#!/bin/sh
#
# @name Germandrones Songbird V3
#
# @type VTOL Tiltrotor
# @class VTOL
#
# @maintainer Germandrones

# this list contains only the absolutely required parameters and the parameters depending on the drone specific electronics

. ${R}etc/init.d/rc.vtol_defaults

param set-default MAV_TYPE 21
param set-default VT_TYPE 3

param set-default CA_AIRFRAME 31
param set-default CA_ROTOR0_TILT 2
param set-default CA_ROTOR1_TILT 1
param set-default CA_ROTOR2_TILT 1
param set-default CA_ROTOR3_TILT 2

param set-default CA_SV_TL_COUNT 2
param set-default CA_SV_TL0_CT 3
param set-default CA_SV_TL1_CT 3

#GD Songbird specific parameters
param set-default MNT_TRIP_MAVLINK 0

#GD Apply parameters for two motors flight.
if param compare CA_MOTOR_DISABLE 5
then
	param set FW_PR_FF 0.8
	param set FW_THR_MAX 0.8
else if param compare CA_MOTOR_DISABLE 0
	param set FW_PR_FF 0.5
	param set FW_THR_MAX 0.7
     fi
fi

# batt_pac power monitor
batt_pac17xx start -X -R 0.2 -r 80

# board temperatur measurement, is reported as a NAMED_VALUE_FLOAT uORB message
temp_lm75 start -n tempPDB

# payload interface
gd_payload start

uavcan start

mavlink stream -d /dev/ttyS1 -s TIMESYNC -r 1

# distance ground radar
tr24da100 start -d /dev/ttyS5

#GD start a mavlink instance on DEBUG/CONSOLE to enable ELRS Telemetry
# the onboard mode is optional
#mavlink start -d /dev/ttyS4 -b 921600 -f #-m onboard
mavlink start -d /dev/ttyS4 -b 921600 -f -m normal -r 20000

# Serial Port Mapping
# UART      Device      Port                    Name on Carrier board
# USART2    /dev/ttyS0  TELEM1 (flow control)   TELEMETRY1
# USART3    /dev/ttyS1  TELEM2 (flow control)
# UART4     /dev/ttyS2  GPS1                    GPS1
# USART6    /dev/ttyS3  PX4IO
# UART7     /dev/ttyS4  CONSOLE/ADSB-IN         DEBUG
# UART8     /dev/ttyS5  GPS2                    SER4
