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https://github.com/ArduPilot/ardupilot
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AP_HAL: raspilot board type
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@ -32,7 +32,8 @@
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#define HAL_BOARD_SUBTYPE_LINUX_NAVIO 1003
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#define HAL_BOARD_SUBTYPE_LINUX_ZYNQ 1004
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#define HAL_BOARD_SUBTYPE_LINUX_BBBMINI 1005
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#define HAL_BOARD_SUBTYPE_LINUX_BEBOP 1006
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#define HAL_BOARD_SUBTYPE_LINUX_BEBOP 1006
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#define HAL_BOARD_SUBTYPE_LINUX_RASPILOT 1007
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/**
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HAL PX4 sub-types, starting at 2000
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@ -67,6 +68,7 @@
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#define HAL_INS_MPU9250 9
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#define HAL_INS_L3GD20 10
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#define HAL_INS_LSM9DS0 11
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#define HAL_INS_RASPILOT 12
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// barometer driver types
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#define HAL_BARO_BMP085 1
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@ -85,6 +87,7 @@
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#define HAL_COMPASS_AK8963_MPU9250 5
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#define HAL_COMPASS_AK8963_I2C 6
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#define HAL_COMPASS_HMC5843_MPU6000 7
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#define HAL_COMPASS_RASPILOT 8
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/**
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CPU classes, used to select if CPU intensive algorithms should be used
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@ -233,6 +236,12 @@
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#define HAL_BARO_MS5611_I2C_BUS 0
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#define HAL_BARO_MS5611_I2C_ADDR 0x77
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
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#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
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#define HAL_INS_DEFAULT HAL_INS_RASPILOT
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_RASPILOT
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
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#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
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@ -55,10 +55,11 @@ namespace AP_HAL {
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SPIDevice_ADNS3080_SPI3 = 5,
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SPIDevice_MPU9250 = 6,
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SPIDevice_L3GD20 = 7,
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SPIDevice_LSM303D = 8,
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SPIDevice_LSM303D = 8,
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SPIDevice_LSM9DS0_AM = 9,
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SPIDevice_LSM9DS0_G = 10,
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SPIDevice_Ublox = 11
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SPIDevice_Ublox = 11,
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SPIDevice_RASPIO = 12
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};
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}
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