# Dissable the default startup tune (exclusively)
param set CBRK_BUZZER 782090

################################
# Mavlink Common
################################

# TELEM1 is used for telemetry radio link
# enable MAVLink in TELEM1
param set-default MAV_0_CONFIG 101
param set-default MAV_0_MODE 0
param set-default MAV_0_RATE 1200
param set-default MAV_0_FORWARD 1
param set-default SER_TEL1_BAUD 57600

# disable MAVLink in TELEM2 to prevent problems with CRSF (see param RC_CRSF_PRT_CFG)
param set-default MAV_1_CONFIG 0

# select CRSF as RC protocol
# param set-default RC_INPUT_PROTO 6 # TELEM2 as RC Input
param set-default RC_CRSF_TEL_EN 1 # Enable CRSF Telemetry
# enable CRSF input in TELEM2
param set-default RC_CRSF_PRT_CFG 102 # https://docs.px4.io/main/en/advanced_config/parameter_reference.html#RC_CRSF_PRT_CFG

################################
# Channel Mappings
################################

# channel mapping according to our conventions (Mode 2): https://drones.eolab.de/development/radio-setup.html#channels-mapping
param set-default RC_MAP_ROLL 1
param set-default RC_MAP_PITCH 2
param set-default RC_MAP_THROTTLE 3
param set-default RC_MAP_YAW 4
param set-default RC_MAP_OFFB_SW 5
param set-default RC_MAP_FLTMODE 6
# TODO:
# MAKE the KILL SWITCH UNIQUE (if the position of the switch return it should remains off)
param set-default RC_MAP_KILL_SW 8
param set-default MAN_ARM_GESTURE 1

################################
# Flight Modes
################################

# flight modes setup, as described in https://drones.eolab.de/development/radio-setup.html#flight-modes-mapping
param set-default COM_FLTMODE1 2 # Position
param set-default COM_FLTMODE2 4 # Hold

# Harley note:
# For some unkown reason the RC_CHAN_CNT default value 0
# make the flight controller detect "no manual control input"
# should I open an issue in PX4
param set-default RC_CHAN_CNT 16


#####################################
# Manual Input Sources (Priorities)
#####################################

# Note: If a RC radio available it gets
# first priority (e.g. RadioMaster TX16S)
# mavlink instance 1: this is always the telemetry link
#    and is the link for joystick control over QGroundControl
#    an example of this is the SteamDeck Radio Controller
# mavlink instance 2: as 2026.03.12 we dont have a Mav instance 2
param set-default COM_RC_IN_MODE 5 # Prio: RC > MAVL 1 > MAVL 2
