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

Run ArduCopter

sudo /usr/bin/ardupilot/blue-arducopter

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
/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

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.

juvinski/ardupilotblue