Directly set parameters in airframe config files rather than setting script...

Directly set parameters in airframe config files rather than setting script variables and move the param set lines into  logic blocks, and alphabetize and tidy up param set lists.

ROMFS/px4fmu_common/init.d/1002_standard_vtol.hil

@@ -13,17 +13,22 @@ sh /etc/init.d/rc.vtol_defaults
 if [ $AUTOCNF == yes ]
 then
 	param set BAT_N_CELLS 3
+
 	param set COM_DISARM_LAND 5
 	param set COM_RC_IN_MODE 1
+
 	param set EKF2_AID_MASK 1
 	param set EKF2_ANGERR_INIT 0.01
 	param set EKF2_GBIAS_INIT 0.01
 	param set EKF2_HGT_MODE 0
 	param set EKF2_MAG_TYPE 1
+
 	param set FW_AIRSPD_MAX 25
 	param set FW_AIRSPD_MIN 14
 	param set FW_AIRSPD_TRIM 16
-	param set MAV_TYPE 20
+
+	param set MAV_TYPE 22
+
 	param set MC_PITCH_P 6
 	param set MC_PITCHRATE_P 0.2
 	param set MC_ROLL_P 6
@@ -31,6 +36,7 @@ then
 	param set MIS_LTRMIN_ALT 10
 	param set MIS_TAKEOFF_ALT 10
 	param set MIS_YAW_TMT 10
+
 	param set MPC_ACC_HOR_MAX 2
 	param set MPC_ACC_HOR_MAX 2.0
 	param set MPC_THR_MIN 0.1
@@ -42,22 +48,25 @@ then
 	param set MPC_Z_VEL_I 0.15
 	param set MPC_Z_VEL_MAX_DN 1.5
 	param set MPC_Z_VEL_P 0.6
+
 	param set NAV_ACC_RAD 5.0
 	param set NAV_DLL_ACT 2
 	param set NAV_LOITER_RAD 80
+
 	param set RTL_DESCEND_ALT 10.0
 	param set RTL_LAND_DELAY 0
 	param set RTL_RETURN_ALT 30.0
+
 	param set SDLOG_DIRS_MAX 7
 	param set SYS_MC_EST_GROUP 2
 	param set SYS_RESTART_TYPE 2
+
 	param set VT_F_TRANS_THR 0.75
 	param set VT_MOT_COUNT 4
 	param set VT_TYPE 2
 fi
 
 set MIXER standard_vtol_hitl
-set MAV_TYPE 22
 
 set PWM_OUT 1234
 

ROMFS/px4fmu_common/init.d/2100_standard_plane

@@ -21,10 +21,13 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-set MIXER AETRFG
+if [ $AUTOCNF == yes ]
+then
+	param set PWM_AUX_RATE 50
+	param set PWM_RATE 50
+fi
 
-set PWM_RATE 50
-set PWM_AUX_RATE 50
+set MIXER AETRFG
 
 # rate must be set by group (see pwm info)
 # throttle is in the same group as servos

ROMFS/px4fmu_common/init.d/24001_dodeca_cox

@@ -28,21 +28,20 @@ set VEHICLE_TYPE mc
 if [ $AUTOCNF == yes ]
 then
 	param set NAV_ACC_RAD 2.0
-	param set RTL_RETURN_ALT 30.0
-	param set RTL_DESCEND_ALT 10.0
+	param set PWM_AUX_RATE 400
+	param set PWM_AUX_DISARMED 900
+	param set PWM_AUX_MIN 1075
+	param set PWM_AUX_MAX 1950
+
 	param set PWM_MIN 1075
 	param set PWM_MAX 1950
 	param set PWM_RATE 400
 
+	param set RTL_DESCEND_ALT 10.0
 	param set RTL_LAND_DELAY 0
+	param set RTL_RETURN_ALT 30.0
 fi
 
-set PWM_AUX_RATE 400
-# Note: May Have to set these parameters manually. They don't appear to save.
-set PWM_AUX_DISARMED 900
-param set PWM_AUX_MIN 1075
-param set PWM_AUX_MAX 1950
-
 set MIXER dodeca_top_cox
 set MIXER_AUX dodeca_bottom_cox
 

ROMFS/px4fmu_common/init.d/3030_io_camflyer

@@ -39,10 +39,11 @@ then
 	param set FW_RR_FF 0.6
 	param set FW_RR_IMAX 0.2
 	param set FW_RR_P 0.04
+
+	param set PWM_DISARMED 1000
 fi
 
 set MIXER fw_generic_wing
 
 # Provide ESC a constant 1000 us pulse while disarmed
 set PWM_OUT 4
-set PWM_DISARMED 1000

ROMFS/px4fmu_common/init.d/3031_phantom

@@ -40,6 +40,9 @@ then
 	param set FW_RR_P 0.08
 	param set FW_R_LIM 50
 	param set FW_R_RMAX 50
+
+	param set PWM_DISARMED 1000
+
 	# Bottom of bay and nominal zero-pitch attitude differ
 	# the payload bay is pitched up about 7 degrees
 	param set SENS_BOARD_Y_OFF 7.0
@@ -49,4 +52,3 @@ set MIXER phantom
 
 # Provide ESC a constant 1000 us pulse
 set PWM_OUT 4
-set PWM_DISARMED 1000

ROMFS/px4fmu_common/init.d/3033_wingwing

@@ -39,12 +39,15 @@ then
 	param set FW_PR_FF 0.35
 	param set FW_RR_FF 0.6
 	param set FW_RR_P 0.04
+
+	# Configure this as plane
+	param set MAV_TYPE 1
+
+	param set PWM_DISARMED 1000
 fi
 
-# Configure this as plane
-set MAV_TYPE 1
 # Set mixer
 set MIXER wingwing
+
 # Provide ESC a constant 1000 us pulse
 set PWM_OUT 4
-set PWM_DISARMED 1000

ROMFS/px4fmu_common/init.d/3036_pigeon

@@ -27,7 +27,7 @@ then
 	param set FW_AIRSPD_MAX 27
 	param set FW_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.75
-	param set FW_L1_PERIOD 15
+	param set FW_L1_PERIOD 20.0
 	param set FW_PR_FF 0.35
 	param set FW_PR_IMAX 0.2
 	param set FW_PR_P 0.05
@@ -42,15 +42,14 @@ then
 	param set FW_R_RMAX 50
 	param set FW_R_TC 0.3
 
+	param set PWM_DISARMED 1000
+
 	# Bottom of bay and nominal zero-pitch attitude differ
 	# the payload bay is pitched up about 7 degrees
 	param set SENS_BOARD_Y_OFF 11.9
-
-	param set FW_L1_PERIOD 20.0
 fi
 
 set MIXER phantom
 
 # Provide ESC a constant 1000 us pulse
 set PWM_OUT 4
-set PWM_DISARMED 1000

ROMFS/px4fmu_common/init.d/3037_parrot_disco_mod

@@ -81,11 +81,11 @@ then
 
 	# Roll Integrator Anti-Windup
 	param set FW_RR_IMAX 0.2
-	
+
+	param set PWM_DISARMED 1000
 fi
 
 set MIXER fw_generic_wing.main.mix
 
 # Provide ESC a constant 1000 us pulse
 set PWM_OUT 4
-set PWM_DISARMED 1000

ROMFS/px4fmu_common/init.d/rcS

@@ -58,42 +58,42 @@ set +e
 #
 # Set default paramter values.
 #
-set AUX_MODE                    pwm
-set DATAMAN_OPT                 ""
-set FAILSAFE                    none
-set FAILSAFE_AUX                none
-set FCONFIG                     /fs/microsd/etc/config.txt
-set FEXTRAS                     /fs/microsd/etc/extras.txt
-set FRC                         /fs/microsd/etc/rc.txt
-set FMU_ARGS                    ""
-set FMU_MODE                    pwm
-set IO_FILE                     ""
-set IO_PRESENT                  no
-set LOG_FILE                    /fs/microsd/bootlog.txt
-set MAVLINK_F                   default
-set MAVLINK_COMPANION_DEVICE    /dev/ttyS2
-set MAV_TYPE                    none
-set MIXER                       none
-set MIXER_AUX                   none
-set MIXER_FILE                  none
-set MK_MODE                     none
-set MKBLCTRL_ARG                ""
-set OUTPUT_MODE                 none
-set PARAM_FILE                  /fs/microsd/params
-set PWM_AUX_DISARMED            p:PWM_AUX_DISARMED
-set PWM_AUX_MAX                 p:PWM_AUX_MAX
-set PWM_AUX_MIN                 p:PWM_AUX_MIN
-set PWM_AUX_OUT                 none
-set PWM_AUX_RATE                none
-set PWM_DISARMED                p:PWM_DISARMED
-set PWM_MAX                     p:PWM_MAX
-set PWM_MIN                     p:PWM_MIN
-set PWM_OUT                     none
-set PWM_RATE                    p:PWM_RATE
-set SDCARD_MIXERS_PATH          /fs/microsd/etc/mixers
-set USE_IO                      no
-set VEHICLE_TYPE                none
-set TUNE_ERR                    "ML<<CP4CP4CP4CP4CP4"
+set AUX_MODE pwm
+set DATAMAN_OPT ""
+set FAILSAFE none
+set FAILSAFE_AUX none
+set FCONFIG /fs/microsd/etc/config.txt
+set FEXTRAS /fs/microsd/etc/extras.txt
+set FRC /fs/microsd/etc/rc.txt
+set FMU_ARGS ""
+set FMU_MODE pwm
+set IO_FILE ""
+set IO_PRESENT no
+set LOG_FILE /fs/microsd/bootlog.txt
+set MAVLINK_F default
+set MAVLINK_COMPANION_DEVICE /dev/ttyS2
+set MAV_TYPE none
+set MIXER none
+set MIXER_AUX none
+set MIXER_FILE none
+set MK_MODE none
+set MKBLCTRL_ARG ""
+set OUTPUT_MODE none
+set PARAM_FILE /fs/microsd/params
+set PWM_AUX_DISARMED p:PWM_AUX_DISARMED
+set PWM_AUX_MAX p:PWM_AUX_MAX
+set PWM_AUX_MIN p:PWM_AUX_MIN
+set PWM_AUX_OUT none
+set PWM_AUX_RATE p:PWM_AUX_RATE
+set PWM_DISARMED p:PWM_DISARMED
+set PWM_MAX p:PWM_MAX
+set PWM_MIN p:PWM_MIN
+set PWM_OUT none
+set PWM_RATE p:PWM_RATE
+set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
+set USE_IO no
+set VEHICLE_TYPE none
+set TUNE_ERR "ML<<CP4CP4CP4CP4CP4"
 #
 # Mount the procfs.
 #