HUD and Motor Test of BeagleBone Blue Ardupilot

17 Jul 2020

This is a test of the motors on a BeagleBone Blue Ardupilot Quadcopter using a Frsky Taranis QX7 transmitter and the Mission Planner app.

Top Comments

DAB over 4 years ago +1

Nice update. DAB
Jan Cumps over 4 years ago +1

ninjatrent , do you know if the Processor's PRUs are used in the firmware?
ninjatrent over 4 years ago in reply to Jan Cumps +1

Yes, I do believe the pru are in use. There is a line in the Ardupilot Hardware Configuration File, "/usr/bin/ardupilot/aphw" that enables the pru. "/bin/echo pruecapin_pu >/sys/devices/platform/ocp/ocp…

Jan Cumps over 4 years ago in reply to ninjatrent

This confirms it. I'm going to try and find the source code...
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ninjatrent over 4 years ago in reply to Jan Cumps

I used ./waf to compile ardupilot for the bb blue as instructed by the tutorial.

https://github.com/imfatant/test

sudo apt-get install g++ make pkg-config python python-dev python-lxml python-pip
sudo pip install future
git clone github.com/.../ardupilot
cd ardupilot
git branch -a
git checkout Copter-3.6
git submodule update --init --recursive
./waf configure --board=blue
./waf
sudo cp ./build/blue/bin/a* /usr/bin/ardupilot

Might be found in the arducopter file provided.

https://github.com/imfatant/test/tree/master/bin

The original Ardupilot code
https://github.com/ArduPilot/ardupilot
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Jan Cumps over 4 years ago in reply to ninjatrent

I saw that same line. Couldn't find source code for any program loaded to those PRUs though.
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ninjatrent over 4 years ago in reply to DAB

Thank you.
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ninjatrent over 4 years ago in reply to Jan Cumps

Yes, I do believe the pru are in use.

There is a line in the Ardupilot Hardware Configuration File, "/usr/bin/ardupilot/aphw" that enables the pru.
"/bin/echo pruecapin_pu >/sys/devices/platform/ocp/ocp:P8_15_pinmux/state"

Documentation for the use of the BeagleBone Blue as a flight controller can be found in the following links.

https://github.com/imfatant/test
https://github.com/mirkix/ardupilotblue
https://gist.github.com/jadonk/6080ca92d6e225eb89d33ad7744e1775

It is possible to use the Pocketbeagle as a flight controller.

https://github.com/PocketPilot/PocketPilot/blob/master/PocketInstructions.md
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