AP_HAL: raspilot board type

libraries/AP_HAL/AP_HAL_Boards.h

@@ -32,7 +32,8 @@
 #define HAL_BOARD_SUBTYPE_LINUX_NAVIO    1003
 #define HAL_BOARD_SUBTYPE_LINUX_ZYNQ     1004
 #define HAL_BOARD_SUBTYPE_LINUX_BBBMINI  1005
-#define HAL_BOARD_SUBTYPE_LINUX_BEBOP	 1006
+#define HAL_BOARD_SUBTYPE_LINUX_BEBOP    1006
+#define HAL_BOARD_SUBTYPE_LINUX_RASPILOT 1007
 
 /**
    HAL PX4 sub-types, starting at 2000
@@ -67,6 +68,7 @@
 #define HAL_INS_MPU9250  9
 #define HAL_INS_L3GD20   10
 #define HAL_INS_LSM9DS0 11
+#define HAL_INS_RASPILOT 12
 
 // barometer driver types
 #define HAL_BARO_BMP085     1
@@ -85,6 +87,7 @@
 #define HAL_COMPASS_AK8963_MPU9250 5
 #define HAL_COMPASS_AK8963_I2C  6
 #define HAL_COMPASS_HMC5843_MPU6000 7
+#define HAL_COMPASS_RASPILOT  8
 
 /**
    CPU classes, used to select if CPU intensive algorithms should be used
@@ -233,6 +236,12 @@
 #define HAL_BARO_MS5611_I2C_BUS 0
 #define HAL_BARO_MS5611_I2C_ADDR 0x77
 #define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
+#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
+#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
+#define HAL_INS_DEFAULT HAL_INS_RASPILOT
+#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
+#define HAL_COMPASS_DEFAULT HAL_COMPASS_RASPILOT
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
 #define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
 #define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"

libraries/AP_HAL/AP_HAL_Namespace.h

@@ -58,7 +58,8 @@ namespace AP_HAL {
         SPIDevice_LSM303D           = 8,
         SPIDevice_LSM9DS0_AM        = 9,
         SPIDevice_LSM9DS0_G         = 10,
-        SPIDevice_Ublox             = 11
+        SPIDevice_Ublox             = 11,
+        SPIDevice_RASPIO            = 12
     };
 
 }