////////////////////////////////////////////////////////////////////
//
// 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.   

   // Aft battery pack
   BPC1A.uart                    = "/dev/ttyTX0"
   BPC1A.baud                    = 19200 bps;

   // Fwd battery pack
   BPC1B.uart                    = "/dev/ttyTX2"
   BPC1B.baud                    = 19200 bps;

   AHRS_M2.loadControl           = "/dev/loadC7";
   AHRS_M2.uart                  = "/dev/ttyC7";
   AHRS_M2.baud                  = 115200 bps;

   CANONSampler.loadControl      = "/dev/loadB1";
   CANONSampler.uart             = "/dev/ttyB1";
   
   CTD_Seabird.loadControl       = "/dev/loadC6";
   CTD_Seabird.uart              = "/dev/ttyC6";
   CTD_Seabird.baud              = 9600 bps;

   PNI_TCM.loadControl           = "/dev/loadC5";
   PNI_TCM.uart                  = "/dev/ttyC5";
   PNI_TCM.baud                  = 38400 bps;

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

   // C3 - Future expansion

   WetLabsBB2FL.loadControl      = "/dev/loadC2";
   WetLabsBB2FL.uart             = "/dev/ttyC2";
   WetLabsBB2FL.baud             = 19200 bps;

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

   PAR_Licor.loadControl         = "/dev/loadC0";
   PAR_Licor.ad                  = "/dev/mcp3553C0";

   NAL9602.loadControl           = "/dev/loadB7";
   NAL9602.uart                  = "/dev/ttyS2";
   NAL9602.baud                  = 19200 bps;

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

   // B5 - Power converter

   AMEcho.loadControl            = "/dev/loadB4";
   AMEcho.uart                   = "/dev/ttyB4";
   AMEcho.baud                   = 4800 bps;

   DAT.loadControl               = "/dev/loadB3";
   DAT.uart                      = "/dev/ttyB3";
   DAT.baud                      = 115200 bps;

   // B2 - Power converter

   // B1 - Payload

   Depth_Keller.loadControl      = "/dev/loadB0";
   Depth_Keller.ad               = "/dev/mcp3553B0";

   // ESP PPP Coms and Power
   ESPComponent.loadControl2     = "/dev/loadA7";
   ESPComponent.uart             = "/dev/ttyTX1";

   // ESP Console and Power
   ESPComponent.loadControl      = "/dev/loadA6";
   ESPComponent.consoleUart      = "/dev/ttyA6";
   ESPComponent.baud             = 115200 bps;

   MassServo.loadControl         = "/dev/loadA5";
   MassServo.uart                = "/dev/ttyA5"
   MassServo.baud                = 9600 bps;

   ElevatorServo.loadControl     = "/dev/loadA4";
   ElevatorServo.uart            = "/dev/ttyA4";
   ElevatorServo.baud            = 9600 bps;

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

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

   ThrusterServo.loadControl     = "/dev/loadA1";
   ThrusterServo.uart            = "/dev/ttyA1"
   ThrusterServo.baud            = 9600 bps;