BeagleBone Blue
Howto use BeagleBone Blue with ArduPilot
Hardware
Receiver
The RC receiver signal has to be connected to connector E4 pin 4. Make sure the signal does not exceed 3.3 volts, otherwise your BeagleBone Blue can be damaged.
GPS
I recommend to use a u-blox M8N GPS. Connect the GPS to the GPS connector. Make sure the signal does not exceed 3.3 volts, otherwise your BeagleBone Blue can be damaged.
Software
Prepare BeagleBone Blue
- Update software:
sudo apt update && sudo apt upgrade -y - Install software:
sudo apt install -y bb-cape-overlays cpufrequtils ardupilot-copter-blue - Add BLUE DTB:
sudo sed -i 's/#dtb=$/dtb=am335x-boneblue-ArduPilot.dtb/' /boot/uEnv.txt - Set clock to 1GHz:
sudo sed -i 's/GOVERNOR="ondemand"/GOVERNOR="performance"/g' /etc/init.d/cpufrequtils - Update scripts:
cd /opt/scripts && sudo git pull - Install RT Kernel 4.4:
sudo /opt/scripts/tools/update_kernel.sh --ti-rt-channel --lts-4_4 - Reboot system:
sudo reboot
Prebuild ArduPilot
- Download ready compiled ArduPilot file from http://bbbmini.org/download/blue/
- Copy file via SCP or microSD on your BeagleBone Blue
Run ArduPilot
ArduCopter:
sudo /home/debian/arducopter (plus parameter)
ArduPlane:
sudo /home/debian/arduplane (plus parameter)
ArduRover:
sudo /home/debian/ardurover (plus parameter)
Parameter mapping:
| start parameter | ArduPilot serial port |
|---|---|
| -A | SERIAL0 |
| -B | SERIAL3 |
| -C | SERIAL1 |
| -D | SERIAL2 |
| -E | SERIAL4 |
| -F | SERIAL5 |
Check http://ardupilot.org/copter/docs/parameters.html#serial0-baud-serial0-baud-rate to set the right value for SERIALx_BAUD and SERIALx_PROTOCOL
To connect a MAVLink groundstation with IP 192.168.178.26 add -C udp:192.168.178.26:14550
To use MAVLink via radio connected to UART4 add -C /dev/ttyO4.
If there is a GPS connected to UART5 add -B /dev/ttyO5.
Example: MAVLink groundstation with IP 192.168.178.26 on port 14550 and GPS connected to /dev/ttyO5 UART5.
sudo /home/debian/arducopter-quad -C udp:192.168.178.26:14550 -B /dev/ttyO5
Example: MAVLink groundstation via radio connected to UART4 and GPS connected to /dev/ttyO5 UART5.
sudo /home/debian/arducopter-quad -B /dev/ttyO5 -C /dev/ttyO4
Automatic start ArduCopter after boot
If ArduCopter should start automatically at boot time follow the instructions below:
Edit /etc/rc.local with sudo nano /etc/rc.local
Modify file to:
#!/bin/sh -e
#
# rc.local
#
# This script is executed at the end of each multiuser runlevel.
# Make sure that the script will "exit 0" on success or any other
# value on error.
#
# In order to enable or disable this script just change the execution
# bits.
#
# By default this script does nothing.
/bin/sleep 10
/bin/echo uart > /sys/devices/platform/ocp/ocp\:P9_21_pinmux/state
/bin/echo uart > /sys/devices/platform/ocp/ocp\:P9_22_pinmux/state
/home/debian/arducopter -B /dev/ttyO2 -C /dev/ttyUSB0 > /home/debian/arducopter.log &
exit 0
- Save file:
Strg + o + Enter - Exit nano:
Strg + x - Reboot BegaleBone with
sudo reboot
License
BeagleBone Blue ArduPilot by Mirko Denecke is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
UNLESS OTHERWISE MUTUALLY AGREED TO BY THE PARTIES IN WRITING, LICENSOR OFFERS THE WORK AS-IS AND MAKES NO REPRESENTATIONS OR WARRANTIES OF ANY KIND CONCERNING THE WORK, EXPRESS, IMPLIED, STATUTORY OR OTHERWISE, INCLUDING, WITHOUT LIMITATION, WARRANTIES OF TITLE, MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, NONINFRINGEMENT, OR THE ABSENCE OF LATENT OR OTHER DEFECTS, ACCURACY, OR THE PRESENCE OF ABSENCE OF ERRORS, WHETHER OR NOT DISCOVERABLE. SOME JURISDICTIONS DO NOT ALLOW THE EXCLUSION OF IMPLIED WARRANTIES, SO SUCH EXCLUSION MAY NOT APPLY TO YOU. EXCEPT TO THE EXTENT REQUIRED BY APPLICABLE LAW, IN NO EVENT WILL LICENSOR BE LIABLE TO YOU ON ANY LEGAL THEORY FOR ANY SPECIAL, INCIDENTAL, CONSEQUENTIAL, PUNITIVE OR EXEMPLARY DAMAGES ARISING OUT OF THIS LICENSE OR THE USE OF THE WORK, EVEN IF LICENSOR HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.