Ardupilot source code before APM_HAL


Where can I download the earliest version of Ardupilot for APM 2.0 before they introduced the hardware abstraction layer.

I'm thinking that would be a better source to learn developing custom code.

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  • i have APM 2.0, so i'm guessing i can't load firmware 2.8.1 in it.? and i want to customize the code which i would load in it.

  • The HAL actually is the better more organised form. It creates a better cleaner abstraction. After all who really cares about which bits get turned on and off at the low level. Developers want to use nice abstractions without worrying about those low level bits.

  • i have same question.

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