# TerraHawk flight parameters: Holybro Pixhawk 6C Mini, Model A (firmware target Pixhawk6C).
# Load after terrahawk-common.parm. Wiring: docs/electronics-notes.md, "Output map trap".
# Not the first-flight board any more: the NxtPX4v2 flies first (board-nxtpx4v2.parm, Ryan 2026-10-04). Kept for a
# 6C if one is used, and as the reference for our own FC, whose hwdef derives from the Pixhawk6C.

# Mounted turned 180 degrees, arrow aft, ports toward the rear hatch.
AHRS_ORIENTATION  4
# The Q43 has no safety button; arming is by the GCS or the sticks.
BRD_SAFETY_DEFLT  0
# Two IMUs, two EKF3 lanes.
EK3_IMU_MASK      3
# IMU offset from the design CG, kit (0, 270, -5.6), body axes (X forward, Y right, Z down), so the EKF's outputs (and
# XKF1) are the CG's position, as GPS1_POS assumes. The 6C Mini's case centre, kit (0, 305.65, 23.90) (th-blender,
# 2026-10-03); Holybro gives no IMU position inside the case, so a placeholder within about 15 mm. Both IMUs. In the
# common file 2026-10-03 to 2026-10-04, then moved here.
INS_POS1_X        -0.036
INS_POS1_Y        0
INS_POS1_Z        -0.030
INS_POS2_X        -0.036
INS_POS2_Y        0
INS_POS2_Z        -0.030
# Bench, before the first power-up: on the DroneCAN page, set the internal compass's COMPASS_USE to
# 0 once the instances show, so only the Q43's compass is used (it sits over the PM02's current).

# --- Outputs. MAIN 1-8 via the IO MCU (groups 1-2, 3-4, 5-8), AUX 1-6 on the FMU (1-4, 5-6) ---
# Lift motors 1-4: functions on MAIN 1-4. This file sets them up for DroneCAN pod ESCs on CAN bus 1
# (pads unused). The first build flies the 4-in-1 on the MAIN pads: load lift-4in1.parm after this file.
SERVO1_FUNCTION   33
SERVO2_FUNCTION   34
SERVO3_FUNCTION   35
SERVO4_FUNCTION   36
Q_M_PWM_TYPE      0
Q_M_PWM_MIN       1000
Q_M_PWM_MAX       2000
SERVO5_FUNCTION   0
SERVO6_FUNCTION   0
# Elevons on MAIN 7 and 8 (group 5-8, no motor). Reversal and endpoints are set on the bench and kept
# in the airframe file.
SERVO7_FUNCTION   77
SERVO8_FUNCTION   78
# AUX 1 and 2: Survey3W trigger and exposure feedback (the first build carries it, Ryan 2026-09-28). Set as
# rows, not a comment: with no camera on AUX 1 and 2 they do nothing. AUX 2 is GPIO 51 on this board (the
# IO MCU drives MAIN; the FMU's PWM(1..8) are AUX 1..8 at GPIO 50..57, Pixhawk6C hwdef). CAM1_TYPE needs a
# reboot. Values and reasons: docs/survey3.md (MAPIR's trigger guide).
SERVO9_FUNCTION   10
SERVO10_FUNCTION  -1
CAM1_TYPE         1
CAM1_SERVO_ON     2000
# Idle pulse: never 1500, which puts the camera into USB transfer mode.
CAM1_SERVO_OFF    1000
CAM1_DURATION     0.1
# Just above the camera's 1.5 s JPG interval. At the 21 m/s survey it gives 79 % forward overlap at 116 m
# (th-aeronautics); 1.5 only if th-main confirms the Survey3W sustains it.
CAM1_INTRVAL_MIN  1.6
CAM1_FEEDBAK_PIN  51
CAM1_FEEDBAK_POL  1
# AUX 3: belly cargo-door release servo (EMAX ES9051 at Y 360, th-blender 9b0c6a5; Ryan: door good for now, to be
# revised). ArduPilot's gripper: DO_GRIPPER in a mission, or an RC switch (RCn_OPTION 19). Group AUX 1-4 has no motor.
# At boot the gripper goes to GRIP_NEUTRAL (AP_Gripper_Servo::init_gripper); the default 1500 would half open the
# door, so NEUTRAL equals GRAB (closed). The bench sets GRAB and RELEASE for the 60 deg horn swing; these are
# placeholders. The servo only slides two end latches 5 mm; the door halves hang open after a drop, for the rest of
# the flight. So AUTOCLOSE is 0: closing the latches behind open halves would stop them being pushed shut (the
# fingers have no ramps). On the ground: close the port half (+X, no lip) by hand first, then the starboard half (-X, with the lap lip), then command GRAB
# (th-blender, 2026-10-04: the -X half's lip lies outside the +X half's edge, so a lip closed first blocks it).
# The drop (doors at Y 366 to 502, about Y 434) moves the CG forward. Bay payload limit (th-aeronautics fff6327,
# from th-testpilot's sweep cc74ad7): all-up 3.01 kg or less at the 21 m/s survey, so 100 g with the Survey3W fitted
# (about 165 g camera off, an estimate); after a release the CG must stay at 256 mm or aft with 8 deg of trim left at
# 18 m/s. A 100 g drop with the pack held leaves only 6.77 deg, so cg_slider.lua (v1.7) watches this gripper output
# (function 28 at GRIP_RELEASE) and moves the pack aft to put the CG back at the takeoff CG; set CGS_DROP_CG and
# CGS_AFT_MM from the balance. The open doors add about 60 % drag for the rest of the flight: drop at the end of a
# survey, not before its last line.
SERVO11_FUNCTION  28
GRIP_ENABLE       1
GRIP_TYPE         1
GRIP_GRAB         1100
GRIP_RELEASE      1600
GRIP_NEUTRAL      1100
GRIP_AUTOCLOSE    0       # range-ok: 0 disables autoclose ("0 to disable", AP_Gripper_Backend.cpp is_positive)
# AUX 4: the "ON" input of the video rail's MOSFET switch (the BEC has no enable). On at boot.
SERVO12_FUNCTION  -1
RELAY2_FUNCTION   1
RELAY2_PIN        53
RELAY2_DEFAULT    1
# AUX 5: pusher ESC, alone in group AUX 5-6.
SERVO13_FUNCTION  70
SERVO14_FUNCTION  0

# --- CAN: two independent DroneCAN networks, never one driver on both ---
# Bus 1 (CAN1): the four DroneCAN lift ESCs, node ids 24-27, ESC index = motor number - 1. Empty while
# the 4-in-1 flies (lift-4in1.parm clears CAN_D1_UC_ESC_BM).
# Bus 2 (CAN2): airspeed (21), charge node (20), rangefinder node (22) when fitted.
CAN_P1_DRIVER     1
CAN_P2_DRIVER     2
CAN_D1_PROTOCOL   1
CAN_D2_PROTOCOL   1
CAN_D1_UC_NODE    10
CAN_D2_UC_NODE    10
CAN_D1_UC_ESC_BM  15
CAN_D1_UC_ESC_OF  0
# Airspeed: Holybro DLVR-L10D over DroneCAN on bus 2.
ARSPD_TYPE        8

# --- Serial ports (SERIAL_ORDER OTG1 UART7 UART5 USART1 UART8 ...) ---
# TELEM1: SiK radio, MAVLink 2.
SERIAL1_PROTOCOL  2
SERIAL1_BAUD      57
# TELEM2: ELRS receiver, CRSF.
SERIAL2_PROTOCOL  23
# The CRSF driver sets its own 416 kBaud; 115 is the conventional value here.
SERIAL2_BAUD      115
# GPS1: Waveshare Q43 NEO-F9P (u-blox), its compass on this port's I2C.
SERIAL3_PROTOCOL  5
SERIAL3_BAUD      230
GPS1_TYPE         2
# GPS2: DJI O4, MSP DisplayPort OSD.
SERIAL4_PROTOCOL  42
SERIAL4_BAUD      115
OSD_TYPE          5

# --- Power: PM02 V3 on the POWER port (analog voltage and current) ---
BATT_MONITOR      4
# Cross-check only, not used for failsafes: the sum of the lift ESCs' reported current (over bus 1, or
# the 4-in-1's serial telemetry).
BATT2_MONITOR     9