Howto use BeagleBone Blue with ArduPilot
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.
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 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
sudo /usr/bin/ardupilot/blue-arducopter
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
/usr/bin/ardupilot/blue-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
BeagleBone Blue ArduPilot by Mirko Denecke is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
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