From 3378c7901ae2625b49a8bdce74881c54fedae02d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 23 Sep 2013 17:06:51 +1000
Subject: [PATCH] Copter: added support for the flymaple board

---
 ArduCopter/ArduCopter.pde |  5 ++++-
 ArduCopter/config.h       | 12 ++++++++++++
 ArduCopter/defines.h      |  1 +
 3 files changed, 17 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 367e99d5ea..34a91f35e5 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/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
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 6f6e023b0d..3ef04f0548 100644
--- a/ArduCopter/config.h
+++ b/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
 
 ////////////////////////////////////////////////////////////////////////////////
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index 3ba8a25869..33f9456f49 100644
--- a/ArduCopter/defines.h
+++ b/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