Port PX4 to BeagleBone Blue Board using library librobotcontrol instead of a submodule

posix-configs/bbblue/px4.config

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+# config for a quad
+# modified from ../rpi/px4.config
+
+uorb start
+param load
+
+# Auto-start script index. Defines the auto-start script used to bootstrap the system.
+# It seems that SYS_AUTOSTART does not work as intended on posix platform.
+# For now, find the corresponding settings, and manually set them in ground control.
+#
+# 4001: Generic Quadrotor X;  4011: DJI Flame Wheel F450
+param set SYS_AUTOSTART 4011
+
+# DJI ESCs do not support calibration and need higher PWM_MIN
+# http://www.dji.com/e2000/info indicates E2000 Operating Pulse Width: 1120 to 1920 μs
+# It seems that all latest DJI ESC have the same range.
+# Note that the setting here applies to all PWM channels.
+# param set PWM_MIN 1120
+# param set PWM_MAX 1920
+# Not using DJI 430 LITE ESC anymore due to its hiccups: 
+#    each random motor stop would cause a scary flip in the fly
+# Replacing with 4 BLHeli32 (Wraith32 V2) ESCs solved the main problem in BBBlue porting
+ 
+# Broadcast heartbeats on local network. This allows a ground control station
+# to automatically find the drone on the local network.
+param set MAV_BROADCAST 1
+
+# MAV_TYPE: 1 Fixed wing aircraft, 2 Quadrotor
+param set MAV_TYPE 2
+
+# Set multicopter estimator group, 1 local_position_estimator, attitude_estimator_q, 2 ekf2
+param set SYS_MC_EST_GROUP 2
+
+# Three possible main power battery sources for BBBlue:
+# 1. onboard 2S LiPo battery connector, which is connect to ADC channel 6
+# 2. onboard 9-18V DC Jack, which is connect to ADC channel 5. This is the board default.
+# 3. other power source (e.g., LiPo battery more than 4S/18V). 
+#    Scale the voltage to below 1.8V and connect it to ADC channel # 0, 1, 2 or 3. 
+param set BAT_ADC_CHANNEL 	5
+
+# 12-bit 1.8V ADC, 1.8V / 2^12 = 0.000439453125 V/CNT
+param set BAT_CNT_V_VOLT 	 0.0004394531
+
+# Battery voltage scale factor, from BBBlue schematics: (4.7K + 47K) / 4.7K = 11
+param set BAT_V_DIV 		11.0
+
+#param set BAT_CNT_V_CURR 	 0.001
+#param set BAT_A_PER_V 		15.391030303
+
+dataman start
+
+df_bmp280_wrapper  start -D /dev/i2c-2
+
+df_mpu9250_wrapper start
+# options:  -R rotation
+
+gps start -d /dev/ttyS2 -s -p ubx
+
+#rgbled start -b 1
+bbblue_adc start
+bbblue_adc test
+
+sensors start
+commander start
+navigator start
+ekf2 start
+#land_detector start multicopter
+
+mc_pos_control start
+mc_att_control start
+#fw_att_control start
+#fw_pos_control_l1 start
+
+mavlink start -x -u 14556 -r 1000000 
+# -n name of wifi interface: SoftAp, wlan or your custom interface, 
+# e.g., -n wlan . The default on BBBlue is SoftAp
+
+sleep 1
+
+mavlink stream -u 14556 -s HIGHRES_IMU -r 20
+mavlink stream -u 14556 -s ATTITUDE -r 20
+mavlink stream -u 14556 -s MANUAL_CONTROL -r 10
+
+linux_sbus start -d /dev/ttyS4 -c 16
+# DSM2 port is mapped to /dev/ttyS4 (default for linux_sbus)
+
+# default: ROMFS/px4fmu_common/mixers/quad_x.main.mix, 8 output channels
+linux_pwm_out start -p bbblue_rc -m ROMFS/px4fmu_common/mixers/quad_x.main.mix
+#linux_pwm_out start -p bbblue_rc -m ROMFS/px4fmu_common/mixers/AETRFG.main.mix
+
+logger start -t -b 200
+mavlink boot_complete