ardupilot/libraries/AP_HAL_Linux/hwdef/obal/hwdef.dat

# Open Board Architecture for Linux

define HAL_BOARD_LOG_DIRECTORY "/home/pi/ardupilot/logs"
define HAL_BOARD_TERRAIN_DIRECTORY "/home/pi/ardupilot/terrain"
define HAL_BOARD_STORAGE_DIRECTORY "/home/pi/ardupilot"
define HAL_PARAM_DEFAULTS_PATH "/home/pi/ardupilot.parm"

define DEFAULT_NTF_LED_TYPES (Notify_LED_Board)
define AP_NOTIFY_GPIO_LED_3_ENABLED 1
define HAL_GPIO_A_LED_PIN        27 // You can choose between 27,22,4,12
define HAL_GPIO_C_LED_PIN        22 // You can choose between 27,22,4,12
define HAL_GPIO_B_LED_PIN        4 // You can choose between 27,22,4,12
define HAL_GPIO_LED_ON           1

define AP_NOTIFY_BUZZER_ENABLED 1
define HAL_BUZZER_PIN                12 // You can choose between 27,22,4,12

define OBAL_ALLOW_ADC                1

define HAL_BOARD_SUBTYPE_LINUX_OBAL_V1_MPU_9250_SPI 1

#            NAME      BUS SUBDEV MODE       BPW CS_PIN         LOWSPD HIGHSPD
LINUX_SPIDEV "mpu9250" 0   0      SPI_MODE_3 8   SPI_CS_KERNEL  1*MHZ  10*MHZ

define HAL_LINUX_GPIO_RPI_ENABLED 1

define HAL_BATT_VOLT_PIN                  0
define HAL_BATT_CURR_PIN                  1
define HAL_BATT_VOLT_SCALE                10.1f
define HAL_BATT_CURR_SCALE                17.0f