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AP_HAL: added support for Parrot Disco

This commit is contained in:
Andrew Tridgell 2016-06-07 08:14:47 +10:00
parent 3769e0fc64
commit e407caaa41
1 changed files with 40 additions and 0 deletions
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40
libraries/AP_HAL/AP_HAL_Boards.h
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@ -35,6 +35,7 @@
#define HAL_BOARD_SUBTYPE_LINUX_QFLIGHT 1011
#define HAL_BOARD_SUBTYPE_LINUX_PXFMINI 1012
#define HAL_BOARD_SUBTYPE_LINUX_NAVIO2 1013
#define HAL_BOARD_SUBTYPE_LINUX_DISCO 1014
/**
HAL PX4 sub-types, starting at 2000
@ -236,6 +237,45 @@
/* focal length 3.6 um, 2x binning in each direction
* 240x240 crop rescaled to 64x64 */
#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.5 / (3.6 * 2.0 * 240 / 64))
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
#define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/APM/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/APM/terrain"
#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
#define HAL_INS_MPU60x0_I2C_BUS 2
#define HAL_INS_MPU60x0_I2C_ADDR 0x68
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C
#define HAL_COMPASS_AK8963_I2C_BUS 1
#define HAL_COMPASS_AK8963_I2C_ADDR 0x0d
#define HAL_BARO_DEFAULT HAL_BARO_MS5607_I2C
#define HAL_BARO_MS5607_I2C_BUS 1
#define HAL_BARO_MS5607_I2C_ADDR 0x77
#define HAL_AIRSPEED_MS4515DO_I2C_BUS 1
#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
#define HAL_LINUX_HEAT_PWM_NUM 10
#define HAL_LINUX_HEAT_KP 20000
#define HAL_LINUX_HEAT_KI 6
#define HAL_LINUX_HEAT_PERIOD_NS 125000
#define HAL_LINUX_HEAT_TARGET_TEMP 50
#define BEBOP_CAMV_PWM 9
#define BEBOP_CAMV_PWM_FREQ 43333333
#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
#define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0"
#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
#define HAL_RCOUT_DISCO_BLDC_I2C_BUS 1
#define HAL_RCOUT_DISCO_BLDC_I2C_ADDR 0x08
#define HAL_PARAM_DEFAULTS_PATH "/etc/arducopter/bebop.parm"
/* focal length 3.6 um, 2x binning in each direction
* 240x240 crop rescaled to 64x64 */
#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.5 / (3.6 * 2.0 * 240 / 64))
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"