{"id":734,"date":"2016-12-14T09:58:49","date_gmt":"2016-12-14T18:58:49","guid":{"rendered":"\/blog\/?p=734"},"modified":"2023-09-21T09:37:50","modified_gmt":"2023-09-21T00:37:50","slug":"build-bbbmini-on-the-beaglebone-black","status":"publish","type":"post","link":"https:\/\/hasu0707.duckdns.org\/blog\/?p=734","title":{"rendered":"Build BBBMini on the Beaglebone Black"},"content":{"rendered":"\n

\u25a0 UART<\/strong><\/span><\/font><\/p>\r\n

ArduPilot\ub294 5\uac1c\uc758 UART\ub97c \uc9c0\uc6d0\ud558\uba70 \uac01 UART\uc758 \uc6a9\ub3c4\ub294 \uc544\ub798\uc640 \uac19\ub2e4.<\/span>
<\/p>\r\n


<\/span><\/font><\/p>\r\n

-UART A - the console (usually USB, runs MAVLink telemetry)<\/span><\/font><\/p>\r\n

-UART B - the first GPS<\/span><\/font><\/p>\r\n

-UART C - primary telemetry (telem1 on Pixhawk, 2nd radio on APM2)<\/span><\/font><\/p>\r\n

-UART D - secondary telemetry (telem2 on Pixhawk)<\/span><\/font><\/p>\r\n

-UART E - 2nd GPS<\/span><\/font><\/p>\r\n


<\/span><\/font><\/p>\r\n

UART\ub97c \ud14c\uc2a4\ud2b8\ud558\uae30 \uc704\ud574 libraries\/AP_HAL\/examples\/UART_test\ub97c \uc2e4\ud589\ud558\uba74 \"hello\" \uba54\uc138\uc9c0\ub97c 5\uac1c\uc758 UART\uc5d0 \uc9c0\uc18d\uc801\uc73c\ub85c \ubcf4\ub0b8\ub2e4.<\/span><\/font><\/p>\r\n


<\/span><\/font><\/p>\r\n

\u25a0 MissionPlanner \uc5f0\uacb0<\/strong><\/span><\/font><\/p>\r\n

MissionPlanner IP: 192.168.0.2<\/span>
<\/p>\r\n

BBBMini IP: 192.168.0.3<\/span><\/font><\/p>\r\n


<\/span><\/font><\/p>\r\n

\u203b \uc2e4\ud589 \uc804 \uc544\ub798\uc758 \uba85\ub839\uc73c\ub85c MissionPlanner\uc758 \uc708\ub3c4\uc6b0 \ubc29\ud654\ubcbd\uc744 \uc5f4\uc5b4\uc900 \ud6c4 \uc2e4\ud589\ud560 \uac83.<\/span><\/font><\/p>\r\n

NETSH ADVFIREWALL FIREWALL ADD RULE NAME=\"MissionPlanner\" DIR=IN ACTION=ALLOW PROGRAM=\"C:\\Program Files (x86)\\MissionPlanner\\MissionPlanner.exe\" ENABLE=YES<\/span><\/font><\/p>\r\n


<\/span><\/font><\/p>\r\n

arducopter -A udp:192.168.0.2:14550 -B \/dev\/ttyO5 <\/em><\/span><\/font>-C \/dev\/ttyO4<\/em><\/p>\r\n

arducopter -A tcp:192.168.0.3:5760 -B \/dev\/ttyO5 <\/em><\/span><\/font>-C \/dev\/ttyO4<\/em><\/p>\r\n


<\/em><\/p>\r\n


<\/p>\r\n

\u25a0 <\/span><\/span>Ubuntu PC\uc5d0\uc11c \uad6c\ubc84\uc804 \ube4c\ub4dc \uc2a4\ud06c\ub9bd\ud2b8<\/span><\/strong><\/p>\r\n

#!\/bin\/bash<\/span><\/p>\r\n

###########################################################<\/span><\/p>\r\n

#<\/span><\/p>\r\n

# Ardupilot \ube4c\ub4dc (bbbmini)<\/span><\/p>\r\n

# (Ubuntu PC\uc5d0\uc11c \ube4c\ub4dc)<\/span><\/p>\r\n

#<\/span><\/p>\r\n

# https:\/\/github.com\/mirkix\/BBBMINI\/blob\/master\/doc\/software\/software.md<\/span><\/p>\r\n

#<\/span><\/p>\r\n

###########################################################<\/span><\/p>\r\n

CURRENT_DIR=${PWD}<\/span><\/p>\r\n

GIT_BRANCH=Copter-3.5<\/span><\/p>\r\n

VERSION_STR=${GIT_BRANCH:7}<\/span><\/p>\r\n

USE_WAF=1<\/span><\/p>\r\n


<\/p>\r\n

# \uc774\uc804 \ube4c\ub4dc \uc0ad\uc81c<\/span><\/p>\r\n

rm -f arducopter-*<\/span><\/p>\r\n

rm -f examples.tar.gz<\/span><\/p>\r\n

rm -rf ardupilot<\/span><\/p>\r\n


<\/p>\r\n

# \uc18c\uc2a4\ucf54\ub4dc \ub2e4\uc6b4\ub85c\ub4dc<\/span><\/p>\r\n

git clone -b ${GIT_BRANCH} https:\/\/github.com\/ArduPilot\/ardupilot.git<\/span><\/p>\r\n

cd ${CURRENT_DIR}\/ardupilot<\/span><\/p>\r\n

git submodule update --init --recursive<\/span><\/p>\r\n


<\/p>\r\n

# \ube4c\ub4dc\uc5d0 \ud544\uc694\ud55c \ud328\ud0a4\uc9c0 \uc124\uce58<\/span><\/p>\r\n

.\/Tools\/scripts\/install-prereqs-ubuntu.sh -y<\/span><\/p>\r\n

source ~\/.profile<\/span><\/p>\r\n


<\/p>\r\n

# Build<\/span><\/p>\r\n

make clean<\/span><\/p>\r\n


<\/p>\r\n

if [ ${USE_WAF} = 1 ]<\/span><\/p>\r\n

then<\/span><\/p>\r\n

  .\/waf configure --board=bbbmini<\/span><\/p>\r\n

  .\/waf<\/span><\/p>\r\n

  .\/waf examples<\/span><\/p>\r\n

  mv ${CURRENT_DIR}\/ardupilot\/build\/bbbmini\/bin\/arducopter ${CURRENT_DIR}\/arducopter-${VERSION_STR}<\/span><\/p>\r\n

  tar -C ${CURRENT_DIR}\/ardupilot\/build\/bbbmini -czf ${CURRENT_DIR}\/examples.tar.gz examples<\/span><\/p>\r\n

else<\/span><\/p>\r\n

  cd ${CURRENT_DIR}\/ardupilot\/ArduCopter<\/span><\/p>\r\n

  make bbbmini<\/span><\/p>\r\n

  # \ubc14\uc774\ub108\ub9ac\ub97c \ud604\uc7ac \ub514\ub809\ud1a0\ub9ac\uc5d0 \ubcf5\uc0ac<\/span><\/p>\r\n

  mv ArduCopter.elf ${CURRENT_DIR}\/arducopter-${VERSION_STR}<\/span><\/p>\r\n

fi<\/span><\/p>\r\n

rm -rf ~\/.ccache<\/span><\/p>\r\n

rm -rf ~\/.cache<\/span><\/p>\r\n<\/blockquote>


<\/p>\r\n

\u25a0 \ube4c\ub4dc\ub418\uc5b4 \uc788\ub294 \ud328\ud0a4\uc9c0 \ubc1b\uae30<\/span><\/strong>
<\/strong><\/p>\r\n

wget -O - http:\/\/airrobotics.de\/deb\/bbmini\/keyFile  | sudo apt-key add -<\/span><\/span><\/font><\/p>\r\n

echo \"deb http:\/\/airrobotics.de\/deb\/bbbmini \/\" | sudo tee -a \/etc\/apt\/sources.list<\/span><\/span><\/font><\/p>\r\n

apt update<\/span><\/span><\/font><\/p>\r\n

<\/p>\r\n

apt install arducopter<\/span><\/span><\/font><\/p>\r\n<\/blockquote>


<\/p>\r\n


<\/strong><\/p>\r\n

\u25a0 \uc6d0\ubb38 \uc124\uba85 (<\/span><\/strong>https:\/\/github.com\/mirkix\/BBBMINI\/blob\/master\/doc\/software\/software.md#install-debian-to-your-beaglebone-emmc<\/a>)<\/strong><\/span><\/span><\/font><\/p>\r\n

Software<\/span><\/h1>

How<\/span> <\/span>to prepare your BeagleBone to use as BBBmini.<\/span><\/p>\r\n\r\n<\/span>