[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
 
-
-param set-default PWM_AUX_DIS5 950
-param set-default PWM_MAIN_RATE 400
+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
-set MAV_TYPE 22
 
-set MIXER quad_x
+# MAIN set by rc.mc_quad_defaults
+
+# AUX
 set MIXER_AUX vtol_AAERT
-
-set PWM_OUT 1234
+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

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

@@ -18,8 +18,7 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
-param set-default MAV_TYPE 19
+set 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
 
-
-param set-default PWM_AUX_DIS5 950
-
-param set-default PWM_MAIN_RATE 400
+set MAV_TYPE 22
 
 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
-
-set PWM_OUT 1234
+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

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
-
-set PWM_OUT 1234
+param set-default PWM_AUX_DIS1 1500
+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
-
-set PWM_OUT 1234
+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

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
-
-set PWM_OUT 1234
+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

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
 
-
-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
+set MAV_TYPE 21
 
 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
-
-set PWM_OUT 1234
+param set-default PWM_MAIN_DIS1 1000 # tilt
+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
-# or D-Shot
-set PWM_OUT 5678
+param set-default PWM_MAIN_MAX5 1900
+param set-default PWM_MAIN_MAX6 1900
+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
 
-
-param set-default PWM_AUX_DIS5 950
-param set-default PWM_MAIN_RATE 400
+set MAV_TYPE 22
 
 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
-
-set PWM_OUT 12345678
+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

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).
-# Throttle is in the same group as servos.
+param set-default PWM_MAIN_DIS3 900

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
-set PWM_OUT 4
+# Provide ESC a constant 1000 us pulse while disarmed
+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.
-set PWM_OUT 4
+# Provide ESC a constant 1000 us pulse while disarmed
+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

ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod

@@ -80,10 +80,8 @@ param set-default FW_RR_P 0.05
 # Roll Integrator Anti-Windup
 param set-default FW_RR_IMAX 0.2
 
-param set-default PWM_MAIN_DISARM 1000
-
 
 set MIXER fw_generic_wing.main.mix
 
 # Provide ESC a constant 1000 us pulse
-set PWM_OUT 4
+param set-default PWM_MAIN_DIS4 1000

ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha

@@ -21,7 +21,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-
 param set-default FW_AIRSPD_MAX 25
 param set-default FW_AIRSPD_MIN 12.5
 param set-default FW_AIRSPD_TRIM 16.5
@@ -60,9 +59,7 @@ param set-default NAV_LOITER_RAD 30
 
 param set-default PWM_MAIN_REV1 1
 param set-default PWM_MAIN_REV2 1
-param set-default PWM_MAIN_MIN 900
-param set-default PWM_MAIN_MAX 2100
-
+# Provide ESC a constant 1000 us pulse
+param set-default PWM_MAIN_DIS4 1000
 
 set MIXER caipi
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/4001_quad_x

@@ -20,8 +20,4 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-
-set PWM_OUT 1234
+. ${R}etc/init.d/rc.mc_quad_defaults

ROMFS/px4fmu_common/init.d/airframes/4003_qavr5

@@ -11,11 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 param set-default MC_ROLL_P 8
 param set-default MC_ROLLRATE_P 0.08
@@ -32,5 +28,3 @@ param set-default MC_YAWRATE_D 0
 
 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/4009_qav250

@@ -11,11 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 param set-default ATT_BIAS_MAX 0
 
@@ -35,5 +31,3 @@ param set-default MC_YAWRATE_P 0.3
 param set-default MC_YAWRATE_I 0.2
 param set-default MC_YAWRATE_D 0
 param set-default MPC_THR_MIN 0.06
-
-param set-default PWM_MAIN_MIN 1075

ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330

@@ -8,10 +8,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.15
@@ -25,6 +22,3 @@ param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.2
 param set-default MC_YAWRATE_I 0.1
 param set-default MC_YAWRATE_D 0
-
-# DJI ESCs do not support calibration and need a higher min
-param set-default PWM_MAIN_MIN 1230

ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450

@@ -8,10 +8,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.15
@@ -25,6 +22,3 @@ param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.3
 param set-default MC_YAWRATE_I 0.1
 param set-default MC_YAWRATE_D 0
-
-# DJI ESCs do not support calibration and need a higher min
-param set-default PWM_MAIN_MIN 1230

ROMFS/px4fmu_common/init.d/airframes/4014_s500

@@ -11,11 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 param set-default MC_ROLLRATE_P 0.18
 param set-default MC_PITCHRATE_P 0.18

ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500

@@ -11,14 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
-
-param set-default IMU_GYRO_CUTOFF 30
-param set-default IMU_DGYRO_CUTOFF 30
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 param set-default MC_ROLLRATE_P 0.14
 param set-default MC_PITCHRATE_P 0.14

ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision

@@ -14,11 +14,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 # System parameters
 # use FMU motor outputs for less delay in the rate control loop
@@ -102,12 +98,11 @@ param set-default MPC_LAND_ALT2 1
 # Navigator Parameters
 param set-default NAV_ACC_RAD 2
 
-# PWM and RC Parameters
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_MIN 1075
-
 # use oneshot motor output protocol
-param set-default PWM_MAIN_RATE 0
+param set-default PWM_MAIN_RATE1 0
+param set-default PWM_MAIN_RATE2 0
+param set-default PWM_MAIN_RATE3 0
+param set-default PWM_MAIN_RATE4 0
 
 # RTL Parameters
 param set-default RTL_DESCEND_ALT 5

ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames

@@ -16,10 +16,7 @@
 # @maintainer Iain Galloway <iain.galloway@nxp.com>
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 param set-default IMU_GYRO_CUTOFF 40
 param set-default IMU_DGYRO_CUTOFF 20

ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc

@@ -10,7 +10,7 @@
 # @board px4_fmu-v2 exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_quad_defaults
 . ${R}etc/init.d/rc.ctrlalloc
 
 
@@ -50,7 +50,5 @@ param set-default CA_MC_R3_CT 6.5
 param set-default CA_MC_R3_KM -0.05
 
 set MIXER direct
-set PWM_OUT 1234
 
 set MIXER_AUX direct_aux
-set PWM_AUX_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb

@@ -16,11 +16,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.1
@@ -34,5 +30,3 @@ param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.2
 param set-default MC_YAWRATE_I 0.1
 param set-default MC_YAWRATE_D 0
-
-param set-default PWM_MAIN_MIN 1200

ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo

@@ -16,15 +16,14 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 # tuning
 param set-default MC_PITCHRATE_P    0.11
 param set-default MC_ROLLRATE_P     0.11
 param set-default MPC_MANTHR_MIN    0.08
 param set-default MPC_XY_VEL_MAX    3
-param set-default MPC_Z_VEL_MAX_DN     2
+param set-default MPC_Z_VEL_MAX_DN  2
 
 # takeoff, land and RTL settings
 param set-default MIS_TAKEOFF_ALT   4
@@ -84,7 +83,3 @@ param set-default RC5_TRIM          1500
 param set-default MAV_0_RATE 80000
 param set-default MAV_0_MODE 2
 param set-default SER_TEL1_BAUD 921600
-set MIXER quad_x
-
-set PWM_OUT 1234
-set MIXER_AUX none

ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad

@@ -11,11 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.14

ROMFS/px4fmu_common/init.d/airframes/4040_reaper

@@ -18,8 +18,9 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_quad_defaults
 
+set MIXER quad_h
 
 param set-default MC_ROLL_P 6.5
 param set-default MC_ROLLRATE_P 0.14
@@ -33,19 +34,5 @@ param set-default MC_YAW_P 4
 
 param set-default NAV_ACC_RAD 2
 
-param set-default PWM_AUX_DISARM 950
-param set-default PWM_AUX_RATE 50
-param set-default PWM_MAIN_MIN 1100
-param set-default PWM_MAIN_MAX 1900
-param set-default PWM_MAIN_RATE 50
-
 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
-
-set MIXER quad_h
-
-set PWM_OUT 1234
-
-set MIXER_AUX pass
-
-set PWM_AUX_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/4041_beta75x

@@ -23,6 +23,8 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+# The Whoop uses reversed props
+set MIXER quad_h
 
 param set-default CBRK_SUPPLY_CHK 894281
 param set-default CBRK_USB_CHK 197848
@@ -55,7 +57,3 @@ param set-default SYS_HAS_BARO 0
 param set-default SYS_HAS_MAG 0
 
 param set-default BAT_N_CELLS 2
-# The Whoop uses reversed props
-set MIXER quad_h
-set PWM_OUT 1234
-

ROMFS/px4fmu_common/init.d/airframes/4050_generic_250

@@ -10,11 +10,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 param set-default MC_ROLL_P 8
 param set-default MC_ROLLRATE_P 0.08
@@ -39,10 +35,6 @@ param set-default MPC_MAN_TILT_MAX 60
 # use thrust curve factor (instead of TPA)
 param set-default THR_MDL_FAC 0.3
 
-param set-default PWM_MAIN_MIN 1075
-# enable one-shot
-param set-default PWM_MAIN_RATE 0
-
 # enable high-rate logging profile (helps with tuning)
 param set-default SDLOG_PROFILE 19
 

ROMFS/px4fmu_common/init.d/airframes/4051_s250aq

@@ -20,14 +20,11 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 set MIXER quad_s250aq
 set MAV_TYPE 2
 
-set PWM_OUT 1234
-
-
 param set-default ATT_BIAS_MAX 0
 
 param set-default CBRK_IO_SAFETY 22027
@@ -52,5 +49,3 @@ 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/4052_holybro_qav250

@@ -13,11 +13,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 # The set does not include a battery, but most people will probably use 4S
 param set-default BAT_N_CELLS 4
@@ -48,8 +44,4 @@ param set-default MPC_THR_HOVER 0.25
 param set-default MPC_THR_MIN 0.05
 param set-default MPC_Z_VEL_I_ACC 1.7
 
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_MIN 1050
-
-param set-default PWM_MAIN_RATE 0
 param set-default THR_MDL_FAC 0.3

ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2

@@ -11,11 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 param set-default BAT_N_CELLS 4
 

ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100

@@ -11,11 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 param set-default BAT_N_CELLS 6
 
@@ -30,5 +26,3 @@ param set-default MC_PITCHRATE_D 0.001
 param set-default MC_YAWRATE_P 0.2
 param set-default MC_YAWRATE_I 0
 param set-default MC_YAWRATE_D 0
-
-param set-default PWM_MAIN_MIN 1200

ROMFS/px4fmu_common/init.d/airframes/4071_ifo

@@ -21,10 +21,7 @@
 # @board cuav_x7pro exclude
 #
 
-set VEHICLE_TYPE mc
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 # Attitude & rate gains
 #param set MC_ROLL_P 7
@@ -64,11 +61,11 @@ param set-default IMU_GYRO_CUTOFF 100
 #param set THR_MDL_FAC 0.25
 
 # System
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_MIN 1100
-param set-default PWM_MAIN_RATE 0
+param set-default PWM_MAIN_RATE1 0
+param set-default PWM_MAIN_RATE2 0
+param set-default PWM_MAIN_RATE3 0
+param set-default PWM_MAIN_RATE4 0
 
-#param set SYS_FMU_TASK 1
 param set-default SENS_BOARD_ROT 10
 
 # EKF2

ROMFS/px4fmu_common/init.d/airframes/4072_draco

@@ -20,11 +20,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 # use the Q attitude estimator, it works w/o mag or GPS.
 param set-default SYS_MC_EST_GROUP 3
@@ -65,11 +61,16 @@ param set-default MPC_THR_HOVER 0.25
 param set-default THR_MDL_FAC 0.3
 
 # System
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_MIN 1180
+param set-default PWM_MAIN_MIN1 1180
+param set-default PWM_MAIN_MIN2 1180
+param set-default PWM_MAIN_MIN3 1180
+param set-default PWM_MAIN_MIN4 1180
 
 # enable one-shot
-param set-default PWM_MAIN_RATE 0
+param set-default PWM_MAIN_RATE1 0
+param set-default PWM_MAIN_RATE2 0
+param set-default PWM_MAIN_RATE3 0
+param set-default PWM_MAIN_RATE4 0
 
 param set-default SENS_BOARD_ROT 2
 

ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s

@@ -21,10 +21,7 @@
 # @maintainer Hyon Lim <lim@uvify.com>
 #
 
-set VEHICLE_TYPE mc
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 # Attitude & rate gains
 #param set MC_ROLL_P 7
@@ -60,11 +57,6 @@ param set-default IMU_GYRO_CUTOFF 100
 # Thrust curve (avoids the need for TPA)
 #param set THR_MDL_FAC 0.25
 
-# Obsolete
-#param set PWM_MAIN_MAX 1950
-#param set PWM_MAIN_MIN 1100
-#param set PWM_MAIN_RATE 0
-
 # Sensors
 param set-default SENS_BOARD_ROT 10
 # Yaw 180

ROMFS/px4fmu_common/init.d/airframes/4080_zmr250

@@ -11,11 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 param set-default CBRK_IO_SAFETY 22027
 
@@ -37,9 +33,3 @@ param set-default MC_YAWRATE_D 0
 param set-default MC_ACRO_R_MAX 1000
 param set-default MC_ACRO_P_MAX 1000
 param set-default MC_ACRO_Y_MAX 1000
-
-# param set NAV_RCL_ACT 6 # Lockdown
-
-param set-default PWM_MAIN_MIN 1075
-param set-default PWM_MAIN_RATE 400
-param set-default PWM_MAIN_DISARM 900

ROMFS/px4fmu_common/init.d/airframes/4090_nanomind

@@ -18,8 +18,6 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
-set PWM_OUT 1234
-
 
 param set-default BAT_N_CELLS 1
 
@@ -36,6 +34,17 @@ param set-default MC_YAWRATE_P 0.2
 param set-default MC_YAWRATE_I 0.1
 param set-default MC_YAWRATE_D 0
 
-param set-default PWM_MAIN_DISARM 0
-param set-default PWM_MAIN_MIN 500
-param set-default PWM_MAIN_MAX 2200
+param set-default PWM_MAIN_DIS1 0
+param set-default PWM_MAIN_DIS2 0
+param set-default PWM_MAIN_DIS3 0
+param set-default PWM_MAIN_DIS4 0
+
+param set-default PWM_MAIN_MIN1 500
+param set-default PWM_MAIN_MIN2 500
+param set-default PWM_MAIN_MIN3 500
+param set-default PWM_MAIN_MIN4 500
+
+param set-default PWM_MAIN_MAX1 2200
+param set-default PWM_MAIN_MAX2 2200
+param set-default PWM_MAIN_MAX3 2200
+param set-default PWM_MAIN_MAX4 2200

ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor

@@ -27,12 +27,9 @@
 #Parameters here:
 param set LED_RGB_MAXBRT 8
 
-
 # Configure this as Quadrotor
 # set MAV_TYPE 14
 
 # Set mixer
 set MIXER tilt_quad
 set MIXER_AUX tilt_quad
-
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/4250_teal

@@ -20,16 +20,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-echo "Executing 4250_teal script."
-
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
-
-# First thing, reset all params to default... EXCEPT THIS LIST
-param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* CAL_MAG* SENS_BOARD* EKF2_MAGBIAS*
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 # battery
 param set-default BAT_CAPACITY 2750
@@ -44,10 +35,6 @@ param set-default BAT_V_DIV 11.1625
 param set-default BAT_V_EMPTY 3.65
 param set-default BAT_V_OFFS_CURR -0.0045
 
-# sensor calibration
-param set-default CAL_MAG_SIDES 63
-param set-default SENS_BOARD_ROT 0
-
 # circuit breakers
 param set-default CBRK_IO_SAFETY 22027
 param set-default CBRK_USB_CHK 197848
@@ -169,11 +156,21 @@ param set-default NAV_ACC_RAD 2.5
 param set-default NAV_RCL_ACT 1
 
 # pwm control
-param set-default PWM_MAIN_DISARM 900
-param set-default PWM_MAIN_MAX 1850
-param set-default PWM_MAIN_MIN 1075
+param set-default PWM_MAIN_MIN1 1075
+param set-default PWM_MAIN_MIN2 1075
+param set-default PWM_MAIN_MIN3 1075
+param set-default PWM_MAIN_MIN4 1075
+
+param set-default PWM_MAIN_MAX1 1850
+param set-default PWM_MAIN_MAX2 1850
+param set-default PWM_MAIN_MAX3 1850
+param set-default PWM_MAIN_MAX4 1850
+
 # Oneshot125
-param set-default PWM_MAIN_RATE 0
+param set-default PWM_MAIN_RATE1 0
+param set-default PWM_MAIN_RATE2 0
+param set-default PWM_MAIN_RATE3 0
+param set-default PWM_MAIN_RATE4 0
 
 # rtl
 param set-default RTL_DESCEND_ALT 5

ROMFS/px4fmu_common/init.d/airframes/4500_clover4

@@ -11,11 +11,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 param set-default MC_PITCHRATE_P 0.087
 param set-default MC_PITCHRATE_I 0.037
@@ -25,6 +21,7 @@ param set-default MC_ROLLRATE_P 0.087
 param set-default MC_ROLLRATE_I 0.037
 param set-default MC_ROLLRATE_D 0.0044
 param set-default MC_ROLL_P 8.5
+
 param set-default MPC_XY_VEL_P_ACC 2.2
 param set-default MPC_XY_VEL_D_ACC 0.26
 param set-default MPC_XY_P 1.1

ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie

@@ -17,7 +17,6 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x_cw
-set PWM_OUT 1234
 
 param set-default BAT_N_CELLS 1
 param set-default BAT_CAPACITY 240
@@ -58,21 +57,31 @@ param set-default MPC_MAX_FLOW_HGT 3
 
 param set-default NAV_RCL_ACT 3
 
-param set-default PWM_MAIN_DISARM 0
-param set-default PWM_MAIN_MIN 0
-param set-default PWM_MAIN_MAX 255
+param set-default PWM_MAIN_MIN1 0
+param set-default PWM_MAIN_MIN2 0
+param set-default PWM_MAIN_MIN3 0
+param set-default PWM_MAIN_MIN4 0
+
+param set-default PWM_MAIN_MAX1 255
+param set-default PWM_MAIN_MAX2 255
+param set-default PWM_MAIN_MAX3 255
+param set-default PWM_MAIN_MAX4 255
 
 # Run the motors at 328.125 kHz (recommended)
-param set-default PWM_MAIN_RATE 3921
+param set-default PWM_MAIN_RATE1 3921
+param set-default PWM_MAIN_RATE2 3921
+param set-default PWM_MAIN_RATE3 3921
+param set-default PWM_MAIN_RATE4 3921
+
+param set-default PWM_MAIN_DIS1 0
+param set-default PWM_MAIN_DIS2 0
+param set-default PWM_MAIN_DIS3 0
+param set-default PWM_MAIN_DIS4 0
 
 param set-default SDLOG_PROFILE 1
 
 param set-default SENS_FLOW_MINRNG 0.05
 
-set PWM_MAIN_DISARM none
-set PWM_MAIN_MAX none
-set PWM_MAIN_MIN none
-
 syslink start
 mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
 

ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21

@@ -17,7 +17,6 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x_cw
-set PWM_OUT 1234
 
 param set-default SYS_MC_EST_GROUP 2
 param set-default SYS_HAS_MAG 0
@@ -59,21 +58,30 @@ param set-default MPC_MAX_FLOW_HGT 3
 
 param set-default NAV_RCL_ACT 3
 
-param set-default PWM_MAIN_DISARM 0
-param set-default PWM_MAIN_MIN 20
-param set-default PWM_MAIN_MAX 255
+param set-default PWM_MAIN_MIN1 0
+param set-default PWM_MAIN_MIN2 0
+param set-default PWM_MAIN_MIN3 0
+param set-default PWM_MAIN_MIN4 0
+
+param set-default PWM_MAIN_MAX1 255
+param set-default PWM_MAIN_MAX2 255
+param set-default PWM_MAIN_MAX3 255
+param set-default PWM_MAIN_MAX4 255
 
 # Run the motors at 328.125 kHz (recommended)
-param set-default PWM_MAIN_RATE 3921
+param set-default PWM_MAIN_RATE1 3921
+param set-default PWM_MAIN_RATE2 3921
+param set-default PWM_MAIN_RATE3 3921
+param set-default PWM_MAIN_RATE4 3921
+
+param set-default PWM_MAIN_DIS1 0
+param set-default PWM_MAIN_DIS2 0
+param set-default PWM_MAIN_DIS3 0
+param set-default PWM_MAIN_DIS4 0
 
 param set-default SDLOG_PROFILE 1
 
 param set-default SENS_FLOW_MINRNG 0.05
 
-
-set PWM_MAIN_DISARM none
-set PWM_MAIN_MAX none
-set PWM_MAIN_MIN none
-
 syslink start
 mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000

ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle

@@ -15,7 +15,6 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
-
 param set-default BAT_N_CELLS 2
 
 param set-default EKF2_ANGERR_INIT 0.01
@@ -45,13 +44,10 @@ param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 
 # Provide ESC a constant 1500 us pulse
-param set-default PWM_MAIN_DISARM 1500
-param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_MIN 1000
+param set-default PWM_MAIN_DIS3 1500
+
 # Configure this as rover
 set MAV_TYPE 10
 
 # Set mixer
 set MIXER rover_generic
-
-set PWM_MAIN_REV2 1

ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover

@@ -18,7 +18,6 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
-
 param set-default BAT_N_CELLS 4
 
 param set-default EKF2_GBIAS_INIT 0.01
@@ -57,11 +56,8 @@ param set-default NAV_ACC_RAD 0.5
 
 # Provide ESC a constant 1500 us pulse, which corresponds to
 # idle on the Roboclaw motor controller on the Aion R1
-param set-default PWM_MAIN_DISARM 1500
 param set-default PWM_MAIN_DIS0 1500
 param set-default PWM_MAIN_DIS1 1500
-param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_MIN 1000
 
 # Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
@@ -83,5 +79,3 @@ set MAV_TYPE 10
 
 # Set mixer
 set MIXER generic_diff_rover
-
-set PWM_MAIN_REV2 1

ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx

@@ -20,7 +20,6 @@
 
 . ${R}etc/init.d/rc.rover_defaults
 
-
 param set-default BAT_N_CELLS 2
 
 param set-default EKF2_GBIAS_INIT 0.01
@@ -53,13 +52,12 @@ param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 
 # Provide ESC a constant 1500 us pulse to idle
-param set-default PWM_MAIN_DISARM 1500
 param set-default PWM_MAIN_DIS3 1485
 param set-default PWM_MAIN_DIS4 1485
+
 param set-default PWM_MAIN_FAIL3 1485
 param set-default PWM_MAIN_FAIL4 1485
-param set-default PWM_MAIN_MAX 2000
-param set-default PWM_MAIN_MIN 1000
+
 param set-default PWM_MAIN_MIN3 970
 param set-default PWM_MAIN_MIN4 970
 
@@ -71,5 +69,3 @@ set MAV_TYPE 10
 
 # Set mixer
 set MIXER rover_diff_and_servo
-
-set PWM_MAIN_REV2 1

ROMFS/px4fmu_common/init.d/airframes/5001_quad_+

@@ -22,8 +22,6 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_quad_defaults
 
 set MIXER quad_+
-
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic

@@ -13,7 +13,6 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
-
 #Set data link loss failsafe mode (0: disabled)
 param set-default NAV_DLL_ACT 0
 
@@ -22,6 +21,5 @@ param set-default CBRK_AIRSPD_CHK 162128
 
 #param set CBRK_GPSFAIL 240024
 set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
 
 set MIXER uuv_x

ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus

@@ -13,7 +13,6 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
-
 #Set data link loss failsafe mode (0: disabled)
 param set-default NAV_DLL_ACT 0
 
@@ -22,6 +21,5 @@ param set-default CBRK_AIRSPD_CHK 162128
 
 #param set CBRK_GPSFAIL 240024
 set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
 
 set MIXER uuv_x

ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy

@@ -22,7 +22,6 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
-
 #Set data link loss failsafe mode (0: disabled)
 param set-default NAV_DLL_ACT 0
 
@@ -41,7 +40,5 @@ param set-default BAT1_CAPACITY 18000
 param set-default BAT1_V_DIV 11.0
 param set-default BAT1_N_CELLS 4
 param set-default BAT_V_OFFS_CURR 0.33
-set PWM_OUT 12345678
-# set MIXER IO_pass
-set MIXER vectored6dof
 
+set MIXER vectored6dof

ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x

@@ -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_x
-
-# Need to set all 8 channels
-set PWM_OUT 12345678
+# MAIN set by rc.mc_hex_defaults

ROMFS/px4fmu_common/init.d/airframes/6002_draco_r

@@ -25,10 +25,7 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-set MIXER hexa_x
-set PWM_OUT 12345678
-
+. ${R}etc/init.d/rc.mc_hex_defaults
 
 ###############################################
 # Attitude & rate gains
@@ -80,12 +77,6 @@ param set-default IMU_GYRO_CUTOFF 100
 # Thrust curve (avoids the need for TPA)
 param set-default THR_MDL_FAC 0.25
 
-# System
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_MIN 1100
-param set-default PWM_MAIN_DIS5 980
-param set-default PWM_MAIN_DIS6 980
-
 # DSHOT
 param set-default DSHOT_CONFIG 600
 
@@ -112,9 +103,6 @@ param set-default SENS_FLOW_ROT 2
 param set-default CBRK_IO_SAFETY 22027
 param set-default COM_DISARM_LAND 3
 
-# PWM ONESHOT
-param set-default PWM_MAIN_RATE 0
-
 # Battery
 param set-default BAT_SOURCE 0
 param set-default BAT_N_CELLS 4
@@ -132,3 +120,6 @@ param set-default MAV_1_MODE 2
 param set-default MAV_1_FORWARD 1
 param set-default MAV_1_RATE 800000
 param set-default SER_TEL2_BAUD 921600
+
+
+# MAIN set by rc.mc_hex_defaults

ROMFS/px4fmu_common/init.d/airframes/6003_hexa_x_ctrlalloc

@@ -10,7 +10,7 @@
 # @board px4_fmu-v2 exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_hex_defaults
 . ${R}etc/init.d/rc.ctrlalloc
 
 
@@ -67,8 +67,8 @@ param set-default CA_MC_R5_PY -0.1375
 param set-default CA_MC_R5_CT 6.5
 param set-default CA_MC_R5_KM -0.05
 
+# MAIN
 set MIXER direct
-set PWM_OUT 123456
 
+# AUX
 set MIXER_AUX direct_aux
-set PWM_AUX_OUT 123456

ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+

@@ -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_+
-
-# Need to set all 8 channels
-set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/airframes/8001_octo_x

@@ -23,8 +23,6 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.mc_octo_defaults
 
-set MIXER octo_x
-
-set PWM_OUT 12345678
+# MAIN set by rc.mc_octo_defaults

ROMFS/px4fmu_common/init.d/airframes/9001_octo_+

@@ -23,8 +23,7 @@
 # @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_+
-
-set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/rc.airship_defaults

@@ -11,4 +11,3 @@ set VEHICLE_TYPE airship
 # This is the gimbal pass mixer.
 #
 set MIXER_AUX pass
-set PWM_AUX_OUT 1234

ROMFS/px4fmu_common/init.d/rc.boat_defaults

@@ -19,21 +19,7 @@ param set-default NAV_ACC_RAD 2
 # Temporary.
 param set-default NAV_FW_ALT_RAD 1000
 
-#
-# Enable servo output on pins 3 and 4 (steering and thrust)
-# but also include 1+2 as they form together one output group
-# and need to be set together.
-#
-set PWM_OUT 1234
-
-#
-# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
-# may damage analog servos.
-#
-set PWM_MAIN_RATE 50
-
 #
 # This is the gimbal pass mixer.
 #
 set MIXER_AUX pass
-set PWM_AUX_OUT 1234

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -45,8 +45,6 @@ param set-default MIS_DIST_WPS 5000
 param set-default MIS_LTRMIN_ALT 25
 param set-default MIS_TAKEOFF_ALT 25
 
-param set-default PWM_MAIN_RATE 50
-
 #
 # FW takeoff acceleration can easily exceed ublox GPS 2G default.
 #
@@ -56,6 +54,3 @@ param set-default GPS_UBX_DYNMODEL 8
 # This is the gimbal pass mixer.
 #
 set MIXER_AUX pass
-
-set PWM_AUX_RATE 50
-set PWM_AUX_OUT 1234

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -14,15 +14,4 @@ param set-default NAV_ACC_RAD 2
 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
 
-param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_MIN 1075
-param set-default PWM_MAIN_RATE 400
-
 param set-default GPS_UBX_DYNMODEL 6
-
-#
-# This is the gimbal pass mixer.
-#
-set MIXER_AUX pass
-
-set PWM_AUX_OUT 1234

ROMFS/px4fmu_common/init.d/rc.mc_hex_defaults

@@ -0,0 +1,38 @@
+#!/bin/sh
+#
+# Multicopter default parameters.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+# MAIN
+set MIXER hexa_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_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