airframes: replace blade with generic helicopter

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -41,6 +41,7 @@ px4_add_romfs_files(
 	rc.boat_defaults
 	rc.fw_apps
 	rc.fw_defaults
+	rc.heli_defaults
 	rc.interface
 	rc.logging
 	rc.mc_apps

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

@@ -1,55 +1,27 @@
 #!/bin/sh
 #
-# @name Blade 130X
+# @name Generic Helicopter (Tail ESC)
 #
 # @type Helicopter
 # @class Copter
 #
-# @maintainer Bart Slinger <bartslinger@gmail.com>
-#
-# @output Motor1 main motor
-# @output Servo1 front swashplate servo
-# @output Servo2 right swashplate servo
-# @output Servo3 left swashplate servo
-# @output Servo4 tail-rotor servo
-#
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.heli_defaults
-
-# Configure as helicopter
-param set-default MAV_TYPE 4
 
 
-
+# Disable PID gains for initial setup. These should be enabled after setting the FF gain.
-param set-default ATT_BIAS_MAX 0
+# P is expected to be lower than FF.
-
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default MC_ROLL_P 5
 param set-default MC_ROLLRATE_P 0
 param set-default MC_ROLLRATE_I 0
 param set-default MC_ROLLRATE_D 0
-param set-default MC_ROLLRATE_FF 0.15
+param set-default MC_ROLLRATE_FF 0.1
 param set-default MC_PITCHRATE_P 0
 param set-default MC_PITCHRATE_I 0
 param set-default MC_PITCHRATE_D 0
-param set-default MC_PITCHRATE_FF 0.15
+param set-default MC_PITCHRATE_FF 0.1
-param set-default MC_YAW_P 3
-param set-default MC_YAWRATE_P 0.1
-param set-default MC_YAWRATE_I 0
-param set-default MC_ROLLRATE_MAX 720
-param set-default MC_PITCHRATE_MAX 720
-param set-default MC_YAWRATE_MAX 400
-param set-default MC_ACRO_R_MAX 360
-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
 
 param set-default CA_AIRFRAME 10
 

ROMFS/px4fmu_common/init.d/rc.heli_defaults

@@ -0,0 +1,18 @@
+#!/bin/sh
+#
+# Helicopter default parameters.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+# Inherit from mc
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default MAV_TYPE 4
+
+param set-default COM_PREARM_MODE 2
+param set-default COM_SPOOLUP_TIME 10
+
+param set-default MPC_MANTHR_MIN 0
+
+