added startup config for Maja and new generic mixer that uses channel 5 for wheel steering

ROMFS/px4fmu_common/init.d/2101_fw_AERT

@@ -6,8 +6,8 @@
 #
 # @output MAIN1 aileron
 # @output MAIN2 elevator
-# @output MAIN4 rudder
-# @output MAIN3 throttle
+# @output MAIN3 rudder
+# @output MAIN4 throttle
 # @output MAIN5 flaps
 #
 # @output AUX1 feed-through of RC AUX1 channel

ROMFS/px4fmu_common/init.d/2105_maja

+#!nsh
+#
+# @name Bormatec Maja
+#
+# @type Standard Plane
+#
+# @output MAIN1 aileron
+# @output MAIN2 elevator
+# @output MAIN3 rudder
+# @output MAIN4 throttle
+# @output MAIN5 wheel
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Andreas Antener <andreas@uaventure.com>
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF == yes ]
+then
+    param set FW_AIRSPD_MIN 10
+    param set FW_AIRSPD_TRIM 15
+    param set FW_AIRSPD_MAX 20
+
+    param set FW_MAN_P_MAX 55
+    param set FW_MAN_R_MAX 55
+    param set FW_R_LIM 55
+
+    param set FW_WR_FF 0.2
+    param set FW_WR_I 0.2
+    param set FW_WR_IMAX 0.8
+    param set FW_WR_P 1
+    param set FW_W_RMAX 0
+
+    # set disarmed value for the ESC
+    param set PWM_DISARMED 1000
+fi
+
+set MIXER AERTW
+
+# use PWM parameters for throttle channel
+set PWM_OUT 4
+set PWM_DISARMED p:PWM_DISARMED
+set PWM_MIN p:PWM_MIN
+set PWM_MAX p:PWM_MAX

ROMFS/px4fmu_common/mixers/AERTW.main.mix

+Aileron/rudder/elevator/throttle/wheel mixer for PX4FMU
+=======================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, rudder, elevator, throttle and steerable wheel controls using PX4FMU.
+The configuration assumes the aileron servo(s) are connected to PX4FMU servo
+output 0, the elevator to output 1, the rudder to output 2, the throttle
+to output 3 and the wheel to output 4.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust).
+
+Aileron mixer
+-------------
+Two scalers total (output, roll).
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+As there is only one output, if using two servos adjustments to compensate for
+differences between the servos must be made mechanically.  To obtain the correct
+motion using a Y  cable, the servos can be positioned reversed from one another.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 0  10000  10000      0 -10000  10000
+
+Elevator mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the elevator servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:       10000   10000      0 -10000  10000
+S: 0 1  -10000  -10000      0 -10000  10000
+
+Rudder mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the rudder servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 2  10000  10000      0 -10000  10000
+
+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
+
+Wheel mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the wheel servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 2  10000  10000      0 -10000  10000
+
+
+Gimbal / flaps / payload mixer for last three channels,
+using the payload control group
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 0  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 1  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 2 2  10000  10000      0 -10000  10000

src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp

@@ -49,6 +49,7 @@
  *
  * @author Lorenz Meier <lm@inf.ethz.ch>
  * @author Thomas Gubler <thomasgubler@gmail.com>
+ * @author Andreas Antener <andreas@uaventure.com>
  */
 
 #include <px4_config.h>