AP_HAL: use buildsystem for default directories

libraries/AP_HAL/board/linux.h

@@ -10,6 +10,7 @@
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NONE
 #define HAL_BOARD_LOG_DIRECTORY "logs"
 #define HAL_BOARD_TERRAIN_DIRECTORY "terrain"
+#define HAL_BOARD_STORAGE_DIRECTORY "."
 #define HAL_INS_DEFAULT HAL_INS_HIL
 #define HAL_BARO_DEFAULT HAL_BARO_HIL
 #define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
@@ -381,16 +382,22 @@
 #define HAL_HAVE_BOARD_VOLTAGE 1
 #define HAL_HAVE_SAFETY_SWITCH 1
 
+#ifndef AP_STATEDIR
+#define HAL_BOARD_STATE_DIRECTORY "/var/lib/ardupilot"
+#else
+#define HAL_BOARD_STATE_DIRECTORY AP_STATEDIR
+#endif
+
 #ifndef HAL_BOARD_LOG_DIRECTORY
-#define HAL_BOARD_LOG_DIRECTORY "/var/lib/ardupilot/logs"
+#define HAL_BOARD_LOG_DIRECTORY HAL_BOARD_STATE_DIRECTORY "/logs"
 #endif
 
 #ifndef HAL_BOARD_TERRAIN_DIRECTORY
-#define HAL_BOARD_TERRAIN_DIRECTORY "/var/lib/ardupilot/terrain"
+#define HAL_BOARD_TERRAIN_DIRECTORY HAL_BOARD_STATE_DIRECTORY "/terrain"
 #endif
 
 #ifndef HAL_BOARD_STORAGE_DIRECTORY
-#define HAL_BOARD_STORAGE_DIRECTORY "/var/lib/ardupilot"
+#define HAL_BOARD_STORAGE_DIRECTORY HAL_BOARD_STATE_DIRECTORY
 #endif
 
 #ifndef HAL_BOARD_CAN_IFACE_NAME