From 70445d11f6a66f0dbd3d47dd380498adc8186936 Mon Sep 17 00:00:00 2001
From: mirkix <mirkix@gmail.com>
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 0b910f397..73d07818a 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
--
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