Move UART mapping comments back to top level rcS script. Deprecate PWM_ACHDIS and replace with PWM_AUX_OUT and set PWM_AUX_DIS value directly in vtol airframe config files. Replace tone_alarm instances with tune_control and default tune enums, and relocate an OUTPUT_MODE == fmu logic block in rcS.

ROMFS/px4fmu_common/init.d/13000_generic_vtol_standard

@@ -24,14 +24,13 @@ if [ $AUTOCNF == yes ]
 then
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
+	param set PWM_AUX_DIS5 950
 fi
 
+set MAV_TYPE 22
+
 set MIXER quad_x
+set MIXER_AUX vtol_AAERT
+
 set PWM_OUT 1234
 set PWM_RATE 400
-
-set MIXER_AUX vtol_AAERT
-set PWM_ACHDIS 5
-set PWM_AUX_DISARMED 950
-
-set MAV_TYPE 22

ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad

@@ -59,14 +59,14 @@ then
 	param set VT_MOT_COUNT 4
 	param set VT_IDLE_PWM_MC 1080
 	param set VT_TYPE 2
+
+	param set PWM_AUX_DIS5 950
 fi
 
+set MAV_TYPE 22
+
 set MIXER quad_x
+set MIXER_AUX vtol_AAERT
+
 set PWM_OUT 1234
 set PWM_RATE 400
-
-set MIXER_AUX vtol_AAERT
-set PWM_ACHDIS 5
-set PWM_AUX_DISARMED 950
-
-set MAV_TYPE 22

ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta

@@ -49,14 +49,14 @@ then
 	param set VT_MOT_COUNT 4
 	param set VT_IDLE_PWM_MC 1080
 	param set VT_TYPE 2
+
+	param set PWM_AUX_DIS3 950
 fi
 
+set MAV_TYPE 22
+
 set MIXER quad_x
+set MIXER_AUX vtol_delta
+
 set PWM_OUT 1234
 set PWM_RATE 400
-
-set MIXER_AUX vtol_delta
-set PWM_ACHDIS 3
-set PWM_AUX_DISARMED 950
-
-set MAV_TYPE 22

ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad

@@ -37,14 +37,14 @@ then
 	param set VT_MOT_COUNT 4
 	param set VT_IDLE_PWM_MC 1080
 	param set VT_TYPE 2
+
+	param set PWM_AUX_DIS5 950
 fi
 
+set MAV_TYPE 22
+
 set MIXER quad_x
+set MIXER_AUX vtol_AAVVT
+
 set PWM_OUT 1234
 set PWM_RATE 400
-
-set MIXER_AUX vtol_AAVVT
-set PWM_ACHDIS 5
-set PWM_AUX_DISARMED 950
-
-set MAV_TYPE 22

ROMFS/px4fmu_common/init.d/13008_QuadRanger

@@ -57,14 +57,14 @@ then
 	param set VT_MOT_COUNT 4
 	param set VT_IDLE_PWM_MC 1080
 	param set VT_TYPE 2
+
+	param set PWM_AUX_DIS5 950
 fi
 
+set MAV_TYPE 22
+
 set MIXER quad_x
+set MIXER_AUX vtol_AAERT
+
 set PWM_OUT 1234
 set PWM_RATE 400
-
-set MIXER_AUX vtol_AAERT
-set PWM_ACHDIS 5
-set PWM_AUX_DISARMED 950
-
-set MAV_TYPE 22

ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger

@@ -74,14 +74,14 @@ then
 	param set PWM_AUX_REV2    1
 	param set PWM_AUX_REV3    1
 	param set PWM_AUX_REV4    1
+
+	param set PWM_AUX_DIS5 950
 fi
 
+set MAV_TYPE 22
+
 set MIXER quad_x
+set MIXER_AUX vtol_AAERT
+
 set PWM_OUT 1234
 set PWM_RATE 400
-
-set MIXER_AUX vtol_AAERT
-set PWM_ACHDIS 5
-set PWM_AUX_DISARMED 950
-
-set MAV_TYPE 22

ROMFS/px4fmu_common/init.d/13010_claire

@@ -25,16 +25,17 @@ param set VT_IDLE_PWM_MC 1080
 	param set VT_TYPE 1
 fi
 
+set MAV_TYPE 21
+
 set MIXER claire
+set MIXER_AUX claire
+
 set PWM_OUT 1234
 set PWM_RATE 400
 set PWM_MAX 2000
 
-set MIXER_AUX claire
 set PWM_AUX_RATE 50
 set PWM_AUX_RATE 123
 set PWM_AUX_MIN 1000
 set PWM_AUX_MAX 2000
 set PWM_AUX_DISARMED 1000
-
-set MAV_TYPE 21

ROMFS/px4fmu_common/init.d/13012_convergence

@@ -75,8 +75,9 @@ then
 	param set SENS_BOARD_ROT 8
 fi
 
+set MAV_TYPE 21
+
 set MIXER vtol_convergence
+
 set PWM_OUT 1234
 set PWM_RATE 400
-
-set MAV_TYPE 21

ROMFS/px4fmu_common/init.d/13013_deltaquad

@@ -131,7 +131,6 @@ then
 	param set MIS_DIST_WPS 100000
 	param set MIS_TAKEOFF_ALT 15
 
-
 	param set NAV_DLL_ACT 0
 	param set NAV_LOITER_RAD 100
 
@@ -139,17 +138,18 @@ then
 	param set SENS_BOARD_ROT 18
 fi
 
-set MIXER deltaquad
-set PWM_OUT 1234
-set PWM_RATE 400
-
 param set PWM_MAIN_DIS5 1500
 param set PWM_MAIN_DIS6 1500
 param set PWM_MAIN_DIS7 900
 param set PWM_MAIN_DIS8 900
 
+set MAV_TYPE 22
+
+set MIXER deltaquad
 set MIXER_AUX pass
+
+set PWM_OUT 1234
+set PWM_RATE 400
+
 set PWM_AUX_OUT 12345
 set PWM_AUX_DISARMED 950
-
-set MAV_TYPE 22

ROMFS/px4fmu_common/init.d/rc.interface

@@ -166,23 +166,6 @@ then
 			fi
 		fi
 
-		#
-		# Set disarmed values for aux out.
-		# Transitional support until all configs are updated.
-		#
-		if [ $PWM_ACHDIS == none ]
-		then
-			set PWM_ACHDIS ${PWM_AUX_OUT}
-		fi
-
-		#
-		# Set disarmed, min and max PWM_AUX values.
-		#
-		if [ $PWM_AUX_DISARMED != none -a $PWM_ACHDIS != none ]
-		then
-			pwm disarmed -c ${PWM_ACHDIS} -p ${PWM_AUX_DISARMED} -d ${OUTPUT_AUX_DEV}
-		fi
-
 		#
 		# Per channel disarmed settings.
 		#

ROMFS/px4fmu_common/init.d/rc.mavlink

@@ -6,37 +6,6 @@
 #
 # NOTE: Normal mode uses baud rate of 57600 (default) and data rate of 1000 bytes/s.
 #
-#------------------------------------------------------------------------------
-#
-# UART mapping on FMUv2/3/4:
-#
-# UART1         /dev/ttyS0      IO debug (except v4, there ttyS0 is the wifi)
-# USART2        /dev/ttyS1      TELEM1 (flow control)
-# USART3        /dev/ttyS2      TELEM2 (flow control)
-# UART4
-# UART7                         CONSOLE
-# UART8                         SERIAL4
-#
-#------------------------------------------------------------------------------
-#
-# UART mapping on FMUv5:
-#
-# UART1         /dev/ttyS0      GPS
-# USART2        /dev/ttyS1      TELEM1 (flow control)
-# USART3        /dev/ttyS2      TELEM2 (flow control)
-# UART4         /dev/ttyS3      TELEM4
-# USART6        /dev/ttyS4      TELEM3 (flow control)
-# UART7         /dev/ttyS5
-# UART8         /dev/ttyS6      CONSOLE
-#
-#------------------------------------------------------------------------------
-#
-# UART mapping on OMNIBUSF4SD:
-#
-# USART1        /dev/ttyS0      SerialRX
-# USART4        /dev/ttyS1      TELEM1
-# USART6        /dev/ttyS2      GPS
-#
 
 ###############################################################################
 #               Begin Setup for board specific configurations.                #

ROMFS/px4fmu_common/init.d/rcS

@@ -13,6 +13,37 @@ set +e
 #
 # NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
 #
+#------------------------------------------------------------------------------
+#
+# UART mapping on FMUv2/3/4:
+#
+# UART1         /dev/ttyS0      IO debug (except v4, there ttyS0 is the wifi)
+# USART2        /dev/ttyS1      TELEM1 (flow control)
+# USART3        /dev/ttyS2      TELEM2 (flow control)
+# UART4
+# UART7                         CONSOLE
+# UART8                         SERIAL4
+#
+#------------------------------------------------------------------------------
+#
+# UART mapping on FMUv5:
+#
+# UART1         /dev/ttyS0      GPS
+# USART2        /dev/ttyS1      TELEM1 (flow control)
+# USART3        /dev/ttyS2      TELEM2 (flow control)
+# UART4         /dev/ttyS3      TELEM4
+# USART6        /dev/ttyS4      TELEM3 (flow control)
+# UART7         /dev/ttyS5
+# UART8         /dev/ttyS6      CONSOLE
+#
+#------------------------------------------------------------------------------
+#
+# UART mapping on OMNIBUSF4SD:
+#
+# USART1        /dev/ttyS0      SerialRX
+# USART4        /dev/ttyS1      TELEM1
+# USART6        /dev/ttyS2      GPS
+#
 
 #
 # Set default paramter values
@@ -38,7 +69,6 @@ set MK_MODE                     none
 set MKBLCTRL_ARG                ""
 set OUTPUT_MODE                 none
 set PARAM_FILE                  /fs/microsd/params
-set PWM_ACHDIS                  none
 set PWM_AUX_DISARMED            p:PWM_AUX_DISARMED
 set PWM_AUX_MAX                 p:PWM_AUX_MAX
 set PWM_AUX_MIN                 p:PWM_AUX_MIN
@@ -49,7 +79,6 @@ set PWM_MAX                     p:PWM_MAX
 set PWM_MIN                     p:PWM_MIN
 set PWM_OUT                     none
 set PWM_RATE                    p:PWM_RATE
-set TUNE_ERR                    "ML<<CP4CP4CP4CP4CP4"
 set USE_IO                      no
 set VEHICLE_TYPE                none
 
@@ -76,7 +105,9 @@ if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
 	if hardfault_log check
 	then
-		tone_alarm error
+		# Error tune.
+		tune_control play -t 2
+
 		if hardfault_log commit
 		then
 			hardfault_log reset
@@ -92,7 +123,7 @@ else
 			echo "INFO [init] card formatted"
 		else
 			echo "ERROR [init] format failed"
-			tone_alarm MNBG
+			tune_control play -m MNBG
 			set LOG_FILE /dev/null
 		fi
 	else
@@ -107,8 +138,8 @@ else
 	# Run no SD alarm.
 	if [ $LOG_FILE == /dev/null ]
 	then
-		# Play SOS.
+		# Error tune.
-		tone_alarm error
+		tune_control play -t 2
 	fi
 fi
 
@@ -131,7 +162,7 @@ else
 	tone_alarm start
 
 	#
-	# play startup tone.
+	# Play startup tone.
 	#
 	tune_control play -t 1
 
@@ -316,7 +347,7 @@ else
 		then
 			set IO_PRESENT yes
 		else
-			tone_alarm MLL32CP8MB
+			tune_control play -m MLL32CP8MB
 
 			if px4io start
 			then
@@ -336,16 +367,18 @@ else
 				if px4io checkcrc ${IO_FILE}
 				then
 					echo "PX4IO CRC OK after updating" >> $LOG_FILE
-					tone_alarm MLL8CDE
+					tune_control play -m MLL8CDE
 
 					set IO_PRESENT yes
 				else
 					echo "PX4IO update failed" >> $LOG_FILE
-					tone_alarm ${TUNE_ERR}
+					# Error tune.
+					tune_control play -t 2
 				fi
 			else
 				echo "PX4IO update failed" >> $LOG_FILE
-				tune_control play -m ${TUNE_ERR}
+				# Error tune.
+				tune_control play -t 2
 			fi
 		fi
 	fi
@@ -361,7 +394,8 @@ else
 	if [ $USE_IO == yes -a $IO_PRESENT == no ]
 	then
 		echo "PX4IO not found" >> $LOG_FILE
-		tune_control play -m ${TUNE_ERR}
+		# Error tune.
+		tune_control play -t 2
 	fi
 
 	#
@@ -429,7 +463,8 @@ else
 				fi
 			fi
 		else
-			tone_alarm ${TUNE_ERR}
+			# Error tune.
+			tune_control play -t 2
 		fi
 	fi
 
@@ -475,7 +510,8 @@ else
 			if mkblctrl $MKBLCTRL_ARG
 			then
 			else
-				tune_control play -m ${TUNE_ERR}
+				# Error tune.
+				tune_control play -t 2
 			fi
 		fi
 
@@ -484,7 +520,8 @@ else
 			if pwm_out_sim start
 			then
 			else
-				tune_control play -m ${TUNE_ERR}
+				# Error tune.
+				tune_control play -t 2
 			fi
 		fi
 
@@ -499,7 +536,8 @@ else
 			then
 			else
 				echo "FMU start failed" >> $LOG_FILE
-				tune_control play -m ${TUNE_ERR}
+				# Error tune.
+				tune_control play -t 2
 			fi
 		fi
 
@@ -524,7 +562,8 @@ else
 				then
 				else
 					echo "FMU mode_${FMU_MODE} start failed" >> $LOG_FILE
-					tune_control play -m ${TUNE_ERR}
+					# Error tune.
+					tune_control play -t 2
 				fi
 			fi
 		fi
@@ -612,7 +651,6 @@ unset MKBLCTRL_ARG
 unset OUTPUT_DEV
 unset OUTPUT_MODE
 unset PARAM_FILE
-unset PWM_ACHDIS
 unset PWM_AUX_DISARMED
 unset PWM_AUX_MAX
 unset PWM_AUX_MIN
@@ -623,7 +661,6 @@ unset PWM_RATE
 unset PWM_DISARMED
 unset PWM_MAX
 unset PWM_MIN
-unset TUNE_ERR
 unset USE_IO
 unset VEHICLE_TYPE