regarding the trip plan of yours i would suggest the darmasthala trip on the way to madikeri. either go to kanhangad madikeri, darmasthala, mangalore, udupi, kollur kottayam.or mangalore , udupi, kollur back to mangalore, darmasthala, madikeri, kanhangd, kottayam. i don't know of any road directly to darmasthala from kollur.