lmc fw with skywalker airframe

ROMFS/px4fmu_common/init.d/airframes/4421_ssrc_skywalker

@@ -0,0 +1,117 @@
+#!/bin/sh
+#
+# @name Skywalker X8
+#
+# @type Flying Wing
+# @class Plane
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. /etc/init.d/rc.fw_defaults
+
+# Control allocator parameters
+param set-default CA_AIRFRAME 1
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_SV_CS_COUNT 2
+param set-default CA_SV_CS0_TYPE 5
+param set-default CA_SV_CS0_TRQ_P 0.5
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 6
+param set-default CA_SV_CS1_TRQ_P 0.5
+param set-default CA_SV_CS1_TRQ_R 0.5
+
+# PWM
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_MAX1 2000
+param set-default PWM_MAIN_MIN1 1000
+param set-default PWM_MAIN_DIS1 1500
+
+param set-default PWM_MAIN_FUNC2 202
+param set-default PWM_MAIN_MAX2 2000
+param set-default PWM_MAIN_MIN2 1000
+param set-default PWM_MAIN_DIS2 1500
+
+param set-default PWM_MAIN_FUNC3 101
+param set-default PWM_MAIN_MAX3 2000
+param set-default PWM_MAIN_MIN3 1000
+param set-default PWM_MAIN_DIS3 1000
+
+param set-default PWM_MAIN_REV 2
+
+# I2C probe
+param set-default SENS_EXT_I2C_PRB 1
+
+# Airspeed parameters
+ms4525do start -X -f 500
+param set-default SENS_EN_MS4525DO 1
+param set-default ASPD_DO_CHECKS 15
+param set-default FW_AIRSPD_MAX 25.0
+param set-default FW_AIRSPD_MIN 13.0
+param set-default FW_AIRSPD_STALL 10.0
+param set-default FW_AIRSPD_TRIM 18.0
+
+# Range-finder
+param set-default SENS_EN_LL40LS 2
+
+# Mission parameters
+param set-default MIS_TAKEOFF_ALT 25.0
+param set-default MIS_TKO_LAND_REQ 4
+param set-default NAV_LOITER_RAD 40.0
+
+# Battery parameters
+param set-default BAT1_N_CELLS 4
+param set-default BAT1_R_INTERNAL 0.0050
+param set-default BAT1_V_EMPTY 3.6000
+param set-default BAT1_V_LOAD_DROP 0.1000
+
+param set-default BAT2_R_INTERNAL 0.0050
+param set-default BAT2_V_EMPTY 3.6000
+param set-default BAT2_V_LOAD_DROP 0.1000
+
+# Disable internal magnetometer
+param set-default CAL_MAG0_PRIO 1
+param set-default CAL_MAG0_ROT 0
+param set-default CAL_MAG1_PRIO 100
+param set-default CAL_MAG1_ROT 0
+
+param set-default SENS_MAG_MODE 0
+
+# Launch detection
+param set-default FW_LAUN_AC_T 0.0
+param set-default FW_LAUN_AC_THLD 0.0
+param set-default FW_LAUN_DETCN_ON 1
+
+# Launch detection
+param set-default FW_LND_ANG 15.0
+param set-default FW_LND_ABORT 0
+
+# Maximum manual roll angle
+param set-default FW_MAN_R_MAX 60.0
+
+# Rate control
+param set-default FW_RR_IMAX 0.4000
+param set-default FW_YR_IMAX 0.4000
+
+# Misc
+param set-default RTL_RETURN_ALT 100.0
+
+# Failsafe
+param set-default NAV_RCL_ACT 1
+param set-default NAV_DLL_ACT 0
+param set-default RC_MAP_KILL_SW 5
+
+# Flight mode
+param set-default RC_MAP_FLTMODE 6
+param set-default COM_FLTMODE1 0
+param set-default COM_FLTMODE4 1
+param set-default COM_FLTMODE6 2
+
+# Geometry
+param set-default FW_WING_HEIGHT 0.2
+param set-default FW_WING_SPAN 2.1
+
+param set-default SYS_AUTOCONFIG 1
+
+set MIXER fw_generic_wing

ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt

@@ -69,6 +69,7 @@ px4_add_romfs_files(
 	4400_ssrc_fog_x
 	4401_ssrc_fog_x_tmotor
 	4420_ssrc_arwing
+	4421_ssrc_skywalker
 	4430_ssrc_strivermini
 	4500_clover4
 	4900_crazyflie