px4_autopilot/boards/modalai/fc-v1/init/rc.board_defaults

#!/bin/sh
#
# ModalAI FC-v1 specific board defaults
# Maintainer: travis@modalai.com
#------------------------------------------------------------------------------

#
# Summary:
#   Flight Core can be used on many airframes, but is meant to be paired with
#   VOXL (either through a cable or in the combo board flavor).  For this reason
#   this script has a bit more Logic (aka Bobby Tarantino) than normal.
#
# Flight Core Version Information:
#   V100 - Flight Core Stand Alone configuration
#   V110 - Flight Core VOXL-Flight configuration
#

#
# Common settings across Flight Core configurations
#
if [ $AUTOCNF = yes ]
then
	#
	# Disable safety switch by default (pull high to 3.3V to enable)
	#  V100 - J13 pin 5
	#  V110 - J1011 pin 5
	#
	param set CBRK_IO_SAFETY 22027
fi

#
# Stand Alone configuration
#
if ver hwtypecmp V100
then
	echo "Configuring Flight Core - V100"

	#
	# In Flight Core, J1 and J4 can be setup to be used as serial ports for TELEM2
	# and TELEM3 respectively, and connected to VOXL via cables.  We'll configure
	# this out of the box.  The user can later change this if they want, as these
	# are configurable and not necessarily required to be used with VOXL.
	#
	if [ $AUTOCNF = no ]
	then
		if param compare MAV_1_CONFIG 0
		then
			echo "V100 - Defualt configuration TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
			param set MAV_1_CONFIG 102 # TELEM2
			param set MAV_1_MODE 0	# normal
			param set SER_TEL2_BAUD 921600 # VIO data
		fi
		if param compare MAV_2_CONFIG 0
		then
			echo "V100 - Defualt configuration TELEM3 on /dev/ttyS1 at 57600 in Normal Mode"
			param set MAV_2_CONFIG 103 # TELEM3
			param set MAV_2_MODE 0	# normal
			param set SER_TEL3_BAUD 57600 # standard data
		fi
	fi

	# User is setting defaults, so let's do it!
	if [ $AUTOCNF = yes ]
	then
		echo "V100 - Auto Configuring TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
		param set MAV_1_CONFIG 102 # TELEM2
		param set MAV_1_MODE 0	# normal
		param set SER_TEL2_BAUD 921600 # VIO data

		echo "V100 - Auto Configuring TELEM3 on /dev/ttyS1 at 57600 in Normal Mode"
		param set MAV_2_CONFIG 103 # TELEM3
		param set MAV_2_MODE 0	# normal
		param set SER_TEL3_BAUD 57600 # standard data
	fi
fi

#
# VOXL-Flight configuration
#
if ver hwtypecmp V110
then
	echo "Configuring VOXL-Flight - V110"

	#
	# TELEM2 port is physically routed in the PCB, thus not configurable.
	# The following will detect a fresh install, or if the user has changed the setting
	# and revert to the VOXL-Flight defaults.  This does allow the user to change the mode
	# and baud rates if they choose to do so, although VOXL is expecting what is set below
	#
	if [ $AUTOCNF = no ]
	then
		if ! param compare MAV_1_CONFIG 102
		then
			echo "V110 - Defualt configuration TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
			param set MAV_1_CONFIG 102 # TELEM2
			param set MAV_1_MODE 0	# normal
			param set SER_TEL2_BAUD 921600
		fi
		#
		# J1002 is setup as a spare serial port, if not setup by the user let's default it to TELEM3
		#
		if param compare MAV_2_CONFIG 0
		then
			echo "V110 - Defualt configuration TELEM3 on /dev/ttyS1 at 57600 in Normal Mode"
			param set MAV_2_CONFIG 103 # TELEM3
			param set MAV_2_MODE 0	# normal
			param set SER_TEL3_BAUD 57600 # standard data
		fi
	fi

	# User is setting defaults, so let's do it!
	if [ $AUTOCNF = yes ]
	then
		echo "V110 - Auto Configuring TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
		param set MAV_1_CONFIG 102 # TELEM2
		param set MAV_1_MODE 0	# normal
		param set SER_TEL2_BAUD 921600

		echo "V110 - Auto Configuring TELEM3 on /dev/ttyS1 at 57600 in Normal Mode"
		param set MAV_2_CONFIG 103 # TELEM3
		param set MAV_2_MODE 0	# normal
		param set SER_TEL3_BAUD 57600
	fi
fi

set LOGGER_BUF 64

safety_button start