ardupilot/libraries/AP_HAL_Empty/AP_HAL_Empty_Main.h

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#ifndef __AP_HAL_EMPTY_MAIN_H__
#define __AP_HAL_EMPTY_MAIN_H__
#if CONFIG_HAL_BOARD == HAL_BOARD_EMPTY
#define AP_HAL_MAIN() extern "C" {\
int main (void) {\
hal.init(0, NULL); \
setup();\
hal.scheduler->system_initialized(); \
for(;;) loop();\
return 0;\
}\
}
#endif // HAL_BOARD_EMPTY
#endif // __AP_HAL_EMPTY_MAIN_H__