AP_HAL: added support for Parrot Disco

libraries/AP_HAL/AP_HAL_Boards.h

@@ -35,6 +35,7 @@
 #define HAL_BOARD_SUBTYPE_LINUX_QFLIGHT  1011
 #define HAL_BOARD_SUBTYPE_LINUX_PXFMINI  1012
 #define HAL_BOARD_SUBTYPE_LINUX_NAVIO2   1013
+#define HAL_BOARD_SUBTYPE_LINUX_DISCO    1014
 
 /**
    HAL PX4 sub-types, starting at 2000
@@ -236,6 +237,45 @@
 /* focal length 3.6 um, 2x binning in each direction
  * 240x240 crop rescaled to 64x64 */
 #define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.5 / (3.6 * 2.0 * 240 / 64))
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
+#define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/APM/logs"
+#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/APM/terrain"
+#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
+#define HAL_INS_MPU60x0_I2C_BUS 2
+#define HAL_INS_MPU60x0_I2C_ADDR 0x68
+#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C
+#define HAL_COMPASS_AK8963_I2C_BUS 1
+#define HAL_COMPASS_AK8963_I2C_ADDR 0x0d
+#define HAL_BARO_DEFAULT HAL_BARO_MS5607_I2C
+#define HAL_BARO_MS5607_I2C_BUS 1
+#define HAL_BARO_MS5607_I2C_ADDR 0x77
+#define HAL_AIRSPEED_MS4515DO_I2C_BUS 1
+#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
+#define HAL_LINUX_HEAT_PWM_NUM  10
+#define HAL_LINUX_HEAT_KP 20000
+#define HAL_LINUX_HEAT_KI 6
+#define HAL_LINUX_HEAT_PERIOD_NS 125000
+#define HAL_LINUX_HEAT_TARGET_TEMP 50
+#define BEBOP_CAMV_PWM  9
+#define BEBOP_CAMV_PWM_FREQ 43333333
+#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
+#define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0"
+#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320
+#define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240
+#define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64
+#define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64
+#define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240
+#define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240
+#define HAL_OPTFLOW_ONBOARD_NBUFS 8
+#define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4
+#define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30
+#define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000
+#define HAL_RCOUT_DISCO_BLDC_I2C_BUS 1
+#define HAL_RCOUT_DISCO_BLDC_I2C_ADDR 0x08
+#define HAL_PARAM_DEFAULTS_PATH "/etc/arducopter/bebop.parm"
+/* focal length 3.6 um, 2x binning in each direction
+ * 240x240 crop rescaled to 64x64 */
+#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.5 / (3.6 * 2.0 * 240 / 64))
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
 #define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
 #define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"