AP_HAL: add support for BBBMINI, simple ArduPilot DIY Cape for the BeagleBone Black

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