From d9f75a751b72c266ef68de4e1b7c56fafe1c8d5a Mon Sep 17 00:00:00 2001
From: Simon Wilks <sjwilks@gmail.com>
Date: Sat, 28 Dec 2013 08:56:58 +0100
Subject: [PATCH 1/2] Startup script for Wing Wing (Z-84)

---
 ROMFS/px4fmu_common/init.d/33_io_wingwing | 91 +++++++++++++++++++++++
 ROMFS/px4fmu_common/init.d/rcS            |  6 ++
 2 files changed, 97 insertions(+)
 create mode 100644 ROMFS/px4fmu_common/init.d/33_io_wingwing

diff --git a/ROMFS/px4fmu_common/init.d/33_io_wingwing b/ROMFS/px4fmu_common/init.d/33_io_wingwing
new file mode 100644
index 0000000000..fd709ec864
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/33_io_wingwing
@@ -0,0 +1,91 @@
+#!nsh
+
+echo "[init] PX4FMU v1, v2 with or without IO on the Wing Wing (aka Z-84)"
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+   # Set all params here, then disable autoconfig
+   param set FW_AIRSPD_MIN 7
+   param set FW_AIRSPD_TRIM 9
+   param set FW_AIRSPD_MAX 14
+   param set FW_P_D 0
+   param set FW_P_I 0
+   param set FW_P_IMAX 15
+   param set FW_P_LIM_MAX 30
+   param set FW_P_LIM_MIN -20
+   param set FW_P_P 30
+   param set FW_P_RMAX_NEG 0
+   param set FW_P_RMAX_POS 0
+   param set FW_P_ROLLFF 2
+   param set FW_R_D 0
+   param set FW_R_I 5
+   param set FW_R_IMAX 20
+   param set FW_R_P 60
+   param set FW_R_RMAX 60
+   param set FW_THR_CRUISE 0.65
+   param set FW_THR_MAX 0.7
+   param set FW_THR_MIN 0
+   param set FW_T_SINK_MAX 5.0
+   param set FW_T_SINK_MIN 2.0
+   param set FW_T_TIME_CONST 4
+   param set FW_Y_ROLLFF 2.0
+   param set FW_L1_PERIOD 25.0
+   param set RC_SCALE_ROLL 1.0
+   param set RC_SCALE_PITCH 1.0
+
+   param set SYS_AUTOCONFIG 0
+   param save
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing
+#
+param set MAV_TYPE 1
+
+set EXIT_ON_END no
+
+#
+# Start and configure PX4IO or FMU interface
+#
+if px4io detect
+then
+   # Start MAVLink (depends on orb)
+   mavlink start
+
+   sh /etc/init.d/rc.io
+   # Limit to 100 Hz updates and (implicit) 50 Hz PWM
+   px4io limit 100
+else
+   # Start MAVLink (on UART1 / ttyS0)
+   mavlink start -d /dev/ttyS0
+
+   fmu mode_pwm
+   param set BAT_V_SCALING 0.004593
+   set EXIT_ON_END yes
+fi
+
+#
+# Load mixer and start controllers (depends on px4io)
+#
+if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ]
+then
+   echo "Using /fs/microsd/etc/mixers/FMU_Q.mix"
+   mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix
+else
+   echo "Using /etc/mixers/FMU_Q.mix"
+   mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
+fi
+
+#
+# Start common fixedwing apps
+#
+sh /etc/init.d/rc.fixedwing
+
+if [ $EXIT_ON_END == yes ]
+then
+   exit
+fi
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 06102b707e..3408b4ad53 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -321,6 +321,12 @@ then
 		set MODE custom
 	fi
 
+	if param compare SYS_AUTOSTART 33
+	then
+		sh /etc/init.d/32_io_wingwing
+		set MODE custom
+	fi
+
 	if param compare SYS_AUTOSTART 40
 	then
 		sh /etc/init.d/40_io_segway

From f17538a7f356b9db257ca6f36b8f76c47eafa328 Mon Sep 17 00:00:00 2001
From: Simon Wilks <sjwilks@gmail.com>
Date: Sat, 28 Dec 2013 09:03:42 +0100
Subject: [PATCH 2/2] Updated parameters to latest flight tested values

---
 ROMFS/px4fmu_common/init.d/33_io_wingwing | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/33_io_wingwing b/ROMFS/px4fmu_common/init.d/33_io_wingwing
index fd709ec864..538c69711d 100644
--- a/ROMFS/px4fmu_common/init.d/33_io_wingwing
+++ b/ROMFS/px4fmu_common/init.d/33_io_wingwing
@@ -11,9 +11,10 @@ then
    param set FW_AIRSPD_MIN 7
    param set FW_AIRSPD_TRIM 9
    param set FW_AIRSPD_MAX 14
+   param set FW_L1_PERIOD 10
    param set FW_P_D 0
    param set FW_P_I 0
-   param set FW_P_IMAX 15
+   param set FW_P_IMAX 20
    param set FW_P_LIM_MAX 30
    param set FW_P_LIM_MIN -20
    param set FW_P_P 30
@@ -28,11 +29,10 @@ then
    param set FW_THR_CRUISE 0.65
    param set FW_THR_MAX 0.7
    param set FW_THR_MIN 0
-   param set FW_T_SINK_MAX 5.0
-   param set FW_T_SINK_MIN 2.0
-   param set FW_T_TIME_CONST 4
+   param set FW_T_SINK_MAX 5
+   param set FW_T_SINK_MIN 2
+   param set FW_T_TIME_CONST 9
    param set FW_Y_ROLLFF 2.0
-   param set FW_L1_PERIOD 25.0
    param set RC_SCALE_ROLL 1.0
    param set RC_SCALE_PITCH 1.0