From 70445d11f6a66f0dbd3d47dd380498adc8186936 Mon Sep 17 00:00:00 2001 From: mirkix Date: Sat, 10 Jan 2015 23:16:28 +0000 Subject: [PATCH] AP_HAL: add support for BBBMINI, simple ArduPilot DIY Cape for the BeagleBone Black --- libraries/AP_HAL/AP_HAL_Boards.h | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h index 0b910f397f..73d07818a7 100644 --- a/libraries/AP_HAL/AP_HAL_Boards.h +++ b/libraries/AP_HAL/AP_HAL_Boards.h @@ -31,6 +31,7 @@ #define HAL_BOARD_SUBTYPE_LINUX_PXF 1002 #define HAL_BOARD_SUBTYPE_LINUX_NAVIO 1003 #define HAL_BOARD_SUBTYPE_LINUX_ZYNQ 1004 +#define HAL_BOARD_SUBTYPE_LINUX_BBBMINI 1005 /** HAL PX4 sub-types, starting at 2000 @@ -203,6 +204,12 @@ #define HAL_INS_DEFAULT HAL_INS_HIL #define HAL_BARO_DEFAULT HAL_BARO_HIL #define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL +#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI +#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs" +#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain" +#define HAL_INS_DEFAULT HAL_INS_MPU9250 +#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI +#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963 #else #error "no Linux board subtype set" #endif