Added TBS script

ROMFS/px4fmu_common/init.d/10_io_f330

@@ -1,12 +1,17 @@
 #!nsh
 #
-# Flight startup script for PX4FMU+PX4IO
+# Flight startup script for PX4FMU+PX4IO on an F330 quad.
 #
  
 # disable USB and autostart
 set USB no
 set MODE custom
 
+#
+# Start the ORB (first app to start)
+#
+uorb start
+
 #
 # Load default params for this platform
 #
@@ -49,7 +54,7 @@ usleep 5000
 # Start the commander (depends on orb, mavlink)
 #
 commander start
- 
+
 #
 # Start PX4IO interface (depends on orb, commander)
 #

ROMFS/px4fmu_common/init.d/15_io_tbs

@@ -0,0 +1,138 @@
+#!nsh
+#
+# Flight startup script for PX4FMU+PX4IO on a Team Blacksheep Discovery quad
+# with stock DJI ESCs, motors and props.
+#
+ 
+# disable USB and autostart
+set USB no
+set MODE custom
+
+#
+# Start the ORB (first app to start)
+#
+uorb start
+
+#
+# Load microSD params
+#
+echo "[init] loading microSD params"
+param select /fs/microsd/params
+if [ -f /fs/microsd/params ]
+then
+	param load /fs/microsd/params
+fi
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	param set SYS_AUTOCONFIG 0
+
+	param set MC_ATTRATE_D	         0.006
+	param set MC_ATTRATE_I	         0.0
+	param set MC_ATTRATE_P	         0.17
+	param set MC_ATT_D	         0.0
+	param set MC_ATT_I	         0.0
+	param set MC_ATT_P	         5.0
+	param set MC_RCLOSS_THR	         0.0
+	param set MC_YAWPOS_D	         0.0
+	param set MC_YAWPOS_I	         0.15
+	param set MC_YAWPOS_P	         0.5
+	param set MC_YAWRATE_D	         0.0
+	param set MC_YAWRATE_I	         0.0
+	param set MC_YAWRATE_P	         0.2
+
+	param save /fs/microsd/params
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 2
+ 
+#
+# Start MAVLink (depends on orb)
+#
+mavlink start
+usleep 5000
+
+#
+# Start the commander (depends on orb, mavlink)
+#
+commander start
+
+#
+# Start PX4IO interface (depends on orb, commander)
+#
+px4io start
+pwm -u 400 -m 0xff
+ 
+#
+# Allow PX4IO to recover from midair restarts.
+# This is very unlikely, but quite safe and robust.
+px4io recovery
+
+#
+# This sets a PWM right after startup (regardless of safety button)
+#
+px4io idle 900 900 900 900
+
+#
+# The values are for spinning motors when armed using DJI ESCs
+#
+px4io min 1180 1180 1180 1180
+
+#
+# Upper limits could be higher, this is on the safe side
+#
+px4io max 1800 1800 1800 1800
+
+#
+# Load the mixer for a quad with wide arms
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix
+ 
+#
+# Start the sensors (depends on orb, px4io)
+#
+sh /etc/init.d/rc.sensors
+ 
+#
+# Start GPS interface (depends on orb)
+#
+gps start
+ 
+#
+# Start the attitude estimator (depends on orb)
+#
+attitude_estimator_ekf start
+
+#
+# Start the controllers (depends on orb)
+#
+multirotor_att_control start
+
+#
+# Disable px4io topic limiting and start logging
+#
+if [ $BOARD == fmuv1 ]
+then
+	px4io limit 200
+	sdlog2 start -r 50 -a -b 16
+	if blinkm start
+	then
+		blinkm systemstate
+	fi
+else
+	px4io limit 400
+	sdlog2 start -r 200 -a -b 16
+	if rgbled start
+	then
+		#rgbled systemstate
+	fi
+fi

ROMFS/px4fmu_common/init.d/rcS

@@ -150,6 +150,11 @@ then
 	sh /etc/init.d/10_io_f330
 fi
 
+if param compare SYS_AUTOSTART 15
+then
+	sh /etc/init.d/15_io_tbs
+fi
+
 if param compare SYS_AUTOSTART 30
 then
 	sh /etc/init.d/30_io_camflyer