VTOL: added config for the E-flite Convergence

ROMFS/px4fmu_common/init.d/13012_convergence

+#!nsh
+#
+# @name E-flite Convergence
+# @type VTOL Tiltrotor
+# @maintainer Andreas Antener <andreas@uaventure.com>
+# @output MAIN1 Motor right
+# @output MAIN2 Motor back
+# @output MAIN3 Motor left
+# @output MAIN4 empty
+# @output MAIN5 Tilt servo right
+# @output MAIN6 Tilt servo left
+# @output MAIN7 Elevon right
+# @output MAIN8 Elevon left
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF == yes ]
+then
+    param set VT_MOT_COUNT 3
+    param set VT_FW_MOT_OFFID 3
+    param set VT_IDLE_PWM_MC 1080
+    param set VT_TYPE 1
+
+    param set VT_TILT_MC 0.0
+    param set VT_TILT_TRANS 0.35
+    param set VT_TILT_FW 1.0
+    param set VT_F_TRANS_DUR 2.0
+    param set VT_F_TR_OL_TM 5.0
+    param set VT_TRANS_P2_DUR 2.2
+    param set VT_B_TRANS_DUR 1.0
+    param set VT_FW_PERM_STAB 1
+
+    param set FW_L1_PERIOD 16
+    param set FW_MAN_R_MAX 50.0
+    param set FW_PSP_OFF 4.0
+    param set FW_P_LIM_MAX 30
+    param set FW_P_LIM_MIN -30
+    param set FW_RR_FF 0.35
+    param set FW_RR_P 0.14
+
+    param set MC_YAWRATE_P 0.3
+    param set MPC_LAND_SPEED 1.2
+    param set MPC_TKO_SPEED 2.5
+    param set MPC_Z_VEL_MAX_UP 3.0
+
+    param set CBRK_AIRSPD_CHK 162128
+    param set FW_ARSP_MODE 2
+
+    param set SENS_BOARD_ROT 8
+fi
+
+set MIXER vtol_convergence
+set PWM_OUT 1234
+set PWM_RATE 400
+
+set MAV_TYPE 21

ROMFS/px4fmu_common/mixers/vtol_convergence.main.mix

+# E-flite Convergence Tricopter Y-Configuration Mixer
+
+# Note: 9999 is used to circumvent a mixer loading bug
+# https://github.com/PX4/Firmware/issues/5118
+
+# Motors
+R: 3y 9999 9999 9999 0
+
+Z:
+
+Tilt mechanism servo mixer
+---------------------------
+#RIGHT up:2000 down:1000
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 4      0 -20000   9999 -10000  10000
+S: 0 2   4000   4000      0 -10000  10000
+
+#LEFT up:1000 down:2000
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 4      0  20000  -9999 -10000  10000
+S: 0 2   4000   4000      0 -10000  10000
+
+Elevon mixers
+-------------
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 0  -7500  -7500      0 -10000  10000
+S: 1 1   8000   8000      0 -10000  10000
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 0  -7500  -7500      0 -10000  10000
+S: 1 1  -8000  -8000      0 -10000  10000