# TerraHawk lift motors on a 4-in-1 ESC (TBS Lucid 60A 3-8S 4in1, AM32) instead of DroneCAN ESCs.
# Load after board-pixhawk6c-mini.parm and before the airframe file, only when the 4-in-1 is fitted.
# The 4-in-1 flies first (Ryan, 2026-09-29): the first build loads this file. The DroneCAN pod ESCs
# (S50, then our pod board) follow later; for them, leave this file out.
#
# The motors stay on MAIN 1-4 (SERVO1-4 = motors 1-4 in the board file). MAIN is driven by the IO
# co-processor. Pixhawk6C firmware carries a DShot build of the IO firmware, which drives IO PWM 1-4 on
# TIM2 and TIM4 with bidirectional DShot (hwdef iomcu-f103-dshot, ArduPlane 4c98c92). So the AUX
# outputs keep their jobs: Survey3 trigger and strobe, video switch, pusher.

# DShot on the IO co-processor (takes effect after a reboot).
BRD_IO_DSHOT      1
Q_M_PWM_TYPE      5
SERVO_DSHOT_ESC   1
# Bidirectional DShot RPM on MAIN 1-4, for the harmonic notch and the motor checks. Make sure on the
# bench that all four RPM values arrive before the first hover.
SERVO_BLH_BDMASK  15
SERVO_BLH_POLES   14

# No lift ESCs on CAN bus 1 while the 4-in-1 is fitted. The bus and its driver stay for the pod boards.
CAN_D1_UC_ESC_BM  0

# KISS serial telemetry (voltage, current, temperature per channel) on USART3, the FMU Debug SH-6
# connector, RX only. The Mini has no other free UART (th-eda). BATT2_MONITOR 9 in the board file sums
# this telemetry's current, so it needs no change. Leave the 4-in-1's analog current pad unconnected.
SERIAL6_PROTOCOL  16
SERIAL6_BAUD      115

# Set on the ESC with the AM32 configurator, not here: brake on stop (the folding props), motor
# direction per channel, and the temperature limit.