Howto use BeagleBone Blue with ArduPilot
Since 17.01.2018 you can use the DSM2 connector or connector E4 pin 4 on your BealgeBone Blue.
Before 17.01.2018 the RC receiver signal has to be connected to connector E4 pin 4. This pin is a multi protocol pin (S.BUS, PPM-Sum, Spektrum Satellit DSM), the protocol will be automatically detected. Make sure the signal does not exceed 3.3 volts, otherwise your BeagleBone Blue can be damaged.
| Name | Protocol | DSM2 connector | E4 connector (pin 4) | Voltage divider needed |
|---|---|---|---|---|
| FrSky X8R | SBUS | not tested | working | no, 3.3V output |
| OrangeRx Satellite Receiver | DSM | working | not tested | no, 3.3V output |
If you connect servos to the BeagleBone Blue than keep in mind that power is not applied by default because it is not necessary for ESCs. To enable power add: /bin/echo 1 > /sys/class/gpio/gpio80/value to /etc/rc.local.
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.
- Update software:
sudo apt update && sudo apt upgrade -y - Install software:
sudo apt install -y bb-cape-overlays cpufrequtils - 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
- Download ready compiled ArduPilot file from http://bbbmini.org/download/blue/
- Copy file via SCP or microSD on your BeagleBone Blue
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
If ArduCopter should start automatically at boot time follow the instructions below:
SYS V init based startup
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
/bin/echo pruecapin_pu > /sys/devices/platform/ocp/ocp:P8_15_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
Systemd based startup, useful with arducopter packages from debian/rcnee repo. Edit defaults file with vi command below.
sudo vi /etc/default/arducopter
Enter contents below, then use ESC, then :wq to exit.
TELEM1="-C /dev/ttyS1"
TELEM2="-A udp:192.168.100.22:14550"
#TELEM2="-C /dev/ttyAMA0"
GPS="-B /dev/ttyS2"
# Options to pass to ArduCopter
#ARDUCOPTER_OPTS=$TELEM1 $TELEM2
# -A is a console switch (usually this is a Wi-Fi link)
# -C is a telemetry switch
# Usually this is either /dev/ttyAMA0 - UART connector on your Navio
# or /dev/ttyUSB0 if you're using a serial to USB convertor
# -B or -E is used to specify non default GPS
Edit systemd service file with vi command below, or use sudo nano command from above
sudo vi /lib/systemd/system/arducopter.service
Replace contents of service file with below. Use ESC, then :wq to exit.
[Unit]
Description=ArduCopter Service
After=networking.service
Conflicts=arduplane.service ardupilot.service ardurover.service
[Service]
EnvironmentFile=/etc/default/arducopter
ExecStartPre=/bin/bash -c "/bin/echo uart > /sys/devices/platform/ocp/ocp:P9_21_pinmux/state"
ExecStartPre=/bin/bash -c "/bin/echo uart > /sys/devices/platform/ocp/ocp:P9_22_pinmux/state"
ExecStartPre=/bin/bash -c "/bin/echo uart > /sys/devices/platform/ocp/ocp:P9_24_pinmux/state"
ExecStartPre=/bin/bash -c "/bin/echo uart > /sys/devices/platform/ocp/ocp:P9_26_pinmux/state"
ExecStartPre=/bin/bash -c "/bin/echo pruecapin_pu > /sys/devices/platform/ocp/ocp:P8_15_pinmux/state"
ExecStart=/usr/bin/ardupilot/blue-arducopter $TELEM1 $TELEM2 $GPS
Restart=on-failure
[Install]
WantedBy=multi-user.target
BeagleBone Blue ArduPilot by Mirko Denecke is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
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