[WIP] explicit PWM configuration per channel

ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy

@@ -11,6 +11,5 @@ param set-default NAV_DLL_ACT 0
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
 
-set PWM_OUT 12345678
 set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
 set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship

@@ -12,4 +12,3 @@
 . ${R}etc/init.d/rc.airship_defaults
 
 set MIXER cloudship
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -30,7 +30,6 @@ set MIXER_AUX                   none
 set MIXER_FILE                  none
 set OUTPUT_MODE                 sim
 set EXTRA_MIXER_MODE            none
-set PWM_OUT                     none
 set SDCARD_MIXERS_PATH          etc/mixers
 set USE_IO                      no
 set VEHICLE_TYPE                none

ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery

@@ -23,8 +23,9 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_quad_defaults
 
+set MIXER quad_w
 
 param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.1
@@ -38,6 +39,3 @@ param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.28
 param set-default MC_YAWRATE_I 0.1
 param set-default MC_YAWRATE_D 0
-set MIXER quad_w
-
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris

@@ -21,8 +21,9 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_quad_defaults
 
+set MIXER quad_w
 
 # TODO tune roll/pitch separately
 param set-default MC_ROLL_P 7
@@ -40,6 +41,3 @@ param set-default MC_YAWRATE_D 0
 
 param set-default BAT_V_DIV 12.27559
 param set-default BAT_A_PER_V 15.39103
-set MIXER quad_w
-
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d

@@ -23,8 +23,9 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_quad_defaults
 
+set MIXER quad_w
 
 param set-default BAT_N_CELLS 4
 
@@ -40,6 +41,3 @@ param set-default MC_YAW_P 4
 param set-default MC_YAWRATE_P 0.2
 param set-default MC_YAWRATE_I 0.1
 param set-default MC_YAWRATE_D 0
-set MIXER quad_w
-
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance

@@ -23,8 +23,9 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_quad_defaults
 
+set MIXER quad_w
 
 param set-default BAT_N_CELLS 6
 param set-default BAT_V_EMPTY 3.5
@@ -43,8 +44,3 @@ param set-default MC_YAWRATE_I 0.1
 param set-default MC_YAWRATE_D 0
 
 param set-default MPC_XY_VEL_MAX 2
-
-param set-default PWM_MAIN_MIN 1080
-set MIXER quad_w
-
-set PWM_OUT 1234

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

@@ -11,7 +11,6 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
-set PWM_OUT 1234
 
 param set SYS_HITL 1
 

ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil

@@ -13,7 +13,6 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 param set-default BAT_N_CELLS 3
 
 param set-default COM_RC_IN_MODE 1
@@ -78,5 +77,3 @@ param set-default CBRK_IO_SAFETY 22027
 set MAV_TYPE 22
 
 set MIXER standard_vtol_hitl
-
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox

@@ -21,9 +21,6 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_hex_defaults
 
 set MIXER hexa_cox
-
-# Need to set all 8 channels
-set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil

@@ -13,7 +13,6 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
-set PWM_OUT 1234
 
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2

ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox

@@ -19,8 +19,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_octo_defaults
 
+# MAIN set by rc.mc_octo_defaults
 set MIXER octo_cox
-
-set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik

@@ -20,8 +20,9 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_octo_defaults
 
+set MIXER octo_cox_w
 
 param set-default MC_PITCH_P 4
 param set-default MC_PITCHRATE_P 0.24
@@ -45,6 +46,3 @@ param set-default MPC_THR_MIN 0.15
 param set-default MPC_Z_VEL_MAX_DN 2
 
 param set-default BAT_N_CELLS 4
-set MIXER octo_cox_w
-
-set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard

@@ -21,18 +21,21 @@
 # @board bitcraze_crazyflie exclude
 #
 
+. ${R}etc/init.d/rc.mc_quad_defaults
 . ${R}etc/init.d/rc.vtol_defaults
 
-
+set MAV_TYPE 22
-param set-default PWM_AUX_DIS5 950
-param set-default PWM_MAIN_RATE 400
 
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
-set MAV_TYPE 22
 
-set MIXER quad_x
+# MAIN set by rc.mc_quad_defaults
+
+# AUX
 set MIXER_AUX vtol_AAERT
-
+param set-default PWM_AUX_DIS1 1500
-set PWM_OUT 1234
+param set-default PWM_AUX_DIS2 1500
+param set-default PWM_AUX_DIS3 1500
+param set-default PWM_AUX_DIS4 1500
+param set-default PWM_AUX_DIS5 900 # throttle

ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol

@@ -18,8 +18,7 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
+set MAV_TYPE 19
-param set-default MAV_TYPE 19
 
 param set-default MC_ROLL_P 6
 param set-default MC_ROLLRATE_P 0.12
@@ -43,8 +42,20 @@ param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_ID 12
 param set-default VT_TYPE 0
-set MAV_TYPE 19
 
+
+# MAIN
 set MIXER vtol_tailsitter_duo
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
 
-set PWM_OUT 123456
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 1500 # right (starboard) elevon
+param set-default PWM_MAIN_DIS4 1500 # left (port) elevon.

ROMFS/px4fmu_common/init.d/airframes/13002_firefly6

@@ -23,6 +23,7 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+set MAV_TYPE 21
 
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.19
@@ -40,8 +41,6 @@ param set-default MC_YAWRATE_I 0.02
 param set-default MC_YAWRATE_D 0
 param set-default MC_YAWRATE_FF 0
 
-param set-default PWM_MAIN_RATE 400
-
 param set-default VT_FW_MOT_OFFID 34
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_MOT_ID 123456
@@ -51,9 +50,40 @@ param set-default VT_TILT_TRANS 0.5
 param set-default VT_TILT_FW 0.9
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21
 
+# MAIN
 set MIXER firefly6
-set MIXER_AUX firefly6
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
+param set-default PWM_MAIN_MIN4 1100
+param set-default PWM_MAIN_MIN5 1100
+param set-default PWM_MAIN_MIN6 1100
 
-set PWM_OUT 12345678
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+param set-default PWM_MAIN_MAX4 1900
+param set-default PWM_MAIN_MAX5 1900
+param set-default PWM_MAIN_MAX6 1900
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+param set-default PWM_MAIN_RATE3 400
+param set-default PWM_MAIN_RATE4 400
+param set-default PWM_MAIN_RATE5 400
+param set-default PWM_MAIN_RATE6 400
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 900
+param set-default PWM_MAIN_DIS4 900
+param set-default PWM_MAIN_DIS5 900
+param set-default PWM_MAIN_DIS6 900
+
+# AUX
+set MIXER_AUX firefly6
+param set-default PWM_MAIN_DIS1 1000 # Tilt mechanism servo mixer
+param set-default PWM_MAIN_DIS2 1500
+param set-default PWM_MAIN_DIS3 1500
+param set-default PWM_MAIN_DIS4 2000 # Landing gear

ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter

@@ -11,18 +11,18 @@
 # @board bitcraze_crazyflie exclude
 #
 
+. ${R}etc/init.d/rc.mc_quad_defaults
 . ${R}etc/init.d/rc.vtol_defaults
 
-
-param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_RATE 400
-
-param set-default VT_MOT_ID 1234
-param set-default VT_IDLE_PWM_MC  1080
-param set-default VT_TYPE 0
-param set-default VT_ELEV_MC_LOCK 1
 set MAV_TYPE 20
 
-set MIXER quad_x_vtol
+param set-default VT_MOT_ID 1234
+param set-default VT_IDLE_PWM_MC 1080
+param set-default VT_TYPE 0
+param set-default VT_ELEV_MC_LOCK 1
 
-set PWM_OUT 1234
+# MAIN
+set MIXER quad_x_vtol
+# outputs 1-4 set by rc.mc_quad_defaults
+param set-default PWM_MAIN_DIS5 1500 # left elevon
+param set-default PWM_MAIN_DIS6 1500 # right elevon

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

@@ -20,17 +20,19 @@
 # @board bitcraze_crazyflie exclude
 #
 
+. ${R}etc/init.d/rc.mc_quad_defaults
 . ${R}etc/init.d/rc.vtol_defaults
 
-
-param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_RATE 400
-
-param set-default VT_IDLE_PWM_MC  1080
-param set-default VT_TYPE 0
-param set-default VT_ELEV_MC_LOCK 1
 set MAV_TYPE 20
 
-set MIXER quad_+_vtol
+param set-default VT_IDLE_PWM_MC 1080
+param set-default VT_TYPE 0
+param set-default VT_ELEV_MC_LOCK 1
 
-set PWM_OUT 1234
+# MAIN
+set MIXER quad_+_vtol
+# outputs 1-4 set by rc.mc_quad_defaults
+param set-default PWM_MAIN_DIS5 1500
+param set-default PWM_MAIN_DIS6 1500
+param set-default PWM_MAIN_DIS7 1500
+param set-default PWM_MAIN_DIS8 1500

ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad

@@ -21,12 +21,10 @@
 # @board bitcraze_crazyflie exclude
 #
 
+. ${R}etc/init.d/rc.mc_quad_defaults
 . ${R}etc/init.d/rc.vtol_defaults
 
-
+set MAV_TYPE 22
-param set-default PWM_AUX_DIS5 950
-
-param set-default PWM_MAIN_RATE 400
 
 param set-default MC_ROLL_P 6
 param set-default MC_ROLLRATE_P 0.17
@@ -64,9 +62,14 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
-set MAV_TYPE 22
 
-set MIXER quad_x
+
+# MAIN set by rc.mc_quad_defaults
+
+# AUX
 set MIXER_AUX vtol_AAERT
-
+param set-default PWM_AUX_DIS1 1500
-set PWM_OUT 1234
+param set-default PWM_AUX_DIS2 1500
+param set-default PWM_AUX_DIS3 1500
+param set-default PWM_AUX_DIS4 1500
+param set-default PWM_AUX_DIS5 900 # throttle

ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta

@@ -19,8 +19,10 @@
 # @board bitcraze_crazyflie exclude
 #
 
+. ${R}etc/init.d/rc.mc_quad_defaults
 . ${R}etc/init.d/rc.vtol_defaults
 
+set MAV_TYPE 22
 
 param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.15
@@ -44,17 +46,17 @@ param set-default MPC_XY_VEL_P_ACC 2
 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_YAWRAUTO_MAX 20
 
-param set-default PWM_AUX_DIS3 950
-param set-default PWM_MAIN_RATE 400
-
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
-set MAV_TYPE 22
 
-set MIXER quad_x
+# MAIN set by rc.mc_quad_defaults
+
+# AUX
 set MIXER_AUX vtol_delta
-
+param set-default PWM_AUX_DIS1 1500
-set PWM_OUT 1234
+param set-default PWM_AUX_DIS2 1500
+param set-default PWM_AUX_DIS3 900 # throttle
+param set-default PWM_AUX_DIS4 900 # throttle reverse

ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad

@@ -11,8 +11,10 @@
 # @board bitcraze_crazyflie exclude
 #
 
+. ${R}etc/init.d/rc.mc_quad_defaults
 . ${R}etc/init.d/rc.vtol_defaults
 
+set MAV_TYPE 22
 
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.15
@@ -30,20 +32,20 @@ param set-default MC_YAWRATE_I 0.02
 param set-default MC_YAWRATE_D 0
 param set-default MC_YAWRATE_FF 0
 param set-default MC_YAWRATE_MAX 40
-
 param set-default MPC_YAWRAUTO_MAX 40
 
-param set-default PWM_AUX_DIS5 950
-param set-default PWM_MAIN_RATE 400
-
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
-set MAV_TYPE 22
 
-set MIXER quad_x
+# MAIN set by rc.mc_quad_defaults
+
+# AUX
 set MIXER_AUX vtol_AAVVT
-
+param set-default PWM_AUX_DIS1 1500
-set PWM_OUT 1234
+param set-default PWM_AUX_DIS2 1500
+param set-default PWM_AUX_DIS3 1500
+param set-default PWM_AUX_DIS4 1500
+param set-default PWM_AUX_DIS5 900 # throttle

ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger

@@ -11,8 +11,10 @@
 # @board bitcraze_crazyflie exclude
 #
 
+. ${R}etc/init.d/rc.mc_quad_defaults
 . ${R}etc/init.d/rc.vtol_defaults
 
+set MAV_TYPE 22
 
 param set-default FW_THR_CRUISE 65
 param set-default FW_PR_P 0.08
@@ -45,11 +47,6 @@ param set-default MPC_TKO_SPEED 1.5
 param set-default MPC_LAND_SPEED 0.8
 param set-default MPC_YAWRAUTO_MAX 40
 
-param set-default PWM_AUX_DIS5 950
-param set-default PWM_AUX_REV1 1
-param set-default PWM_AUX_REV2 1
-param set-default PWM_MAIN_RATE 400
-
 param set-default VT_ARSP_TRANS 15
 param set-default VT_ARSP_BLEND 8
 param set-default VT_B_TRANS_DUR 4
@@ -58,9 +55,13 @@ param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_TYPE 2
-set MAV_TYPE 22
 
-set MIXER quad_x
+# MAIN set by rc.mc_quad_defaults
+
+# AUX
 set MIXER_AUX vtol_AAERT
-
+param set-default PWM_AUX_DIS1 1500
-set PWM_OUT 1234
+param set-default PWM_AUX_DIS2 1500
+param set-default PWM_AUX_DIS3 1500
+param set-default PWM_AUX_DIS4 1500
+param set-default PWM_AUX_DIS5 900 # throttle

ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger

@@ -11,8 +11,10 @@
 # @board bitcraze_crazyflie exclude
 #
 
+. ${R}etc/init.d/rc.mc_quad_defaults
 . ${R}etc/init.d/rc.vtol_defaults
 
+set MAV_TYPE 22
 
 param set-default FW_AIRSPD_MAX   22
 param set-default FW_AIRSPD_MIN   14
@@ -61,15 +63,6 @@ param set-default MPC_YAWRAUTO_MAX 40
 
 param set-default NAV_ACC_RAD 3
 
-param set-default PWM_AUX_REV1    1
-param set-default PWM_AUX_REV2    1
-param set-default PWM_AUX_REV3    1
-param set-default PWM_AUX_REV4    1
-
-param set-default PWM_AUX_DIS5 950
-
-param set-default PWM_MAIN_RATE 400
-
 param set-default VT_ARSP_TRANS   15
 param set-default VT_B_TRANS_DUR  4
 param set-default VT_F_TRANS_THR    0.6
@@ -80,9 +73,17 @@ param set-default VT_TRANS_MIN_TM 5
 param set-default VT_TRANS_TIMEOUT    30
 param set-default VT_TYPE 2
 
-set MAV_TYPE 22
+# MAIN set by rc.mc_quad_defaults
 
-set MIXER quad_x
+# AUX
 set MIXER_AUX vtol_AAERT
+param set-default PWM_AUX_DIS1 1500
+param set-default PWM_AUX_DIS2 1500
+param set-default PWM_AUX_DIS3 1500
+param set-default PWM_AUX_DIS4 1500
+param set-default PWM_AUX_DIS5 900 # throttle
 
-set PWM_OUT 1234
+param set-default PWM_AUX_REV1 1
+param set-default PWM_AUX_REV2 1
+param set-default PWM_AUX_REV3 1
+param set-default PWM_AUX_REV4 1

ROMFS/px4fmu_common/init.d/airframes/13010_claire

@@ -13,14 +13,7 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
+set MAV_TYPE 21
-param set-default PWM_AUX_DISARM 1000
-param set-default PWM_AUX_MAX 2000
-param set-default PWM_AUX_MIN 1000
-param set-default PWM_AUX_RATE 50
-
-param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_RATE 400
 
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 13
@@ -30,9 +23,32 @@ param set-default VT_TILT_MC 0.08
 param set-default VT_TILT_TRANS 0.5
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21
 
-set MIXER claire
+
+# MAIN
+set MIXER quad_x
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
+param set-default PWM_MAIN_MIN4 1100
+
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+param set-default PWM_MAIN_MAX4 1900
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+param set-default PWM_MAIN_RATE3 400
+param set-default PWM_MAIN_RATE4 400
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 900
+param set-default PWM_MAIN_DIS4 900
+
+# AUX
 set MIXER_AUX claire
-
+param set-default PWM_MAIN_DIS1 1000 # tilt
-set PWM_OUT 1234
+param set-default PWM_MAIN_DIS2 1500 # elevon
+param set-default PWM_MAIN_DIS3 1500 # elevon

ROMFS/px4fmu_common/init.d/airframes/13012_convergence

@@ -22,6 +22,7 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+set MAV_TYPE 21
 
 param set-default CBRK_AIRSPD_CHK 162128
 
@@ -59,8 +60,6 @@ param set-default MPC_LAND_SPEED 1.2
 param set-default MPC_TKO_SPEED 2.5
 param set-default MPC_Z_VEL_MAX_UP 3
 
-param set-default PWM_MAIN_RATE 400
-
 param set-default SENS_BOARD_ROT 8
 
 param set-default VT_B_TRANS_DUR  1
@@ -79,8 +78,26 @@ param set-default VT_TRANS_MIN_TM 1.2
 param set-default VT_TRANS_P2_DUR 1.3
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21
 
+
+# MAIN
 set MIXER vtol_convergence
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
 
-set PWM_OUT 1234
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+param set-default PWM_MAIN_RATE3 400
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 900
+param set-default PWM_MAIN_DIS5 2000 # tilt right servo (2000 up)
+param set-default PWM_MAIN_DIS6 1000 # tilt left servo (1000 up)
+param set-default PWM_MAIN_DIS7 1500 # elevon
+param set-default PWM_MAIN_DIS8 1500 # elevon

ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad

@@ -22,6 +22,7 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+set MAV_TYPE 22
 
 param set-default BAT_CAPACITY 23000
 param set-default BAT_N_CELLS 4
@@ -112,15 +113,6 @@ param set-default MPC_YAWRAUTO_MAX 20
 param set-default NAV_DLL_ACT 0
 param set-default NAV_LOITER_RAD 100
 
-param set-default PWM_AUX_DISARM 950
-
-param set-default PWM_MAIN_DIS5 1500
-param set-default PWM_MAIN_DIS6 1500
-param set-default PWM_MAIN_DIS7 900
-param set-default PWM_MAIN_DIS8 900
-
-param set-default PWM_MAIN_RATE 400
-
 param set-default SENS_BOARD_ROT 18
 
 # TELEM2 config
@@ -150,10 +142,34 @@ param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4
 
 param set-default COM_RC_OVERRIDE 0
-set MAV_TYPE 22
 
+
+# MAIN
 set MIXER deltaquad
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
+param set-default PWM_MAIN_MIN4 1100
+
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+param set-default PWM_MAIN_MAX4 1900
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+param set-default PWM_MAIN_RATE3 400
+param set-default PWM_MAIN_RATE4 400
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 900
+param set-default PWM_MAIN_DIS4 900
+param set-default PWM_MAIN_DIS5 1500 # left elevon
+param set-default PWM_MAIN_DIS6 1500 # right elevon
+param set-default PWM_MAIN_DIS7 900 # pusher
+param set-default PWM_MAIN_DIS8 900 # reverse thrust
+
+# AUX
 set MIXER_AUX pass
 
-set PWM_OUT 1234
-set PWM_AUX_OUT 12345

ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark

@@ -22,7 +22,7 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
+set MAV_TYPE 22
 
 param set-default BAT_N_CELLS 6
 
@@ -105,11 +105,28 @@ param set-default VT_PSHER_RMP_DT 2
 param set-default VT_TRANS_MIN_TM 4
 param set-default VT_TYPE 2
 
-set MAV_TYPE 22
+# MAIN
-
 set MIXER babyshark
-set MIXER_AUX pass
+param set-default PWM_MAIN_MIN5 1100
+param set-default PWM_MAIN_MIN6 1100
+param set-default PWM_MAIN_MIN7 1120
+param set-default PWM_MAIN_MIN8 1100
 
-# Mark outputs for the alternate rate
+param set-default PWM_MAIN_MAX5 1900
-# or D-Shot
+param set-default PWM_MAIN_MAX6 1900
-set PWM_OUT 5678
+param set-default PWM_MAIN_MAX7 1900
+param set-default PWM_MAIN_MAX8 1900
+
+param set-default PWM_MAIN_RATE5 400
+param set-default PWM_MAIN_RATE6 400
+param set-default PWM_MAIN_RATE7 400
+param set-default PWM_MAIN_RATE8 400
+
+param set-default PWM_MAIN_DIS1 1500
+param set-default PWM_MAIN_DIS2 1500
+param set-default PWM_MAIN_DIS3 900 # pusher
+param set-default PWM_MAIN_DIS4 1500
+param set-default PWM_MAIN_DIS5 900
+param set-default PWM_MAIN_DIS6 900
+param set-default PWM_MAIN_DIS7 900
+param set-default PWM_MAIN_DIS8 900

ROMFS/px4fmu_common/init.d/airframes/13015_generic_vtol_standard

@@ -0,0 +1,53 @@
+#!/bin/sh
+#
+# @name Generic Quadplane VTOL (PWM14)
+#
+# @type Standard VTOL
+# @class VTOL
+#
+# @maintainer
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 Aileron 1
+# @output MAIN6 Aileron 2
+# @output MAIN7 Elevator
+# @output MAIN8 Rudder
+# @output MAIN9 Pusher motor
+#
+# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+set MAV_TYPE 22
+
+param set-default VT_TYPE 2
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+
+# MAIN
+set MIXER quad_x_vtol_AAERT
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
+param set-default PWM_MAIN_MIN4 1100
+
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+param set-default PWM_MAIN_MAX4 1900
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 900
+param set-default PWM_MAIN_DIS4 900
+param set-default PWM_MAIN_DIS5 1500
+param set-default PWM_MAIN_DIS6 1500
+param set-default PWM_MAIN_DIS7 1500
+param set-default PWM_MAIN_DIS8 1500
+param set-default PWM_MAIN_DIS9 900

ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo

@@ -23,18 +23,21 @@
 # @board bitcraze_crazyflie exclude
 #
 
+. ${R}etc/init.d/rc.mc_octo_defaults
 . ${R}etc/init.d/rc.vtol_defaults
 
-
+set MAV_TYPE 22
-param set-default PWM_AUX_DIS5 950
-param set-default PWM_MAIN_RATE 400
 
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 12345678
 param set-default VT_FW_MOT_OFFID 12345678
-set MAV_TYPE 22
 
-set MIXER octo_cox
+# MAIN set by rc.mc_octo_defaults
+
+# AUX
 set MIXER_AUX vtol_AAERT
-
+param set-default PWM_AUX_DIS1 1500
-set PWM_OUT 12345678
+param set-default PWM_AUX_DIS2 1500
+param set-default PWM_AUX_DIS3 1500
+param set-default PWM_AUX_DIS4 1500
+param set-default PWM_AUX_DIS5 900 # throttle

ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter

@@ -18,13 +18,26 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0
 
 param set-default MAV_TYPE 19
+
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS5 1500 # right elevon
+param set-default PWM_MAIN_DIS6 1500 # left elevon
+
+
 set MAV_TYPE 19
 set MIXER vtol_tailsitter_duo
-
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+

@@ -19,4 +19,22 @@
 
 set MIXER tri_y_yaw+
 
-set PWM_OUT 1234
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
+param set-default PWM_MAIN_MIN4 1000
+
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+param set-default PWM_MAIN_MAX4 2000
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+param set-default PWM_MAIN_RATE3 400
+param set-default PWM_MAIN_RATE4 50
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 900
+param set-default PWM_MAIN_DIS4 1500

ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw-

@@ -19,4 +19,22 @@
 
 set MIXER tri_y_yaw-
 
-set PWM_OUT 1234
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
+param set-default PWM_MAIN_MIN4 1000
+
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+param set-default PWM_MAIN_MAX4 2000
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+param set-default PWM_MAIN_RATE3 400
+param set-default PWM_MAIN_RATE4 50
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 900
+param set-default PWM_MAIN_DIS4 1500

ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli

@@ -17,8 +17,8 @@
 #
 
 . ${R}etc/init.d/rc.mc_defaults
-set MIXER coax
 
+set MIXER coax
 
 param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.17
@@ -38,17 +38,5 @@ param set-default MC_YAWRATE_FF 0
 
 param set-default NAV_ACC_RAD 2
 
-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_DISARM 900
-param set-default PWM_MAIN_MIN 1075
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_RATE 400
-
 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
-# This is the gimbal pass mixer
-set MIXER_AUX pass
-
-# use PWM parameters for throttle channel
-set PWM_AUX_OUT 1234
-set PWM_OUT 34

ROMFS/px4fmu_common/init.d/airframes/16001_helicopter

@@ -24,11 +24,6 @@ set MAV_TYPE 4
 
 set MIXER blade130
 
-#set PWM_OUT 1234
-
-
-param set-default ATT_BIAS_MAX 0
-
 param set-default CBRK_IO_SAFETY 22027
 
 param set-default MC_ROLL_P 5
@@ -53,5 +48,3 @@ param set-default MC_ACRO_P_MAX 360
 
 param set-default MPC_THR_MIN 0.06
 param set-default MPC_MANTHR_MIN 0.06
-
-param set-default PWM_MAIN_MIN 1075

ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2

@@ -25,13 +25,9 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-
 param set-default BAT_CAPACITY 2500
 param set-default BAT_N_CELLS 3
 
-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_RATE 50
-
 param set-default SENS_BOARD_ROT 8
 
 param set-default FW_AIRSPD_MAX 20
@@ -46,5 +42,6 @@ param set-default FW_R_LIM 40
 param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
+
 set MIXER TF-AutoG2
 set MIXER_AUX pass

ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2

@@ -20,13 +20,9 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-
 param set-default BAT_CAPACITY 3300
 param set-default BAT_N_CELLS 3
 
-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_RATE 50
-
 param set-default SENS_BOARD_ROT 4
 
 param set-default FW_AIRSPD_MAX 20
@@ -41,5 +37,6 @@ param set-default FW_R_LIM 40
 param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
+
 set MIXER TF-G2
 set MIXER_AUX pass

ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1

@@ -15,7 +15,6 @@
 
 . ${R}etc/init.d/rc.balloon_defaults
 
-
 param set-default COM_PREARM_MODE 2  # always in prearm state
 param set-default CBRK_IO_SAFETY 22027
 param set-default SDLOG_PROFILE 17
@@ -26,8 +25,8 @@ param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600
 
 param set-default SENS_BOARD_ROT 0
-        param set MAV_TYPE 8  # MAV_TYPE_FREE_BALLOON
 
+param set-default MAV_TYPE 8  # MAV_TYPE_FREE_BALLOON
 
 set MIXER IO_pass
 set MIXER_AUX pass

ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane

@@ -23,10 +23,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_RATE 50
-
 set MIXER AETRFG
 
-# Rate must be set by group (see pwm info).
+param set-default PWM_MAIN_DIS3 900
-# Throttle is in the same group as servos.

ROMFS/px4fmu_common/init.d/airframes/2105_maja

@@ -39,11 +39,7 @@ param set-default FW_WR_IMAX 0.8
 param set-default FW_WR_P 1
 param set-default FW_W_RMAX 0
 
-# set disarmed value for the ESC
-param set-default PWM_MAIN_DISARM 1000
-
-
 set MIXER AAERTWF
 
 # use PWM parameters for throttle channel
-set PWM_OUT 5
+param set-default PWM_MAIN_DIS5 1000

ROMFS/px4fmu_common/init.d/airframes/2106_albatross

@@ -39,11 +39,7 @@ param set-default FW_WR_IMAX 0.8
 param set-default FW_WR_P 1
 param set-default FW_W_RMAX 0
 
-# set disarmed value for the ESC
-param set-default PWM_MAIN_DISARM 1000
-
-
 set MIXER AAVVTWFF
 
 # use PWM parameters for throttle channel
-set PWM_OUT 5
+param set-default PWM_MAIN_DIS5 1000

ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon

@@ -40,13 +40,10 @@ param set-default FW_WR_IMAX 0.8
 param set-default FW_WR_P 1
 param set-default FW_W_RMAX 0
 
-# set disarmed value for the ESC
-param set-default PWM_MAIN_DISARM 1000
-
 # The Mini Talon does not have a wheel and
 # no flaps. I leave them here because the mixer
 # computes also wheel and flap controls.
 set MIXER AAVVTWFF_vtail
 
 # use PWM parameters for throttle channel
-set PWM_OUT 5
+param set-default PWM_MAIN_DIS5 1000

ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox

@@ -27,23 +27,68 @@
 
 set VEHICLE_TYPE mc
 
-
 param set-default NAV_ACC_RAD 2
 
-param set-default PWM_AUX_RATE 400
-param set-default PWM_AUX_DISARM 900
-param set-default PWM_AUX_MIN 1075
-param set-default PWM_AUX_MAX 1950
-
-param set-default PWM_MAIN_MIN 1075
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_RATE 400
-
 param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30
+
+# MAIN
+param set-default PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
+param set-default PWM_MAIN_MIN4 1100
+param set-default PWM_MAIN_MIN5 1100
+param set-default PWM_MAIN_MIN6 1100
+
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+param set-default PWM_MAIN_MAX4 1900
+param set-default PWM_MAIN_MAX5 1900
+param set-default PWM_MAIN_MAX6 1900
+
+param set-default PWM_MAIN_RATE1 400
+param set-default PWM_MAIN_RATE2 400
+param set-default PWM_MAIN_RATE3 400
+param set-default PWM_MAIN_RATE4 400
+param set-default PWM_MAIN_RATE5 400
+param set-default PWM_MAIN_RATE6 400
+
+param set-default PWM_MAIN_DIS1 900
+param set-default PWM_MAIN_DIS2 900
+param set-default PWM_MAIN_DIS3 900
+param set-default PWM_MAIN_DIS4 900
+param set-default PWM_MAIN_DIS5 900
+param set-default PWM_MAIN_DIS6 900
+
+# AUX
+param set-default PWM_AUX_MIN1 1100
+param set-default PWM_AUX_MIN2 1100
+param set-default PWM_AUX_MIN3 1100
+param set-default PWM_AUX_MIN4 1100
+param set-default PWM_AUX_MIN5 1100
+param set-default PWM_AUX_MIN6 1100
+
+param set-default PWM_AUX_MAX1 1900
+param set-default PWM_AUX_MAX2 1900
+param set-default PWM_AUX_MAX3 1900
+param set-default PWM_AUX_MAX4 1900
+param set-default PWM_AUX_MAX5 1900
+param set-default PWM_AUX_MAX6 1900
+
+param set-default PWM_AUX_RATE1 400
+param set-default PWM_AUX_RATE2 400
+param set-default PWM_AUX_RATE3 400
+param set-default PWM_AUX_RATE4 400
+param set-default PWM_AUX_RATE5 400
+param set-default PWM_AUX_RATE6 400
+
+param set-default PWM_AUX_DIS1 900
+param set-default PWM_AUX_DIS2 900
+param set-default PWM_AUX_DIS3 900
+param set-default PWM_AUX_DIS4 900
+param set-default PWM_AUX_DIS5 900
+param set-default PWM_AUX_DIS6 900
+
 set MIXER dodeca_top_cox
 set MIXER_AUX dodeca_bottom_cox
-
-# Need to set all 8 channels
-set PWM_OUT 12345678
-set PWM_AUX_OUT 123456

ROMFS/px4fmu_common/init.d/airframes/2507_cloudship

@@ -18,6 +18,4 @@
 param set-default COM_PREARM_MODE 2
 param set-default CBRK_IO_SAFETY 22027
 
-
 set MIXER cloudship
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing

@@ -21,3 +21,5 @@
 . ${R}etc/init.d/rc.fw_defaults
 
 set MIXER fw_generic_wing
+
+param set-default PWM_MAIN_DIS4 1000

ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer

@@ -9,10 +9,6 @@
 # @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@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
@@ -41,10 +37,8 @@ param set-default FW_RR_FF 0.6
 param set-default FW_RR_IMAX 0.2
 param set-default FW_RR_P 0.04
 
-param set-default PWM_MAIN_DISARM 1000
-
 
 set MIXER fw_generic_wing
 
 # Provide ESC a constant 1000 us pulse while disarmed
-set PWM_OUT 4
+param set-default PWM_MAIN_DIS4 1000

ROMFS/px4fmu_common/init.d/airframes/3031_phantom

@@ -11,10 +11,6 @@
 # @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@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
@@ -42,8 +38,6 @@ param set-default FW_RR_P 0.08
 param set-default FW_R_LIM 50
 param set-default FW_R_RMAX 50
 
-param set-default PWM_MAIN_DISARM 1000
-
 # Bottom of bay and nominal zero-pitch attitude differ
 # the payload bay is pitched up about 7 degrees
 param set-default SENS_BOARD_Y_OFF 7
@@ -51,5 +45,5 @@ param set-default SENS_BOARD_Y_OFF 7
 
 set MIXER phantom
 
-# Provide ESC a constant 1000 us pulse
+# Provide ESC a constant 1000 us pulse while disarmed
-set PWM_OUT 4
+param set-default PWM_MAIN_DIS4 1000

ROMFS/px4fmu_common/init.d/airframes/3033_wingwing

@@ -41,8 +41,6 @@ param set-default FW_PR_FF 0.35
 param set-default FW_RR_FF 0.6
 param set-default FW_RR_P 0.04
 
-param set-default PWM_MAIN_DISARM 1000
-
 
 # Configure this as plane.
 set MAV_TYPE 1
@@ -50,5 +48,5 @@ set MAV_TYPE 1
 # Set mixer.
 set MIXER wingwing
 
-# Provide ESC a constant 1000 us pulse.
+# Provide ESC a constant 1000 us pulse while disarmed
-set PWM_OUT 4
+param set-default PWM_MAIN_DIS4 1000

ROMFS/px4fmu_common/init.d/airframes/3034_fx79

@@ -27,5 +27,6 @@ param set-default FW_AIRSPD_TRIM 15
 
 param set-default NAV_LOITER_RAD 150
 
-
 set MIXER FX79
+
+param set-default PWM_MAIN_DIS4 1000

ROMFS/px4fmu_common/init.d/airframes/3035_viper

@@ -21,3 +21,5 @@
 . ${R}etc/init.d/rc.fw_defaults
 
 set MIXER Viper
+
+param set-default PWM_MAIN_DIS4 1000

ROMFS/px4fmu_common/init.d/airframes/3036_pigeon

@@ -43,14 +43,10 @@ param set-default FW_R_LIM 40
 param set-default FW_R_RMAX 50
 param set-default FW_R_TC 0.3
 
-param set-default PWM_MAIN_DISARM 1000
+param set-default PWM_MAIN_DIS4 1000
 
 # Bottom of bay and nominal zero-pitch attitude differ
 # the payload bay is pitched up about 7 degrees
 param set-default SENS_BOARD_Y_OFF 11.9
 
-
 set MIXER phantom
-
-# Provide ESC a constant 1000 us pulse
-set PWM_OUT 4