diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index a7011e4d878bcb6a1c763841aad60b853ddf2d29..27a5abb479b8b14faf7f7f2ad83bb6cdb860f469 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -99,6 +99,7 @@ static AP_Vehicle::FixedWing aparm;
#include <AP_HAL_FLYMAPLE.h>
#include <AP_HAL_Linux.h>
#include <AP_HAL_Empty.h>
+#include <AP_HAL_VRBRAIN.h>
AP_HAL::BetterStream* cliSerial;
@@ -164,6 +165,8 @@ static DataFlash_File DataFlash("logs");
static DataFlash_File DataFlash("/fs/microsd/APM/LOGS");
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
static DataFlash_File DataFlash("logs");
+#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
+static DataFlash_File DataFlash("/fs/microsd/APM/LOGS");
#else
// no dataflash driver
DataFlash_Empty DataFlash;
@@ -200,6 +203,8 @@ static AP_Int8 *flight_modes = &g.flight_mode1;
static AP_Baro_BMP085 barometer;
#elif CONFIG_BARO == AP_BARO_PX4
static AP_Baro_PX4 barometer;
+#elif CONFIG_BARO == AP_BARO_VRABRAIN
+static AP_Baro_VRBRAIN barometer;
#elif CONFIG_BARO == AP_BARO_HIL
static AP_Baro_HIL barometer;
#elif CONFIG_BARO == AP_BARO_MS5611
@@ -216,6 +221,8 @@ static AP_Baro_HIL barometer;
#if CONFIG_COMPASS == AP_COMPASS_PX4
static AP_Compass_PX4 compass;
+#elif CONFIG_COMPASS == AP_COMPASS_VRBRAIN
+static AP_Compass_VRBRAIN compass;
#elif CONFIG_COMPASS == AP_COMPASS_HMC5843
static AP_Compass_HMC5843 compass;
#elif CONFIG_COMPASS == AP_COMPASS_HIL
@@ -232,6 +239,8 @@ AP_ADC_ADS7844 apm1_adc;
AP_InertialSensor_MPU6000 ins;
#elif CONFIG_INS_TYPE == CONFIG_INS_PX4
AP_InertialSensor_PX4 ins;
+#elif CONFIG_INS_TYPE == CONFIG_INS_VRBRAIN
+AP_InertialSensor_VRBRAIN ins;
#elif CONFIG_INS_TYPE == CONFIG_INS_HIL
AP_InertialSensor_HIL ins;
#elif CONFIG_INS_TYPE == CONFIG_INS_OILPAN
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index b3ffa244dfeb8323cc07c0d19f1871bdf91cc10b..c97bbe56c632ca286843aa7520b4fc60df12f0d4 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -440,14 +440,14 @@ public:
RC_Channel_aux rc_6;
RC_Channel_aux rc_7;
RC_Channel_aux rc_8;
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
RC_Channel_aux rc_9;
#endif
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
RC_Channel_aux rc_10;
RC_Channel_aux rc_11;
#endif
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
RC_Channel_aux rc_12;
RC_Channel_aux rc_13;
RC_Channel_aux rc_14;
@@ -465,14 +465,14 @@ public:
rc_6 (CH_6),
rc_7 (CH_7),
rc_8 (CH_8),
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
rc_9 (CH_9),
#endif
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
rc_10 (CH_10),
rc_11 (CH_11),
#endif
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
rc_12 (CH_12),
rc_13 (CH_13),
rc_14 (CH_14),
diff --git a/ArduPlane/Parameters.pde b/ArduPlane/Parameters.pde
index a926d4c76d739f6573e55308c4701bf394f65e6a..96d78fb72b72ab8c2dca87d044e5c71fba7ee04e 100644
--- a/ArduPlane/Parameters.pde
+++ b/ArduPlane/Parameters.pde
@@ -862,13 +862,13 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_8, "RC8_", RC_Channel_aux),
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
// @Group: RC9_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_9, "RC9_", RC_Channel_aux),
#endif
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
// @Group: RC10_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_10, "RC10_", RC_Channel_aux),
@@ -878,7 +878,7 @@ const AP_Param::Info var_info[] PROGMEM = {
GGROUP(rc_11, "RC11_", RC_Channel_aux),
#endif
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
// @Group: RC12_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_12, "RC12_", RC_Channel_aux),
diff --git a/ArduPlane/config.h b/ArduPlane/config.h
index 20169dd7a84f477b5706b77056b7dc737215a163..a07ab3346695dcb73b53c1abc4299473c83f3fd7 100644
--- a/ArduPlane/config.h
+++ b/ArduPlane/config.h
@@ -115,6 +115,11 @@
# define CONFIG_INS_TYPE CONFIG_INS_L3G4200D
# define CONFIG_BARO AP_BARO_BMP085
# define CONFIG_COMPASS AP_COMPASS_HMC5843
+#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
+ # define CONFIG_INS_TYPE CONFIG_INS_VRBRAIN
+ # define CONFIG_BARO AP_BARO_VRBRAIN
+ # define CONFIG_COMPASS AP_COMPASS_VRBRAIN
+ # define SERIAL0_BAUD 115200
#endif
diff --git a/ArduPlane/defines.h b/ArduPlane/defines.h
index cca574e9df55c90e4376c26f6a17fc4dc47c82b7..c3619885fb5a6ae0287e3ec59cde7042308ed0f8 100644
--- a/ArduPlane/defines.h
+++ b/ArduPlane/defines.h
@@ -203,17 +203,20 @@ enum log_messages {
#define CONFIG_INS_PX4 4
#define CONFIG_INS_FLYMAPLE 5
#define CONFIG_INS_L3G4200D 6
+#define CONFIG_INS_VRBRAIN 7
// barometer driver types
#define AP_BARO_BMP085 1
#define AP_BARO_MS5611 2
#define AP_BARO_PX4 3
#define AP_BARO_HIL 4
+#define AP_BARO_VRBRAIN 5
// compass driver types
#define AP_COMPASS_HMC5843 1
#define AP_COMPASS_PX4 2
#define AP_COMPASS_HIL 3
+#define AP_COMPASS_VRBRAIN 4
// altitude control algorithms
enum {
diff --git a/ArduPlane/setup.pde b/ArduPlane/setup.pde
index ff447e5d4a5b3476765404ee47bed73dac308ee9..f6f1242ecc329423761a966c3be990a5f6db07b4 100644
--- a/ArduPlane/setup.pde
+++ b/ArduPlane/setup.pde
@@ -477,6 +477,9 @@ static void report_compass()
case AP_COMPASS_TYPE_PX4:
cliSerial->println_P(PSTR("PX4"));
break;
+ case AP_COMPASS_TYPE_VRBRAIN:
+ cliSerial->println_P(PSTR("VRBRAIN"));
+ break;
default:
cliSerial->println_P(PSTR("(unknown)"));
break;
diff --git a/ArduPlane/test.pde b/ArduPlane/test.pde
index b3c44c764c8c0e7e1d6c3a956d880ec39a7544a1..66d026226a662bb40debec67f2fdfaeb841a438e 100644
--- a/ArduPlane/test.pde
+++ b/ArduPlane/test.pde
@@ -22,7 +22,7 @@ static int8_t test_xbee(uint8_t argc, const Menu::arg *argv);
static int8_t test_eedump(uint8_t argc, const Menu::arg *argv);
static int8_t test_modeswitch(uint8_t argc, const Menu::arg *argv);
static int8_t test_logging(uint8_t argc, const Menu::arg *argv);
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
static int8_t test_shell(uint8_t argc, const Menu::arg *argv);
#endif
@@ -61,7 +61,7 @@ static const struct Menu::command test_menu_commands[] PROGMEM = {
{"compass", test_mag},
#endif
{"logging", test_logging},
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
{"shell", test_shell},
#endif
@@ -362,7 +362,7 @@ test_logging(uint8_t argc, const Menu::arg *argv)
return 0;
}
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
/*
* run a debug shell
*/