# Parrot Bebop multirotor

define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs"
define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain"
define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot"

# Heater support
define HAL_HAVE_IMU_HEATER 1
define HAL_IMU_TEMP_DEFAULT 55
define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
define HAL_LINUX_HEAT_PWM_NUM  6
define HAL_LINUX_HEAT_KP 20000
define HAL_LINUX_HEAT_KI 6
define HAL_LINUX_HEAT_PERIOD_NS 125000
define HAL_LINUX_HEAT_TARGET_TEMP 50

define BEBOP_CAMV_PWM  9
define BEBOP_CAMV_PWM_FREQ 43333333

# in-built optical flow support:
define OPTICAL_FLOW_TYPE_DEFAULT Type::BEBOP
define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0"
define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320
define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240
define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64
define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64
define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240
define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240
define HAL_OPTFLOW_ONBOARD_NBUFS 8
define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4
define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30
define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000

define HAL_PARAM_DEFAULTS_PATH "/data/ftp/internal_000/ardupilot/bebop.parm"

define HAL_RCOUT_BEBOP_BLDC_I2C_BUS 1
define HAL_RCOUT_BEBOP_BLDC_I2C_ADDR 0x08

# focal length 2.21mm pixel size 3.6 um, 2x binning in each direction
# 240x240 crop rescaled to 64x64
define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.21 / (3.6 * 2.0 * 240 / 64))

define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0

define HAL_BATT_MONITOR_DEFAULT AP_BattMonitor::Type::BEBOP

#            NAME    BUS SUBDEV MODE       BPW CS_PIN         LOWSPD  HIGHSPD
LINUX_SPIDEV "bebop" 1   0      SPI_MODE_0 8   SPI_CS_KERNEL  320*KHZ 320*KHZ