From a5023329920d5ce45c5bf48ae61d621947cdb349 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Wed, 25 Dec 2013 15:10:24 +0100
Subject: [PATCH 01/20] Greatly robustified PPM parsing, needs cross-checking
 with receiver models

---
 src/drivers/stm32/drv_hrt.c        | 39 ++++++++++++++++++++++--------
 src/modules/systemlib/ppm_decode.h |  1 +
 2 files changed, 30 insertions(+), 10 deletions(-)

diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c
index f105251f0a..5bfbe04b8a 100644
--- a/src/drivers/stm32/drv_hrt.c
+++ b/src/drivers/stm32/drv_hrt.c
@@ -282,6 +282,10 @@ static void		hrt_call_invoke(void);
  * Note that we assume that M3 means STM32F1 (since we don't really care about the F2).
  */
 # ifdef CONFIG_ARCH_CORTEXM3
+#  undef GTIM_CCER_CC1NP
+#  undef GTIM_CCER_CC2NP
+#  undef GTIM_CCER_CC3NP
+#  undef GTIM_CCER_CC4NP
 #  define GTIM_CCER_CC1NP 0
 #  define GTIM_CCER_CC2NP 0
 #  define GTIM_CCER_CC3NP 0
@@ -332,10 +336,10 @@ static void		hrt_call_invoke(void);
 /*
  * PPM decoder tuning parameters
  */
-# define PPM_MAX_PULSE_WIDTH	550		/* maximum width of a valid pulse */
+# define PPM_MAX_PULSE_WIDTH	700		/* maximum width of a valid pulse */
 # define PPM_MIN_CHANNEL_VALUE	800		/* shortest valid channel signal */
 # define PPM_MAX_CHANNEL_VALUE	2200		/* longest valid channel signal */
-# define PPM_MIN_START		2500		/* shortest valid start gap */
+# define PPM_MIN_START		2400		/* shortest valid start gap (only 2nd part of pulse) */
 
 /* decoded PPM buffer */
 #define PPM_MIN_CHANNELS	5
@@ -345,6 +349,7 @@ static void		hrt_call_invoke(void);
 #define PPM_CHANNEL_LOCK	4		/* should be less than the input timeout */
 
 __EXPORT uint16_t ppm_buffer[PPM_MAX_CHANNELS];
+__EXPORT uint16_t ppm_frame_length = 0;
 __EXPORT unsigned ppm_decoded_channels = 0;
 __EXPORT uint64_t ppm_last_valid_decode = 0;
 
@@ -362,7 +367,8 @@ static uint16_t ppm_temp_buffer[PPM_MAX_CHANNELS];
 struct {
 	uint16_t	last_edge;	/* last capture time */
 	uint16_t	last_mark;	/* last significant edge */
-	unsigned	next_channel;
+	uint16_t	frame_start;	/* the frame width */
+	unsigned	next_channel;	/* next channel index */
 	enum {
 		UNSYNCH = 0,
 		ARM,
@@ -447,7 +453,6 @@ hrt_ppm_decode(uint32_t status)
 
 	/* how long since the last edge? - this handles counter wrapping implicitely. */
 	width = count - ppm.last_edge;
-	ppm.last_edge = count;
 
 	ppm_edge_history[ppm_edge_next++] = width;
 
@@ -491,6 +496,7 @@ hrt_ppm_decode(uint32_t status)
 					ppm_buffer[i] = ppm_temp_buffer[i];
 
 				ppm_last_valid_decode = hrt_absolute_time();
+
 			}
 		}
 
@@ -500,13 +506,14 @@ hrt_ppm_decode(uint32_t status)
 		/* next edge is the reference for the first channel */
 		ppm.phase = ARM;
 
+		ppm.last_edge = count;
 		return;
 	}
 
 	switch (ppm.phase) {
 	case UNSYNCH:
 		/* we are waiting for a start pulse - nothing useful to do here */
-		return;
+		break;
 
 	case ARM:
 
@@ -515,14 +522,23 @@ hrt_ppm_decode(uint32_t status)
 			goto error;		/* pulse was too long */
 
 		/* record the mark timing, expect an inactive edge */
-		ppm.last_mark = count;
-		ppm.phase = INACTIVE;
-		return;
+		ppm.last_mark = ppm.last_edge;
+
+		/* frame length is everything including the start gap */
+		ppm_frame_length = (uint16_t)(ppm.last_edge - ppm.frame_start);
+		ppm.frame_start = ppm.last_edge;
+		ppm.phase = ACTIVE;
+		break;
 
 	case INACTIVE:
+
+		/* we expect a short pulse */
+		if (width > PPM_MAX_PULSE_WIDTH)
+			goto error;		/* pulse was too long */
+
 		/* this edge is not interesting, but now we are ready for the next mark */
 		ppm.phase = ACTIVE;
-		return;
+		break;
 
 	case ACTIVE:
 		/* determine the interval from the last mark */
@@ -543,10 +559,13 @@ hrt_ppm_decode(uint32_t status)
 			ppm_temp_buffer[ppm.next_channel++] = interval;
 
 		ppm.phase = INACTIVE;
-		return;
+		break;
 
 	}
 
+	ppm.last_edge = count;
+	return;
+
 	/* the state machine is corrupted; reset it */
 
 error:
diff --git a/src/modules/systemlib/ppm_decode.h b/src/modules/systemlib/ppm_decode.h
index 6c5e15345e..5a1ad84da9 100644
--- a/src/modules/systemlib/ppm_decode.h
+++ b/src/modules/systemlib/ppm_decode.h
@@ -57,6 +57,7 @@ __BEGIN_DECLS
  * PPM decoder state
  */
 __EXPORT extern uint16_t	ppm_buffer[PPM_MAX_CHANNELS];	/**< decoded PPM channel values */
+__EXPORT extern uint16_t	ppm_frame_length;				/**< length of the decoded PPM frame (includes gap) */
 __EXPORT extern unsigned	ppm_decoded_channels;	/**< count of decoded channels */
 __EXPORT extern hrt_abstime	ppm_last_valid_decode;	/**< timestamp of the last valid decode */
 

From edffade8cec2ea779040e97fb5478e0e9db12031 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Wed, 25 Dec 2013 15:11:48 +0100
Subject: [PATCH 02/20] Added PPM frame length feedback in IO comms and status
 command - allows to warn users about badly formatted PPM frames

---
 src/drivers/px4io/px4io.cpp           | 10 ++++++++++
 src/modules/px4iofirmware/controls.c  | 10 +++++++---
 src/modules/px4iofirmware/protocol.h  |  3 ++-
 src/modules/px4iofirmware/registers.c |  6 ++++--
 4 files changed, 23 insertions(+), 6 deletions(-)

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index b80844c5b4..010272c6f4 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1724,6 +1724,16 @@ PX4IO::print_status()
 		printf(" %u", io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + i));
 
 	printf("\n");
+
+	if (raw_inputs > 0) {
+		int frame_len = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_RC_DATA);
+		printf("RC data (PPM frame len) %u us\n", frame_len);
+
+		if ((frame_len - raw_inputs * 2000 - 3000) < 0) {
+			printf("WARNING  WARNING  WARNING! This RC receiver does not allow safe frame detection.\n");
+		}
+	}
+
 	uint16_t mapped_inputs = io_reg_get(PX4IO_PAGE_RC_INPUT, PX4IO_P_RC_VALID);
 	printf("mapped R/C inputs 0x%04x", mapped_inputs);
 
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c
index 194d8aab98..58af77997a 100644
--- a/src/modules/px4iofirmware/controls.c
+++ b/src/modules/px4iofirmware/controls.c
@@ -50,7 +50,7 @@
 #define RC_CHANNEL_HIGH_THRESH		5000
 #define RC_CHANNEL_LOW_THRESH		-5000
 
-static bool	ppm_input(uint16_t *values, uint16_t *num_values);
+static bool	ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len);
 
 static perf_counter_t c_gather_dsm;
 static perf_counter_t c_gather_sbus;
@@ -125,7 +125,7 @@ controls_tick() {
 	 * disable the PPM decoder completely if we have S.bus signal.
 	 */
 	perf_begin(c_gather_ppm);
-	bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count);
+	bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count, &r_page_status[PX4IO_P_STATUS_RC_DATA]);
 	if (ppm_updated) {
 
 		/* XXX sample RSSI properly here */
@@ -319,7 +319,7 @@ controls_tick() {
 }
 
 static bool
-ppm_input(uint16_t *values, uint16_t *num_values)
+ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len)
 {
 	bool result = false;
 
@@ -343,6 +343,10 @@ ppm_input(uint16_t *values, uint16_t *num_values)
 		/* clear validity */
 		ppm_last_valid_decode = 0;
 
+		/* store PPM frame length */
+		if (num_values)
+			*frame_len = ppm_frame_length;
+
 		/* good if we got any channels */
 		result = (*num_values > 0);
 	}
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index 11e3803976..500e0ed4b3 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -124,7 +124,8 @@
 #define PX4IO_P_STATUS_VSERVO			6	/* [2] servo rail voltage in mV */
 #define PX4IO_P_STATUS_VRSSI			7	/* [2] RSSI voltage */
 #define PX4IO_P_STATUS_PRSSI			8	/* [2] RSSI PWM value */
-#define PX4IO_P_STATUS_NRSSI			9	/* [2] Normalized RSSI value, 0: no reception, 1000: perfect reception */
+#define PX4IO_P_STATUS_NRSSI			9	/* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */
+#define PX4IO_P_STATUS_RC_DATA			10	/* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */
 
 /* array of post-mix actuator outputs, -10000..10000 */
 #define PX4IO_PAGE_ACTUATORS		2		/* 0..CONFIG_ACTUATOR_COUNT-1 */
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 3f9e111baa..6aa3a5cd26 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -89,7 +89,9 @@ uint16_t		r_page_status[] = {
 	[PX4IO_P_STATUS_IBATT]			= 0,
 	[PX4IO_P_STATUS_VSERVO]			= 0,
 	[PX4IO_P_STATUS_VRSSI]			= 0,
-	[PX4IO_P_STATUS_PRSSI]			= 0
+	[PX4IO_P_STATUS_PRSSI]			= 0,
+	[PX4IO_P_STATUS_NRSSI]			= 0,
+	[PX4IO_P_STATUS_RC_DATA]		= 0
 };
 
 /**
@@ -114,7 +116,7 @@ uint16_t		r_page_servos[PX4IO_SERVO_COUNT];
 uint16_t		r_page_raw_rc_input[] =
 {
 	[PX4IO_P_RAW_RC_COUNT]			= 0,
-	[PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + 24)] = 0 // XXX ensure we have enough space to decode beefy RX, will be replaced by patch soon
+	[PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + PX4IO_CONTROL_CHANNELS)] = 0 // XXX ensure we have enough space to decode beefy RX, will be replaced by patch soon
 };
 
 /**

From 8d2950561d1889ab1d4c2fc5d832a2984048487d Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Wed, 25 Dec 2013 15:15:15 +0100
Subject: [PATCH 03/20] Changed RSSI range to 0..255

---
 src/drivers/drv_rc_input.h           | 2 +-
 src/modules/px4iofirmware/controls.c | 6 +++---
 src/modules/px4iofirmware/sbus.c     | 2 +-
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/drivers/drv_rc_input.h b/src/drivers/drv_rc_input.h
index 7b18b5b15b..66771faaa4 100644
--- a/src/drivers/drv_rc_input.h
+++ b/src/drivers/drv_rc_input.h
@@ -89,7 +89,7 @@ struct rc_input_values {
 	/** number of channels actually being seen */
 	uint32_t		channel_count;
 
-	/** receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 1000: full reception */
+	/** receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 255: full reception */
 	int32_t			rssi;
 
 	/** Input source */
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c
index 58af77997a..ed29c83394 100644
--- a/src/modules/px4iofirmware/controls.c
+++ b/src/modules/px4iofirmware/controls.c
@@ -94,7 +94,7 @@ controls_tick() {
 	 * other.  Don't do that.
 	 */
 
-	/* receive signal strenght indicator (RSSI). 0 = no connection, 1000: perfect connection */
+	/* receive signal strenght indicator (RSSI). 0 = no connection, 255: perfect connection */
 	uint16_t rssi = 0;
 
 	perf_begin(c_gather_dsm);
@@ -108,7 +108,7 @@ controls_tick() {
 		else
 			r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RC_DSM11;
 
-		rssi = 1000;
+		rssi = 255;
 	}
 	perf_end(c_gather_dsm);
 
@@ -129,7 +129,7 @@ controls_tick() {
 	if (ppm_updated) {
 
 		/* XXX sample RSSI properly here */
-		rssi = 1000;
+		rssi = 255;
 
 		r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM;
 	}
diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c
index 388502b403..3dcfe7f5b2 100644
--- a/src/modules/px4iofirmware/sbus.c
+++ b/src/modules/px4iofirmware/sbus.c
@@ -280,7 +280,7 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint
 		*rssi = 100; // XXX magic number indicating bad signal, but not a signal loss (yet)
 	}
 
-	*rssi = 1000;
+	*rssi = 255;
 
 	return true;
 }

From 05ec96b0f74b5d6011b683e747aae3bc37cbfbb9 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Mon, 4 Nov 2013 14:05:52 +0100
Subject: [PATCH 04/20] Startup script for simple logging

---
 ROMFS/px4fmu_common/init.d/800_sdlogger | 60 +++++++++++++++++++++++++
 ROMFS/px4fmu_common/init.d/rcS          |  6 +++
 2 files changed, 66 insertions(+)
 create mode 100644 ROMFS/px4fmu_common/init.d/800_sdlogger

diff --git a/ROMFS/px4fmu_common/init.d/800_sdlogger b/ROMFS/px4fmu_common/init.d/800_sdlogger
new file mode 100644
index 0000000000..955fe0e2ad
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/800_sdlogger
@@ -0,0 +1,60 @@
+#!nsh
+
+echo "[init] PX4FMU v1, v2 init to log only
+
+#
+# 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 save
+fi
+
+set EXIT_ON_END no
+
+#
+# Start and configure PX4IO or FMU interface
+#
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start
+	usleep 5000
+
+	commander start
+
+	sh /etc/init.d/rc.io
+	# Set PWM values for DJI ESCs
+else
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS0
+	usleep 5000
+	param set BAT_V_SCALING 0.004593
+	set EXIT_ON_END yes
+fi
+
+sh /etc/init.d/rc.sensors
+
+gps start
+
+attitude_estimator_ekf start
+
+position_estimator_inav start
+
+if [ -d /fs/microsd ]
+then
+	if [ $BOARD == fmuv1 ]
+	then
+		sdlog2 start -r 50 -e -b 16
+	else
+		sdlog2 start -r 200 -e -b 16
+	fi
+fi
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index f551c1aa8c..06102b707e 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -345,6 +345,12 @@ then
 		set MODE custom
 	fi
 	
+	if param compare SYS_AUTOSTART 800
+	then
+		sh /etc/init.d/800_sdlogger
+		set MODE custom
+	fi
+	
 	# Start any custom extensions that might be missing
 	if [ -f /fs/microsd/etc/rc.local ]
 	then

From db46672bc4bfc4956baeb3f4d15d2fccf0ef3377 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 27 Dec 2013 12:02:57 +0100
Subject: [PATCH 05/20] Paranoid PPM shape checking

---
 src/drivers/stm32/drv_hrt.c | 19 ++++++++++---------
 1 file changed, 10 insertions(+), 9 deletions(-)

diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c
index 5bfbe04b8a..a6b005d274 100644
--- a/src/drivers/stm32/drv_hrt.c
+++ b/src/drivers/stm32/drv_hrt.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -336,17 +336,18 @@ static void		hrt_call_invoke(void);
 /*
  * PPM decoder tuning parameters
  */
-# define PPM_MAX_PULSE_WIDTH	700		/* maximum width of a valid pulse */
+# define PPM_MIN_PULSE_WIDTH	200		/* minimum width of a valid first pulse */
+# define PPM_MAX_PULSE_WIDTH	600		/* maximum width of a valid first pulse */
 # define PPM_MIN_CHANNEL_VALUE	800		/* shortest valid channel signal */
-# define PPM_MAX_CHANNEL_VALUE	2200		/* longest valid channel signal */
-# define PPM_MIN_START		2400		/* shortest valid start gap (only 2nd part of pulse) */
+# define PPM_MAX_CHANNEL_VALUE	2200	/* longest valid channel signal */
+# define PPM_MIN_START			2300	/* shortest valid start gap (only 2nd part of pulse) */
 
 /* decoded PPM buffer */
 #define PPM_MIN_CHANNELS	5
 #define PPM_MAX_CHANNELS	20
 
 /* Number of same-sized frames required to 'lock' */
-#define PPM_CHANNEL_LOCK	4		/* should be less than the input timeout */
+#define PPM_CHANNEL_LOCK	4			/* should be less than the input timeout */
 
 __EXPORT uint16_t ppm_buffer[PPM_MAX_CHANNELS];
 __EXPORT uint16_t ppm_frame_length = 0;
@@ -518,8 +519,8 @@ hrt_ppm_decode(uint32_t status)
 	case ARM:
 
 		/* we expect a pulse giving us the first mark */
-		if (width > PPM_MAX_PULSE_WIDTH)
-			goto error;		/* pulse was too long */
+		if (width < PPM_MIN_PULSE_WIDTH || width > PPM_MAX_PULSE_WIDTH)
+			goto error;		/* pulse was too short or too long */
 
 		/* record the mark timing, expect an inactive edge */
 		ppm.last_mark = ppm.last_edge;
@@ -533,8 +534,8 @@ hrt_ppm_decode(uint32_t status)
 	case INACTIVE:
 
 		/* we expect a short pulse */
-		if (width > PPM_MAX_PULSE_WIDTH)
-			goto error;		/* pulse was too long */
+		if (width < PPM_MIN_PULSE_WIDTH || width > PPM_MAX_PULSE_WIDTH)
+			goto error;		/* pulse was too short or too long */
 
 		/* this edge is not interesting, but now we are ready for the next mark */
 		ppm.phase = ACTIVE;

From d5c857615b8714a49d09ae8410b0ae8d6be4a1be Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 27 Dec 2013 12:14:15 +0100
Subject: [PATCH 06/20] Pure formatting cleanup of drv_hrt.c, no code /
 functionality changes

---
 src/drivers/stm32/drv_hrt.c | 76 +++++++++++++++++++------------------
 1 file changed, 39 insertions(+), 37 deletions(-)

diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c
index a6b005d274..b7c9b89a45 100644
--- a/src/drivers/stm32/drv_hrt.c
+++ b/src/drivers/stm32/drv_hrt.c
@@ -168,7 +168,7 @@
 # error HRT_TIMER_CLOCK must be greater than 1MHz
 #endif
 
-/*
+/**
  * Minimum/maximum deadlines.
  *
  * These are suitable for use with a 16-bit timer/counter clocked
@@ -276,7 +276,7 @@ static void		hrt_call_invoke(void);
  * Specific registers and bits used by PPM sub-functions
  */
 #ifdef HRT_PPM_CHANNEL
-/* 
+/*
  * If the timer hardware doesn't support GTIM_CCER_CCxNP, then we will work around it.
  *
  * Note that we assume that M3 means STM32F1 (since we don't really care about the F2).
@@ -336,18 +336,18 @@ static void		hrt_call_invoke(void);
 /*
  * PPM decoder tuning parameters
  */
-# define PPM_MIN_PULSE_WIDTH	200		/* minimum width of a valid first pulse */
-# define PPM_MAX_PULSE_WIDTH	600		/* maximum width of a valid first pulse */
-# define PPM_MIN_CHANNEL_VALUE	800		/* shortest valid channel signal */
-# define PPM_MAX_CHANNEL_VALUE	2200	/* longest valid channel signal */
-# define PPM_MIN_START			2300	/* shortest valid start gap (only 2nd part of pulse) */
+# define PPM_MIN_PULSE_WIDTH	200		/**< minimum width of a valid first pulse */
+# define PPM_MAX_PULSE_WIDTH	600		/**< maximum width of a valid first pulse */
+# define PPM_MIN_CHANNEL_VALUE	800		/**< shortest valid channel signal */
+# define PPM_MAX_CHANNEL_VALUE	2200		/**< longest valid channel signal */
+# define PPM_MIN_START		2300		/**< shortest valid start gap (only 2nd part of pulse) */
 
 /* decoded PPM buffer */
 #define PPM_MIN_CHANNELS	5
 #define PPM_MAX_CHANNELS	20
 
-/* Number of same-sized frames required to 'lock' */
-#define PPM_CHANNEL_LOCK	4			/* should be less than the input timeout */
+/** Number of same-sized frames required to 'lock' */
+#define PPM_CHANNEL_LOCK	4		/**< should be less than the input timeout */
 
 __EXPORT uint16_t ppm_buffer[PPM_MAX_CHANNELS];
 __EXPORT uint16_t ppm_frame_length = 0;
@@ -364,12 +364,12 @@ unsigned ppm_pulse_next;
 
 static uint16_t ppm_temp_buffer[PPM_MAX_CHANNELS];
 
-/* PPM decoder state machine */
+/** PPM decoder state machine */
 struct {
-	uint16_t	last_edge;	/* last capture time */
-	uint16_t	last_mark;	/* last significant edge */
-	uint16_t	frame_start;	/* the frame width */
-	unsigned	next_channel;	/* next channel index */
+	uint16_t	last_edge;	/**< last capture time */
+	uint16_t	last_mark;	/**< last significant edge */
+	uint16_t	frame_start;	/**< the frame width */
+	unsigned	next_channel;	/**< next channel index */
 	enum {
 		UNSYNCH = 0,
 		ARM,
@@ -391,7 +391,7 @@ static void	hrt_ppm_decode(uint32_t status);
 # define CCER_PPM	0
 #endif /* HRT_PPM_CHANNEL */
 
-/*
+/**
  * Initialise the timer we are going to use.
  *
  * We expect that we'll own one of the reduced-function STM32 general
@@ -437,7 +437,7 @@ hrt_tim_init(void)
 }
 
 #ifdef HRT_PPM_CHANNEL
-/*
+/**
  * Handle the PPM decoder state machine.
  */
 static void
@@ -577,7 +577,7 @@ error:
 }
 #endif /* HRT_PPM_CHANNEL */
 
-/*
+/**
  * Handle the compare interupt by calling the callout dispatcher
  * and then re-scheduling the next deadline.
  */
@@ -606,6 +606,7 @@ hrt_tim_isr(int irq, void *context)
 
 		hrt_ppm_decode(status);
 	}
+
 #endif
 
 	/* was this a timer tick? */
@@ -624,7 +625,7 @@ hrt_tim_isr(int irq, void *context)
 	return OK;
 }
 
-/*
+/**
  * Fetch a never-wrapping absolute time value in microseconds from
  * some arbitrary epoch shortly after system start.
  */
@@ -671,7 +672,7 @@ hrt_absolute_time(void)
 	return abstime;
 }
 
-/*
+/**
  * Convert a timespec to absolute time
  */
 hrt_abstime
@@ -685,7 +686,7 @@ ts_to_abstime(struct timespec *ts)
 	return result;
 }
 
-/*
+/**
  * Convert absolute time to a timespec.
  */
 void
@@ -696,7 +697,7 @@ abstime_to_ts(struct timespec *ts, hrt_abstime abstime)
 	ts->tv_nsec = abstime * 1000;
 }
 
-/*
+/**
  * Compare a time value with the current time.
  */
 hrt_abstime
@@ -711,7 +712,7 @@ hrt_elapsed_time(const volatile hrt_abstime *then)
 	return delta;
 }
 
-/*
+/**
  * Store the absolute time in an interrupt-safe fashion
  */
 hrt_abstime
@@ -726,7 +727,7 @@ hrt_store_absolute_time(volatile hrt_abstime *now)
 	return ts;
 }
 
-/*
+/**
  * Initalise the high-resolution timing module.
  */
 void
@@ -741,7 +742,7 @@ hrt_init(void)
 #endif
 }
 
-/*
+/**
  * Call callout(arg) after interval has elapsed.
  */
 void
@@ -754,7 +755,7 @@ hrt_call_after(struct hrt_call *entry, hrt_abstime delay, hrt_callout callout, v
 			  arg);
 }
 
-/*
+/**
  * Call callout(arg) at calltime.
  */
 void
@@ -763,7 +764,7 @@ hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callout callout, v
 	hrt_call_internal(entry, calltime, 0, callout, arg);
 }
 
-/*
+/**
  * Call callout(arg) every period.
  */
 void
@@ -782,13 +783,13 @@ hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime inte
 	irqstate_t flags = irqsave();
 
 	/* if the entry is currently queued, remove it */
-        /* note that we are using a potentially uninitialised
-           entry->link here, but it is safe as sq_rem() doesn't
-           dereference the passed node unless it is found in the
-           list. So we potentially waste a bit of time searching the
-           queue for the uninitialised entry->link but we don't do
-           anything actually unsafe.
-        */
+	/* note that we are using a potentially uninitialised
+	   entry->link here, but it is safe as sq_rem() doesn't
+	   dereference the passed node unless it is found in the
+	   list. So we potentially waste a bit of time searching the
+	   queue for the uninitialised entry->link but we don't do
+	   anything actually unsafe.
+	*/
 	if (entry->deadline != 0)
 		sq_rem(&entry->link, &callout_queue);
 
@@ -802,7 +803,7 @@ hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime inte
 	irqrestore(flags);
 }
 
-/*
+/**
  * If this returns true, the call has been invoked and removed from the callout list.
  *
  * Always returns false for repeating callouts.
@@ -813,7 +814,7 @@ hrt_called(struct hrt_call *entry)
 	return (entry->deadline == 0);
 }
 
-/*
+/**
  * Remove the entry from the callout list.
  */
 void
@@ -896,17 +897,18 @@ hrt_call_invoke(void)
 		/* if the callout has a non-zero period, it has to be re-entered */
 		if (call->period != 0) {
 			// re-check call->deadline to allow for
-			// callouts to re-schedule themselves 
+			// callouts to re-schedule themselves
 			// using hrt_call_delay()
 			if (call->deadline <= now) {
 				call->deadline = deadline + call->period;
 			}
+
 			hrt_call_enter(call);
 		}
 	}
 }
 
-/*
+/**
  * Reschedule the next timer interrupt.
  *
  * This routine must be called with interrupts disabled.

From c5ef295f68fc475e053d9ab368881743c22f1667 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 27 Dec 2013 15:46:50 +0100
Subject: [PATCH 07/20] Hotfix: Reduce mag influence on att estimate

---
 .../attitude_estimator_ekf_params.c                  | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
index 52dac652be..e1280445b5 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
@@ -52,11 +52,13 @@ PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q3, 0.005f);
 PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q4, 0.0f);
 
 /* gyro measurement noise */
-PARAM_DEFINE_FLOAT(EKF_ATT_V3_R0, 0.0008f);
-PARAM_DEFINE_FLOAT(EKF_ATT_V3_R1, 10000.0f);
-PARAM_DEFINE_FLOAT(EKF_ATT_V3_R2, 1.0f);
-/* accelerometer measurement noise */
-PARAM_DEFINE_FLOAT(EKF_ATT_V3_R3, 0.0f);
+PARAM_DEFINE_FLOAT(EKF_ATT_V4_R0, 0.0008f);
+/* accel measurement noise */
+PARAM_DEFINE_FLOAT(EKF_ATT_V4_R1, 10000.0f);
+/* mag measurement noise */
+PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f);
+/* offset estimation - UNUSED */
+PARAM_DEFINE_FLOAT(EKF_ATT_V4_R3, 0.0f);
 
 /* offsets in roll, pitch and yaw of sensor plane and body */
 PARAM_DEFINE_FLOAT(ATT_ROLL_OFF3, 0.0f);

From dd5549da46eb2914b8e710cd656ec0f44c7ce892 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 27 Dec 2013 15:50:28 +0100
Subject: [PATCH 08/20] Hotfix: Better dead zone defaults

---
 src/modules/sensors/sensor_params.c | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 78d4b410a8..f826470600 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -104,49 +104,49 @@ PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f);
 PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);
 PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f);
 PARAM_DEFINE_FLOAT(RC1_REV, 1.0f);
-PARAM_DEFINE_FLOAT(RC1_DZ, 0.0f);
+PARAM_DEFINE_FLOAT(RC1_DZ, 10.0f);
 
 PARAM_DEFINE_FLOAT(RC2_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC2_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC2_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC2_REV, 1.0f);
-PARAM_DEFINE_FLOAT(RC2_DZ, 0.0f);
+PARAM_DEFINE_FLOAT(RC2_DZ, 10.0f);
 
 PARAM_DEFINE_FLOAT(RC3_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC3_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC3_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC3_REV, 1.0f);
-PARAM_DEFINE_FLOAT(RC3_DZ, 0.0f);
+PARAM_DEFINE_FLOAT(RC3_DZ, 10.0f);
 
 PARAM_DEFINE_FLOAT(RC4_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC4_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC4_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC4_REV, 1.0f);
-PARAM_DEFINE_FLOAT(RC4_DZ, 30.0f);
+PARAM_DEFINE_FLOAT(RC4_DZ, 10.0f);
 
 PARAM_DEFINE_FLOAT(RC5_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC5_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC5_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC5_REV, 1.0f);
-PARAM_DEFINE_FLOAT(RC5_DZ,  0.0f);
+PARAM_DEFINE_FLOAT(RC5_DZ,  10.0f);
 
 PARAM_DEFINE_FLOAT(RC6_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC6_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC6_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC6_REV, 1.0f);
-PARAM_DEFINE_FLOAT(RC6_DZ, 0.0f);
+PARAM_DEFINE_FLOAT(RC6_DZ, 10.0f);
 
 PARAM_DEFINE_FLOAT(RC7_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC7_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC7_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC7_REV, 1.0f);
-PARAM_DEFINE_FLOAT(RC7_DZ, 0.0f);
+PARAM_DEFINE_FLOAT(RC7_DZ, 10.0f);
 
 PARAM_DEFINE_FLOAT(RC8_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC8_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC8_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC8_REV, 1.0f);
-PARAM_DEFINE_FLOAT(RC8_DZ, 0.0f);
+PARAM_DEFINE_FLOAT(RC8_DZ, 10.0f);
 
 PARAM_DEFINE_FLOAT(RC9_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC9_TRIM, 1500);

From a9ea39054dbd6eb62fb3185465848a485c32a046 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 27 Dec 2013 21:19:04 +0100
Subject: [PATCH 09/20] Working around creating an error condition with more
 than 8 raw RC channels

---
 src/drivers/px4io/px4io.cpp           | 10 +++-------
 src/modules/px4iofirmware/registers.c |  2 +-
 2 files changed, 4 insertions(+), 8 deletions(-)

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 9812ea497d..22d7072330 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1095,8 +1095,10 @@ PX4IO::io_set_rc_config()
 	 * assign RC_MAP_ROLL/PITCH/YAW/THROTTLE to the canonical
 	 * controls.
 	 */
+
+	/* fill the mapping with an error condition triggering value */
 	for (unsigned i = 0; i < _max_rc_input; i++)
-		input_map[i] = -1;
+		input_map[i] = UINT16_MAX;
 
 	/*
 	 * NOTE: The indices for mapped channels are 1-based
@@ -1128,12 +1130,6 @@ PX4IO::io_set_rc_config()
 	if ((ichan >= 0) && (ichan < (int)_max_rc_input))
 		input_map[ichan - 1] = 4;
 
-	ichan = 5;
-
-	for (unsigned i = 0; i < _max_rc_input; i++)
-		if (input_map[i] == -1)
-			input_map[i] = ichan++;
-
 	/*
 	 * Iterate all possible RC inputs.
 	 */
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 7ef1aa3091..b0922f4d69 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -602,7 +602,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 				if (conf[PX4IO_P_RC_CONFIG_DEADZONE] > 500) {
 					count++;
 				}
-				if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) {
+				if ((int)(conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]) < 0 || conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) {
 					count++;
 				}
 

From 965a7a4f0313ccfe67e6c0f84d76ff3350602fb0 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 27 Dec 2013 21:33:19 +0100
Subject: [PATCH 10/20] Allow to disable a channel

---
 src/drivers/px4io/px4io.cpp           | 2 +-
 src/modules/px4iofirmware/registers.c | 8 ++++++--
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 22d7072330..cac7bf6085 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1098,7 +1098,7 @@ PX4IO::io_set_rc_config()
 
 	/* fill the mapping with an error condition triggering value */
 	for (unsigned i = 0; i < _max_rc_input; i++)
-		input_map[i] = UINT16_MAX;
+		input_map[i] = UINT8_MAX;
 
 	/*
 	 * NOTE: The indices for mapped channels are 1-based
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index b0922f4d69..0358725db3 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -584,6 +584,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			/* this option is normally set last */
 			if (value & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) {
 				uint8_t count = 0;
+				bool disabled = false;
 
 				/* assert min..center..max ordering */
 				if (conf[PX4IO_P_RC_CONFIG_MIN] < 500) {
@@ -602,7 +603,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 				if (conf[PX4IO_P_RC_CONFIG_DEADZONE] > 500) {
 					count++;
 				}
-				if ((int)(conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]) < 0 || conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) {
+
+				if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] == UINT8_MAX) {
+					disabled = true;
+				} else if ((int)(conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]) < 0 || conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) {
 					count++;
 				}
 
@@ -610,7 +614,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 				if (count) {
 					isr_debug(0, "ERROR: %d config error(s) for RC%d.\n", count, (channel + 1));
 					r_status_flags &= ~PX4IO_P_STATUS_FLAGS_INIT_OK;
-				} else {
+				} else if (!disabled) {
 					conf[index] |= PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
 				}
 			}

From f44f738f0ade4c5ba60a64aa92a2b4447c6f1d1d Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 27 Dec 2013 21:56:54 +0100
Subject: [PATCH 11/20] Fix return value

---
 src/drivers/px4io/px4io.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index cac7bf6085..0a979267db 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -850,7 +850,7 @@ PX4IO::task_main()
 
 			/* we're not nice to the lower-priority control groups and only check them
 			   when the primary group updated (which is now). */
-			io_set_control_groups();
+			(void)io_set_control_groups();
 		}
 
 		if (now >= poll_last + IO_POLL_INTERVAL) {
@@ -962,14 +962,14 @@ out:
 int
 PX4IO::io_set_control_groups()
 {
-	bool attitude_ok = io_set_control_state(0);
+	ret = io_set_control_state(0);
 
 	/* send auxiliary control groups */
 	(void)io_set_control_state(1);
 	(void)io_set_control_state(2);
 	(void)io_set_control_state(3);
 
-	return attitude_ok;
+	return ret;
 }
 
 int

From a4a5eee08dc1ac1c2c68a4981a2299829aeceea0 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Fri, 27 Dec 2013 23:27:25 +0100
Subject: [PATCH 12/20] Attitude_estimator_ekf: Fix params, this bug caused the
 multirotor_att_control to stop

---
 .../attitude_estimator_ekf_params.c                       | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
index e1280445b5..3cfddf28ed 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
@@ -74,10 +74,10 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h)
 	h->q3 	=	param_find("EKF_ATT_V3_Q3");
 	h->q4 	=	param_find("EKF_ATT_V3_Q4");
 
-	h->r0 	=	param_find("EKF_ATT_V3_R0");
-	h->r1 	=	param_find("EKF_ATT_V3_R1");
-	h->r2 	=	param_find("EKF_ATT_V3_R2");
-	h->r3 	=	param_find("EKF_ATT_V3_R3");
+	h->r0 	=	param_find("EKF_ATT_V4_R0");
+	h->r1 	=	param_find("EKF_ATT_V4_R1");
+	h->r2 	=	param_find("EKF_ATT_V4_R2");
+	h->r3 	=	param_find("EKF_ATT_V4_R3");
 
 	h->roll_off  =	param_find("ATT_ROLL_OFF3");
 	h->pitch_off =	param_find("ATT_PITCH_OFF3");

From 020c47b59ff92f03f3bd574af29f4b217a302626 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Fri, 27 Dec 2013 23:57:24 +0100
Subject: [PATCH 13/20] PX4IO driver: even compiling now

---
 src/drivers/px4io/px4io.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 0a979267db..cbdd5acc44 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -962,7 +962,7 @@ out:
 int
 PX4IO::io_set_control_groups()
 {
-	ret = io_set_control_state(0);
+	int ret = io_set_control_state(0);
 
 	/* send auxiliary control groups */
 	(void)io_set_control_state(1);

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 14/20] 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 15/20] 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
 

From 4e5f743e4184269b05bb037d4787665afe996ab8 Mon Sep 17 00:00:00 2001
From: Simon Wilks <sjwilks@gmail.com>
Date: Sat, 28 Dec 2013 14:45:29 +0100
Subject: [PATCH 16/20] Added config for the FX-79

---
 ROMFS/px4fmu_common/init.d/34_io_fx79   | 87 +++++++++++++++++++++++++
 ROMFS/px4fmu_common/init.d/rcS          |  6 ++
 ROMFS/px4fmu_common/mixers/FMU_FX79.mix | 72 ++++++++++++++++++++
 3 files changed, 165 insertions(+)
 create mode 100644 ROMFS/px4fmu_common/init.d/34_io_fx79
 create mode 100755 ROMFS/px4fmu_common/mixers/FMU_FX79.mix

diff --git a/ROMFS/px4fmu_common/init.d/34_io_fx79 b/ROMFS/px4fmu_common/init.d/34_io_fx79
new file mode 100644
index 0000000000..eb46ad8a7e
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/34_io_fx79
@@ -0,0 +1,87 @@
+#!nsh
+
+echo "[init] PX4FMU v1, v2 with or without IO on FX-79 Buffalo"
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	param set FW_P_D 0
+	param set FW_P_I 0
+	param set FW_P_IMAX 15
+	param set FW_P_LIM_MAX 50
+	param set FW_P_LIM_MIN -50
+	param set FW_P_P 60
+	param set FW_P_RMAX_NEG 0
+	param set FW_P_RMAX_POS 0
+	param set FW_P_ROLLFF 1.1
+	param set FW_R_D 0
+	param set FW_R_I 5
+	param set FW_R_IMAX 20
+	param set FW_R_P 100
+	param set FW_R_RMAX 100
+	param set FW_THR_CRUISE 0.65
+	param set FW_THR_MAX 1
+	param set FW_THR_MIN 0
+	param set FW_T_SINK_MAX 5.0
+	param set FW_T_SINK_MIN 4.0
+	param set FW_Y_ROLLFF 1.1
+	param set FW_L1_PERIOD 17
+	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_FX79.mix ]
+then
+	echo "Using /fs/microsd/etc/mixers/FMU_FX79.mix"
+	mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_FX79.mix
+else
+	echo "Using /etc/mixers/FMU_FX79.mix"
+	mixer load /dev/pwm_output /etc/mixers/FMU_FX79.mix
+fi
+
+#
+# Start common fixedwing apps
+#
+sh /etc/init.d/rc.fixedwing
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 3408b4ad53..9a258e14d0 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -327,6 +327,12 @@ then
 		set MODE custom
 	fi
 
+        if param compare SYS_AUTOSTART 34
+        then
+                sh /etc/init.d/34_io_fx79
+                set MODE custom
+        fi
+
 	if param compare SYS_AUTOSTART 40
 	then
 		sh /etc/init.d/40_io_segway
diff --git a/ROMFS/px4fmu_common/mixers/FMU_FX79.mix b/ROMFS/px4fmu_common/mixers/FMU_FX79.mix
new file mode 100755
index 0000000000..0a1dca98d5
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/FMU_FX79.mix
@@ -0,0 +1,72 @@
+FX-79 Delta-wing mixer for PX4FMU
+=================================
+
+Designed for FX-79.
+
+TODO (sjwilks): Add mixers for flaps.
+
+This file defines mixers suitable for controlling a delta wing aircraft using
+PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
+servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Elevon mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two elevon servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+The scaling factor for roll inputs is adjusted to implement differential travel
+for the elevons.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0   5000   8000      0 -10000  10000
+S: 0 1   8000   8000      0 -10000  10000
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0   8000   5000      0 -10000  10000
+S: 0 1  -8000  -8000      0 -10000  10000
+
+Output 2
+--------
+This mixer is empty.
+
+Z:
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000

From 3f84ad79c58bdc208a18b329580940a7c9438447 Mon Sep 17 00:00:00 2001
From: Simon Wilks <sjwilks@gmail.com>
Date: Sat, 28 Dec 2013 14:46:55 +0100
Subject: [PATCH 17/20] Typo fix.

---
 ROMFS/px4fmu_common/init.d/rcS | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 3408b4ad53..0d814848c6 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -323,7 +323,7 @@ then
 
 	if param compare SYS_AUTOSTART 33
 	then
-		sh /etc/init.d/32_io_wingwing
+		sh /etc/init.d/33_io_wingwing
 		set MODE custom
 	fi
 

From 1637c62751dfed995f80c538d1c6d0af011c399a Mon Sep 17 00:00:00 2001
From: Simon Wilks <sjwilks@gmail.com>
Date: Sat, 28 Dec 2013 17:19:09 +0100
Subject: [PATCH 18/20] Set the tested defaults

---
 ROMFS/px4fmu_common/init.d/34_io_fx79 | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/34_io_fx79 b/ROMFS/px4fmu_common/init.d/34_io_fx79
index eb46ad8a7e..827f3b1539 100644
--- a/ROMFS/px4fmu_common/init.d/34_io_fx79
+++ b/ROMFS/px4fmu_common/init.d/34_io_fx79
@@ -8,6 +8,10 @@ echo "[init] PX4FMU v1, v2 with or without IO on FX-79 Buffalo"
 if param compare SYS_AUTOCONFIG 1
 then
 	# Set all params here, then disable autoconfig
+	param set FW_AIRSPD_MAX 20
+	param set FW_AIRSPD_TRIM 12
+	param set FW_AIRSPD_MIN 15
+	param set FW_L1_PERIOD 12
 	param set FW_P_D 0
 	param set FW_P_I 0
 	param set FW_P_IMAX 15
@@ -20,15 +24,15 @@ then
 	param set FW_R_D 0
 	param set FW_R_I 5
 	param set FW_R_IMAX 20
-	param set FW_R_P 100
+	param set FW_R_P 80
 	param set FW_R_RMAX 100
-	param set FW_THR_CRUISE 0.65
+	param set FW_THR_CRUISE 0.75
 	param set FW_THR_MAX 1
 	param set FW_THR_MIN 0
 	param set FW_T_SINK_MAX 5.0
 	param set FW_T_SINK_MIN 4.0
+    param set FW_T_TIME_CONST 9
 	param set FW_Y_ROLLFF 1.1
-	param set FW_L1_PERIOD 17
 	param set RC_SCALE_ROLL 1.0
 	param set RC_SCALE_PITCH 1.0
 	

From 1cca94defc2fb8d18dd2f558d0181279f701f077 Mon Sep 17 00:00:00 2001
From: Simon Wilks <sjwilks@gmail.com>
Date: Sat, 28 Dec 2013 17:23:52 +0100
Subject: [PATCH 19/20] Whitespace fix

---
 ROMFS/px4fmu_common/init.d/34_io_fx79 | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/34_io_fx79 b/ROMFS/px4fmu_common/init.d/34_io_fx79
index 827f3b1539..9892049526 100644
--- a/ROMFS/px4fmu_common/init.d/34_io_fx79
+++ b/ROMFS/px4fmu_common/init.d/34_io_fx79
@@ -31,8 +31,8 @@ then
 	param set FW_THR_MIN 0
 	param set FW_T_SINK_MAX 5.0
 	param set FW_T_SINK_MIN 4.0
-    param set FW_T_TIME_CONST 9
-	param set FW_Y_ROLLFF 1.1
+	param set FW_T_TIME_CONST 9
+	param set FW_Y_ROLLFF 1.1	
 	param set RC_SCALE_ROLL 1.0
 	param set RC_SCALE_PITCH 1.0
 	

From b20e07a1c5866e8222065c7e8848b78a052d703c Mon Sep 17 00:00:00 2001
From: Simon Wilks <sjwilks@gmail.com>
Date: Sat, 28 Dec 2013 18:12:55 +0100
Subject: [PATCH 20/20] Updated defaults following recent test flight that
 included autostart and land

---
 ROMFS/px4fmu_common/init.d/31_io_phantom | 33 ++++++++++++++----------
 1 file changed, 19 insertions(+), 14 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/31_io_phantom b/ROMFS/px4fmu_common/init.d/31_io_phantom
index 63cd7f9b2e..62cfe1a9c6 100644
--- a/ROMFS/px4fmu_common/init.d/31_io_phantom
+++ b/ROMFS/px4fmu_common/init.d/31_io_phantom
@@ -8,30 +8,35 @@ echo "[init] PX4FMU v1, v2 with or without IO on Phantom FPV"
 if param compare SYS_AUTOCONFIG 1
 then
 	# Set all params here, then disable autoconfig
+	param set FW_AIRSPD_MIN 11.4
+	param set FW_AIRSPD_TRIM 14
+	param set FW_AIRSPD_MAX 22
+	param set FW_L1_PERIOD 15
 	param set FW_P_D 0
 	param set FW_P_I 0
 	param set FW_P_IMAX 15
-	param set FW_P_LIM_MAX 50
-	param set FW_P_LIM_MIN -50
+	param set FW_P_LIM_MAX 45
+	param set FW_P_LIM_MIN -45
 	param set FW_P_P 60
 	param set FW_P_RMAX_NEG 0
 	param set FW_P_RMAX_POS 0
-	param set FW_P_ROLLFF 1.1
+	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 100
-	param set FW_R_RMAX 100
-	param set FW_THR_CRUISE 0.65
+	param set FW_R_IMAX 15
+	param set FW_R_P 80
+	param set FW_R_RMAX 60
+	param set FW_THR_CRUISE 0.8
+	param set FW_THR_LND_MAX 0
 	param set FW_THR_MAX 1
-	param set FW_THR_MIN 0
+	param set FW_THR_MIN 0.5
 	param set FW_T_SINK_MAX 5.0
-	param set FW_T_SINK_MIN 4.0
-	param set FW_Y_ROLLFF 1.1
-	param set FW_L1_PERIOD 17
-	param set RC_SCALE_ROLL 1.0
-	param set RC_SCALE_PITCH 1.0
-	
+	param set FW_T_SINK_MIN 2.0
+	param set FW_Y_ROLLFF 1.0
+	param set RC_SCALE_ROLL 0.6
+	param set RC_SCALE_PITCH 0.6
+	param set TRIM_PITCH 0.1
+
 	param set SYS_AUTOCONFIG 0
 	param save
 fi