id_val
+                result +=   "then\n"
+                result +=   "\tsh /etc/init.d/%s\n" % path
+                result +=   "fi\n"
+
+                #if long_desc is not None:
+                #    result += "# %s\n" % long_desc
+                result += "\n"
+
+            result += "\n"
+        self.output = result;
+
+    def Save(self, filename):
+        with codecs.open(filename, 'w', 'utf-8') as f:
+            f.write(self.output)

Tools/px4airframes/srcparser.py

@@ -0,0 +1,346 @@
+import sys
+import re
+
+class ParameterGroup(object):
+    """
+    Single parameter group
+    """
+    def __init__(self, name):
+        self.name = name
+        self.params = []
+
+    def AddParameter(self, param):
+        """
+        Add parameter to the group
+        """
+        self.params.append(param)
+
+    def GetName(self):
+        """
+        Get parameter group name
+        """
+        return self.name
+
+    def GetParams(self):
+        """
+        Returns the parsed list of parameters. Every parameter is a Parameter
+        object. Note that returned object is not a copy. Modifications affect
+        state of the parser.
+        """
+        return sorted(self.params,
+                key=lambda x: x.GetFieldValue("code"))
+
+class Parameter(object):
+    """
+    Single parameter
+    """
+
+    # Define sorting order of the fields
+    priority = {
+		"board": 9,
+        "short_desc": 8,
+        "long_desc": 7,
+        "min": 5,
+        "max": 4,
+        "unit": 3,
+        # all others == 0 (sorted alphabetically)
+    }
+
+    def __init__(self, path, name, airframe_type, airframe_id, maintainer):
+        self.fields = {}
+        self.outputs = {}
+        self.path = path
+        self.name = name
+        self.type = airframe_type
+        self.id = airframe_id
+        self.maintainer = maintainer
+
+    def GetPath(self):
+        return self.path
+
+    def GetName(self):
+        return self.name
+
+    def GetType(self):
+        return self.type
+
+    def GetId(self):
+        return self.id
+
+    def GetMaintainer(self):
+        return self.maintainer
+
+    def SetField(self, code, value):
+        """
+        Set named field value
+        """
+        self.fields[code] = value
+
+    def SetOutput(self, code, value):
+        """
+        Set named output value
+        """
+        self.outputs[code] = value
+
+    def GetFieldCodes(self):
+        """
+        Return list of existing field codes in convenient order
+        """
+        keys = self.fields.keys()
+        keys = sorted(keys)
+        keys = sorted(keys, key=lambda x: self.priority.get(x, 0), reverse=True)
+        return keys
+
+    def GetFieldValue(self, code):
+        """
+        Return value of the given field code or None if not found.
+        """
+        fv =  self.fields.get(code)
+        if not fv:
+                # required because python 3 sorted does not accept None
+                return ""
+        return self.fields.get(code)
+
+    def GetOutputCodes(self):
+        """
+        Return list of existing output codes in convenient order
+        """
+        keys = self.outputs.keys()
+        keys = sorted(keys)
+        keys = sorted(keys, key=lambda x: self.priority.get(x, 0), reverse=True)
+        return keys
+
+    def GetOutputValue(self, code):
+        """
+        Return value of the given output code or None if not found.
+        """
+        fv =  self.outputs.get(code)
+        if not fv:
+                # required because python 3 sorted does not accept None
+                return ""
+        return self.outputs.get(code)
+
+class SourceParser(object):
+    """
+    Parses provided data and stores all found parameters internally.
+    """
+
+    re_split_lines = re.compile(r'[\r\n]+')
+    re_comment_start = re.compile(r'^\#\s')
+    re_comment_content = re.compile(r'^\#\s*(.*)')
+    re_comment_tag = re.compile(r'@([a-zA-Z][a-zA-Z0-9_]*)\s*(.*)')
+    re_comment_end = re.compile(r'(.*?)\s*\#\n/')
+    re_cut_type_specifier = re.compile(r'[a-z]+$')
+    re_is_a_number = re.compile(r'^-?[0-9\.]')
+    re_remove_dots = re.compile(r'\.+$')
+    re_remove_carriage_return = re.compile('\n+')
+
+    valid_tags = set(["url", "maintainer", "output", "name", "type"])
+
+    # Order of parameter groups
+    priority = {
+        # All other groups = 0 (sort alphabetically)
+        "Miscellaneous": -10
+    }
+
+    def __init__(self):
+        self.param_groups = {}
+
+    def GetSupportedExtensions(self):
+        """
+        Returns list of supported file extensions that can be parsed by this
+        parser. The parser uses any extension.
+        """
+        return [""]
+
+    def Parse(self, path, contents):
+        """
+        Incrementally parse program contents and append all found airframes
+        to the list.
+        """
+
+        airframe_id = None
+        airframe_id = path.rsplit('/',1)[1].split('_',1)[0]
+
+        # Skip if not numeric
+        if (not self.IsNumber(airframe_id)):
+            return True
+
+        # This code is essentially a comment-parsing grammar. "state"
+        # represents parser state. It contains human-readable state
+        # names.
+        state = None
+        tags = {}
+        outputs = {}
+        for line in self.re_split_lines.split(contents):
+            line = line.strip()
+            # Ignore empty lines
+            if line == "":
+                continue
+            if state is None and self.re_comment_start.match(line):
+                state = "wait-short"
+                short_desc = None
+                long_desc = None
+            if state is not None and state != "comment-processed":
+                m = self.re_comment_end.search(line)
+                if m:
+                    line = m.group(1)
+                    last_comment_line = True
+                else:
+                    last_comment_line = False
+                m = self.re_comment_content.match(line)
+                if m:
+                    comment_content = m.group(1)
+                    if comment_content == "":
+                        # When short comment ends with empty comment line,
+                        # start waiting for the next part - long comment.
+                        if state == "wait-short-end":
+                            state = "wait-long"
+                    else:
+                        m = self.re_comment_tag.match(comment_content)
+                        if m:
+                            tag, desc = m.group(1, 2)
+                            if (tag == "output"):
+                                key, text = desc.split(' ', 1)
+                                outputs[key] = text;
+                            else:
+                                tags[tag] = desc
+                            current_tag = tag
+                            state = "wait-tag-end"
+                        elif state == "wait-short":
+                            # Store first line of the short description
+                            short_desc = comment_content
+                            state = "wait-short-end"
+                        elif state == "wait-short-end":
+                            # Append comment line to the short description
+                            short_desc += "\n" + comment_content
+                        elif state == "wait-long":
+                            # Store first line of the long description
+                            long_desc = comment_content
+                            state = "wait-long-end"
+                        elif state == "wait-long-end":
+                            # Append comment line to the long description
+                            long_desc += "\n" + comment_content
+                        elif state == "wait-tag-end":
+                            # Append comment line to the tag text
+                            tags[current_tag] += "\n" + comment_content
+                        else:
+                            raise AssertionError(
+                                    "Invalid parser state: %s" % state)
+                elif not last_comment_line:
+                    # Invalid comment line (inside comment, but not starting with
+                    # "*" or "*/". Reset parsed content.
+                    state = None
+                if last_comment_line:
+                    state = "comment-processed"
+            else:
+                state = None
+
+        # Process parsed content
+        airframe_type = None
+        maintainer = "John Doe <john@example.com>"
+        airframe_name = None
+
+        # Done with file, store
+        for tag in tags:
+            if tag == "maintainer":
+                maintainer = tags[tag]
+            elif tag == "type":
+                airframe_type = tags[tag]
+            elif tag == "name":
+                airframe_name = tags[tag]
+            elif tag not in self.valid_tags:
+                sys.stderr.write("Aborting due to invalid documentation tag: '%s'\n" % tag)
+                return False
+
+        # Sanity check
+        if airframe_type == None:
+            sys.stderr.write("Aborting due to missing @type tag in file: '%s'\n" % path)
+            return False
+
+        if airframe_name == None:
+            sys.stderr.write("Aborting due to missing @name tag in file: '%s'\n" % path)
+            return False
+
+        # We already know this is an airframe config, so add it
+        param = Parameter(path, airframe_name, airframe_type, airframe_id, maintainer)
+
+        # Done with file, store
+        for tag in tags:
+            if tag == "maintainer":
+                maintainer = tags[tag]
+            if tag == "type":
+                airframe_type = tags[tag]
+            if tag == "name":
+                airframe_name = tags[tag]
+            else:
+                param.SetField(tag, tags[tag])
+
+        # Store outputs
+        for output in outputs:
+            param.SetOutput(output, outputs[output])
+
+        # Store the parameter
+        if airframe_type not in self.param_groups:
+            self.param_groups[airframe_type] = ParameterGroup(airframe_type)
+        self.param_groups[airframe_type].AddParameter(param)
+
+        return True
+    
+    def IsNumber(self, numberString):
+        try:
+            float(numberString)
+            return True
+        except ValueError:
+            return False
+
+    def Validate(self):
+        """
+        Validates the airframe meta data.
+        """
+        seenParamNames = []
+        for group in self.GetParamGroups():
+            for param in group.GetParams():
+                name  = param.GetName()
+                board = param.GetFieldValue("board")
+                # Check for duplicates
+                name_plus_board = name + "+" + board
+                for seenParamName in seenParamNames:
+                    if seenParamName == name_plus_board:
+                        sys.stderr.write("Duplicate parameter definition: {0}\n".format(name_plus_board))
+                        return False
+                seenParamNames.append(name_plus_board)
+                # Validate values
+                default = param.GetDefault()
+                min = param.GetFieldValue("min")
+                max = param.GetFieldValue("max")
+                #sys.stderr.write("{0} default:{1} min:{2} max:{3}\n".format(name, default, min, max))
+                if default != "" and not self.IsNumber(default):
+                    sys.stderr.write("Default value not number: {0} {1}\n".format(name, default))
+                    return False
+                if min != "":
+                    if not self.IsNumber(min):
+                        sys.stderr.write("Min value not number: {0} {1}\n".format(name, min))
+                        return False
+                    if default != "" and float(default) < float(min):
+                        sys.stderr.write("Default value is smaller than min: {0} default:{1} min:{2}\n".format(name, default, min))
+                        return False
+                if max != "":
+                    if not self.IsNumber(max):
+                        sys.stderr.write("Max value not number: {0} {1}\n".format(name, max))
+                        return False
+                    if default != "" and float(default) > float(max):
+                        sys.stderr.write("Default value is larger than max: {0} default:{1} max:{2}\n".format(name, default, max))
+                        return False
+        return True
+
+    def GetParamGroups(self):
+        """
+        Returns the parsed list of parameters. Every parameter is a Parameter
+        object. Note that returned object is not a copy. Modifications affect
+        state of the parser.
+        """
+        groups = self.param_groups.values()
+        groups = sorted(groups, key=lambda x: x.GetName())
+        groups = sorted(groups, key=lambda x: self.priority.get(x.GetName(), 0), reverse=True)
+        return groups

Tools/px4airframes/srcscanner.py

@@ -0,0 +1,37 @@
+import os
+import re
+import codecs
+
+class SourceScanner(object):
+    """
+    Traverses directory tree, reads all source files, and passes their contents
+    to the Parser.
+    """
+
+    def ScanDir(self, srcdir, parser):
+        """
+        Scans provided path and passes all found contents to the parser using
+        parser.Parse method.
+        """
+        extensions = tuple(parser.GetSupportedExtensions())
+        for dirname, dirnames, filenames in os.walk(srcdir):
+            for filename in filenames:
+                if filename.endswith(extensions):
+                    path = os.path.join(dirname, filename)
+                    if not self.ScanFile(path, parser):
+                        return False
+        return True
+
+    def ScanFile(self, path, parser):
+        """
+        Scans provided file and passes its contents to the parser using
+        parser.Parse method.
+        """
+        with codecs.open(path, 'r', 'utf-8') as f:
+            try:
+                contents = f.read()
+            except:
+                contents = ''
+                print('Failed reading file: %s, skipping content.' % path)
+                pass
+        return parser.Parse(path, contents)

Tools/px4airframes/xmlout.py

@@ -0,0 +1,84 @@
+import xml.etree.ElementTree as ET
+import codecs
+
+def indent(elem, level=0):
+    i = "\n" + level*"  "
+    if len(elem):
+        if not elem.text or not elem.text.strip():
+            elem.text = i + "  "
+        if not elem.tail or not elem.tail.strip():
+            elem.tail = i
+        for elem in elem:
+            indent(elem, level+1)
+        if not elem.tail or not elem.tail.strip():
+            elem.tail = i
+    else:
+        if level and (not elem.tail or not elem.tail.strip()):
+            elem.tail = i
+
+class XMLOutput():
+
+    def __init__(self, groups, board):
+        xml_parameters = ET.Element("airframes")
+        xml_version = ET.SubElement(xml_parameters, "version")
+        xml_version.text = "1"
+        last_param_name = ""
+        board_specific_param_set = False
+        for group in groups:
+            xml_group = ET.SubElement(xml_parameters, "airframe_group")
+            xml_group.attrib["name"] = group.GetName()
+            if (group.GetName() == "Standard Plane"):
+                xml_group.attrib["image"] = "AirframeStandardPlane.png"
+            elif (group.GetName() == "Flying Wing"):
+                xml_group.attrib["image"] = "AirframeFlyingWing.png"
+            elif (group.GetName() == "Quadrotor x"):
+                xml_group.attrib["image"] = "AirframeQuadRotorX.png"
+            elif (group.GetName() == "Quadrotor +"):
+                xml_group.attrib["image"] = "AirframeQuadRotorPlus.png"
+            elif (group.GetName() == "Hexarotor x"):
+                xml_group.attrib["image"] = "AirframeHexaRotorX.png"
+            elif (group.GetName() == "Hexarotor +"):
+                xml_group.attrib["image"] = "AirframeHexaRotorPlus.png"
+            elif (group.GetName() == "Octorotor +"):
+                xml_group.attrib["image"] = "AirframeOctoRotorPlus.png"
+            elif (group.GetName() == "Octorotor x"):
+                xml_group.attrib["image"] = "AirframeOctoRotorX.png"
+            elif (group.GetName() == "Quadrotor Wide"):
+                xml_group.attrib["image"] = "AirframeQuadRotorH.png"
+            elif (group.GetName() == "Quadrotor H"):
+                xml_group.attrib["image"] = "AirframeQuadRotorH.png"
+            elif (group.GetName() == "Simulation"):
+                xml_group.attrib["image"] = "AirframeSimulation.png"
+            else:
+                xml_group.attrib["image"] = ""
+            for param in group.GetParams():
+                if (last_param_name == param.GetName() and not board_specific_param_set) or last_param_name != param.GetName():
+                    xml_param = ET.SubElement(xml_group, "airframe")
+                    xml_param.attrib["name"] = param.GetName()
+                    xml_param.attrib["id"] = param.GetId()
+                    xml_param.attrib["maintainer"] = param.GetMaintainer()
+                    last_param_name = param.GetName()
+                    for code in param.GetFieldCodes():
+                        value = param.GetFieldValue(code)
+                        if code == "board":
+                            if value == board:
+                                board_specific_param_set = True
+                                xml_field = ET.SubElement(xml_param, code)
+                                xml_field.text = value
+                            else:
+                                xml_group.remove(xml_param)
+                        else:
+                            xml_field = ET.SubElement(xml_param, code)
+                            xml_field.text = value
+                    for code in param.GetOutputCodes():
+                        value = param.GetOutputValue(code)
+                        xml_field = ET.SubElement(xml_param, "output")
+                        xml_field.attrib["name"] = code
+                        xml_field.text = value
+                if last_param_name != param.GetName():
+                    board_specific_param_set = False
+        indent(xml_parameters)
+        self.xml_document = ET.ElementTree(xml_parameters)
+
+    def Save(self, filename):
+        self.xml_document.write(filename, encoding="UTF-8")

Tools/px_process_airframes.py

@@ -0,0 +1,110 @@
+#!/usr/bin/env python
+############################################################################
+#
+#   Copyright (C) 2013-2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# PX4 airframe config processor (main executable file)
+#
+# This tool scans the PX4 source code for declarations of airframes
+#
+# Currently supported formats are:
+#   * XML for the parametric UI generator
+#
+#
+
+from __future__ import print_function
+import sys
+import os
+import argparse
+from px4airframes import srcscanner, srcparser, xmlout, rcout
+
+def main():
+    # Parse command line arguments
+    parser = argparse.ArgumentParser(description="Process airframe documentation.")
+    parser.add_argument("-a", "--airframes-path",
+                        default="../ROMFS/px4fmu_common",
+                        metavar="PATH",
+                        help="path to source files to scan for parameters")
+    parser.add_argument("-x", "--xml",
+                        nargs='?',
+                        const="airframes.xml",
+                        metavar="FILENAME",
+                        help="Create XML file"
+                             " (default FILENAME: airframes.xml)")
+    parser.add_argument("-s", "--start-script",
+                        nargs='?',
+                        const="rc.autostart",
+                        metavar="FILENAME",
+                        help="Create start script file")
+    parser.add_argument("-b", "--board",
+                         nargs='?',
+                         const="",
+                         metavar="BOARD",
+                         help="Board to create airframes xml for")
+    args = parser.parse_args()
+
+    # Check for valid command
+    if not (args.xml) and not (args.start_script):
+        print("Error: You need to specify at least one output method!\n")
+        parser.print_usage()
+        sys.exit(1)
+
+    # Initialize source scanner and parser
+    scanner = srcscanner.SourceScanner()
+    parser = srcparser.SourceParser()
+
+    # Scan directories, and parse the files
+    print("Scanning source path " + args.airframes_path)
+    if not scanner.ScanDir(args.airframes_path, parser):
+        sys.exit(1)
+    # We can't validate yet
+    # if not parser.Validate():
+    #     sys.exit(1)
+    param_groups = parser.GetParamGroups()
+
+    # Output to XML file
+    if args.xml:
+        print("Creating XML file " + args.xml)
+        out = xmlout.XMLOutput(param_groups, args.board)
+        out.Save(args.xml)
+
+    if args.start_script:
+        print("Creating start script " + args.start_script)
+        out = rcout.RCOutput(param_groups, args.board)
+        out.Save(args.start_script)
+
+    print("All done!")
+
+
+if __name__ == "__main__":
+    main()

makefiles/nuttx/nuttx_px4.mk

@@ -49,7 +49,7 @@ $(PRODUCT_BUNDLE):	$(PRODUCT_BIN)
 	@$(ECHO) %% Generating $@
 ifdef GEN_PARAM_XML
 	$(Q) $(PYTHON) $(PX4_BASE)/Tools/px_process_params.py --src-path $(PX4_BASE)/src --board CONFIG_ARCH_BOARD_$(CONFIG_BOARD) --xml
-	$(Q) $(COPY) $(PX4_BASE)/Tools/airframes.xml $(WORK_DIR)/airframes.xml
+	$(Q) $(PYTHON) $(PX4_BASE)/Tools/px_process_airframes.py -a $(PX4_BASE)/ROMFS/px4fmu_common/init.d --board CONFIG_ARCH_BOARD_$(CONFIG_BOARD) --xml
 	$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
 		--git_identity $(PX4_BASE) \
 		--parameter_xml $(PRODUCT_PARAMXML) \

makefiles/nuttx/nuttx_romfs.mk

@@ -68,6 +68,9 @@ ROMFS_OBJ		 = $(ROMFS_CSRC:.c=.o)
 LIBS			+= $(ROMFS_OBJ)
 LINK_DEPS		+= $(ROMFS_OBJ)
 
+# Add autostart script
+ROMFS_AUTOSTART = $(PX4_BASE)/Tools/px_process_airframes.py
+
 # Remove all comments from startup and mixer files
 ROMFS_PRUNER	 = $(PX4_BASE)/Tools/px_romfs_pruner.py
 
@@ -90,6 +93,10 @@ ifneq ($(ROMFS_EXTRA_FILES),)
 	$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras
 	$(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras
 endif
+	$(Q) $(PYTHON) -u $(ROMFS_AUTOSTART)  -a $(ROMFS_ROOT)/init.d -s $(ROMFS_SCRATCH)/init.d/rc.autostart
+	# Execute in standard dir as well
+	# so developers notice the generated file
+	$(Q) $(PYTHON) -u $(ROMFS_AUTOSTART)  -a $(ROMFS_ROOT)/init.d -s $(ROMFS_ROOT)/init.d/rc.autostart
 	$(Q) $(PYTHON) -u $(ROMFS_PRUNER) --folder $(ROMFS_SCRATCH)
 
 EXTRA_CLEANS		+= $(ROMGS_OBJ) $(ROMFS_IMG)

msg/actuator_armed.msg

@@ -1,6 +1,7 @@
 
 uint64 timestamp	# Microseconds since system boot
 bool armed		# Set to true if system is armed
+bool prearmed		# Set to true if the actuator safety is disabled but motors are not armed
 bool ready_to_arm	# Set to true if system is ready to be armed
 bool lockdown		# Set to true if actuators are forced to being disabled (due to emergency or HIL)
 bool force_failsafe	# Set to true if the actuators are forced to the failsafe position

posix-configs/SITL/init/rc.fixed_wing

@@ -43,3 +43,4 @@ mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
 mavlink stream -r 50 -s ATTITUDE -u 14556
 mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
+mavlink boot_complete

posix-configs/SITL/init/rcS

@@ -52,3 +52,4 @@ mavlink stream -r 80 -s ATTITUDE -u 14556
 mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
 mavlink stream -r 20 -s RC_CHANNELS -u 14556
 mavlink stream -r 250 -s HIGHRES_IMU -u 14556
+mavlink boot_complete

posix-configs/SITL/init/rc_iris_ros

@@ -66,4 +66,4 @@ mavlink stream -r 80 -s ATTITUDE -u 14556
 mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
 mavlink stream -r 20 -s RC_CHANNELS -u 14556
 mavlink stream -r 250 -s HIGHRES_IMU -u 14556
-
+mavlink boot_complete

src/drivers/px4fmu/fmu.cpp

@@ -165,7 +165,7 @@ private:
 	unsigned	_num_failsafe_set;
 	unsigned	_num_disarmed_set;
 
-	static bool	arm_nothrottle() { return (_armed.ready_to_arm && !_armed.armed); }
+	static bool	arm_nothrottle() { return (_armed.prearmed && !_armed.armed); }
 
 	static void	task_main_trampoline(int argc, char *argv[]);
 	void		task_main();
@@ -733,7 +733,7 @@ PX4FMU::task_main()
 			orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
 
 			/* update the armed status and check that we're not locked down */
-			bool set_armed = (_armed.armed || _armed.ready_to_arm) && !_armed.lockdown;
+			bool set_armed = (_armed.armed || _armed.prearmed) && !_armed.lockdown;
 
 			if (_servo_armed != set_armed) {
 				_servo_armed = set_armed;

src/lib/external_lgpl/tecs/tecs.cpp

@@ -27,7 +27,8 @@ using namespace math;
  *
  */
 
-void TECS::update_50hz(float baro_altitude, float airspeed, const math::Matrix<3,3> &rotMat, const math::Vector<3> &accel_body, const math::Vector<3> &accel_earth)
+void TECS::update_state(float baro_altitude, float airspeed, const math::Matrix<3,3> &rotMat,
+	const math::Vector<3> &accel_body, const math::Vector<3> &accel_earth, bool altitude_lock, bool in_air)
 {
 	// Implement third order complementary filter for height and height rate
 	// estimted height rate = _integ2_state
@@ -45,12 +46,24 @@ void TECS::update_50hz(float baro_altitude, float airspeed, const math::Matrix<3
 	// 	DT, baro_altitude, airspeed, rotMat(0, 0), rotMat(1, 1), accel_body(0), accel_body(1), accel_body(2),
 	// 	accel_earth(0), accel_earth(1), accel_earth(2));
 
-	if (DT > 1.0f) {
+	bool reset_altitude = false;
+
+	_in_air = in_air;
+
+	if (_update_50hz_last_usec == 0 || DT > DT_MAX) {
+		DT            = 0.02f; // when first starting TECS, use a
+		// small time constant
+		reset_altitude = true;
+	}
+
+	if (!altitude_lock || !in_air) {
+		reset_altitude = true;
+	}
+
+	if (reset_altitude) {
 		_integ3_state = baro_altitude;
 		_integ2_state = 0.0f;
 		_integ1_state = 0.0f;
-		DT            = 0.02f; // when first starting TECS, use a
-		// small time constant
 	}
 
 	_update_50hz_last_usec = now;
@@ -70,7 +83,7 @@ void TECS::update_50hz(float baro_altitude, float airspeed, const math::Matrix<3
 
 	// If more than 1 second has elapsed since last update then reset the integrator state
 	// to the measured height
-	if (DT > 1.0f) {
+	if (reset_altitude) {
 		_integ3_state = baro_altitude;
 
 	} else {
@@ -95,6 +108,8 @@ void TECS::update_50hz(float baro_altitude, float airspeed, const math::Matrix<3
 		_vel_dot = 0.0f;
 	}
 
+	_states_initalized = true;
+
 }
 
 void TECS::_update_speed(float airspeed_demand, float indicated_airspeed,
@@ -103,7 +118,6 @@ void TECS::_update_speed(float airspeed_demand, float indicated_airspeed,
 	// Calculate time in seconds since last update
 	uint64_t now = ecl_absolute_time();
 	float DT = max((now - _update_speed_last_usec), 0ULL) * 1.0e-6f;
-	_update_speed_last_usec = now;
 
 	// Convert equivalent airspeeds to true airspeeds
 
@@ -113,7 +127,7 @@ void TECS::_update_speed(float airspeed_demand, float indicated_airspeed,
 	_TASmin   = indicated_airspeed_min * EAS2TAS;
 
 	// Reset states of time since last update is too large
-	if (DT > 1.0f) {
+	if (_update_speed_last_usec == 0 || DT > 1.0f || !_in_air) {
 		_integ5_state = (_EAS * EAS2TAS);
 		_integ4_state = 0.0f;
 		DT            = 0.1f; // when first starting TECS, use a
@@ -146,7 +160,7 @@ void TECS::_update_speed(float airspeed_demand, float indicated_airspeed,
 	_integ5_state = _integ5_state + integ5_input * DT;
 	// limit the airspeed to a minimum of 3 m/s
 	_integ5_state = max(_integ5_state, 3.0f);
-
+	_update_speed_last_usec = now;
 }
 
 void TECS::_update_speed_demand(void)
@@ -471,7 +485,7 @@ void TECS::_update_pitch(void)
 void TECS::_initialise_states(float pitch, float throttle_cruise, float baro_altitude, float ptchMinCO_rad)
 {
 	// Initialise states and variables if DT > 1 second or in climbout
-	if (_DT > 1.0f) {
+	if (_update_pitch_throttle_last_usec == 0 || _DT > 1.0f || !_in_air) {
 		_integ6_state      = 0.0f;
 		_integ7_state      = 0.0f;
 		_last_throttle_dem = throttle_cruise;
@@ -484,7 +498,7 @@ void TECS::_initialise_states(float pitch, float throttle_cruise, float baro_alt
 		_TAS_dem_adj       = _TAS_dem;
 		_underspeed        = false;
 		_badDescent        = false;
-		_DT                = 0.1f; // when first starting TECS, use a
+		_DT                = DT_MIN; // when first starting TECS, use a
 		// small time constant
 
 	} else if (_climbOutDem) {
@@ -512,10 +526,13 @@ void TECS::update_pitch_throttle(const math::Matrix<3,3> &rotMat, float pitch, f
 				 float throttle_min, float throttle_max, float throttle_cruise,
 				 float pitch_limit_min, float pitch_limit_max)
 {
+	if (!_states_initalized) {
+		return;
+	}
+
 	// Calculate time in seconds since last update
 	uint64_t now = ecl_absolute_time();
 	_DT = max((now - _update_pitch_throttle_last_usec), 0ULL) * 1.0e-6f;
-	_update_pitch_throttle_last_usec = now;
 
 	// printf("tecs in: dt:%10.6f pitch: %6.2f baro_alt: %6.2f alt sp: %6.2f\neas sp: %6.2f eas: %6.2f, eas2tas: %6.2f\n %s pitch min C0: %6.2f thr min: %6.2f, thr max: %6.2f thr cruis: %6.2f pt min: %6.2f, pt max: %6.2f\n",
 	// 	_DT, pitch, baro_altitude, hgt_dem, EAS_dem, indicated_airspeed, EAS2TAS, (climbOutDem) ? "climb" : "level", ptchMinCO, throttle_min, throttle_max, throttle_cruise, pitch_limit_min, pitch_limit_max);
@@ -583,4 +600,6 @@ void TECS::update_pitch_throttle(const math::Matrix<3,3> &rotMat, float pitch, f
 	_tecs_state.ptch     = _pitch_dem;
 	_tecs_state.dspd_dem = _TAS_rate_dem;
 
+	_update_pitch_throttle_last_usec = now;
+
 }

src/lib/external_lgpl/tecs/tecs.h

@@ -80,6 +80,8 @@ public:
 		_SPEdot(0.0f),
 		_SKEdot(0.0f),
 		_airspeed_enabled(false),
+		_states_initalized(false),
+		_in_air(false),
 		_throttle_slewrate(0.0f)
 	{
 	}
@@ -95,7 +97,8 @@ public:
 	// Update of the estimated height and height rate internal state
 	// Update of the inertial speed rate internal state
 	// Should be called at 50Hz or greater
-	void update_50hz(float baro_altitude, float airspeed, const math::Matrix<3,3> &rotMat, const math::Vector<3> &accel_body, const math::Vector<3> &accel_earth);
+	void update_state(float baro_altitude, float airspeed, const math::Matrix<3,3> &rotMat,
+		const math::Vector<3> &accel_body, const math::Vector<3> &accel_earth, bool altitude_lock, bool in_air);
 
 	// Update the control loop calculations
 	void update_pitch_throttle(const math::Matrix<3,3> &rotMat, float pitch, float baro_altitude, float hgt_dem, float EAS_dem, float indicated_airspeed, float EAS2TAS, bool climbOutDem, float ptchMinCO,
@@ -376,7 +379,12 @@ private:
 	// Time since last update of main TECS loop (seconds)
 	float _DT;
 
+	static constexpr float DT_MIN = 0.1f;
+	static constexpr float DT_MAX = 1.0f;
+
 	bool _airspeed_enabled;
+	bool _states_initalized;
+	bool _in_air;
 	float _throttle_slewrate;
 	float _indicated_airspeed_min;
 	float _indicated_airspeed_max;

src/modules/commander/accelerometer_calibration.cpp

@@ -561,6 +561,7 @@ int do_level_calibration(int mavlink_fd) {
 	const unsigned cal_time = 5;
 	const unsigned cal_hz = 100;
 	const unsigned settle_time = 30;
+	bool success = false;
 	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
 	struct vehicle_attitude_s att;
 	memset(&att, 0, sizeof(att));
@@ -599,7 +600,15 @@ int do_level_calibration(int mavlink_fd) {
 	start = hrt_absolute_time();
 	// average attitude for 5 seconds
 	while(hrt_elapsed_time(&start) < cal_time * 1000000) {
-		px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
+		int pollret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
+
+		if (pollret <= 0) {
+			// attitude estimator is not running
+			mavlink_and_console_log_critical(mavlink_fd, "attitude estimator not running - check system boot");
+			mavlink_and_console_log_critical(mavlink_fd, CAL_QGC_FAILED_MSG, "level");
+			goto out;
+		}
+
 		orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
 		roll_mean += att.roll;
 		pitch_mean += att.pitch;
@@ -608,7 +617,6 @@ int do_level_calibration(int mavlink_fd) {
 
 	mavlink_and_console_log_info(mavlink_fd, CAL_QGC_PROGRESS_MSG, 100);
 
-	bool success = false;
 	if (counter > (cal_time * cal_hz / 2 )) {
 		roll_mean /= counter;
 		pitch_mean /= counter;

src/modules/commander/airspeed_calibration.cpp

@@ -75,12 +75,12 @@ int do_airspeed_calibration(int mavlink_fd)
 {
 	int result = OK;
 	unsigned calibration_counter = 0;
-	const unsigned maxcount = 3000;
+	const unsigned maxcount = 2400;
 
 	/* give directions */
 	mavlink_log_info(mavlink_fd, CAL_QGC_STARTED_MSG, sensor_name);
 
-	const unsigned calibration_count = 2000;
+	const unsigned calibration_count = (maxcount * 2) / 3;
 
 	int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
 	struct differential_pressure_s diff_pres;

src/modules/commander/calibration_routines.cpp

@@ -470,8 +470,8 @@ calibrate_return calibrate_from_orientation(int		mavlink_fd,
 		/* inform user about already handled side */
 		if (side_data_collected[orient]) {
 			orientation_failures++;
-			mavlink_and_console_log_info(mavlink_fd, "[cal] %s side completed or not needed", detect_orientation_str(orient));
+			mavlink_and_console_log_critical(mavlink_fd, "%s side already completed", detect_orientation_str(orient));
-			mavlink_and_console_log_info(mavlink_fd, "[cal] rotate to a pending side");
+			mavlink_and_console_log_critical(mavlink_fd, "rotate to a pending side");
 			continue;
 		}
 		

src/modules/commander/commander.cpp

@@ -2151,6 +2151,19 @@ int commander_thread_main(int argc, char *argv[])
 			orb_publish(ORB_ID(vehicle_status), status_pub, &status);
 
 			armed.timestamp = now;
+
+			/* set prearmed state if safety is off, or safety is not present and 5 seconds passed */
+			if (safety.safety_switch_available) {
+
+				/* safety is off, go into prearmed */
+				armed.prearmed = safety.safety_off;
+			} else {
+				/* safety is not present, go into prearmed
+				 * (all output drivers should be started / unlocked last in the boot process
+				 * when the rest of the system is fully initialized)
+				 */
+				armed.prearmed = (hrt_elapsed_time(&commander_boot_timestamp) > 5 * 1000 * 1000);
+			}
 			orb_publish(ORB_ID(actuator_armed), armed_pub, &armed);
 		}
 

src/modules/commander/mag_calibration.cpp

@@ -67,9 +67,11 @@
 static const int ERROR = -1;
 
 static const char *sensor_name = "mag";
-static const unsigned max_mags = 3;
+static constexpr unsigned max_mags = 3;
 static constexpr float mag_sphere_radius = 0.2f;
-static const unsigned int calibration_sides = 6;
+static constexpr unsigned int calibration_sides = 6;			///< The total number of sides
+static constexpr unsigned int calibration_total_points = 240;		///< The total points per magnetometer
+static constexpr unsigned int calibraton_duration_seconds = 42; 	///< The total duration the routine is allowed to take
 
 calibrate_return mag_calibrate_all(int mavlink_fd, int32_t (&device_ids)[max_mags]);
 
@@ -207,6 +209,10 @@ static bool reject_sample(float sx, float sy, float sz, float x[], float y[], fl
 	return false;
 }
 
+static unsigned progress_percentage(mag_worker_data_t* worker_data) {
+	return 100 * ((float)worker_data->done_count) / calibration_sides;
+}
+
 static calibrate_return mag_calibration_worker(detect_orientation_return orientation, int cancel_sub, void* data)
 {
 	calibrate_return result = calibrate_return_ok;
@@ -226,7 +232,7 @@ static calibrate_return mag_calibration_worker(detect_orientation_return orienta
 	 * for a good result, so we're not constraining the user more than we have to.
 	 */
 
-	hrt_abstime detection_deadline = hrt_absolute_time() + worker_data->calibration_interval_perside_useconds * 2;
+	hrt_abstime detection_deadline = hrt_absolute_time() + worker_data->calibration_interval_perside_useconds * 5;
 	hrt_abstime last_gyro = 0;
 	float gyro_x_integral = 0.0f;
 	float gyro_y_integral = 0.0f;
@@ -347,8 +353,8 @@ static calibrate_return mag_calibration_worker(detect_orientation_return orienta
 				// Progress indicator for side
 				mavlink_and_console_log_info(worker_data->mavlink_fd,
 							     "[cal] %s side calibration: progress <%u>",
-							     detect_orientation_str(orientation),
+							     detect_orientation_str(orientation), progress_percentage(worker_data) +
-							     (unsigned)(100 * ((float)calibration_counter_side / (float)worker_data->calibration_points_perside)));
+							     (unsigned)((100 / calibration_sides) * ((float)calibration_counter_side / (float)worker_data->calibration_points_perside)));
 			}
 		} else {
 			poll_errcount++;
@@ -365,7 +371,7 @@ static calibrate_return mag_calibration_worker(detect_orientation_return orienta
 		mavlink_and_console_log_info(worker_data->mavlink_fd, "[cal] %s side done, rotate to a different side", detect_orientation_str(orientation));
 		
 		worker_data->done_count++;
-		mavlink_and_console_log_info(worker_data->mavlink_fd, CAL_QGC_PROGRESS_MSG, 34 * worker_data->done_count);
+		mavlink_and_console_log_info(worker_data->mavlink_fd, CAL_QGC_PROGRESS_MSG, progress_percentage(worker_data));
 	}
 	
 	return result;
@@ -379,8 +385,8 @@ calibrate_return mag_calibrate_all(int mavlink_fd, int32_t (&device_ids)[max_mag
 	
 	worker_data.mavlink_fd = mavlink_fd;
 	worker_data.done_count = 0;
-	worker_data.calibration_points_perside = 40;
+	worker_data.calibration_points_perside = calibration_total_points / calibration_sides;
-	worker_data.calibration_interval_perside_seconds = 20;
+	worker_data.calibration_interval_perside_seconds = calibraton_duration_seconds / calibration_sides;
 	worker_data.calibration_interval_perside_useconds = worker_data.calibration_interval_perside_seconds * 1000 * 1000;
 
 	// Collect: Right-side up, Left Side, Nose down
@@ -499,6 +505,10 @@ calibrate_return mag_calibrate_all(int mavlink_fd, int32_t (&device_ids)[max_mag
 		printf("RAW DATA:\n--------------------\n");
 		for (size_t cur_mag = 0; cur_mag < max_mags; cur_mag++) {
 
+			if (worker_data.calibration_counter_total[cur_mag] == 0) {
+				continue;
+			}
+
 			printf("RAW: MAG %u with %u samples:\n", (unsigned)cur_mag, (unsigned)worker_data.calibration_counter_total[cur_mag]);
 
 			for (size_t i = 0; i < worker_data.calibration_counter_total[cur_mag]; i++) {
@@ -514,6 +524,10 @@ calibrate_return mag_calibrate_all(int mavlink_fd, int32_t (&device_ids)[max_mag
 		printf("CALIBRATED DATA:\n--------------------\n");
 		for (size_t cur_mag = 0; cur_mag < max_mags; cur_mag++) {
 
+			if (worker_data.calibration_counter_total[cur_mag] == 0) {
+				continue;
+			}
+
 			printf("Calibrated: MAG %u with %u samples:\n", (unsigned)cur_mag, (unsigned)worker_data.calibration_counter_total[cur_mag]);
 
 			for (size_t i = 0; i < worker_data.calibration_counter_total[cur_mag]; i++) {

src/modules/fw_att_control/fw_att_control_params.c

@@ -84,11 +84,11 @@ PARAM_DEFINE_FLOAT(FW_PR_P, 0.08f);
  * This gain defines how much control response will result out of a steady
  * state error. It trims any constant error.
  *
- * @min 0.0
+ * @min 0.005
- * @max 50.0
+ * @max 0.5
  * @group FW Attitude Control
  */
-PARAM_DEFINE_FLOAT(FW_PR_I, 0.005f);
+PARAM_DEFINE_FLOAT(FW_PR_I, 0.01f);
 
 /**
  * Maximum positive / up pitch rate.
@@ -157,11 +157,11 @@ PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
  * This gain defines how much control response will result out of a steady
  * state error. It trims any constant error.
  *
- * @min 0.0
+ * @min 0.005
- * @max 100.0
+ * @max 0.2
  * @group FW Attitude Control
  */
-PARAM_DEFINE_FLOAT(FW_RR_I, 0.005f);
+PARAM_DEFINE_FLOAT(FW_RR_I, 0.01f);
 
 /**
  * Roll Integrator Anti-Windup

src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp

@@ -1037,7 +1037,7 @@ bool
 FixedwingPositionControl::control_position(const math::Vector<2> &current_position, const math::Vector<3> &ground_speed,
 		const struct position_setpoint_triplet_s &pos_sp_triplet)
 {
-	float dt = FLT_MIN; // Using non zero value to a avoid division by zero
+	float dt = 0.01; // Using non zero value to a avoid division by zero
 	if (_control_position_last_called > 0) {
 		dt = (float)hrt_elapsed_time(&_control_position_last_called) * 1e-6f;
 	}
@@ -1045,19 +1045,27 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 
 	bool setpoint = true;
 
-	math::Vector<2> ground_speed_2d = {ground_speed(0), ground_speed(1)};
-	calculate_gndspeed_undershoot(current_position, ground_speed_2d, pos_sp_triplet);
-
 	float eas2tas = 1.0f; // XXX calculate actual number based on current measurements
 
 	/* filter speed and altitude for controller */
 	math::Vector<3> accel_body(_sensor_combined.accelerometer_m_s2);
 	math::Vector<3> accel_earth = _R_nb * accel_body;
 
-	if (!_mTecs.getEnabled() && !_vehicle_status.condition_landed) {
+	/* tell TECS to update its state, but let it know when it cannot actually control the plane */
-		_tecs.update_50hz(_global_pos.alt /* XXX might switch to alt err here */, _airspeed.indicated_airspeed_m_s, _R_nb, accel_body, accel_earth);
+	bool in_air_alt_control = (!_vehicle_status.condition_landed &&
+		(_control_mode.flag_control_auto_enabled ||
+		 _control_mode.flag_control_velocity_enabled ||
+		 _control_mode.flag_control_altitude_enabled));
+
+	/* update TECS filters */
+	if (!_mTecs.getEnabled()) {
+		_tecs.update_state(_global_pos.alt, _airspeed.indicated_airspeed_m_s, _R_nb,
+			accel_body, accel_earth, (_global_pos.timestamp > 0), in_air_alt_control);
 	}
 
+	math::Vector<2> ground_speed_2d = {ground_speed(0), ground_speed(1)};
+	calculate_gndspeed_undershoot(current_position, ground_speed_2d, pos_sp_triplet);
+
 	/* define altitude error */
 	float altitude_error = _pos_sp_triplet.current.alt - _global_pos.alt;
 

src/modules/land_detector/FixedwingLandDetector.cpp

@@ -49,7 +49,11 @@ FixedwingLandDetector::FixedwingLandDetector() : LandDetector(),
 	_vehicleLocalPositionSub(-1),
 	_vehicleLocalPosition({}),
 	_airspeedSub(-1),
-	_airspeed({}),
+	_vehicleStatusSub(-1),
+	_armingSub(-1),
+	_airspeed{},
+	_vehicleStatus{},
+	_arming{},
 	_parameterSub(-1),
 	_velocity_xy_filtered(0.0f),
 	_velocity_z_filtered(0.0f),
@@ -66,6 +70,8 @@ void FixedwingLandDetector::initialize()
 	// Subscribe to local position and airspeed data
 	_vehicleLocalPositionSub = orb_subscribe(ORB_ID(vehicle_local_position));
 	_airspeedSub = orb_subscribe(ORB_ID(airspeed));
+	_vehicleStatusSub = orb_subscribe(ORB_ID(vehicle_status));
+	_armingSub = orb_subscribe(ORB_ID(actuator_armed));
 
 	updateParameterCache(true);
 }
@@ -74,6 +80,8 @@ void FixedwingLandDetector::updateSubscriptions()
 {
 	orb_update(ORB_ID(vehicle_local_position), _vehicleLocalPositionSub, &_vehicleLocalPosition);
 	orb_update(ORB_ID(airspeed), _airspeedSub, &_airspeed);
+	orb_update(ORB_ID(vehicle_status), _vehicleStatusSub, &_vehicleStatus);
+	orb_update(ORB_ID(actuator_armed), _armingSub, &_arming);
 }
 
 bool FixedwingLandDetector::update()
@@ -81,6 +89,11 @@ bool FixedwingLandDetector::update()
 	// First poll for new data from our subscriptions
 	updateSubscriptions();
 
+	// only trigger flight conditions if we are armed
+	if (!_arming.armed) {
+		return true;
+	}
+
 	const uint64_t now = hrt_absolute_time();
 	bool landDetected = false;
 

src/modules/land_detector/FixedwingLandDetector.h

@@ -44,7 +44,9 @@
 #include "LandDetector.h"
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/airspeed.h>
+#include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/parameter_update.h>
+#include <uORB/topics/vehicle_status.h>
 #include <systemlib/param/param.h>
 
 class FixedwingLandDetector : public LandDetector
@@ -93,7 +95,11 @@ private:
 	int					_vehicleLocalPositionSub;	/**< notification of local position */
 	struct vehicle_local_position_s		_vehicleLocalPosition;		/**< the result from local position subscription */
 	int					_airspeedSub;
+	int					_vehicleStatusSub;
+	int					_armingSub;
 	struct airspeed_s			_airspeed;
+	struct vehicle_status_s 		_vehicleStatus;
+	struct actuator_armed_s			_arming;
 	int 					_parameterSub;
 
 	float _velocity_xy_filtered;

src/modules/land_detector/LandDetector.cpp

@@ -46,6 +46,7 @@
 LandDetector::LandDetector() :
 	_landDetectedPub(0),
 	_landDetected({0, false}),
+	_arming_time(0),
 	_taskShouldExit(false),
 	_taskIsRunning(false)
 {

src/modules/land_detector/LandDetector.h

@@ -96,10 +96,12 @@ protected:
 
 	static constexpr uint64_t LAND_DETECTOR_TRIGGER_TIME = 2000000;  /**< usec that landing conditions have to hold
                                                                           before triggering a land */
+	static constexpr uint64_t LAND_DETECTOR_ARM_PHASE_TIME = 1000000;	/**< time interval in which wider acceptance thresholds are used after arming */
 
 protected:
 	uintptr_t				_landDetectedPub;		/**< publisher for position in local frame */
 	struct vehicle_land_detected_s		_landDetected;			/**< local vehicle position */
+	uint64_t				_arming_time;			/**< timestamp of arming time */
 
 private:
 	bool _taskShouldExit;                                               /**< true if it is requested that this task should exit */

src/modules/land_detector/MulticopterLandDetector.cpp

@@ -54,11 +54,11 @@ MulticopterLandDetector::MulticopterLandDetector() : LandDetector(),
 	_armingSub(-1),
 	_parameterSub(-1),
 	_attitudeSub(-1),
-	_vehicleGlobalPosition({}),
+	_vehicleGlobalPosition{},
-	_vehicleStatus({}),
+	_vehicleStatus{},
-	_actuators({}),
+	_actuators{},
-	_arming({}),
+	_arming{},
-    _vehicleAttitude({}),
+	_vehicleAttitude{},
 	_landTimer(0)
 {
 	_paramHandle.maxRotation = param_find("LNDMC_ROT_MAX");
@@ -97,7 +97,10 @@ bool MulticopterLandDetector::update()
 
 	// only trigger flight conditions if we are armed
 	if (!_arming.armed) {
+		_arming_time = 0;
 		return true;
+	} else if (_arming_time == 0) {
+		_arming_time = hrt_absolute_time();
 	}
 
 	// return status based on armed state if no position lock is available
@@ -110,8 +113,18 @@ bool MulticopterLandDetector::update()
 
 	const uint64_t now = hrt_absolute_time();
 
-	// check if we are moving vertically
+	float armThresholdFactor = 1.0f;
-	bool verticalMovement = fabsf(_vehicleGlobalPosition.vel_d) > _params.maxClimbRate;
+
+	// Widen acceptance thresholds for landed state right after arming
+	// so that motor spool-up and other effects do not trigger false negatives
+	if (hrt_elapsed_time(&_arming_time) < LAND_DETECTOR_ARM_PHASE_TIME) {
+		armThresholdFactor = 2.5f;
+	}
+
+	// check if we are moving vertically - this might see a spike after arming due to
+	// throttle-up vibration. If accelerating fast the throttle thresholds will still give
+	// an accurate in-air indication
+	bool verticalMovement = fabsf(_vehicleGlobalPosition.vel_d) > _params.maxClimbRate * armThresholdFactor;
 
 	// check if we are moving horizontally
 	bool horizontalMovement = sqrtf(_vehicleGlobalPosition.vel_n * _vehicleGlobalPosition.vel_n
@@ -119,9 +132,11 @@ bool MulticopterLandDetector::update()
 					&& _vehicleStatus.condition_global_position_valid;
 
 	// next look if all rotation angles are not moving
-	bool rotating = fabsf(_vehicleAttitude.rollspeed)  > _params.maxRotation ||
+	float maxRotationScaled = _params.maxRotation * armThresholdFactor;
-				    fabsf(_vehicleAttitude.pitchspeed) > _params.maxRotation ||
+
-        			fabsf(_vehicleAttitude.yawspeed)   > _params.maxRotation;
+	bool rotating = (fabsf(_vehicleAttitude.rollspeed)  > maxRotationScaled) ||
+				    (fabsf(_vehicleAttitude.pitchspeed) > maxRotationScaled) ||
+				(fabsf(_vehicleAttitude.yawspeed) > maxRotationScaled);
 
 	// check if thrust output is minimal (about half of default)
 	bool minimalThrust = _actuators.control[3] <= _params.maxThrottle;

src/modules/land_detector/land_detector_params.c

@@ -49,7 +49,7 @@
  *
  * @group Land Detector
  */
-PARAM_DEFINE_FLOAT(LNDMC_Z_VEL_MAX, 0.60f);
+PARAM_DEFINE_FLOAT(LNDMC_Z_VEL_MAX, 0.70f);
 
 /**
  * Multicopter max horizontal velocity

src/modules/mavlink/mavlink_main.cpp

@@ -120,6 +120,8 @@ extern mavlink_system_t mavlink_system;
 
 static void usage(void);
 
+bool Mavlink::_boot_complete = false;
+
 Mavlink::Mavlink() :
 #ifndef __PX4_NUTTX
 	VDev("mavlink-log", MAVLINK_LOG_DEVICE),
@@ -1639,15 +1641,15 @@ Mavlink::task_main(int argc, char *argv[])
 	case MAVLINK_MODE_NORMAL:
 		configure_stream("SYS_STATUS", 1.0f);
 		configure_stream("GPS_GLOBAL_ORIGIN", 0.5f);
-		configure_stream("HIGHRES_IMU", 1.0f);
+		configure_stream("HIGHRES_IMU", 2.0f);
-		configure_stream("ATTITUDE", 10.0f);
+		configure_stream("ATTITUDE", 20.0f);
 		configure_stream("VFR_HUD", 8.0f);
 		configure_stream("GPS_RAW_INT", 1.0f);
 		configure_stream("GLOBAL_POSITION_INT", 3.0f);
 		configure_stream("LOCAL_POSITION_NED", 3.0f);
-		configure_stream("RC_CHANNELS", 1.0f);
+		configure_stream("RC_CHANNELS", 4.0f);
 		configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f);
-		configure_stream("ATTITUDE_TARGET", 3.0f);
+		configure_stream("ATTITUDE_TARGET", 8.0f);
 		configure_stream("DISTANCE_SENSOR", 0.5f);
 		configure_stream("OPTICAL_FLOW_RAD", 5.0f);
 		break;
@@ -2163,6 +2165,10 @@ int mavlink_main(int argc, char *argv[])
 	} else if (!strcmp(argv[1], "stream")) {
 		return Mavlink::stream_command(argc, argv);
 
+	} else if (!strcmp(argv[1], "boot_complete")) {
+		Mavlink::set_boot_complete();
+		return 0;
+
 	} else {
 		usage();
 		return 1;

src/modules/mavlink/mavlink_main.h

@@ -163,6 +163,14 @@ public:
 
 	bool			get_forwarding_on() { return _forwarding_on; }
 
+	/**
+	 * Set the boot complete flag on all instances
+	 *
+	 * Setting the flag unblocks parameter transmissions, which are gated
+	 * beforehand to ensure that the system is fully initialized.
+	 */
+	static void		set_boot_complete() { _boot_complete = true; }
+
 	/**
 	 * Get the free space in the transmit buffer
 	 *
@@ -325,6 +333,8 @@ public:
 
 	int 			get_socket_fd () { return _socket_fd; };
 
+	static bool		boot_complete() { return _boot_complete; }
+
 protected:
 	Mavlink			*next;
 
@@ -333,6 +343,7 @@ private:
 
 	int			_mavlink_fd;
 	bool			_task_running;
+	static bool		_boot_complete;
 
 	/* states */
 	bool			_hil_enabled;		/**< Hardware In the Loop mode */

src/modules/mavlink/mavlink_parameters.cpp

@@ -193,7 +193,7 @@ void
 MavlinkParametersManager::send(const hrt_abstime t)
 {
 	/* send all parameters if requested, but only after the system has booted */
-	if (_send_all_index >= 0 && t > 4 * 1000 * 1000) {
+	if (_send_all_index >= 0 && _mavlink->boot_complete()) {
 
 		/* skip if no space is available */
 		if (_mavlink->get_free_tx_buf() < get_size()) {

src/modules/mavlink/mavlink_receiver.cpp

@@ -35,9 +35,9 @@
  * @file mavlink_receiver.cpp
  * MAVLink protocol message receive and dispatch
  *
- * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Lorenz Meier <lorenz@px4.io>
- * @author Anton Babushkin <anton.babushkin@me.com>
+ * @author Anton Babushkin <anton@px4.io>
- * @author Thomas Gubler <thomasgubler@gmail.com>
+ * @author Thomas Gubler <thomas@px4.io>
  */
 
 /* XXX trim includes */
@@ -136,7 +136,9 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 	_rates_sp{},
 	_time_offset_avg_alpha(0.6),
 	_time_offset(0),
-	_orb_class_instance(-1)
+	_orb_class_instance(-1),
+	_mom_switch_pos{},
+	_mom_switch_state(0)
 {
 
 }
@@ -970,15 +972,45 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
 	}
 }
 
-static switch_pos_t decode_switch_pos(uint16_t buttons, int sw) {
+switch_pos_t
+MavlinkReceiver::decode_switch_pos(uint16_t buttons, unsigned sw)
+{
+	// XXX non-standard 3 pos switch decoding
 	return (buttons >> (sw * 2)) & 3;
 }
 
-static int decode_switch_pos_n(uint16_t buttons, int sw) {
+int
-	if (buttons & (1 << sw)) {
+MavlinkReceiver::decode_switch_pos_n(uint16_t buttons, unsigned sw)
-		return 1;
+{
+
+	bool on = (buttons & (1 << sw));
+
+	if (sw < MOM_SWITCH_COUNT) {
+
+		bool last_on = (_mom_switch_state & (1 << sw));
+
+		/* first switch is 2-pos, rest is 2 pos */
+		unsigned state_count = (sw == 0) ? 3 : 2;
+
+		/* only transition on low state */
+		if (!on && (on != last_on)) {
+
+			_mom_switch_pos[sw]++;
+			if (_mom_switch_pos[sw] == state_count) {
+				_mom_switch_pos[sw] = 0;
+			}
+		}
+
+		/* state_count - 1 is the number of intervals and 1000 is the range,
+		 * with 2 states 0 becomes 0, 1 becomes 1000. With
+		 * 3 states 0 becomes 0, 1 becomes 500, 2 becomes 1000,
+		 * and so on for more states.
+		 */
+		return (_mom_switch_pos[sw] * 1000) / (state_count - 1) + 1000;
+
 	} else {
-		return 0;
+		/* return the current state */
+		return on * 1000 + 1000;
 	}
 }
 
@@ -1075,12 +1107,18 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
 			rc.values[3] = 1000;
 		}
 
-		rc.values[4] = decode_switch_pos_n(man.buttons, 0) * 1000 + 1000;
+		/* decode all switches which fit into the channel mask */
-		rc.values[5] = decode_switch_pos_n(man.buttons, 1) * 1000 + 1000;
+		unsigned max_switch = (sizeof(man.buttons) * 8);
-		rc.values[6] = decode_switch_pos_n(man.buttons, 2) * 1000 + 1000;
+		unsigned max_channels = (sizeof(rc.values) / sizeof(rc.values[0]));
-		rc.values[7] = decode_switch_pos_n(man.buttons, 3) * 1000 + 1000;
+		if (max_switch > (max_channels - 4)) {
-		rc.values[8] = decode_switch_pos_n(man.buttons, 4) * 1000 + 1000;
+			max_switch = (max_channels - 4);
-		rc.values[9] = decode_switch_pos_n(man.buttons, 5) * 1000 + 1000;
+		}
+
+		/* fill all channels */
+		for (unsigned i = 0; i < max_switch; i++) {
+			rc.values[i + 4] = decode_switch_pos_n(man.buttons, i);
+		}
+		_mom_switch_state = man.buttons;
 
 		if (_rc_pub == nullptr) {
 			_rc_pub = orb_advertise(ORB_ID(input_rc), &rc);

src/modules/mavlink/mavlink_receiver.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,8 +35,8 @@
  * @file mavlink_orb_listener.h
  * MAVLink 1.0 uORB listener definition
  *
- * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Lorenz Meier <lorenz@px4.io>
- * @author Anton Babushkin <anton.babushkin@me.com>
+ * @author Anton Babushkin <anton@px4.io>
  */
 
 #pragma once
@@ -145,11 +145,22 @@ private:
 	 * Use timesync if available, monotonic boot time otherwise
 	 */
 	uint64_t sync_stamp(uint64_t usec);
+
 	/**
 	 * Exponential moving average filter to smooth time offset
 	 */
 	void smooth_time_offset(uint64_t offset_ns);
 
+	/**
+	 * Decode a switch position from a bitfield
+	 */
+	switch_pos_t decode_switch_pos(uint16_t buttons, unsigned sw);
+
+	/**
+	 * Decode a switch position from a bitfield and state
+	 */
+	int decode_switch_pos_n(uint16_t buttons, unsigned sw);
+
 	mavlink_status_t status;
 	struct vehicle_local_position_s hil_local_pos;
 	struct vehicle_land_detected_s hil_land_detector;
@@ -195,6 +206,11 @@ private:
 	uint64_t _time_offset;
 	int	_orb_class_instance;
 
+	static constexpr unsigned MOM_SWITCH_COUNT = 8;
+
+	uint8_t _mom_switch_pos[MOM_SWITCH_COUNT];
+	uint16_t _mom_switch_state;
+
 	/* do not allow copying this class */
 	MavlinkReceiver(const MavlinkReceiver &);
 	MavlinkReceiver operator=(const MavlinkReceiver &);

src/modules/mc_pos_control/mc_pos_control_main.cpp

@@ -83,6 +83,9 @@
 #include <mavlink/mavlink_log.h>
 #include <platforms/px4_defines.h>
 
+#include <controllib/blocks.hpp>
+#include <controllib/block/BlockParam.hpp>
+
 #define TILT_COS_MAX	0.7f
 #define SIGMA			0.000001f
 #define MIN_DIST		0.01f
@@ -95,7 +98,7 @@
  */
 extern "C" __EXPORT int mc_pos_control_main(int argc, char *argv[]);
 
-class MulticopterPositionControl
+class MulticopterPositionControl : public control::SuperBlock
 {
 public:
 	/**
@@ -149,6 +152,8 @@ private:
 	struct vehicle_local_position_setpoint_s	_local_pos_sp;		/**< vehicle local position setpoint */
 	struct vehicle_global_velocity_setpoint_s	_global_vel_sp;		/**< vehicle global velocity setpoint */
 
+	control::BlockParamFloat _manual_thr_min;
+	control::BlockParamFloat _manual_thr_max;
 
 	struct {
 		param_t thr_min;
@@ -293,7 +298,7 @@ MulticopterPositionControl	*g_control;
 }
 
 MulticopterPositionControl::MulticopterPositionControl() :
-
+	SuperBlock(NULL, "MPC"),
 	_task_should_exit(false),
 	_control_task(-1),
 	_mavlink_fd(-1),
@@ -313,7 +318,8 @@ MulticopterPositionControl::MulticopterPositionControl() :
 	_att_sp_pub(nullptr),
 	_local_pos_sp_pub(nullptr),
 	_global_vel_sp_pub(nullptr),
-
+	_manual_thr_min(this, "MANTHR_MIN"),
+	_manual_thr_max(this, "MANTHR_MAX"),
 	_ref_alt(0.0f),
 	_ref_timestamp(0),
 
@@ -413,6 +419,10 @@ MulticopterPositionControl::parameters_update(bool force)
 	}
 
 	if (updated || force) {
+		/* update C++ param system */
+		updateParams();
+
+		/* update legacy C interface params */
 		param_get(_params_handles.thr_min, &_params.thr_min);
 		param_get(_params_handles.thr_max, &_params.thr_max);
 		param_get(_params_handles.tilt_max_air, &_params.tilt_max_air);
@@ -1416,11 +1426,11 @@ MulticopterPositionControl::task_main()
 
 			/* control throttle directly if no climb rate controller is active */
 			if (!_control_mode.flag_control_climb_rate_enabled) {
-				_att_sp.thrust = math::min(_manual.z, _params.thr_max);
+				_att_sp.thrust = math::min(_manual.z, _manual_thr_max.get());
 
 				/* enforce minimum throttle if not landed */
 				if (!_vehicle_status.condition_landed) {
-					_att_sp.thrust = math::max(_att_sp.thrust, _params.thr_min);
+					_att_sp.thrust = math::max(_att_sp.thrust, _manual_thr_min.get());
 				}
 			}
 

src/modules/mc_pos_control/mc_pos_control_params.c

@@ -41,7 +41,32 @@
 #include <systemlib/param/param.h>
 
 /**
- * Minimum thrust
+ * Minimum thrust in auto thrust control
+ *
+ * It's recommended to set it > 0 to avoid free fall with zero thrust.
+ *
+ * @min 0.05
+ * @max 1.0
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f);
+
+/**
+ * Maximum thrust in auto thrust control
+ *
+ * Limit max allowed thrust. Setting a value of one can put
+ * the system into actuator saturation as no spread between
+ * the motors is possible any more. A value of 0.8 - 0.9
+ * is recommended.
+ *
+ * @min 0.0
+ * @max 0.95
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.9f);
+
+/**
+ * Minimum manual thrust
  *
  * Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust.
  *
@@ -49,10 +74,10 @@
  * @max 1.0
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f);
+PARAM_DEFINE_FLOAT(MPC_MANTHR_MIN, 0.12f);
 
 /**
- * Maximum thrust
+ * Maximum manual thrust
  *
  * Limit max allowed thrust. Setting a value of one can put
  * the system into actuator saturation as no spread between
@@ -63,7 +88,7 @@ PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f);
  * @max 1.0
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.9f);
+PARAM_DEFINE_FLOAT(MPC_MANTHR_MAX, 0.9f);
 
 /**
  * Proportional gain for vertical position error

src/modules/sdlog2/sdlog2.c

@@ -157,7 +157,7 @@ PARAM_DEFINE_INT32(SDLOG_EXT, -1);
  * @max  1
  * @group SD Logging
  */
-PARAM_DEFINE_INT32(SDLOG_GPSTIME, 0);
+PARAM_DEFINE_INT32(SDLOG_GPSTIME, 1);
 
 #define LOGBUFFER_WRITE_AND_COUNT(_msg) if (logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(_msg))) { \
 		log_msgs_written++; \

src/modules/sensors/sensor_params.c

@@ -680,7 +680,7 @@ PARAM_DEFINE_INT32(SENS_FLOW_ROT, 0);
  * This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user
  * to fine tune the board offset in the event of misalignment.
  *
- * @unit radians
+ * @unit degrees
  * @group Sensor Calibration
  */
 PARAM_DEFINE_FLOAT(SENS_BOARD_Y_OFF, 0.0f);
@@ -691,7 +691,7 @@ PARAM_DEFINE_FLOAT(SENS_BOARD_Y_OFF, 0.0f);
  * This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user
  * to fine tune the board offset in the event of misalignment.
  *
- * @unit radians
+ * @unit degrees
  * @group Sensor Calibration
  */
 PARAM_DEFINE_FLOAT(SENS_BOARD_X_OFF, 0.0f);
@@ -702,7 +702,7 @@ PARAM_DEFINE_FLOAT(SENS_BOARD_X_OFF, 0.0f);
  * This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user
  * to fine tune the board offset in the event of misalignment.
  *
- * @unit radians
+ * @unit degrees
  * @group Sensor Calibration
  */
 PARAM_DEFINE_FLOAT(SENS_BOARD_Z_OFF, 0.0f);
@@ -2273,7 +2273,7 @@ PARAM_DEFINE_INT32(SENS_EN_LL40LS, 0);
  * REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE
  * THE SYSTEM TO PUT CHANGES INTO EFFECT.
  *
- * Set to 1000 for default or 900 to increase servo travel
+ * Set to 1000 for industry default or 900 to increase servo travel.
  *
  * @min 800
  * @max 1400
@@ -2289,7 +2289,7 @@ PARAM_DEFINE_INT32(PWM_MIN, 1000);
  * REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE
  * THE SYSTEM TO PUT CHANGES INTO EFFECT.
  *
- * Set to 2000 for default or 2100 to increase servo travel
+ * Set to 2000 for industry default or 2100 to increase servo travel.
  *
  * @min 1600
  * @max 2200