Autostart: use MIXER instead of FRAME_GEOMETRY

ROMFS/px4fmu_common/init.d/10015_tbs_discovery

@@ -25,6 +25,7 @@ then
 fi
 
 set VEHICLE_TYPE mc
-set FRAME_GEOMETRY quad_w
+set MIXER FMU_quad_w
 
+set PWM_OUTPUTS 1234
 set PWM_RATE 400

ROMFS/px4fmu_common/init.d/10016_3dr_iris

@@ -44,10 +44,10 @@ then
 fi
 
 set VEHICLE_TYPE mc
-set FRAME_GEOMETRY quad_w
+set MIXER FMU_quad_w
 
+set PWM_OUTPUTS 1234
 set PWM_RATE 400
-
 set PWM_DISARMED 900
 set PWM_MIN 1000
 set PWM_MAX 2000

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

@@ -43,4 +43,4 @@ fi
 set HIL yes
 
 set VEHICLE_TYPE mc
-set FRAME_GEOMETRY quad_x
+set MIXER FMU_quad_x

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

@@ -43,4 +43,4 @@ fi
 set HIL yes
 
 set VEHICLE_TYPE mc
-set FRAME_GEOMETRY quad_+
+set MIXER FMU_quad_+

ROMFS/px4fmu_common/init.d/2100_mpx_easystar

@@ -36,4 +36,4 @@ then
 fi
  
 set VEHICLE_TYPE fw
-set FRAME_GEOMETRY RET
+set MIXER FMU_RET

ROMFS/px4fmu_common/init.d/3031_phantom

@@ -41,4 +41,4 @@ then
 fi
 
 set VEHICLE_TYPE fw
-set FRAME_GEOMETRY Q
+set MIXER FMU_Q

ROMFS/px4fmu_common/init.d/3032_skywalker_x5

@@ -11,4 +11,4 @@ then
 fi
 
 set VEHICLE_TYPE fw
-set FRAME_GEOMETRY Q
+set MIXER FMU_Q

ROMFS/px4fmu_common/init.d/3033_wingwing

@@ -40,4 +40,4 @@ then
 fi
 
 set VEHICLE_TYPE fw
-set FRAME_GEOMETRY Q
+set MIXER FMU_Q

ROMFS/px4fmu_common/init.d/3034_fx79

@@ -40,4 +40,4 @@ then
 fi
 
 set VEHICLE_TYPE fw
-set FRAME_GEOMETRY Q
+set MIXER FMU_FX79

ROMFS/px4fmu_common/init.d/4010_dji_f330

@@ -41,10 +41,10 @@ then
 fi
 
 set VEHICLE_TYPE mc
-set FRAME_GEOMETRY quad_x
+set MIXER FMU_quad_x
 
+set PWM_OUTPUTS 1234
 set PWM_RATE 400
-
 # DJI ESC range
 set PWM_DISARMED 900
 set PWM_MIN 1200

ROMFS/px4fmu_common/init.d/4011_dji_f450

@@ -27,10 +27,10 @@ then
 fi
 
 set VEHICLE_TYPE mc
-set FRAME_GEOMETRY quad_x
+set MIXER FMU_quad_x
 
+set PWM_OUTPUTS 1234
 set PWM_RATE 400
-
 # DJI ESC range
 set PWM_DISARMED 900
 set PWM_MIN 1200

ROMFS/px4fmu_common/init.d/4012_hk_x550

@@ -27,6 +27,7 @@ then
 fi
 
 set VEHICLE_TYPE mc
-set FRAME_GEOMETRY quad_x
+set MIXER FMU_quad_x
 
+set PWM_OUTPUTS 1234
 set PWM_RATE 400

ROMFS/px4fmu_common/init.d/rc.fw_interface

@@ -1,34 +0,0 @@
-#!nsh
-#
-# Script to configure fixedwing control interface
-#
-
-#
-# Force some key parameters to sane values
-# MAV_TYPE     1 = fixed wing
-#
-param set MAV_TYPE 1
-
-#
-# Load mixer
-#
-echo "[init] Frame geometry: $FRAME_GEOMETRY"
-set MIXERSD /fs/microsd/etc/mixers/FMU_$FRAME_GEOMETRY.mix
-
-#Use the mixer file from the sd-card if it exists
-if [ -f $MIXERSD ]
-then
-	set MIXER $MIXERSD
-else
-	set MIXER /etc/mixers/FMU_$FRAME_GEOMETRY.mix
-fi
-
-
-
-if mixer load /dev/pwm_output $MIXER
-then
-	echo "[init] Mixer loaded: $MIXER"
-else
-	echo "[init] Error loading mixer: $MIXER"
-	tone_alarm $TUNE_OUT_ERROR
-fi

ROMFS/px4fmu_common/init.d/rc.interface

@@ -0,0 +1,72 @@
+#!nsh
+#
+# Script to configure control interface
+#
+
+if [ $MIXER != none ]
+then
+	#
+	# Load mixer
+	#
+	set MIXERSD /fs/microsd/etc/mixers/$MIXER.mix
+	
+	#Use the mixer file from the SD-card if it exists
+	if [ -f $MIXERSD ]
+	then
+		set MIXER_FILE $MIXERSD
+	else
+		set MIXER_FILE /etc/mixers/$MIXER.mix
+	fi
+	
+	if [ $OUTPUT_MODE == mkblctrl ]
+	then
+		set OUTPUT_DEV /dev/mkblctrl
+	else
+		set OUTPUT_DEV /dev/pwm_output
+	fi
+	
+	if mixer load $OUTPUT_DEV $MIXER_FILE
+	then
+		echo "[init] Mixer loaded: $MIXER_FILE"
+	else
+		echo "[init] Error loading mixer: $MIXER_FILE"
+		tone_alarm $TUNE_OUT_ERROR
+	fi
+else
+	echo "[init] Mixer not defined
+	tone_alarm $TUNE_OUT_ERROR
+fi
+
+if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ]
+then
+	if [ $PWM_OUTPUTS != none ]
+	then
+		#
+		# Set PWM output frequency
+		#
+		if [ $PWM_RATE != none ]
+		then
+			echo "[init] Set PWM rate: $PWM_RATE"
+			pwm rate -c $PWM_OUTPUTS -r $PWM_RATE
+		fi
+		
+		#
+		# Set disarmed, min and max PWM values
+		#
+		if [ $PWM_DISARMED != none ]
+		then
+			echo "[init] Set PWM disarmed: $PWM_DISARMED"
+			pwm disarmed -c $PWM_OUTPUTS -p $PWM_DISARMED
+		fi
+		if [ $PWM_MIN != none ]
+		then
+			echo "[init] Set PWM min: $PWM_MIN"
+			pwm min -c $PWM_OUTPUTS -p $PWM_MIN
+		fi
+		if [ $PWM_MAX != none ]
+		then
+			echo "[init] Set PWM max: $PWM_MAX"
+			pwm max -c $PWM_OUTPUTS -p $PWM_MAX
+		fi
+	fi
+fi

ROMFS/px4fmu_common/init.d/rc.io

@@ -9,11 +9,13 @@
 px4io recovery
 
 #
-# Adjust px4io topic limiting
+# Adjust PX4IO update rate limit
 #
+set PX4IO_LIMIT 400
 if hw_ver compare PX4FMU_V1
 then
-	px4io limit 200
+	set PX4IO_LIMIT 200
-else
-	px4io limit 400
 fi
+
+echo "[init] Set PX4IO update rate limit: $PX4IO_LIMIT Hz"
+px4io limit $PX4IO_LIMIT

ROMFS/px4fmu_common/init.d/rc.mc_interface

@@ -1,77 +0,0 @@
-#!nsh
-#
-# Script to configure multicopter control interface
-#
-
-if [ $FRAME_GEOMETRY == quad_x -o $FRAME_GEOMETRY == quad_+ ]
-then
-    set OUTPUTS 1234
-    param set MAV_TYPE 2
-fi
-if [ $FRAME_GEOMETRY == quad_w -o $FRAME_GEOMETRY == quad_v ]
-then
-    set OUTPUTS 1234
-    param set MAV_TYPE 2
-fi
-if [ $FRAME_GEOMETRY == hex_x -o $FRAME_GEOMETRY == hex_+ ]
-then
-	set OUTPUTS 123456
-	param set MAV_TYPE 13
-fi
-if [ $FRAME_GEOMETRY == octo_x -o $FRAME_GEOMETRY == octo_+ ]
-then
-	set OUTPUTS 12345678
-	param set MAV_TYPE 14
-fi
-
-#
-# Load mixer
-#
-echo "[init] Frame geometry: $FRAME_GEOMETRY"
-set MIXER /etc/mixers/FMU_$FRAME_GEOMETRY.mix
-
-if [ $OUTPUT_MODE == mkblctrl ]
-then
-	set OUTPUT_DEV /dev/mkblctrl
-else
-	set OUTPUT_DEV /dev/pwm_output
-fi
-
-if mixer load $OUTPUT_DEV $MIXER
-then
-	echo "[init] Mixer loaded: $MIXER"
-else
-	echo "[init] Error loading mixer: $MIXER"
-	tone_alarm $TUNE_OUT_ERROR
-fi
-
-if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ]
-then
-	#
-	# Set PWM output frequency
-	#
-	if [ $PWM_RATE != none ]
-	then
-		echo "[init] Set PWM rate: $PWM_RATE"
-		pwm rate -c $OUTPUTS -r $PWM_RATE
-	fi
-	
-	#
-	# Set disarmed, min and max PWM values
-	#
-	if [ $PWM_DISARMED != none ]
-	then
-		echo "[init] Set PWM disarmed: $PWM_DISARMED"
-		pwm disarmed -c $OUTPUTS -p $PWM_DISARMED
-	fi
-	if [ $PWM_MIN != none ]
-	then
-		echo "[init] Set PWM min: $PWM_MIN"
-		pwm min -c $OUTPUTS -p $PWM_MIN
-	fi
-	if [ $PWM_MAX != none ]
-	then
-		echo "[init] Set PWM max: $PWM_MAX"
-		pwm max -c $OUTPUTS -p $PWM_MAX
-	fi
-fi

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -10,39 +10,42 @@
 ms5611 start
 adc start
 
-# mag might be external
+# Mag might be external
 if hmc5883 start
 then
-	echo "using HMC5883"
+	echo "[init] Using HMC5883"
 fi
 
 if mpu6000 start
 then
-	echo "using MPU6000"
+	echo "[init] Using MPU6000"
 fi
 
 if l3gd20 start
 then
-	echo "using L3GD20(H)"
+	echo "[init] Using L3GD20(H)"
 fi
 
-if lsm303d start
+if hw_ver compare PX4FMU_V2
 then
-	echo "using LSM303D"
+	if lsm303d start
+	then
+		echo "[init] Using LSM303D"
+	fi
 fi
 
 # Start airspeed sensors
 if meas_airspeed start
 then
-	echo "using MEAS airspeed sensor"
+	echo "[init] Using MEAS airspeed sensor"
 else
 	if ets_airspeed start
 	then
-		echo "using ETS airspeed sensor (bus 3)"
+		echo "[init] Using ETS airspeed sensor (bus 3)"
 	else
 		if ets_airspeed start -b 1
 		then
-			echo "Using ETS airspeed sensor (bus 1)"
+			echo "[init] Using ETS airspeed sensor (bus 1)"
 		fi
 	fi
 fi

ROMFS/px4fmu_common/init.d/rcS

@@ -14,6 +14,7 @@ set CONFIG_FILE /fs/microsd/etc/config.txt
 set EXTRAS_FILE /fs/microsd/etc/extras.txt
 
 set TUNE_OUT_ERROR ML<<CP4CP4CP4CP4CP4
+
 #
 # Try to mount the microSD card.
 #
@@ -73,25 +74,21 @@ then
 	#
 	# Load parameters
 	#
-	if mtd start
+	set PARAM_FILE /fs/microsd/params
+	if hw_ver compare PX4FMU_V2
 	then
-		param select /fs/mtd_params
+		if mtd start
-		if param load /fs/mtd_params
 		then
-		else
+			set PARAM_FILE /fs/mtd_params
-			echo "FAILED LOADING PARAMS"
 		fi
+	fi
+	
+	param select $PARAM_FILE
+	if param load
+	then
+		echo "[init] Parameters loaded: $PARAM_FILE"
 	else
-		param select /fs/microsd/params
+		echo "[init] ERROR: Parameters loading failed: $PARAM_FILE"
-		if [ -f /fs/microsd/params ]
-		then
-			if param load /fs/microsd/params
-			then
-				echo "Parameters loaded"
-			else
-				echo "Parameter file corrupt - ignoring"
-			fi
-		fi
 	fi
 	
 	#
@@ -103,6 +100,7 @@ then
 	else
 		if blinkm start
 		then
+			echo "[init] Using blinkm"
 			blinkm systemstate
 		fi
 	fi
@@ -112,15 +110,17 @@ then
 	#
 	set HIL no
 	set VEHICLE_TYPE none
-	set FRAME_GEOMETRY none
+	set MIXER none
 	set USE_IO yes
 	set OUTPUT_MODE none
+	set PWM_OUTPUTS none
 	set PWM_RATE none
 	set PWM_DISARMED none
 	set PWM_MIN none
 	set PWM_MAX none
 	set MKBLCTRL_MODE none
 	set FMU_MODE pwm
+	set MAV_TYPE none
 	
 	#
 	# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
@@ -183,7 +183,7 @@ then
 	
 			set IO_PRESENT yes
 		else
-			echo "[init] PX4IO CRC failure"
+			echo "[init] PX4IO CRC failure, trying to update"
 			echo "PX4IO CRC failure" >> $LOG_FILE
 			
 			tone_alarm MLL32CP8MB
@@ -193,17 +193,17 @@ then
 				usleep 500000
 				if px4io checkcrc $IO_FILE
 				then
-					echo "[init] PX4IO CRC OK after updating"
+					echo "[init] PX4IO CRC OK, update successful"
 					echo "PX4IO CRC OK after updating" >> $LOG_FILE
 					tone_alarm MLL8CDE
 	
 					set IO_PRESENT yes
 				else
-					echo "[init] PX4IO update failed"
+					echo "[init] ERROR: PX4IO update failed"
 					echo "PX4IO update failed" >> $LOG_FILE
 				fi
 			else
-				echo "[init] PX4IO update failed"
+				echo "[init] ERROR: PX4IO update failed"
 				echo "PX4IO update failed" >> $LOG_FILE
 			fi
 		fi
@@ -220,16 +220,27 @@ then
 	#
 	if [ $OUTPUT_MODE == none ]
 	then
-		if [ $IO_PRESENT == yes ]
+		if [ $USE_IO == yes ]
 		then
-			# If PX4IO present, use it as primary PWM output by default
 			set OUTPUT_MODE io
 		else
-			# Else use PX4FMU PWM output
 			set OUTPUT_MODE fmu
 		fi
 	fi
 
+	if [ $OUTPUT_MODE == io -a $IO_PRESENT != yes ]
+	then
+		# Need IO for output but it not present, disable output
+		set OUTPUT_MODE none
+		echo "[init] ERROR: PX4IO not found, disabling output"
+		
+		# Avoid using ttyS0 for MAVLink on FMUv1
+		if hw_ver compare PX4FMU_V1
+		then
+			set FMU_MODE serial
+		fi
+	fi
+
 	if [ $HIL == yes ]
 	then
 		set OUTPUT_MODE hil
@@ -256,7 +267,7 @@ then
 			echo "[init] PX4IO started"
 			sh /etc/init.d/rc.io
 		else
-			echo "[init] PX4IO start error"
+			echo "[init] ERROR: PX4IO start failed"
 			tone_alarm $TUNE_OUT_ERROR
 		fi
 	fi
@@ -267,7 +278,7 @@ then
 		then
 			echo "[init] FMU mode_$FMU_MODE started"
 		else
-			echo "[init] FMU mode_$FMU_MODE start error"
+			echo "[init] ERROR: FMU mode_$FMU_MODE start failed"
 			tone_alarm $TUNE_OUT_ERROR
 		fi
 		
@@ -300,7 +311,7 @@ then
 		then
 			echo "[init] MKBLCTRL started"
 		else
-			echo "[init] MKBLCTRL start error"
+			echo "[init] ERROR: MKBLCTRL start failed"
 			tone_alarm $TUNE_OUT_ERROR
 		fi
 		
@@ -312,7 +323,7 @@ then
 		then
 			echo "[init] HIL output started"
 		else
-			echo "[init] HIL output error"
+			echo "[init] ERROR: HIL output start failed"
 			tone_alarm $TUNE_OUT_ERROR
 		fi
 	fi
@@ -329,7 +340,7 @@ then
 				echo "[init] PX4IO started"
 				sh /etc/init.d/rc.io
 			else
-				echo "[init] PX4IO start error"
+				echo "[init] ERROR: PX4IO start failed"
 				tone_alarm $TUNE_OUT_ERROR
 			fi
 		fi
@@ -340,13 +351,17 @@ then
 			then
 				echo "[init] FMU mode_$FMU_MODE started"
 			else
-				echo "[init] FMU mode_$FMU_MODE start error"
+				echo "[init] ERROR: FMU mode_$FMU_MODE start failed"
 				tone_alarm $TUNE_OUT_ERROR
 			fi
 
 			if hw_ver compare PX4FMU_V1
 			then
-				if [ $FMU_MODE == pwm -o $FMU_MODE == gpio -o $FMU_MODE == pwm_gpio ]
+				if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
+				then
+					set TTYS1_BUSY yes
+				fi
+				if [ $FMU_MODE == pwm_gpio ]
 				then
 					set TTYS1_BUSY yes
 				fi
@@ -401,14 +416,22 @@ then
 	then
 		echo "[init] Vehicle type: FIXED WING"
 		
-		if [ $FRAME_GEOMETRY == none ]
+		if [ $MIXER == none ]
 		then
-			# Set default frame geometry for fixed wing
+			# Set default mixer for fixed wing if not defined
-			set FRAME_GEOMETRY AERT
+			set MIXER FMU_AERT
 		fi
 		
+		if [ $MAV_TYPE == none ]
+		then
+			# Use MAV_TYPE = 1 (fixed wing) if not defined
+			set MAV_TYPE 1
+		fi
+		
+		param set MAV_TYPE $MAV_TYPE
+		
 		# Load mixer and configure outputs
-		sh /etc/init.d/rc.fw_interface
+		sh /etc/init.d/rc.interface
 		
 		# Start standard fixedwing apps
 		sh /etc/init.d/rc.fw_apps
@@ -421,14 +444,36 @@ then
 	then
 		echo "[init] Vehicle type: MULTICOPTER"
 
-		if [ $FRAME_GEOMETRY == none ]
+		if [ $MIXER == none ]
 		then
-			# Set default frame geometry for multicopter
+			# Set default mixer for multicopter if not defined
-			set FRAME_GEOMETRY quad_x
+			set MIXER quad_x
 		fi
 
+		if [ $MAV_TYPE == none ]
+		then
+			# Use MAV_TYPE = 2 (quadcopter) if not defined
+			set MAV_TYPE 2
+			
+			# Use mixer to detect vehicle type
+			if [ $MIXER == FMU_hex_x -o $MIXER == FMU_hex_+ ]
+			then
+				param set MAV_TYPE 13
+			fi
+			if [ $MIXER == FMU_octo_x -o $MIXER == FMU_octo_+ ]
+			then
+				param set MAV_TYPE 14
+			fi
+			if [ $MIXER == FMU_octo_cox ]
+			then
+				param set MAV_TYPE 14
+			fi
+		fi
+
+	    param set MAV_TYPE $MAV_TYPE
+		
 		# Load mixer and configure outputs
-		sh /etc/init.d/rc.mc_interface
+		sh /etc/init.d/rc.interface
 		
 		# Start standard multicopter apps
 		sh /etc/init.d/rc.mc_apps
@@ -441,8 +486,8 @@ then
 	then
 		echo "[init] Vehicle type: GENERIC"
 
-		attitude_estimator_ekf start
+		# Load mixer and configure outputs
-		position_estimator_inav start
+		sh /etc/init.d/rc.interface
 	fi
 
 	# Start any custom addons