# FMT System Configuration File

# The target should match with BSP's target name
target = "Amov-ICF5"

# Console Configuration
[console]
    [[console.devices]]
    type = "serial"
    name = "serial0"
    baudrate = 57600
    auto-switch = true

    [[console.devices]]
    type = "mavlink"
    name = "mav_console"
    auto-switch = true

# Mavproxy Device Configuration
[mavproxy]
    [[mavproxy.devices]]
    chan = 0
    type = "serial"
    name = "serial1"
    baudrate = 57600

    [[mavproxy.devices]]
    chan = 1
    type = "usb"
    name = "usbd0"

# Pilot CMD Configuration
[pilot-cmd]
    # channel mapping for [yaw, throttle, roll, pitch]
    stick-channel = [4,3,1,2]

    [pilot-cmd.device]
    type = "rc"
    name = "rc"
    protocol = "auto"           # auto/sbus/ppm
    channel-num = 8             # max supported channel: sbus:16, ppm:8
    sample-time = 0.05          # sample time in second (-1 for inherit)
    range = [1000,2000]

    [[pilot-cmd.mode]]
    mode = 5                    # Position mode
    channel = 5
    range = [1000,1300]

    [[pilot-cmd.mode]]
    mode = 4                    # Altitude mode
    channel = 5
    range = [1400,1600]

    [[pilot-cmd.mode]]
    mode = 7                    # Offboard mode
    channel = 5
    range = [1700,2000]

    [[pilot-cmd.command]]
    type = 1                    # 1:event | 2:status
    cmd = 1002                  # FMS_Cmd_Disarm
    channel = 6
    range = [1800,2000]

# Actuator Configuration
[actuator]
    [[actuator.devices]]
    protocol = "pwm"
    name = "main_out"
    freq = 400                  # pwm frequency in Hz

    [[actuator.mappings]]
    from = "control_out"
    to = "main_out"
    chan-map = [[1,2,3,4,5,6],[1,2,3,4,5,6]]