Copter: fixed build on px4

ArduCopter/ArduCopter.pde

@@ -67,6 +67,7 @@
 #include <AP_HAL.h>
 #include <AP_HAL_AVR.h>
 #include <AP_HAL_AVR_SITL.h>
+#include <AP_HAL_PX4.h>
 #include <AP_HAL_Empty.h>
 
 // Application dependencies
@@ -151,6 +152,8 @@ DataFlash_APM2 DataFlash;
 DataFlash_APM1 DataFlash;
 #elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
 DataFlash_SITL DataFlash;
+#else
+DataFlash_Empty DataFlash;
 #endif
 
 

ArduCopter/GCS_Mavlink.pde

@@ -218,7 +218,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
 
 static void NOINLINE send_meminfo(mavlink_channel_t chan)
 {
-#if CONFIG_HAL_BOARD != HAL_BOARD_AVR_SITL
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
     extern unsigned __brkval;
     mavlink_msg_meminfo_send(chan, __brkval, memcheck_available_memory());
 #endif

ArduCopter/config.h

@@ -71,6 +71,13 @@
  # define MAG_ORIENTATION   AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
  # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
  # define MAGNETOMETER ENABLED
+#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
+ # define CONFIG_IMU_TYPE   CONFIG_IMU_SITL
+ # define CONFIG_PUSHBUTTON DISABLED
+ # define CONFIG_RELAY      DISABLED
+ # define MAG_ORIENTATION   AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
+ # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
+ # define MAGNETOMETER ENABLED
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
@@ -180,6 +187,18 @@
  # define USB_MUX_PIN      -1
  # define BATTERY_VOLT_PIN 1      // Battery voltage on A1
  # define BATTERY_CURR_PIN 2      // Battery current on A2
+#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
+ # define A_LED_PIN        27
+ # define B_LED_PIN        26
+ # define C_LED_PIN        25
+ # define LED_ON           LOW
+ # define LED_OFF          HIGH
+ # define SLIDE_SWITCH_PIN (-1)
+ # define PUSHBUTTON_PIN   (-1)
+ # define CLI_SLIDER_ENABLED DISABLED
+ # define USB_MUX_PIN      -1
+ # define BATTERY_VOLT_PIN -1
+ # define BATTERY_CURR_PIN -1
 #endif
 
 ////////////////////////////////////////////////////////////////////////////////
@@ -202,7 +221,7 @@
  #define COPTER_LED_6 AN9       // Motor LED
  #define COPTER_LED_7 AN10      // Motor LED
  #define COPTER_LED_8 AN11      // Motor LED
-#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL || CONFIG_HAL_BOARD == HAL_BOARD_PX4
  #define COPTER_LED_1 AN8       // Motor or Aux LED
  #define COPTER_LED_2 AN9       // Motor LED
  #define COPTER_LED_3 AN10      // Motor or GPS LED