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AP_HAL: added vnav linux target

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This commit is contained in:
Andrew Tridgell 2021-01-14 08:08:05 +11:00
parent 103d6c54e1
commit a9f8c9517c
2 changed files with 9 additions and 0 deletions
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1
libraries/AP_HAL/AP_HAL_Boards.h
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@ -39,6 +39,7 @@
#define HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ 1021
#define HAL_BOARD_SUBTYPE_LINUX_POCKET 1022
#define HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR 1023
#define HAL_BOARD_SUBTYPE_LINUX_VNAV 1024
/* HAL CHIBIOS sub-types, starting at 5000

8
libraries/AP_HAL/board/linux.h
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@ -80,6 +80,14 @@
#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.21 / (3.6 * 2.0 * 240 / 64))
#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0
#define HAL_BATT_MONITOR_DEFAULT AP_BattMonitor::Type::BEBOP
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV
// linux SBC with VectorNav AHRS
#define HAL_EXTERNAL_AHRS_DEFAULT 1
#define HAL_SERIAL3_PROTOCOL 36
#define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
#define HAL_AIRSPEED_TYPE_DEFAULT 0
#define HAL_GPS_TYPE_DEFAULT 21
#define HAL_AHRS_EKF_TYPE_DEFAULT 11
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
#define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain"