Copter: added support for the flymaple board

ArduCopter/ArduCopter.pde

@@ -79,6 +79,7 @@
 #include <AP_HAL_AVR_SITL.h>
 #include <AP_HAL_SMACCM.h>
 #include <AP_HAL_PX4.h>
+#include <AP_HAL_FLYMAPLE.h>
 #include <AP_HAL_Empty.h>
 
 // Application dependencies
@@ -223,7 +224,9 @@ static AP_InertialSensor_Oilpan ins(&adc);
 static AP_InertialSensor_Stub ins;
 #elif CONFIG_IMU_TYPE == CONFIG_IMU_PX4
 static AP_InertialSensor_PX4 ins;
- #endif
+#elif CONFIG_IMU_TYPE == CONFIG_IMU_FLYMAPLE
+AP_InertialSensor_Flymaple ins;
+#endif
 
  #if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
  // When building for SITL we use the HIL barometer and compass drivers

ArduCopter/config.h

@@ -81,6 +81,13 @@
  # define CONFIG_ADC        DISABLED
  # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
  # define MAGNETOMETER ENABLED
+#elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
+ # define CONFIG_IMU_TYPE CONFIG_IMU_FLYMAPLE
+ # define CONFIG_BARO AP_BARO_BMP085
+ # define CONFIG_COMPASS  AP_COMPASS_HMC5843
+ # define CONFIG_ADC        DISABLED
+ # define MAGNETOMETER ENABLED
+ # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
@@ -189,6 +196,11 @@
  # define LED_OFF          HIGH
  # define BATTERY_VOLT_PIN -1
  # define BATTERY_CURR_PIN -1
+#elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
+ # define BATTERY_VOLT_PIN      20
+ # define BATTERY_CURR_PIN      19
+ # define LED_ON           LOW
+ # define LED_OFF          HIGH
 #endif
 
 ////////////////////////////////////////////////////////////////////////////////

ArduCopter/defines.h

@@ -416,6 +416,7 @@ enum ap_message {
 #define CONFIG_IMU_MPU6000 2
 #define CONFIG_IMU_SITL    3
 #define CONFIG_IMU_PX4     4
+#define CONFIG_IMU_FLYMAPLE 5
 
 #define AP_BARO_BMP085    1
 #define AP_BARO_MS5611    2