Ardupilot port for NavStik
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OpenSource code for autopilot application. It makes use of ArduPilot and is a fork of PX4 code. PandaPilot currently supports NavStik hardware (based on STM32F4).

Setup and Compilation instructions

1. Install the following packages :

$ sudo apt-get install python-serial python-argparse openocd flex bison libncurses5-dev autoconf texinfo build-essential libftdi-dev libtool zlib1g-dev genromfs git-core wget gawk minicom libusb-1.0-0-dev

2. Install toolchain :

$ wget $ tar -vjxf gcc-arm-none-eabi-4_6-2012q2-20120614.tar.bz2

Add your toolchain path to environmental variable PATH; either manually or by adding this line to ~/.bashrc or /etc/bash.bashrc export PATH=/your/path/gcc-arm-none-eabi-4_6-2012q2/bin:\$PATH

3. Configure build environment :

~/firmware/nuttx/tools$ ./ navstik/nsh

~/firmware$ make configure_navstik

Your ardupilot/ file should look like this (replace paths with your actual paths) : ~/ArduPlane-path$ cat ../

Select 'mega' for the 1280 APM1, 'mega2560' otherwise

BOARD = navstik

HAL_BOARD determines default HAL target.


The communication port used to communicate with the APM.

PORT = /dev/ttyACM0

NAVSTIK app build: fill in the path to PandaPilot Firmware repository:

NAVSTIK_ROOT = /home/amit/work/navstik/pandapilot/firmware/

APPDIR = /home/amit/work/navstik/pandapilot/firmware/apps

4. Compile the code :

~/ArduPlane-path$ make navstik You should see navstik.bin in nuttx/Images directory.

5. Download the code :

Download latest version of dfu-utils with this command : $ git clone git:// Follow the usual configure, make, make install cycle to compile and install dfu-util.

You will notice two small buttons and two jumper switches next to each other on the interface board. From the jumpers, put number 2 to 'ON' position and press the buttone named 'NS'. This will put the board into DFU mode. Issue the following command : $ sudo dfu-util --device 0483:df11 -a0 --dfuse-address 0x8000000 -D path/to/navstik-nuttx/Images/navstik.bin

Once the code is downloaded, bring switch 2 to OFF position and reset the board.

BTW, you need to insert a micro-SD card to run any of the sketches. Else it will not be able to create the .stg file, and will stop executing the script further.

Happy hacking! :) alpha