From f6945ef96c2e098f242fa6f6265b3ab70aaf7d15 Mon Sep 17 00:00:00 2001
From: yaozb <yaozb04@163.com>
Date: Thu, 18 Jun 2020 11:08:36 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E5=86=85=E5=AD=98=E5=8D=A1?=
 =?UTF-8?q?=E6=96=87=E4=BB=B6=E5=A4=B9=E5=90=8D=E7=A7=B0?=
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---
 Tools/Frame_params/Parrot_Disco/rcS_mode_default          | 4 ++--
 Tools/scripts/build_autotest.sh                           | 4 ++--
 libraries/AP_HAL/board/chibios.h                          | 2 +-
 libraries/AP_HAL_ChibiOS/Storage.cpp                      | 4 ++--
 libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.dat       | 4 ++--
 libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat       | 4 ++--
 libraries/AP_HAL_ChibiOS/hwdef/DrotekP3Pro/hwdef.dat      | 4 ++--
 libraries/AP_HAL_ChibiOS/hwdef/Durandal/hwdef.dat         | 4 ++--
 libraries/AP_HAL_ChibiOS/hwdef/F35Lightning/hwdef.dat     | 4 ++--
 libraries/AP_HAL_ChibiOS/hwdef/F4BY/hwdef.dat             | 4 ++--
 libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat         | 4 ++--
 libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat   | 4 ++--
 libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef.dat        | 4 ++--
 libraries/AP_HAL_ChibiOS/hwdef/MatekF765-Wing/hwdef.dat   | 4 ++--
 libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat      | 4 ++--
 libraries/AP_HAL_ChibiOS/hwdef/VRBrain-v51/hwdef.dat      | 4 ++--
 libraries/AP_HAL_ChibiOS/hwdef/VRBrain-v52/hwdef.dat      | 4 ++--
 libraries/AP_HAL_ChibiOS/hwdef/VRBrain-v54/hwdef.dat      | 4 ++--
 libraries/AP_HAL_ChibiOS/hwdef/VRCore-v10/hwdef.dat       | 4 ++--
 libraries/AP_HAL_ChibiOS/hwdef/VRUBrain-v51/hwdef.dat     | 4 ++--
 libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat            | 4 ++--
 libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat            | 4 ++--
 libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat            | 4 ++--
 libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroF7/hwdef.dat | 4 ++--
 libraries/AP_HAL_ChibiOS/hwdef/mRoX21-777/hwdef.dat       | 4 ++--
 libraries/AP_HAL_ChibiOS/hwdef/mindpx-v2/hwdef.dat        | 4 ++--
 libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef.dat         | 4 ++--
 libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat     | 4 ++--
 libraries/AP_HAL_ChibiOS/sdcard.cpp                       | 4 ++--
 libraries/AP_HAL_Linux/HAL_Linux_Class.cpp                | 8 ++++----
 libraries/AP_Scripting/lua_scripts.cpp                    | 2 +-
 31 files changed, 62 insertions(+), 62 deletions(-)

diff --git a/Tools/Frame_params/Parrot_Disco/rcS_mode_default b/Tools/Frame_params/Parrot_Disco/rcS_mode_default
index e4866ded97..19f94a55de 100755
--- a/Tools/Frame_params/Parrot_Disco/rcS_mode_default
+++ b/Tools/Frame_params/Parrot_Disco/rcS_mode_default
@@ -3,9 +3,9 @@
 # default rcS running mode script
 
 echo $((1024*1024)) > /proc/sys/net/core/wmem_max	# inscrease the max socket size
-if test -x /data/ftp/internal_000/APM/start_ardupilot.sh; then
+if test -x /data/ftp/internal_000/ZRUAV/start_ardupilot.sh; then
   ulogger -t "rcS_mode_default" -p I "Launching ArduPilot"
-  /data/ftp/internal_000/APM/start_ardupilot.sh
+  /data/ftp/internal_000/ZRUAV/start_ardupilot.sh
 else
   ulogger -t "rcS_mode_default" -p I "Launching Dragon"
   DragonStarter.sh -out2null &
diff --git a/Tools/scripts/build_autotest.sh b/Tools/scripts/build_autotest.sh
index 12697faa62..89c427933d 100755
--- a/Tools/scripts/build_autotest.sh
+++ b/Tools/scripts/build_autotest.sh
@@ -1,9 +1,9 @@
 #!/bin/bash
 
-export PATH=$HOME/.local/bin:/usr/local/bin:$HOME/prefix/bin:$HOME/APM/px4/gcc-arm-none-eabi-4_9-2015q3/bin:$PATH
+export PATH=$HOME/.local/bin:/usr/local/bin:$HOME/prefix/bin:$HOME/ZRUAV/px4/gcc-arm-none-eabi-4_9-2015q3/bin:$PATH
 export PYTHONUNBUFFERED=1
 
-cd $HOME/APM || exit 1
+cd $HOME/ZRUAV || exit 1
 
 test -n "$FORCEBUILD" || {
 (cd APM && git fetch > /dev/null 2>&1)
diff --git a/libraries/AP_HAL/board/chibios.h b/libraries/AP_HAL/board/chibios.h
index a4805ffee8..88738afcbf 100644
--- a/libraries/AP_HAL/board/chibios.h
+++ b/libraries/AP_HAL/board/chibios.h
@@ -109,7 +109,7 @@
 #define HAL_I2C_INTERNAL_MASK 1
 #endif
 
-// put all storage of files under /APM directory
+// put all storage of files under /ZRUAV directory
 #ifndef HAL_BOARD_STORAGE_DIRECTORY
 #define HAL_BOARD_STORAGE_DIRECTORY "/ZRUAV"
 #endif
diff --git a/libraries/AP_HAL_ChibiOS/Storage.cpp b/libraries/AP_HAL_ChibiOS/Storage.cpp
index b9c7ae5882..f1ec78c8fb 100644
--- a/libraries/AP_HAL_ChibiOS/Storage.cpp
+++ b/libraries/AP_HAL_ChibiOS/Storage.cpp
@@ -31,12 +31,12 @@ extern const AP_HAL::HAL& hal;
 #ifndef HAL_STORAGE_FILE
 // using SKETCHNAME allows the one microSD to be used
 // for multiple vehicle types
-#define HAL_STORAGE_FILE "/APM/" SKETCHNAME ".stg"
+#define HAL_STORAGE_FILE "/ZRUAV/" SKETCHNAME ".stg"
 #endif
 
 #ifndef HAL_STORAGE_BACKUP_FILE
 // location of backup file
-#define HAL_STORAGE_BACKUP_FILE "/APM/" SKETCHNAME ".bak"
+#define HAL_STORAGE_BACKUP_FILE "/ZRUAV/" SKETCHNAME ".bak"
 #endif
 
 #define STORAGE_FLASH_RETRIES 5
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.dat
index d69cb5134b..d8b17ccef8 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.dat
@@ -270,8 +270,8 @@ define HAL_CHIBIOS_ARCH_FMUV3 1
 define BOARD_TYPE_DEFAULT 3
 
 # Nnow some defines for logging and terrain data files.
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 # allow to have have a dedicated safety switch pin
 define HAL_HAVE_SAFETY_SWITCH 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat
index 2d4fb81d00..e4a7a506ca 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat
@@ -435,8 +435,8 @@ define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 define HAL_CHIBIOS_ARCH_FMUV3 1
 
 # now some defines for logging and terrain data files
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 # we need to tell HAL_ChibiOS/Storage.cpp how much storage is
 # available (in bytes)
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/DrotekP3Pro/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/DrotekP3Pro/hwdef.dat
index 66d40285fc..d5c050aeed 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/DrotekP3Pro/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/DrotekP3Pro/hwdef.dat
@@ -227,8 +227,8 @@ define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 
 define HAL_CHIBIOS_ARCH_FMUV4PRO 1
 
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 define HAL_STORAGE_SIZE 16384
 define HAL_WITH_RAMTRON 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Durandal/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Durandal/hwdef.dat
index e2c696622c..3710748714 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Durandal/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Durandal/hwdef.dat
@@ -323,8 +323,8 @@ define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 # enable FAT filesystem support (needs a microSD defined via SDMMC)
 define HAL_OS_FATFS_IO 1
 
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/F35Lightning/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/F35Lightning/hwdef.dat
index c6e5f4bc86..380a33876d 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/F35Lightning/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/F35Lightning/hwdef.dat
@@ -147,8 +147,8 @@ define HAL_PROBE_EXTERNAL_I2C_BAROS
 
 # no onboard SD, filesystem support disabled until flash logging implemented
 #define HAL_OS_FATFS_IO 1
-#define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-#define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+#define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+#define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 # OSD support
 define OSD_ENABLED ENABLED
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/F4BY/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/F4BY/hwdef.dat
index 9510b1f9fc..99e77ba4fc 100755
--- a/libraries/AP_HAL_ChibiOS/hwdef/F4BY/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/F4BY/hwdef.dat
@@ -108,8 +108,8 @@ define HAL_WITH_RAMTRON 1
 # enable FAT filesystem support
 define HAL_OS_FATFS_IO 1
 # now some defines for logging and terrain data files
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 # this defines the default maximum clock on I2C devices.
 define HAL_I2C_MAX_CLOCK 100000
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat
index 1a32e32a5a..75fb423950 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat
@@ -144,8 +144,8 @@ IMU Invensense SPI:mpu6000 ROTATION_YAW_180
 BARO BMP280 I2C:0:0x76
 
 define HAL_OS_FATFS_IO 1
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 # setup for OSD
 define OSD_ENABLED ENABLED
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat
index a154ba52e0..85db171dba 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat
@@ -152,8 +152,8 @@ IMU Invensense SPI:mpu6000 ROTATION_YAW_180
 BARO BMP280 I2C:0:0x76
 
 define HAL_OS_FATFS_IO 1
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 # define default battery setup
 define HAL_BATT_MONITOR_DEFAULT 4
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef.dat
index 2fe3ac3534..2a50782b0e 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef.dat
@@ -156,8 +156,8 @@ SPIDEV osd       SPI2 DEVID1 MAX7456_CS MODE0 10*MHZ 10*MHZ
 
 # filesystem setup on sdcard
 define HAL_OS_FATFS_IO 1
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 # 8 PWM available by default
 define BOARD_PWM_COUNT_DEFAULT 8
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekF765-Wing/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekF765-Wing/hwdef.dat
index 615904d2dc..e8c59303e9 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekF765-Wing/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekF765-Wing/hwdef.dat
@@ -197,8 +197,8 @@ BARO BMP388 I2C:0:0x76
 BARO MS56XX I2C:0:0x77
 
 define HAL_OS_FATFS_IO 1
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 # setup for OSD
 define OSD_ENABLED ENABLED
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat
index 1c193b5f11..0c566f51ae 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat
@@ -124,8 +124,8 @@ SPIDEV sdcard  SPI4 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ
 SPIDEV osd     SPI2 DEVID1 MAX7456_CS MODE0 10*MHZ 10*MHZ
 
 define HAL_OS_FATFS_IO 1
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VRBrain-v51/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/VRBrain-v51/hwdef.dat
index e6e323b9cc..e66a545e7e 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/VRBrain-v51/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/VRBrain-v51/hwdef.dat
@@ -132,8 +132,8 @@ SPIDEV sdcard      SPI3 DEVID1  SDCARD_CS  MODE0 400*KHZ  25*MHZ
 
 define HAL_CHIBIOS_ARCH_BRAINV51 1
 
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 define HAL_STORAGE_SIZE   16384
 define STORAGE_FLASH_PAGE 22
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VRBrain-v52/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/VRBrain-v52/hwdef.dat
index e1ca735d17..664b4f5449 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/VRBrain-v52/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/VRBrain-v52/hwdef.dat
@@ -132,8 +132,8 @@ SPIDEV sdcard      SPI3 DEVID1  SDCARD_CS  MODE0 400*KHZ  25*MHZ
 
 define HAL_CHIBIOS_ARCH_BRAINV52 1
 
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 define HAL_STORAGE_SIZE   16384
 define STORAGE_FLASH_PAGE 22
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VRBrain-v54/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/VRBrain-v54/hwdef.dat
index efdb98d8c6..83ea5dc75a 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/VRBrain-v54/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/VRBrain-v54/hwdef.dat
@@ -132,8 +132,8 @@ SPIDEV sdcard      SPI3 DEVID1  SDCARD_CS  MODE0 400*KHZ  25*MHZ
 
 define HAL_CHIBIOS_ARCH_BRAINV54 1
 
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 define HAL_STORAGE_SIZE   16384
 define STORAGE_FLASH_PAGE 22
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VRCore-v10/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/VRCore-v10/hwdef.dat
index 5853892dc3..2efb6f95d9 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/VRCore-v10/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/VRCore-v10/hwdef.dat
@@ -132,8 +132,8 @@ SPIDEV sdcard      SPI3 DEVID1  SDCARD_CS  MODE0 400*KHZ  25*MHZ
 
 define HAL_CHIBIOS_ARCH_COREV10 1
 
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 define HAL_STORAGE_SIZE   16384
 define STORAGE_FLASH_PAGE 22
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VRUBrain-v51/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/VRUBrain-v51/hwdef.dat
index 2de2ce1c15..ffb9f44b9b 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/VRUBrain-v51/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/VRUBrain-v51/hwdef.dat
@@ -132,8 +132,8 @@ SPIDEV sdcard      SPI3 DEVID1  SDCARD_CS  MODE0 400*KHZ  25*MHZ
 
 define HAL_CHIBIOS_ARCH_UBRAINV51 1
 
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 define HAL_STORAGE_SIZE      15360
 define STORAGE_FLASH_PAGE    2
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat
index d84212c7c5..fd904b78d0 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat
@@ -438,8 +438,8 @@ SPIDEV pixartPC15     SPI4 DEVID13 ACCEL_EXT_CS MODE3  2*MHZ  2*MHZ
 define HAL_CHIBIOS_ARCH_FMUV3 1
 
 # Nnow some defines for logging and terrain data files.
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 # We need to tell HAL_ChibiOS/Storage.cpp how much storage is
 # available (in bytes).
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat
index 3f47ec72ed..d129a89eb3 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat
@@ -174,8 +174,8 @@ SPIDEV ramtron     SPI2 DEVID10 FRAM_CS    MODE3   8*MHZ   8*MHZ
 
 define HAL_CHIBIOS_ARCH_FMUV4 1
 
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 define HAL_STORAGE_SIZE        16384
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat
index d5cafdb40e..83626aa538 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat
@@ -321,8 +321,8 @@ DMA_PRIORITY SDMMC* UART8* ADC* SPI* TIM*
 # enable FAT filesystem support (needs a microSD defined via SDMMC)
 define HAL_OS_FATFS_IO 1
 
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroF7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroF7/hwdef.dat
index 1ee9a63a14..d0c005a7f7 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroF7/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroF7/hwdef.dat
@@ -236,8 +236,8 @@ SPIDEV bmi088_g    SPI5 DEVID1  BMI088_GYRO_CS    MODE3 10*MHZ 10*MHZ
 SPIDEV bmi088_a    SPI5 DEVID2  BMI088_ACCEL_CS   MODE3 10*MHZ 10*MHZ
 
 # Now some defines for logging and terrain data files.
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 # allow to have have a dedicated safety switch pin
 define HAL_HAVE_SAFETY_SWITCH 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mRoX21-777/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/mRoX21-777/hwdef.dat
index 330255c0ca..4ab4639703 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/mRoX21-777/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/mRoX21-777/hwdef.dat
@@ -399,8 +399,8 @@ SPIDEV ramtron        SPI2 DEVID10 FRAM_CS      MODE3  8*MHZ  8*MHZ
 define HAL_CHIBIOS_ARCH_FMUV3 1
 
 # now some defines for logging and terrain data files
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 # we need to tell HAL_ChibiOS/Storage.cpp how much storage is
 # available (in bytes)
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mindpx-v2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/mindpx-v2/hwdef.dat
index 9e2f770f59..cb4253fe80 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/mindpx-v2/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/mindpx-v2/hwdef.dat
@@ -186,8 +186,8 @@ define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 
 define HAL_CHIBIOS_ARCH_MINDPXV2 1
 
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 define HAL_STORAGE_SIZE 16384
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef.dat
index 0d0827d7f8..1b48f582c8 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef.dat
@@ -128,8 +128,8 @@ COMPASS QMC5883L I2C:0:0x0D false ROTATION_PITCH_180_YAW_270
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 define HAL_I2C_INTERNAL_MASK 1
 
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 define HAL_STORAGE_SIZE        16384
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat
index 800fe87bea..78b0e60e18 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat
@@ -116,8 +116,8 @@ define STORAGE_FLASH_PAGE 1
 define HAL_STORAGE_SIZE 15360
 
 define HAL_OS_FATFS_IO 1
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 # define default battery setup
 define HAL_BATT_VOLT_PIN 12
diff --git a/libraries/AP_HAL_ChibiOS/sdcard.cpp b/libraries/AP_HAL_ChibiOS/sdcard.cpp
index 9906dec0a5..fb4cff2f81 100644
--- a/libraries/AP_HAL_ChibiOS/sdcard.cpp
+++ b/libraries/AP_HAL_ChibiOS/sdcard.cpp
@@ -79,7 +79,7 @@ bool sdcard_init()
         printf("Successfully mounted SDCard (slowdown=%u)\n", (unsigned)sd_slowdown);
 
         // Create APM Directory if needed
-        AP::FS().mkdir("/APM");
+        AP::FS().mkdir("/ZRUAV");
         sdcard_running = true;
         return true;
     }
@@ -124,7 +124,7 @@ bool sdcard_init()
         printf("Successfully mounted SDCard (slowdown=%u)\n", (unsigned)sd_slowdown);
 
         // Create APM Directory if needed
-        AP::FS().mkdir("/APM");
+        AP::FS().mkdir("/ZRUAV");
         return true;
     }
 #endif
diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
index 17fe8576bd..99e23fce06 100644
--- a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
+++ b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
@@ -252,11 +252,11 @@ void _usage(void)
     printf("\t                  -A udp:11.0.0.255:14550:bcast\n");
     printf("\t                  -A udpin:0.0.0.0:14550\n");
     printf("\tcustom log path:\n");
-    printf("\t                  --log-directory /var/APM/logs\n");
-    printf("\t                  -l /var/APM/logs\n");
+    printf("\t                  --log-directory /var/ZRUAV/logs\n");
+    printf("\t                  -l /var/ZRUAV/logs\n");
     printf("\tcustom terrain path:\n");
-    printf("\t                   --terrain-directory /var/APM/terrain\n");
-    printf("\t                   -t /var/APM/terrain\n");
+    printf("\t                   --terrain-directory /var/ZRUAV/terrain\n");
+    printf("\t                   -t /var/ZRUAV/terrain\n");
 #if AP_MODULE_SUPPORTED
     printf("\tmodule support:\n");
     printf("\t                   --module-directory %s\n", AP_MODULE_DEFAULT_DIRECTORY);
diff --git a/libraries/AP_Scripting/lua_scripts.cpp b/libraries/AP_Scripting/lua_scripts.cpp
index ca4d24ffc0..4c4a911f3d 100644
--- a/libraries/AP_Scripting/lua_scripts.cpp
+++ b/libraries/AP_Scripting/lua_scripts.cpp
@@ -23,7 +23,7 @@
 
 #ifndef SCRIPTING_DIRECTORY
   #if HAL_OS_FATFS_IO
-    #define SCRIPTING_DIRECTORY "/APM/scripts"
+    #define SCRIPTING_DIRECTORY "/ZRUAV/scripts"
   #else
     #define SCRIPTING_DIRECTORY "./scripts"
   #endif //HAL_OS_FATFS_IO