Build BBBMini on the Beaglebone Black

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■ UART

ArduPilot는 5개의 UART를 지원하며 각 UART의 용도는 아래와 같다.


-UART A - the console (usually USB, runs MAVLink telemetry)

-UART B - the first GPS

-UART C - primary telemetry (telem1 on Pixhawk, 2nd radio on APM2)

-UART D - secondary telemetry (telem2 on Pixhawk)

-UART E - 2nd GPS


UART를 테스트하기 위해 libraries/AP_HAL/examples/UART_test를 실행하면 "hello" 메세지를 5개의 UART에 지속적으로 보낸다.


■ MissionPlanner 연결

MissionPlanner IP: 192.168.0.2

BBBMini IP: 192.168.0.3


※ 실행 전 아래의 명령으로 MissionPlanner의 윈도우 방화벽을 열어준 후 실행할 것.

NETSH ADVFIREWALL FIREWALL ADD RULE NAME="MissionPlanner" DIR=IN ACTION=ALLOW PROGRAM="C:\Program Files (x86)\MissionPlanner\MissionPlanner.exe" ENABLE=YES


arducopter -A udp:192.168.0.2:14550 -B /dev/ttyO5 -C /dev/ttyO4

arducopter -A tcp:192.168.0.3:5760 -B /dev/ttyO5 -C /dev/ttyO4



■ Ubuntu PC에서 구버전 빌드 스크립트

#!/bin/bash

###########################################################

#

# Ardupilot 빌드 (bbbmini)

# (Ubuntu PC에서 빌드)

#

# https://github.com/mirkix/BBBMINI/blob/master/doc/software/software.md

#

###########################################################

CURRENT_DIR=${PWD}

GIT_BRANCH=Copter-3.5

VERSION_STR=${GIT_BRANCH:7}

USE_WAF=1


# 이전 빌드 삭제

rm -f arducopter-*

rm -f examples.tar.gz

rm -rf ardupilot


# 소스코드 다운로드

git clone -b ${GIT_BRANCH} https://github.com/ArduPilot/ardupilot.git

cd ${CURRENT_DIR}/ardupilot

git submodule update --init --recursive


# 빌드에 필요한 패키지 설치

./Tools/scripts/install-prereqs-ubuntu.sh -y

source ~/.profile


# Build

make clean


if [ ${USE_WAF} = 1 ]

then

  ./waf configure --board=bbbmini

  ./waf

  ./waf examples

  mv ${CURRENT_DIR}/ardupilot/build/bbbmini/bin/arducopter ${CURRENT_DIR}/arducopter-${VERSION_STR}

  tar -C ${CURRENT_DIR}/ardupilot/build/bbbmini -czf ${CURRENT_DIR}/examples.tar.gz examples

else

  cd ${CURRENT_DIR}/ardupilot/ArduCopter

  make bbbmini

  # 바이너리를 현재 디렉토리에 복사

  mv ArduCopter.elf ${CURRENT_DIR}/arducopter-${VERSION_STR}

fi

rm -rf ~/.ccache

rm -rf ~/.cache


■ 빌드되어 있는 패키지 받기

wget -O - http://airrobotics.de/deb/bbmini/keyFile  | sudo apt-key add -

echo "deb http://airrobotics.de/deb/bbbmini /" | sudo tee -a /etc/apt/sources.list

apt update

apt install arducopter



■ 원문 설명 (https://github.com/mirkix/BBBMINI/blob/master/doc/software/software.md#install-debian-to-your-beaglebone-emmc)

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. Copy image to microSDcard (>= 2GB): sudo dd bs=4M if=./BBB-blank-debian-8.6-console-armhf-2016-09-21-2gb.img of=/dev/sdX /dev/sdX should point to your microSD, be careful here!!! Use lsblk to figure out, which is your mircroSD. The process can take 15-30 minutes depending on the speed of your microSD card.
  4. sync and remove mircroSD

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
  11. Install Python library: sudo pip install future
  12. Set link to pkg-config: sudo ln -s pkg-config /usr/bin/arm-linux-gnueabihf-pkg-config
  13. Update scripts: cd /opt/scripts && sudo git pull
  14. Expend partition: sudo /opt/scripts/tools/grow_partition.sh
  15. Install RT Kernel: sudo /opt/scripts/tools/update_kernel.sh --bone-rt-kernel --lts-4_4
  16. Add BBBmini DTB: sudo sed -i 's/#dtb=$/dtb=am335x-boneblack-bbbmini.dtb/' /boot/uEnv.txt
  17. 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
  18. Set clock to fixed 1GHz sudo sed -i 's/GOVERNOR="ondemand"/GOVERNOR="performance"/g' /etc/init.d/cpufrequtils
  19. Reboot system: sudo reboot
  20. Login again: ssh debian@beaglebone
  21. Clone ArduPilot code: git clone https://github.com/ArduPilot/ardupilot.git
  22. Change dir: cd ardupilot/Tools/Linux_HAL_Essentials/pru/rangefinderpru
  23. Install Rangefinder firmware: sudo make install
  24. Your BeagleBone is now ready to use.

Compile ArduPilot native on BeagleBone

  1. cd ardupilot
  2. git checkout Copter-3.4.6 for ArduCopter or git checkout ArduPlane-3.7.1 for ArduPlane or git checkout APMrover2-3.1.2 for ArduRover
  3. git submodule update --init --recursive
  4. ./waf configure --board=bbbmini
  5. ./waf (take about 1h20m)
  6. cp build/bbbmini/bin/* /home/debian/

Cross compile ArduPilot (faster) with Ubuntu computer

Get the source code:

  1. git clone https://github.com/diydrones/ardupilot.git
  2. cd ardupilot
  3. ./Tools/scripts/install-prereqs-ubuntu.sh
  4. git checkout Copter-3.4.6 for ArduCopter or git checkout ArduPlane-3.7.1 for ArduPlane or git checkout APMrover2-3.1.2 for ArduRover
  5. git submodule update --init --recursive
  6. ./waf configure --board=bbbmini
  7. ./waf
  8. scp build/bbbmini/bin/* debian@beaglebone:/home/debian/

Run ArduPilot

Now you can check your hardware here.

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

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

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

Parameter mapping:

start parameterArduPilot serial port
-ASERIAL0
-BSERIAL3
-CSERIAL1
-DSERIAL2
-ESERIAL4
-FSERIAL5

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-quad -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-quad -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-quad -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


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