#!/bin/sh
#
# board specific defaults
#------------------------------------------------------------------------------

# transision from params file to flash-based params (2022-08)
if [ -f $PARAM_FILE ]
then
	param load $PARAM_FILE
	param save
	# create a backup
	mv $PARAM_FILE ${PARAM_FILE}.bak
	reboot
fi

param set-default SENS_EN_INA226 1

# TODO: Set params to start UXRCE DDS on Telem2

# TODO: Start Mavlink on USB by default

# TODO: Tune the following parameters
param set-default SENS_EN_THERMAL 1
param set-default SENS_IMU_TEMP 10.0
#param set-default SENS_IMU_TEMP_FF 0.0
#param set-default SENS_IMU_TEMP_I 0.025
#param set-default SENS_IMU_TEMP_P 1.0

if ver hwtypecmp ARKPI6X000
then
	# TODO: Add the correct sensor ID
	param set-default SENS_TEMP_ID 2490378
fi

param set-default EKF2_BARO_DELAY 39
param set-default EKF2_BARO_NOISE 0.9
param set-default EKF2_HGT_REF 0
param set-default EKF2_MAG_DELAY 60
param set-default EKF2_MAG_NOISE 0.06
param set-default EKF2_MULTI_IMU 2
param set-default EKF2_OF_CTRL 1
param set-default EKF2_OF_DELAY 28
param set-default EKF2_OF_N_MIN 0.05
param set-default EKF2_RNG_A_HMAX 25
param set-default EKF2_RNG_DELAY 105
param set-default EKF2_RNG_NOISE 0.03
param set-default EKF2_RNG_QLTY_T 0.1
param set-default EKF2_RNG_SFE 0.03

param set-default SENS_FLOW_RATE 150