From c2911cbecf06b18d581fd3e5407a1f525bd63d4b Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sat, 1 Feb 2014 12:32:03 +0100
Subject: [PATCH] add malolo (flightgear HIL flying wing) autostart config

---
 .../init.d/1005_rc_fw_Malolo1.hil             | 61 +++++++++++++++++++
 ROMFS/px4fmu_common/init.d/rc.autostart       |  5 ++
 2 files changed, 66 insertions(+)
 create mode 100644 ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil

diff --git a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
new file mode 100644
index 0000000000..cc13110e40
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
@@ -0,0 +1,61 @@
+#!nsh
+#
+# HIL Malolo 1 (Flightgear)
+#
+# Maintainers: Thomas Gubler <thomasgubler@gmail.com>
+#
+
+echo "HIL Malolo 1 starting.."
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+	# Set all params here, then disable autoconfig
+	
+	param set FW_AIRSPD_MIN 12
+	param set FW_AIRSPD_TRIM 25
+	param set FW_ATT_TC 0.3
+	param set FW_L1_DAMPING 0.74
+	param set FW_L1_PERIOD 15
+	param set FW_PR_FF 0.8
+	param set FW_PR_I 0.05
+	param set FW_PR_IMAX 0.2
+	param set FW_PR_P 0.1
+	param set FW_P_LIM_MAX 45
+	param set FW_P_LIM_MIN -45
+	param set FW_P_RMAX_NEG 0
+	param set FW_P_RMAX_POS 0
+	param set FW_P_ROLLFF 0
+	param set FW_RR_FF 0.6
+	param set FW_RR_I 0.02
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.1
+	param set FW_R_LIM 45
+	param set FW_R_RMAX 0
+	param set FW_THR_CRUISE 0.6
+	param set FW_THR_MAX 1
+	param set FW_THR_MIN 0
+	param set FW_T_CLMB_MAX 5
+	param set FW_T_HRATE_P 0.02
+	param set FW_T_PTCH_DAMP 0
+	param set FW_T_RLL2THR 15
+	param set FW_T_SINK_MAX 5
+	param set FW_T_SINK_MIN 2
+	param set FW_T_SRATE_P 0.01
+	param set FW_T_TIME_CONST 3
+	param set FW_T_VERT_ACC 7
+	param set FW_YCO_VMIN 1000
+	param set FW_YR_FF 0.0
+	param set FW_YR_I 0
+	param set FW_YR_IMAX 0.2
+	param set FW_YR_P	 0.0
+	param set FW_Y_RMAX 0
+
+	param set SYS_AUTOCONFIG 0
+	param save
+fi
+
+set HIL yes
+
+set VEHICLE_TYPE fw
+# Set the AERT mixer for HIL (even if the malolo is a flying wing)
+set MIXER FMU_AERT
diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart
index 030806fd7e..7fa2afbc8b 100644
--- a/ROMFS/px4fmu_common/init.d/rc.autostart
+++ b/ROMFS/px4fmu_common/init.d/rc.autostart
@@ -46,6 +46,11 @@ then
 	sh /etc/init.d/1004_rc_fw_Rascal110.hil
 fi
 
+if param compare SYS_AUTOSTART 1005
+then
+	sh /etc/init.d/1005_rc_fw_Malolo1.hil
+fi
+
 #
 # Standard plane
 #