mirror of https://github.com/ArduPilot/ardupilot
322 lines
13 KiB
C
322 lines
13 KiB
C
#pragma once
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#define HAL_BOARD_NAME "Linux"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
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#define HAL_OS_POSIX_IO 1
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#define HAL_OS_SOCKETS 1
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#define HAL_STORAGE_SIZE 16384
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NONE
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#define HAL_BOARD_LOG_DIRECTORY "logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "terrain"
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#define HAL_INS_DEFAULT HAL_INS_HIL
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#define HAL_BARO_DEFAULT HAL_BARO_HIL
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
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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_MPU9250_SPI
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#define HAL_INS_MPU9250_NAME "mpu9250"
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
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#define HAL_BARO_MS5611_NAME "ms5611"
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
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#define HAL_COMPASS_HMC5843_I2C_BUS 1
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
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#define HAL_GPIO_A_LED_PIN 61
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#define HAL_GPIO_B_LED_PIN 48
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#define HAL_GPIO_C_LED_PIN 117
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#define HAL_GPIO_LED_ON LOW
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#define HAL_GPIO_LED_OFF HIGH
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
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#define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/APM/terrain"
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#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
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#define HAL_INS_MPU60x0_I2C_BUS 2
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#define HAL_INS_MPU60x0_I2C_ADDR 0x68
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C
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#define HAL_COMPASS_AK8963_I2C_BUS 1
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#define HAL_COMPASS_AK8963_I2C_ADDR 0x0d
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#define HAL_BARO_DEFAULT HAL_BARO_MS5607_I2C
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#define HAL_BARO_MS5607_I2C_BUS 1
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#define HAL_BARO_MS5607_I2C_ADDR 0x77
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#define HAL_HAVE_IMU_HEATER 1
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#define HAL_IMU_TEMP_DEFAULT 55
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#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
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#define HAL_LINUX_HEAT_PWM_NUM 6
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#define HAL_LINUX_HEAT_KP 20000
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#define HAL_LINUX_HEAT_KI 6
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#define HAL_LINUX_HEAT_PERIOD_NS 125000
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#define HAL_LINUX_HEAT_TARGET_TEMP 50
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#define BEBOP_CAMV_PWM 9
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#define BEBOP_CAMV_PWM_FREQ 43333333
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#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
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#define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0"
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#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320
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#define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64
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#define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240
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#define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240
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#define HAL_OPTFLOW_ONBOARD_NBUFS 8
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#define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4
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#define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30
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#define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000
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#define HAL_PARAM_DEFAULTS_PATH "/etc/arducopter/bebop.parm"
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#define HAL_RCOUT_BEBOP_BLDC_I2C_BUS 1
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#define HAL_RCOUT_BEBOP_BLDC_I2C_ADDR 0x08
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/* focal length 3.6 um, 2x binning in each direction
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* 240x240 crop rescaled to 64x64 */
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0
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#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.5 / (3.6 * 2.0 * 240 / 64))
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
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#define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/APM/terrain"
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#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
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#define HAL_INS_MPU60x0_I2C_BUS 2
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#define HAL_INS_MPU60x0_I2C_ADDR 0x68
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C
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#define HAL_COMPASS_AK8963_I2C_BUS 1
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#define HAL_COMPASS_AK8963_I2C_ADDR 0x0d
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#define HAL_BARO_DEFAULT HAL_BARO_MS5607_I2C
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#define HAL_BARO_MS5607_I2C_BUS 1
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#define HAL_BARO_MS5607_I2C_ADDR 0x77
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#define HAL_AIRSPEED_MS4515DO_I2C_BUS 1
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#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
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#define HAL_LINUX_HEAT_PWM_NUM 10
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#define HAL_LINUX_HEAT_KP 20000
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#define HAL_LINUX_HEAT_KI 6
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#define HAL_LINUX_HEAT_PERIOD_NS 125000
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#define HAL_LINUX_HEAT_TARGET_TEMP 50
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#define BEBOP_CAMV_PWM 9
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#define BEBOP_CAMV_PWM_FREQ 43333333
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#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
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#define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0"
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#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320
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#define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64
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#define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240
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#define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240
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#define HAL_OPTFLOW_ONBOARD_NBUFS 8
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#define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4
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#define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30
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#define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000
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#define HAL_RCOUT_DISCO_BLDC_I2C_BUS 1
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#define HAL_RCOUT_DISCO_BLDC_I2C_ADDR 0x08
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#define HAL_PARAM_DEFAULTS_PATH "/etc/arduplane/disco.parm"
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/* focal length 3.6 um, 2x binning in each direction
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* 240x240 crop rescaled to 64x64 */
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#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.5 / (3.6 * 2.0 * 240 / 64))
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0
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// the disco has challenges with its magnetic setup
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#define AP_ARMING_COMPASS_OFFSETS_MAX 2200
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
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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_MPU60XX_SPI
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#define HAL_INS_MPU60x0_NAME "mpu6000"
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
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#define HAL_BARO_MS5611_I2C_BUS 10
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#define HAL_BARO_MS5611_I2C_ADDR 0x77
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/* Internal and external compasses */
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
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#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
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#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320
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#define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64
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#define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240
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#define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240
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#define HAL_OPTFLOW_ONBOARD_NBUFS 8
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#define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4
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#define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30
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#define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000
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/* ELP-USBFHD01M-L21
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* focal length 2.1 mm, pixel size 3 um
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* 240x240 crop rescaled to 64x64 */
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#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (3.0 / (2.1 * 2.0 * 240 / 64))
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
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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_MPU9250_SPI
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#define HAL_INS_MPU9250_NAME "mpu9250"
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
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#define HAL_BARO_MS5611_I2C_BUS 1
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#define HAL_BARO_MS5611_I2C_ADDR 0x77
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_NAVIO
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/* HMC5843 can be an external compass */
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#define HAL_COMPASS_HMC5843_I2C_BUS 1
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
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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_MPU9250_SPI
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#define HAL_INS_MPU9250_NAME "mpu9250"
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
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#define HAL_BARO_MS5611_I2C_BUS 1
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#define HAL_BARO_MS5611_I2C_ADDR 0x77
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_NAVIO2
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/* HMC5843 can be an external compass */
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#define HAL_COMPASS_HMC5843_I2C_BUS 1
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
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#define HAL_GPIO_A_LED_PIN 16
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#define HAL_GPIO_B_LED_PIN 16
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#define HAL_GPIO_C_LED_PIN 16
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#define HAL_GPIO_LED_ON LOW
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#define HAL_GPIO_LED_OFF HIGH
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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_INS_MPU60x0_NAME "mpu6000"
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#define HAL_INS_LSM9DS0_G_NAME "lsm9ds0_g"
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#define HAL_INS_LSM9DS0_A_NAME "lsm9ds0_am"
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
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#define HAL_BARO_MS5611_NAME "ms5611"
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_RASPILOT
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/* HMC5843 can be an external compass */
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#define HAL_COMPASS_HMC5843_I2C_BUS 1
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
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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_MPU9250_SPI
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#define HAL_INS_MPU9250_NAME "mpu9250"
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
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#define HAL_BARO_MS5611_NAME "ms5611"
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
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/* HMC5843 can be an external compass */
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#define HAL_COMPASS_HMC5843_I2C_BUS 1
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
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#define HAL_GPIO_A_LED_PIN 24
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#define HAL_GPIO_B_LED_PIN 25
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#define HAL_GPIO_C_LED_PIN 16
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#define HAL_GPIO_LED_ON LOW
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#define HAL_GPIO_LED_OFF HIGH
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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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// Stub the sensors out for now, at least we can build and run
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#define HAL_INS_DEFAULT HAL_INS_HIL
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#define HAL_BARO_DEFAULT HAL_BARO_HIL
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
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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_BBBMINI
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#define HAL_INS_MPU9250_NAME "mpu9250"
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#define HAL_INS_MPU9250_NAME_EXT "mpu9250ext"
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
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#define HAL_BARO_MS5611_NAME "ms5611"
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_BBBMINI
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/* HMC5843 can be an external compass */
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#define HAL_COMPASS_HMC5843_I2C_BUS 2
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
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#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
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#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320
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#define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64
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#define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240
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#define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240
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#define HAL_OPTFLOW_ONBOARD_NBUFS 8
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#define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4
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#define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30
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#define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000
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/* ELP-USBFHD01M-L21
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* focal length 2.1 mm, pixel size 3 um
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* 240x240 crop rescaled to 64x64 */
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#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (3.0 / (2.1 * 2.0 * 240 / 64))
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 2
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
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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_BARO_DEFAULT HAL_BARO_MS5611_I2C
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#define HAL_BARO_MS5611_I2C_BUS 1
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#define HAL_BARO_MS5611_I2C_ADDR 0x77
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#define HAL_INS_DEFAULT HAL_INS_BH
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#define HAL_INS_MPU9250_NAME "mpu9250"
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#define HAL_INS_MPU60x0_I2C_BUS 1
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#define HAL_INS_MPU60x0_I2C_ADDR 0x69
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_BH
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/* HMC5843 can be an external compass */
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#define HAL_COMPASS_HMC5843_I2C_BUS 1
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
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#define HAL_GPIO_A_LED_PIN 17
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#define HAL_GPIO_B_LED_PIN 18
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#define HAL_GPIO_C_LED_PIN 22
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#define HAL_GPIO_LED_ON LOW
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#define HAL_GPIO_LED_OFF HIGH
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#define HAL_RCOUT_RGBLED_RED 13
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#define HAL_RCOUT_RGBLED_GREEN 14
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#define HAL_RCOUT_RGBLED_BLUE 15
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
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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_QFLIGHT
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#define HAL_BARO_DEFAULT HAL_BARO_QFLIGHT
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_QFLIGHT
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#define HAL_LINUX_UARTS_ON_TIMER_THREAD 1
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
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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_MPU9250_SPI
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#define HAL_INS_MPU9250_NAME "mpu9250"
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
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#define HAL_BARO_MS5611_NAME "ms5611"
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
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/* HMC5843 can be an external compass */
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#define HAL_COMPASS_HMC5843_I2C_BUS 1
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
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#define HAL_GPIO_A_LED_PIN 24
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#define HAL_GPIO_B_LED_PIN 25
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#define HAL_GPIO_C_LED_PIN 16
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#define HAL_GPIO_LED_ON LOW
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#define HAL_GPIO_LED_OFF HIGH
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
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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_AERO
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
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#define HAL_BARO_MS5611_I2C_BUS 2
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#define HAL_BARO_MS5611_I2C_ADDR 0x76
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AERO
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#define HAL_COMPASS_BMM150_I2C_BUS 2
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#define HAL_COMPASS_BMM150_I2C_ADDR 0x12
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK
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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_MPU9250_SPI
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#define HAL_INS_MPU9250_NAME "mpu9250"
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
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#define HAL_BARO_MS5611_I2C_BUS 1
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#define HAL_BARO_MS5611_I2C_ADDR 0x77
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#define HAL_BARO_MS5611_USE_TIMER false
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#define HAL_GPIO_A_LED_PIN 24
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#define HAL_GPIO_B_LED_PIN 25
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#define HAL_GPIO_C_LED_PIN 16
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#define HAL_GPIO_LED_ON LOW
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#define HAL_GPIO_LED_OFF HIGH
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#else
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#error "no Linux board subtype set"
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#endif
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#ifndef HAL_COMPASS_DEFAULT
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#define HAL_COMPASS_DEFAULT -1
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#endif
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#ifndef HAL_LINUX_UARTS_ON_TIMER_THREAD
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#define HAL_LINUX_UARTS_ON_TIMER_THREAD 0
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#endif
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#ifndef HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS
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#define HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS 0x42
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#endif
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#ifndef HAL_OPTFLOW_PX4FLOW_I2C_BUS
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#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 1
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#endif
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