diff --git a/BUILD.md b/BUILD.md index 19690a49b2..4551d272db 100644 --- a/BUILD.md +++ b/BUILD.md @@ -59,7 +59,6 @@ list some basic and more used commands as example. ```sh ./waf configure --board bebop --static # Bebop or Bebop2 ./waf configure --board edge # emlid edge - ./waf configure --board minilure # minilure linux flight controller ./waf configure --board navio2 # emlid navio2 ./waf configure --board px4-v1 # the very old two layer Pixhawk (almost none exist) ./waf configure --board px4-v2 # older Pixhawks that suffer from the 1MB flash limit issue diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py index 71d811c206..2765b0c31e 100644 --- a/Tools/ardupilotwaf/boards.py +++ b/Tools/ardupilotwaf/boards.py @@ -449,15 +449,6 @@ class linux(Board): # Avoid infinite recursion bld.options.upload = False -class minlure(linux): - def configure_env(self, cfg, env): - super(minlure, self).configure_env(cfg, env) - - env.DEFINES.update( - CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_MINLURE', - ) - - class erleboard(linux): toolchain = 'arm-linux-gnueabihf' diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Analog.h b/libraries/AP_BattMonitor/AP_BattMonitor_Analog.h index 685370d997..90c9886b0a 100644 --- a/libraries/AP_BattMonitor/AP_BattMonitor_Analog.h +++ b/libraries/AP_BattMonitor/AP_BattMonitor_Analog.h @@ -75,12 +75,6 @@ # define AP_BATT_VOLTDIVIDER_DEFAULT 10.1f # define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f -#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE - # define AP_BATT_VOLT_PIN 2 - # define AP_BATT_CURR_PIN 3 - # define AP_BATT_VOLTDIVIDER_DEFAULT 10.1f - # define AP_BATT_CURR_AMP_PERVOLT_DEFAULT 17.0f - #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2) # define AP_BATT_VOLT_PIN 2 # define AP_BATT_CURR_PIN 3 diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp index a046e2c12d..e096aa5cca 100644 --- a/libraries/AP_Compass/AP_Compass.cpp +++ b/libraries/AP_Compass/AP_Compass.cpp @@ -803,18 +803,6 @@ void Compass::_detect_backends(void) AP_Compass_AK8963::name, false); ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 1), AP_Compass_AK8963::name, true); -#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE - ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe_mpu6000(*this), - AP_Compass_HMC5843::name, false); - ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, - Linux::I2CDeviceManager::from(hal.i2c_mgr)->get_device( - { /* UEFI with lpss set to ACPI */ - "platform/80860F41:05", - /* UEFI with lpss set to PCI */ - "pci0000:00/0000:00:18.6" }, - HAL_COMPASS_HMC5843_I2C_ADDR), - true), - AP_Compass_HMC5843::name, true); #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_NAVIO2 ADD_BACKEND(DRIVER_LSM9DS1, AP_Compass_LSM9DS1::probe(*this, hal.spi->get_device("lsm9ds1_m"), ROTATION_ROLL_180), AP_Compass_LSM9DS1::name, false); diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h index a467771518..f1b051d3fd 100644 --- a/libraries/AP_HAL/AP_HAL_Boards.h +++ b/libraries/AP_HAL/AP_HAL_Boards.h @@ -26,7 +26,6 @@ #define HAL_BOARD_SUBTYPE_LINUX_ZYNQ 1004 #define HAL_BOARD_SUBTYPE_LINUX_BBBMINI 1005 #define HAL_BOARD_SUBTYPE_LINUX_BEBOP 1006 -#define HAL_BOARD_SUBTYPE_LINUX_MINLURE 1008 #define HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 1009 #define HAL_BOARD_SUBTYPE_LINUX_BH 1010 #define HAL_BOARD_SUBTYPE_LINUX_PXFMINI 1012 diff --git a/libraries/AP_HAL/board/linux.h b/libraries/AP_HAL/board/linux.h index e336b4d2b0..3b002ecbd8 100644 --- a/libraries/AP_HAL/board/linux.h +++ b/libraries/AP_HAL/board/linux.h @@ -118,30 +118,6 @@ #define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0 // the disco has challenges with its magnetic setup #define AP_COMPASS_OFFSETS_MAX_DEFAULT 2200 -#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE -#define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI -#define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_90 -#define HAL_INS_MPU60x0_NAME "mpu6000" -#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C -#define HAL_BARO_MS5611_I2C_BUS { "platform/80860F41:06", } -#define HAL_BARO_MS5611_I2C_ADDR 0x77 -/* Internal and external compasses */ -#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E -#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0" -#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 -/* ELP-USBFHD01M-L21 - * focal length 2.1 mm, pixel size 3 um - * 240x240 crop rescaled to 64x64 */ -#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.1 / (3.0 * 2.0 * 240 / 64)) #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO #define HAL_GPIO_A_LED_PIN 0 #define HAL_GPIO_B_LED_PIN 1 diff --git a/libraries/AP_HAL_Linux/AnalogIn_IIO.h b/libraries/AP_HAL_Linux/AnalogIn_IIO.h index 0bce2085d4..945df747a8 100644 --- a/libraries/AP_HAL_Linux/AnalogIn_IIO.h +++ b/libraries/AP_HAL_Linux/AnalogIn_IIO.h @@ -18,8 +18,6 @@ #define IIO_VOLTAGE_SCALING 1.8/4095.0 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET #define IIO_VOLTAGE_SCALING 3.0*1.8/4095.0 -#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE -#define IIO_VOLTAGE_SCALING 2.0 / 1000 #else #define IIO_VOLTAGE_SCALING 1.0 #endif diff --git a/libraries/AP_HAL_Linux/Flow_PX4.cpp b/libraries/AP_HAL_Linux/Flow_PX4.cpp index 6dadb0a352..e285763c4f 100644 --- a/libraries/AP_HAL_Linux/Flow_PX4.cpp +++ b/libraries/AP_HAL_Linux/Flow_PX4.cpp @@ -37,8 +37,7 @@ * ****************************************************************************/ #include -#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\ - CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE +#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #include "Flow_PX4.h" #include diff --git a/libraries/AP_HAL_Linux/GPIO.h b/libraries/AP_HAL_Linux/GPIO.h index 5bbd5990d8..89e4b853ef 100644 --- a/libraries/AP_HAL_Linux/GPIO.h +++ b/libraries/AP_HAL_Linux/GPIO.h @@ -35,8 +35,6 @@ private: #include "GPIO_Navio2.h" #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE #include "GPIO_Edge.h" -#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE -#include "GPIO_Minnow.h" #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #include "GPIO_Bebop.h" #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO diff --git a/libraries/AP_HAL_Linux/GPIO_Minnow.cpp b/libraries/AP_HAL_Linux/GPIO_Minnow.cpp deleted file mode 100644 index 0c4ed063d0..0000000000 --- a/libraries/AP_HAL_Linux/GPIO_Minnow.cpp +++ /dev/null @@ -1,37 +0,0 @@ -#include - -#include "GPIO_Minnow.h" - -#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE - -const unsigned Linux::GPIO_Sysfs::pin_table[] = { - [MINNOW_GPIO_SPI_CS] = 476, - [MINNOW_GPIO_SPI_MISO] = 477, - [MINNOW_GPIO_SPI_MOSI] = 478, - [MINNOW_GPIO_SPI_CLK] = 479, - [MINNOW_GPIO_I2C_SCL] = 499, - [MINNOW_GPIO_I2C_SDA] = 498, - [MINNOW_GPIO_UART2_TXD] = 485, - [MINNOW_GPIO_UART2_RXD] = 484, - [MINNOW_GPIO_S5_0] = 338, - [MINNOW_GPIO_S5_1] = 339, - [MINNOW_GPIO_S5_2] = 340, - [MINNOW_GPIO_UART1_TXD] = 481, - [MINNOW_GPIO_UART1_RXD] = 480, - [MINNOW_GPIO_UART1_CTS] = 483, - [MINNOW_GPIO_UART1_RTS] = 482, - [MINNOW_GPIO_I2S_CLK] = 472, - [MINNOW_GPIO_I2S_FRM] = 473, - [MINNOW_GPIO_I2S_DO] = 475, - [MINNOW_GPIO_I2S_DI] = 474, - [MINNOW_GPIO_PWM0] = 504, - [MINNOW_GPIO_PWM1] = 505, - [MINNOW_GPIO_IBL_8254] = 464, -}; - -const uint8_t Linux::GPIO_Sysfs::n_pins = _MINNOW_GPIO_MAX; - -static_assert(ARRAY_SIZE(Linux::GPIO_Sysfs::pin_table) == _MINNOW_GPIO_MAX, - "GPIO pin_table must have the same size of entries in enum gpio_minnow"); - -#endif diff --git a/libraries/AP_HAL_Linux/GPIO_Minnow.h b/libraries/AP_HAL_Linux/GPIO_Minnow.h deleted file mode 100644 index 502541c203..0000000000 --- a/libraries/AP_HAL_Linux/GPIO_Minnow.h +++ /dev/null @@ -1,29 +0,0 @@ -#pragma once - -#include "GPIO_Sysfs.h" - -enum gpio_minnow { - MINNOW_GPIO_SPI_CS, - MINNOW_GPIO_SPI_MISO, - MINNOW_GPIO_SPI_MOSI, - MINNOW_GPIO_SPI_CLK, - MINNOW_GPIO_I2C_SCL, - MINNOW_GPIO_I2C_SDA, - MINNOW_GPIO_UART2_TXD, - MINNOW_GPIO_UART2_RXD, - MINNOW_GPIO_S5_0, - MINNOW_GPIO_S5_1, - MINNOW_GPIO_S5_2, - MINNOW_GPIO_UART1_TXD, - MINNOW_GPIO_UART1_RXD, - MINNOW_GPIO_UART1_CTS, - MINNOW_GPIO_UART1_RTS, - MINNOW_GPIO_I2S_CLK, - MINNOW_GPIO_I2S_FRM, - MINNOW_GPIO_I2S_DO, - MINNOW_GPIO_I2S_DI, - MINNOW_GPIO_PWM0, - MINNOW_GPIO_PWM1, - MINNOW_GPIO_IBL_8254, - _MINNOW_GPIO_MAX, -}; diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp index 6958a961e0..a6d3bd9452 100644 --- a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp +++ b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp @@ -87,8 +87,7 @@ static AnalogIn_ADS1115 analogIn; CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \ - CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET || \ - CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE + CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET static AnalogIn_IIO analogIn; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE @@ -120,8 +119,7 @@ static GPIO_RPI gpioDriver; CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE static GPIO_Sysfs gpioDriver; -#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE || \ - CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \ +#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO static GPIO_Sysfs gpioDriver; @@ -150,8 +148,6 @@ static RCInput_RPI rcinDriver; static RCInput_ZYNQ rcinDriver; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP static RCInput_UDP rcinDriver; -#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE -static RCInput_UART rcinDriver("/dev/ttyS5"); #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO static RCInput_Multi rcinDriver{2, new RCInput_SBUS, new RCInput_115200("/dev/uart-sumd")}; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO @@ -191,13 +187,6 @@ static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_QUINA static RCOutput_ZYNQ rcoutDriver; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP static RCOutput_Bebop rcoutDriver(i2c_mgr_instance.get_device(HAL_RCOUT_BEBOP_BLDC_I2C_BUS, HAL_RCOUT_BEBOP_BLDC_I2C_ADDR)); -#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE -static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device( - { /* UEFI with lpss set to ACPI */ - "platform/80860F41:05", - /* UEFI with lpss set to PCI */ - "pci0000:00/0000:00:18.6" }, - PCA9685_PRIMARY_ADDRESS), false, 0, MINNOW_GPIO_S5_1); #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO static RCOutput_Disco rcoutDriver(i2c_mgr_instance.get_device(HAL_RCOUT_DISCO_BLDC_I2C_BUS, HAL_RCOUT_DISCO_BLDC_I2C_ADDR)); #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 @@ -214,8 +203,7 @@ static Empty::RCOutput rcoutDriver; static Scheduler schedulerInstance; -#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\ - CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE +#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP static OpticalFlow_Onboard opticalFlow; #else static Empty::OpticalFlow opticalFlow; diff --git a/libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp b/libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp index 5d70e2c1ca..1c58a5223b 100644 --- a/libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp +++ b/libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp @@ -14,8 +14,7 @@ */ #include -#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\ - CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE +#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #include "OpticalFlow_Onboard.h" #include @@ -92,23 +91,6 @@ void OpticalFlow_Onboard::init() AP_HAL::panic("OpticalFlow_Onboard: couldn't set subdev fmt\n"); } _format = V4L2_PIX_FMT_NV12; -#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE - std::vector pixel_formats; - - _videoin->get_pixel_formats(&pixel_formats); - - for (uint32_t px_fmt : pixel_formats) { - if (px_fmt == V4L2_PIX_FMT_NV12 || px_fmt == V4L2_PIX_FMT_GREY) { - _format = px_fmt; - break; - } - - /* if V4L2_PIX_FMT_YUYV format is found we still iterate through - * the vector since the other formats need no conversions. */ - if (px_fmt == V4L2_PIX_FMT_YUYV) { - _format = px_fmt; - } - } #endif if (!_videoin->set_format(&_width, &_height, &_format, &_bytesperline, diff --git a/libraries/AP_HAL_Linux/SPIDevice.cpp b/libraries/AP_HAL_Linux/SPIDevice.cpp index d945bfff96..65d07454e3 100644 --- a/libraries/AP_HAL_Linux/SPIDevice.cpp +++ b/libraries/AP_HAL_Linux/SPIDevice.cpp @@ -75,10 +75,6 @@ SPIDesc SPIDeviceManager::_device[] = { SPIDesc("mpu6000", 2, 0, SPI_MODE_3, 8, BBB_P9_28, 500*1000, 20*MHZ), SPIDesc("mpu9250", 2, 0, SPI_MODE_3, 8, BBB_P9_23, 1*MHZ, 11*MHZ), }; -#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE -SPIDesc SPIDeviceManager::_device[] = { - SPIDesc("mpu6000", 0, 0, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 15*MHZ) -}; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 SPIDesc SPIDeviceManager::_device[] = { SPIDesc("mpu9250", 0, 1, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 11*MHZ), diff --git a/libraries/AP_HAL_Linux/VideoIn.cpp b/libraries/AP_HAL_Linux/VideoIn.cpp index 4da23db801..1e251d7d4b 100644 --- a/libraries/AP_HAL_Linux/VideoIn.cpp +++ b/libraries/AP_HAL_Linux/VideoIn.cpp @@ -18,8 +18,7 @@ */ #include -#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\ - CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE +#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #include "VideoIn.h" #include diff --git a/libraries/AP_HAL_Linux/benchmarks/benchmark_videoin.cpp b/libraries/AP_HAL_Linux/benchmarks/benchmark_videoin.cpp index 5f681b7b39..120e8eec61 100644 --- a/libraries/AP_HAL_Linux/benchmarks/benchmark_videoin.cpp +++ b/libraries/AP_HAL_Linux/benchmarks/benchmark_videoin.cpp @@ -1,8 +1,7 @@ #include #include -#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\ - CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE +#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #include diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp index b4ea9b6876..ba7b3a8e91 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp @@ -31,8 +31,6 @@ extern const AP_HAL::HAL& hal; #include #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF #define INVENSENSE_DRDY_PIN BBB_P8_14 -#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE -#define INVENSENSE_DRDY_PIN MINNOW_GPIO_I2S_CLK #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #define INVENSENSE_EXT_SYNC_ENABLE 1 #endif diff --git a/libraries/AP_Notify/AP_Notify.cpp b/libraries/AP_Notify/AP_Notify.cpp index 69d0b0a32b..e21fa51b5b 100644 --- a/libraries/AP_Notify/AP_Notify.cpp +++ b/libraries/AP_Notify/AP_Notify.cpp @@ -208,9 +208,6 @@ void AP_Notify::add_backends(void) ADD_BACKEND(new Buzzer()); ADD_BACKEND(new Display()); - #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE - ADD_BACKEND(new RCOutputRGBLedOff(15, 13, 14, 255)); - #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI ADD_BACKEND(new AP_BoardLED()); diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp index 0d1d9548b1..94e359d0e5 100644 --- a/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp +++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp @@ -19,8 +19,7 @@ #include "OpticalFlow.h" #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX &&\ - (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\ - CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE) + CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #ifndef OPTICALFLOW_ONBOARD_DEBUG #define OPTICALFLOW_ONBOARD_DEBUG 0 diff --git a/libraries/AP_OpticalFlow/OpticalFlow.cpp b/libraries/AP_OpticalFlow/OpticalFlow.cpp index cba6862e78..d7491cf6dc 100644 --- a/libraries/AP_OpticalFlow/OpticalFlow.cpp +++ b/libraries/AP_OpticalFlow/OpticalFlow.cpp @@ -104,8 +104,7 @@ void OpticalFlow::init(void) } #elif CONFIG_HAL_BOARD == HAL_BOARD_SITL backend = new AP_OpticalFlow_SITL(*this); -#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\ - CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE +#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP backend = new AP_OpticalFlow_Onboard(*this); #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX backend = AP_OpticalFlow_PX4Flow::detect(*this);