Look to github.com/imfatant/test to set up your software for the BBBlue and ArduCopter. There is a nice guide already posted.

I would recommend to the updated image from beagleboard.org which can be found here for your BBBlue: https://beagleboard.org/latest-images. Make sure you grab the correct image for the am335x SiP from Octavo Systems. 

When connecting your components to your BBBlue from the peripherals, look to the photo I posted on front page or here is a better description: https://github.com/imfatant/test/blob/master/docs/BBBlue-ArduPilot.jpg.

I found mirkix online to be helpful since he is the person that ported ArduPilot to the BBBlue. The guide listed on github.com has a link to his github page online for reviewing the the build he promoted.

Also...if you are using a FrSky X8R receiver, use the SBus protocol connector (Signal Connector) to handle the PRU (Programmable Real-Time Unit) onboard the BBBlue (BeagleBoard Blue). The BBBlue was meant to handle robots quickly and easily. It is set up for interfacing with robotics and the librobotcontrol library has recently been re-enlisted to handle such robots which can be found online at https://beagleboard.org/static/librobotcontrol/version.html. Also, you can look here to find out more about the BBBlue: https://beagleboard.org/blue.

So, once you have listed to the /test page online on github, you are going to need to download the proper software to handle your set up of ArduCopter or ArduRover on your BBBlue. I found that on Win 10, Mission Planner works well and I will go into some ideas on this software soon in this small presentation.

Also, if you are a Linux enthusiast, there are some software to use for connecting to the BBBlue via ArduCopter/ArduRover: 

  1. https://ardupilot.org/copter/index.html is a start of ideas for hooking things up and getting ideas circulating.
  2. https://ardupilot.org/copter/docs/common-choosing-a-ground-station.html#common-choosing-a-ground-station shows the different Ground Control Software that one can use that works with ArduPilot.

So, without further ado, get crackin' on projects and report back. Also, there are a couple fellows that provide support to the entity of the build to BBBlue here: https://gitter.im/mirkix/BBBMINI.

I sometimes frequent that page online to find answers, give answers, and create community around the BBBlue, flight, and ArduPilot.


P.S. If you are not wanting to wait to have your ArduPilot source compile, you can always list to these instructions: https://github.com/ArduPilot/ardupilot/blob/master/BUILD.md. You can follow those instructions to put the executable on your BBBlue for whatever ArduPilot source you built on your development desktop.


So, on the development desktop, use these commands:

  • git clone --recursive https://github.com/ArduPilot/ardupilot.git
  • cd ardupilot
  • ./waf configure --board blue --static
    • or..
  • ./waf configure --board=blue --static
  • ./waf copter 
    • or whatever you want to build, i.e. Rover, Copter, Plane.
  • ./waf configure --board blue --rsync-dest root@<Your IP Address of the BBBlue>:/
    • Sometimes in place of "root," I put my debian user or debian dir. and/or I put at the end of the above command, a location/directory, e.g. /home/debian/ardupilot/ and/or another location.
  • ./waf --target bin/arducopter --upload

That should get the executable, the last command above, and the arducopter, compiled source on the board. Now, we need to install the items on the BBBlue.

On the BBBlue, type:

  • ./waf

That should build the arducopter for the board and put it in place.

For the executable called TheFile.bin, or whatever the file is called, we would then resort back to imfatant's guide on github.com. We would place it in a section of our filesystem where the .service file looks to get it and utilizes it, i.e. /usr/bin/ardupilot/arducopter. Please remember to use chmod 0755 a* in that directory listed to make sure you have permissions set.