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Software

How to prepare your BeagleBone to use as BBBmini.

  • Debian 8.6 jessie
  • GCC 4.9
  • Kernel 4.4 PREEMPT RT
  • BBBmini devicetree loaded at startup.

Prepare microSD with your Linux host computer

  1. Download Debian image https://rcn-ee.net/rootfs/bb.org/testing/2016-10-02/console/BBB-blank-debian-8.6-console-armhf-2016-10-02-2gb.img.xz
  2. Decompress image: unxz BBB-blank-debian-8.6-console-armhf-2016-10-02-2gb.img.xz
  3. Use lsblk to find the address /dev/sdX of your microSD device, such as /dev/sdc. /dev/sdX should point to your microSD device, not partition, be careful here to make sure you don't wipe the wrong device or partition!!! Unplug your microSD card and run lsblk again then plug it back in, if you want to verify it's the correct device.
  4. Copy image to microSD card (>= 2GB), the process can take 15-30 minutes depending on the speed of your microSD card: sudo dd bs=4M if=./BBB-blank-debian-8.6-console-armhf-2016-10-02-2gb.img of=/dev/sdX status=progress
  5. sync and remove microSD

Install Debian to your BeagleBone eMMC

  1. Plug prepared microSD into BeagleBone
  2. While holding down the boot button, apply power to the board. If there is a newer Debian installed, holding down the boot button is not necessary.
  3. Wait some minutes until Debian is installed (all four LEDs turned on).
  4. Remove power.
  5. Remove microSD.
  6. Apply power again.
  7. Connect to the BeagleBone ssh debian@beaglebone
  8. Password temppwd
  9. Update software: sudo apt update && sudo apt upgrade -y
  10. Install software: sudo apt install -y bb-cape-overlays cpufrequtils g++ pkg-config gawk git make screen python python-dev python-lxml python-pip python-future
  11. Set link to pkg-config: sudo ln -s pkg-config /usr/bin/arm-linux-gnueabihf-pkg-config
  12. Update scripts: cd /opt/scripts && sudo git pull
  13. Expend partition: sudo /opt/scripts/tools/grow_partition.sh
  14. Install RT Kernel: sudo /opt/scripts/tools/update_kernel.sh --bone-rt-kernel --lts-4_4
  15. Add BBBmini DTB: sudo sed -i 's/#dtb=$/dtb=am335x-boneblack-bbbmini.dtb/' /boot/uEnv.txt
  16. Add ADC DTBO: sudo sed -i 's/#cape_enable=bone_capemgr.enable_partno=/cape_enable=bone_capemgr.enable_partno=BB-ADC/g' /boot/uEnv.txt
  17. Set clock to fixed 1GHz sudo sed -i 's/GOVERNOR="ondemand"/GOVERNOR="performance"/g' /etc/init.d/cpufrequtils
  18. Reboot system: sudo reboot
  19. Login again: ssh debian@beaglebone
  20. Your BeagleBone is now ready to use.

Compile ArduPilot native on BeagleBone

  1. cd ~
  2. git clone https://github.com/ardupilot/ardupilot.git
  3. cd ardupilot
    • for ArduCopter git checkout Copter-3.6.7
    • for ArduPlane git checkout ArduPlane-3.9.6 or git checkout ArduPlane-beta
    • for ArduRover git checkout Rover-3.5.0
    • for ArduSub git checkout ArduSub-stable or git checkout ArduSub-beta
  5. git submodule update --init --recursive
  6. ./waf configure --board=bbbmini
  7. ./waf (take about 1h20m)
  8. cp build/bbbmini/bin/* /home/debian/

Cross compile ArduPilot (faster) with Ubuntu computer

Get the source code:

  1. cd ~
  2. git clone https://github.com/ardupilot/ardupilot.git
  3. cd ardupilot
  4. ./Tools/scripts/install-prereqs-ubuntu.sh
    • for ArduCopter git checkout Copter-3.6.7
    • for ArduPlane git checkout ArduPlane-3.9.6 or git checkout ArduPlane-beta
    • for ArduRover git checkout Rover-3.5.0
    • for ArduSub git checkout ArduSub-stable or git checkout ArduSub-beta
  6. git submodule update --init --recursive
  7. ./waf configure --board=bbbmini
  8. ./waf
  9. scp build/bbbmini/bin/* debian@beaglebone:/home/debian/

Run ArduPilot

Now you can check your hardware here.

ArduCopter: sudo /home/debian/arducopter (plus parameter)

ArduPlane: sudo /home/debian/arduplane (plus parameter)

ArduRover: sudo /home/debian/ardurover (plus parameter)

ArduSub: sudo /home/debian/ardusub (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 -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 -B /dev/ttyO5 -C /dev/ttyO4

Automatic start ArduPilot after boot

If ArduPilot should start automatically at boot time follow the instructions below:

  1. Connect to your BeagleBone via ssh with ssh debian@beaglebone
  2. Edit /etc/rc.local with sudo nano /etc/rc.local
  3. Modify file to (use your ArduPilot file and parameter):
#!/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
/home/debian/arducopter -B /dev/ttyO5 -C /dev/ttyO4 > /home/debian/arducopter.log &

exit 0
  1. Save file: Strg + o + Enter
  2. Exit nano: Strg + x
  3. Reboot BegaleBone with sudo reboot