#!/bin/sh
#
# MAVLink startup script.
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#

if ! ver hwcmp INTEL_AEROFC_V1
then
	# Start MAVLink on the USB port
	mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
fi

#
# SYS_COMPANION transition support. Can be removed after the next release (currently at 1.8.0)
#
if param compare SYS_COMPANION 319200
then
	param set MAV_1_CONFIG 102
	param set MAV_1_RATE 1000
	param set SER_TEL2_BAUD 19200
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 519200
then
	param set MAV_1_CONFIG 102
	param set MAV_1_MODE 7
	param set MAV_1_RATE 1000
	param set SER_TEL2_BAUD 19200
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 338400
then
	param set MAV_1_CONFIG 102
	param set MAV_1_RATE 1000
	param set SER_TEL2_BAUD 38400
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 538400
then
	param set MAV_1_CONFIG 102
	param set MAV_1_MODE 7
	param set MAV_1_RATE 1000
	param set SER_TEL2_BAUD 38400
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 57600
then
	param set MAV_1_CONFIG 102
	param set MAV_1_MODE 2
	param set MAV_1_RATE 5000
	param set SER_TEL2_BAUD 57600
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 157600
then
	param set MAV_1_CONFIG 102
	param set MAV_1_MODE 3
	param set MAV_1_RATE 1000
	param set SER_TEL2_BAUD 57600
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 257600
then
	param set MAV_1_CONFIG 102
	param set MAV_1_MODE 4
	param set MAV_1_RATE 5000
	param set SER_TEL2_BAUD 57600
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 357600
then
	param set MAV_1_CONFIG 102
	param set MAV_1_RATE 1000
	param set SER_TEL2_BAUD 57600
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 557600
then
	param set MAV_1_CONFIG 102
	param set MAV_1_RATE 1000
	param set MAV_1_MODE 7
	param set SER_TEL2_BAUD 57600
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 3115200
then
	param set MAV_1_CONFIG 102
	param set MAV_1_RATE 1000
	param set SER_TEL2_BAUD 115200
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 4115200
then
	# Iridium
	param set ISBD_CONFIG 102
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 5115200
then
	param set MAV_1_CONFIG 102
	param set MAV_1_RATE 1000
	param set MAV_1_MODE 7
	param set SER_TEL2_BAUD 115200
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 460800
then
	param set MAV_1_CONFIG 102
	param set MAV_1_RATE 5000
	param set MAV_1_MODE 2
	param set SER_TEL2_BAUD 460800
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 921600
then
	param set MAV_1_CONFIG 102
	param set MAV_1_RATE 80000
	param set MAV_1_MODE 2
	param set SER_TEL2_BAUD 921600
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 1921600
then
	param set MAV_1_CONFIG 102
	param set MAV_1_RATE 20000
	param set SER_TEL2_BAUD 921600
	param set SYS_COMPANION 0
fi
if param compare SYS_COMPANION 1500000
then
	param set MAV_1_CONFIG 102
	param set MAV_1_RATE 140000
	param set MAV_1_MODE 2
	param set SER_TEL2_BAUD 1500000
	param set SYS_COMPANION 0
fi