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Software

There is now a prebuild image which make things easier.

The image includes:

  • Debian 8 jessie
  • GCC 4.9
  • Kernel 4.0.8 PREEMPT RT
  • Devicetree for the BBBMINI is already loaded at startup.

Prepare BBB

  1. Download Debian image here: bone-debian-8.1-console-armhf-2015-06-11-2gb.img.xz

  2. Decompress image: unxz one-debian-8.1-console-armhf-2015-06-11-2gb.img.xz

  3. Copy image to microSDcard (>= 4GB): sudo dd if=./one-debian-8.1-console-armhf-2015-06-11-2gb.img of=/dev/sdX /dev/sdX should point to your microSDcard, be careful here!!! Use lsblk to figure out, which is your mircroSDcard.

  4. sync and remove mircroSDcard

  5. Put microSDcard into BBB

  6. Connect BBB to power

  7. Connect to the BBB ssh debian@arm

  8. Password temppwd

  9. Update software: sudo apt-get update

  10. Update software: sudo apt-get upgrade

  11. Install Kernel: sudo apt-get install linux-image-4.0.8-bone-rt-r8 linux-firmware-image-4.0.8-bone-rt-r8

  12. Add BBBMINI DTB: sudo sed -i 's/#dtb=$/dtb=am335x-boneblack-bbbmini.dtb/' /boot/uEnv.txt

  13. Install software: sudo apt-get install g++ gawk git make ti-pru-cgt-installer device-tree-compiler

  14. Uninstall Apache2: sudo apt-get remove apache2

  15. Reboot system: sudo reboot

  16. Login again

  17. Get Ardupilot code: git clone https://github.com/diydrones/ardupilot.git

  18. Change dir: cd ardupilot/Tools/Linux_HAL_Essentials/pru/rangefinderpru

  19. Build Rangefinder firmware: make

  20. Install Rangefinder firmware: sudo make install

Compile ArduPilot natively on the BBB

cd ardupilot/ArduCopter for ArduCopter

or

cd ardupilot/ArduPlane for ArduPlane

or

cd ardupilot/APMrover2 for APMRover

then

make bbbmini

Cross compile ArduPilot

To compile ArduPilot for the BBB on a Ubuntu computer the following packages are required:

sudo apt-get install git gawk g++-arm-linux-gnueabihf

Now get the source code:

git clone https://github.com/diydrones/ardupilot.git

choose what to build:

cd ardupilot/ArduCopter for ArduCopter

or

cd ardupilot/ArduPlane for ArduPlane

or

cd ardupilot/APMrover2 for APMRover

then

make bbbmini

use scp to copy the .ELF executable to the BBB.

Run ArduPilot

Now you can check your hardware here.

then you can start ArduPilot:

sudo ardupilot/ArduCopter/ArduCopter.elf

or

sudo ardupilot/ArduPlan/ArduPlan.elf

or

sudo ardupilot/APMrover2/APMrover2.elf

To connect a MAVLink groundstation add -A 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 ardupilot/ArduCopter/ArduCopter.elf -A 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 ardupilot/ArduCopter/ArduCopter.elf -B /dev/ttyO5 -C /dev/ttyO4