Merge branch 'diff_press_filter' into diff_press_filter_use

Conflicts:
	src/modules/sensors/sensors.cpp

ROMFS/px4fmu_common/init.d/11001_hexa_cox

@@ -2,7 +2,7 @@
 #
 # UNTESTED UNTESTED!
 #
-# Generic 10” Hexa coaxial geometry
+# Generic 10" Hexa coaxial geometry
 #
 # Lorenz Meier <[email protected]>
 #

ROMFS/px4fmu_common/init.d/12001_octo_cox

@@ -1,6 +1,6 @@
 #!nsh
 #
-# Generic 10” Octo coaxial geometry
+# Generic 10" Octo coaxial geometry
 #
 # Lorenz Meier <[email protected]>
 #

ROMFS/px4fmu_common/init.d/3031_phantom

@@ -2,9 +2,38 @@
 #
 # Phantom FPV Flying Wing
 #
-# Simon Wilks <[email protected]>
+# Simon Wilks <[email protected]>, Thomas Gubler <[email protected]>
 #
 
 sh /etc/init.d/rc.fw_defaults
 
+if [ $DO_AUTOCONFIG == yes ]
+then
+	param set FW_AIRSPD_MIN 13
+	param set FW_AIRSPD_TRIM 18
+	param set FW_AIRSPD_MAX 40
+	param set FW_ATT_TC 0.3
+	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_RMAX_NEG 0
+	param set FW_P_RMAX_POS 0
+	param set FW_P_ROLLFF 0
+	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 70
+	param set FW_R_RMAX 0
+	param set FW_T_HRATE_P 0.01
+	param set FW_T_RLL2THR 15
+	param set FW_T_SRATE_P 0.01
+	param set FW_T_TIME_CONST 5
+fi
+
 set MIXER FMU_Q

ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha

@@ -0,0 +1,42 @@
+#!nsh
+#
+# TBS Caipirinha Flying Wing
+#
+# Thomas Gubler <[email protected]>
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+
+	# TODO: these are the X5 default parameters, update them to the caipi
+
+	param set FW_AIRSPD_MIN 15
+	param set FW_AIRSPD_TRIM 20
+	param set FW_AIRSPD_MAX 40
+	param set FW_ATT_TC 0.3
+	param set FW_L1_DAMPING 0.74
+	param set FW_L1_PERIOD 15
+	param set FW_PR_FF 0.3
+	param set FW_PR_I 0
+	param set FW_PR_IMAX 0.2
+	param set FW_PR_P 0.03
+	param set FW_P_LIM_MAX 45
+	param set FW_P_LIM_MIN -45
+	param set FW_P_RMAX_NEG 0
+	param set FW_P_RMAX_POS 0
+	param set FW_P_ROLLFF 0
+	param set FW_RR_FF 0.3
+	param set FW_RR_I 0
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.03
+	param set FW_R_LIM 60
+	param set FW_R_RMAX 0
+	param set FW_T_HRATE_P 0.01
+	param set FW_T_RLL2THR 15
+	param set FW_T_SRATE_P 0.01
+	param set FW_T_TIME_CONST 5
+fi
+
+set MIXER FMU_Q

ROMFS/px4fmu_common/init.d/4001_quad_x

@@ -1,6 +1,6 @@
 #!nsh
 #
-# Generic 10” Quad X geometry
+# Generic 10" Quad X geometry
 #
 # Lorenz Meier <[email protected]>
 #

ROMFS/px4fmu_common/init.d/5001_quad_+

@@ -1,6 +1,6 @@
 #!nsh
 #
-# Generic 10” Quad + geometry
+# Generic 10" Quad + geometry
 #
 # Anton Babushkin <[email protected]>
 #

ROMFS/px4fmu_common/init.d/6001_hexa_x

@@ -1,6 +1,6 @@
 #!nsh
 #
-# Generic 10” Hexa X geometry
+# Generic 10" Hexa X geometry
 #
 # Anton Babushkin <[email protected]>
 #

ROMFS/px4fmu_common/init.d/7001_hexa_+

@@ -1,6 +1,6 @@
 #!nsh
 #
-# Generic 10” Hexa + geometry
+# Generic 10" Hexa + geometry
 #
 # Anton Babushkin <[email protected]>
 #

ROMFS/px4fmu_common/init.d/8001_octo_x

@@ -1,6 +1,6 @@
 #!nsh
 #
-# Generic 10” Octo X geometry
+# Generic 10" Octo X geometry
 #
 # Anton Babushkin <[email protected]>
 #

ROMFS/px4fmu_common/init.d/9001_octo_+

@@ -1,6 +1,6 @@
 #!nsh
 #
-# Generic 10” Octo + geometry
+# Generic 10" Octo + geometry
 #
 # Anton Babushkin <[email protected]>
 #

ROMFS/px4fmu_common/init.d/rc.autostart

@@ -97,6 +97,11 @@ then
 	sh /etc/init.d/3034_fx79
 fi
 
+if param compare SYS_AUTOSTART 3100
+then
+	sh /etc/init.d/3100_tbs_caipirinha
+fi
+
 #
 # Quad X
 #

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -11,4 +11,6 @@ then
 	param set NAV_RTL_ALT 100
 	param set NAV_RTL_LAND_T -1
 	param set NAV_ACCEPT_RAD 50
+	param set RC_SCALE_ROLL 1
+	param set RC_SCALE_PITCH 1
 fi

ROMFS/px4fmu_common/init.d/rcS

@@ -108,7 +108,6 @@ then
 	set HIL no
 	set VEHICLE_TYPE none
 	set MIXER none
-	set USE_IO yes
 	set OUTPUT_MODE none
 	set PWM_OUTPUTS none
 	set PWM_RATE none
@@ -129,6 +128,16 @@ then
 	else
 		set DO_AUTOCONFIG no
 	fi
+
+	#
+	# Set USE_IO flag
+	#
+	if param compare SYS_USE_IO 1
+	then
+		set USE_IO yes
+	else
+		set USE_IO no
+	fi
 
 	#
 	# Set parameters and env variables for selected AUTOSTART
@@ -466,7 +475,7 @@ then
 		sh /etc/init.d/rc.interface
 
 		# Start standard fixedwing apps
-		if [ LOAD_DEFAULT_APPS == yes ]
+		if [ $LOAD_DEFAULT_APPS == yes ]
 		then
 			sh /etc/init.d/rc.fw_apps
 		fi
@@ -525,7 +534,7 @@ then
 		sh /etc/init.d/rc.interface
 
 		# Start standard multicopter apps
-		if [ LOAD_DEFAULT_APPS == yes ]
+		if [ $LOAD_DEFAULT_APPS == yes ]
 		then
 			sh /etc/init.d/rc.mc_apps
 		fi

src/drivers/ets_airspeed/ets_airspeed.cpp

@@ -132,7 +132,6 @@ ETSAirspeed::measure()
 
 	if (OK != ret) {
 		perf_count(_comms_errors);
-		log("i2c::transfer returned %d", ret);
 	}
 
 	return ret;
@@ -308,7 +307,7 @@ start(int i2c_bus)
 		g_dev = nullptr;
 	}
 
-	errx(1, "driver start failed");
+	errx(1, "no ETS airspeed sensor connected");
 }
 
 /**

src/drivers/md25/md25.cpp

@@ -52,7 +52,7 @@
 #include <arch/board/board.h>
 #include <mavlink/mavlink_log.h>
 
-#include <controllib/uorb/UOrbPublication.hpp>
+#include <uORB/Publication.hpp>
 #include <uORB/topics/debug_key_value.h>
 #include <drivers/drv_hrt.h>
 
@@ -587,7 +587,7 @@ int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitu
 	float prev_revolution = md25.getRevolutions1();
 
 	// debug publication
-	control::UOrbPublication<debug_key_value_s> debug_msg(NULL,
+	uORB::Publication<debug_key_value_s> debug_msg(NULL,
 			ORB_ID(debug_key_value));
 
 	// sine wave for motor 1

src/drivers/md25/md25.hpp

@@ -46,7 +46,7 @@
 
 #include <poll.h>
 #include <stdio.h>
-#include <controllib/uorb/UOrbSubscription.hpp>
+#include <uORB/Subscription.hpp>
 #include <uORB/topics/actuator_controls.h>
 #include <drivers/device/i2c.h>
 
@@ -270,7 +270,7 @@ class MD25 : public device::I2C
 	struct pollfd _controlPoll;
 
 	/** actuator controls subscription */
-	control::UOrbSubscription<actuator_controls_s> _actuators;
+	uORB::Subscription<actuator_controls_s> _actuators;
 
 	// local copy of data from i2c device
 	uint8_t _version;