Plane: start port of main ArduPlane code to AP_HAL_PX4

ArduPlane/ArduPlane.pde

@@ -70,6 +70,7 @@
 
 #include <AP_HAL_AVR.h>
 #include <AP_HAL_AVR_SITL.h>
+#include <AP_HAL_PX4.h>
 #include <AP_HAL_Empty.h>
 
 AP_HAL::BetterStream* cliSerial;
@@ -111,6 +112,9 @@ DataFlash_APM1 DataFlash;
 DataFlash_APM2 DataFlash;
 #elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
 DataFlash_SITL DataFlash;
+#else
+// no dataflash driver
+DataFlash_Empty DataFlash;
 #endif
 
 ////////////////////////////////////////////////////////////////////////////////
@@ -919,10 +923,10 @@ static void slow_loop()
     case 1:
         slow_loopCounter++;
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
-        update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
-#else
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
         update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11);
+#else
+        update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
 #endif
         enable_aux_servos();
 

ArduPlane/config.h

@@ -133,6 +133,17 @@
  # define CONFIG_INS_TYPE CONFIG_INS_STUB
  # define CONFIG_PITOT_SOURCE PITOT_SOURCE_ANALOG_PIN
  # define MAGNETOMETER ENABLED
+#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
+ # define A_LED_PIN        27
+ # define B_LED_PIN        26
+ # define C_LED_PIN        25
+ # define LED_ON           LOW
+ # define LED_OFF          HIGH
+ # define BATTERY_VOLT_PIN      -1
+ # define BATTERY_CURR_PIN      -1
+ # define CONFIG_INS_TYPE CONFIG_INS_STUB
+ # define CONFIG_PITOT_SOURCE PITOT_SOURCE_ANALOG_PIN
+ # define MAGNETOMETER ENABLED
 #endif