////////////////////////////////////////////////////////////////////
//
// PURPOSE: List of vehicle parameters, such as mass properties
//          specific to target named lrauv-daphne 
//
// DATE:    2009/09/16
//
// NOTES:   All values (except "strings") must be followed by
//          a unit abbreviation (or one of the unit-like
//          abbreviations: n/a, bool, enum, count). 
//
//
////////////////////////////////////////////////////////////////////

Vehicle.name                  = "daphne"; 
Vehicle.id                    = 3 enum;
Vehicle.kmlColor              = "ffD8BC80"; // 4 hex bytes indicating alpha, blue, green, and red
// See http://www.fender.com/support/colorchart/index.php?show=blue&color=5
Vehicle.argoProgram           = "9228"; 
Vehicle.argoPlatform          = "173297";

Vehicle.sendDataToShore       = 1 bool;  // If true, telemeter data to shore
Vehicle.checkMTQueue          = 1 bool;  
// Tells the vehicle whether to explicitly check for MT SBD messages in the queue. 
// Will only check immediately following a GPS fix. This variable is useful when using
// a primary comms channel other than SBD as it will force the vehicle to check the SBD
// queue in addition to using the primary comms channel. This allows for queuing up commands
// while the vehicle is underwater.   

   Aanderaa_O2.loadControl    = "/dev/loadC1";
   Aanderaa_O2.uart    = "/dev/ttyC1";
   Aanderaa_O2.baud    = 9600 bps;

   BPC1A.uart    = "/dev/ttyTX2"                
   BPC1B.uart    = "/dev/ttyTX0"

   BuoyancyServo.loadControl    = "/dev/loadA2";
   BuoyancyServo.uart    = "/dev/ttyA2";
   BuoyancyServo.baud    = 9600 bps;

   CANONSampler.loadControl = "/dev/loadA6";
   CANONSampler.uart        = "/dev/ttyA6";
         
   CTD_NeilBrown.loadControl    = "/dev/loadC4";
   CTD_NeilBrown.uart    = "/dev/ttyC4";
   CTD_NeilBrown.baud    = 9600 bps;

   CTD_Seabird.loadControl    = "/dev/loadC6";
   CTD_Seabird.uart = "/dev/ttyC6";
   CTD_Seabird.baud    = 9600 bps;
   CTD_Seabird.lcmApplication = "nohup ./lrauv-framework/onboard/bin/gpctd -ldir /mnt/mmc/LRAUV/Logs/latest/ -dev";   

   DAT.loadControl       = "/dev/loadB3";
   DAT.uart       = "/dev/ttyB3";
   DAT.baud       = 9600 bps;
               
   Depth_Keller.loadControl       = "/dev/loadB0";
   Depth_Keller.ad         = "/dev/mcp3553B0";
  
   ElevatorServo.loadControl    = "/dev/loadA4";
   ElevatorServo.uart    = "/dev/ttyA4";
   ElevatorServo.baud    = 9600 bps;

   MassServo.loadControl        = "/dev/loadA5";
   MassServo.uart        = "/dev/ttyA5"
   MassServo.baud        = 9600 bps; 
   
   NAL9602.loadControl          = "/dev/loadB7";
   NAL9602.uart          = "/dev/ttyS2"; 
   NAL9602.baud          = 19200 bps;   

   PAR_Licor.loadControl          = "/dev/loadC0";
   PAR_Licor.ad            = "/dev/mcp3553C0";
   
   PNI_TCM.loadControl     = "/dev/loadC5";
   PNI_TCM.uart     = "/dev/ttyC5"; 
   PNI_TCM.baud     = 38400 bps;  

   Radio_Surface.loadControl   = "/dev/loadB6";
   // surface radio is only a "dumb" interface to some sort of surface radio that 
   // is self contained. No uart is supported. 

   Rowe_600LCM.loadControl = "/dev/loadB4"; 
   Rowe_600LCM.uart        = "/dev/ttyB4";
   Rowe_600LCM.baud        = 9600 bps;
   Rowe_600LCM.maxSpeed = 1.75 m/s;
   Rowe_600LCM.lcmChannelBottom = "Rowe_600LCM.adcp_dvl.bottom_track";
   Rowe_600LCM.lcmChannelWater = "Rowe_600LCM.adcp_dvl.vehicle_water_velocity";
   Rowe_600LCM.lcmChannelDVL = "rowe_dvl.rowe";
   Rowe_600LCM.lcmApplication = "nohup ./lrauv-framework/onboard/bin/roweadcp -ldir /mnt/mmc/LRAUV/Logs/latest/ -dev";       

   RudderServo.loadControl      = "/dev/loadA3"; 
   RudderServo.uart      = "/dev/ttyA3"
   RudderServo.baud      = 9600 bps; 

   ThrusterServo.loadControl    = "/dev/loadA1";
   ThrusterServo.uart    = "/dev/ttyA1"
   ThrusterServo.baud    = 9600 bps; 
            
   WetLabsBB2FL.loadControl     = "/dev/loadC2";
   WetLabsBB2FL.uart     = "/dev/ttyC2";
   WetLabsBB2FL.baud     = 19200 bps;