ardupilot_copter_bbblue

Ardupilot using Beaglebone Blue.

This repo aims to easy the download of the ardupilot (copter) code to be used with beaglebone blue.

Inspired from Robert Nelson repos.

Initial steps: BBBlue installation and pre-requisits

Download the latest debian image
Uncompress it with the command:

$ unxz ~/Downloads/file.img.xz
Format (ext4) and write the image to the memory card using Startup disk creator

At this point you may want to resize the partition to the full SD card size. You can do it with Gparted.
Start the beaglebone from the SD card and connect it to a wifi network:

$ connmanctl

$ connmanctl > enable wifi

$ connmanctl > scan wifi

$ connmanctl > services

$ connmanctl > agent on

$ connmanctl > connect wifi_506583d4fc5e_544e434150413937414239_managed_psk

$ Passphrase? xxxxxxxxxxx

$ connmanctl > quit
Update and install software:

$ sudo apt update && sudo apt upgrade -y

$ sudo apt install -y bb-cape-overlays cpufrequtils
Set clock to 1GHz:

$ sudo sed -i 's/GOVERNOR="ondemand"/GOVERNOR="performance"/g' /etc/init.d/cpufrequtils
Add Blue DTB:

$ sudo sed -i 's/#dtb=$/dtb=am335x-boneblue-ArduPilot.dtb/' /boot/uEnv.txt
Update scripts:

$ cd /opt/scripts && sudo git pull
Install RT Kernel 4.4:

$ sudo /opt/scripts/tools/update_kernel.sh --ti-rt-channel --lts-4_4
Restart beagleboneblue:

$ sudo shutdown -h now

ArduCopter: Cross compile with Ubuntu:

Get the code

$ git clone https://github.com/angelsantamaria/ardupilot_copter_bbblue.git

$ cd ardupilot_copter_bbblue

$ ./generate_source.sh

Cross compile it

$ cd ardupilot-copter-blue*

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

$ ./waf configure --board=blue

$ ./waf

Copy generated binary files to the beaglebone blue

$ scp build/blue/bin/* debian@beaglebone:~/ardupilot_bin/.

Note that you may change the paths in the beaglebone blue depending on where you want the binary files.

Notes for future updates of Ardupilot or Beaglebone blue:

Check the version.sh script to verify that you are pointing to the last ardupilot (copter branch) repository.
If debian Jessie version is updated you have to update the suite folder.

Start automatically with beaglebone blue boot (as service)

Create in the beaglebone blue the following file with your favorite editor (e.g. vim)

$ sudo vim /lib/systemd/system/ArduCopter.service
- Add the following lines to the file:

    [Unit]
    Description=ArduCopter Service
    After=bb-wl18xx-wlan0.service

    [Service]
    ExecStartPre=/bin/bash -c "/bin/echo uart > /sys/devices/platform/ocp/ocp:P9_21_pinmux/state"
    ExecStartPre=/bin/bash -c "/bin/echo uart > /sys/devices/platform/ocp/ocp:P9_22_pinmux/state"
    ExecStartPre=/bin/bash -c "/bin/echo uart > /sys/devices/platform/ocp/ocp:P9_24_pinmux/state"
    ExecStartPre=/bin/bash -c "/bin/echo uart > /sys/devices/platform/ocp/ocp:P9_26_pinmux/state"
    ExecStartPre=/bin/bash -c "/bin/echo pruecapin_pu > /sys/devices/platform/ocp/ocp:P8_15_pinmux/state"
    ExecStart=/home/debian/ardupilot_bin/arducopter -A udp:192.168.8.95:14550 -B /dev/tty05
    StandardOutput=null
    Restart=on-failure

    [Install]
    WantedBy=multi-user.target
    Alias=Arducopter.service

Notice how the 5th [Service] line depends on your desired configuration

Enable the new service

$ sudo systemctl enable ArduCopter.service

Start the service

$ sudo systemctl start ArduCopter.service

Reboot the beaglebone blue

$ sudo reboot

To disable and stop the service in case you needed (e.g. to tune ESCs with the rc_calibrate_escs ardupilot must be switched off)

$ sudo systemctl disable ArduCopter.service

$ sudo systemctl stop ArduCopter.service

$ sudo shutdown -h now

Extras

Scripts to Calibrate ESCs

Create a bash script with execution permisions with the following content:

#!/bin/bash
#A little script to check the spinning direction of motors before final assembling
#echo "-- Spinning Checker --"
#echo "You should connect the ESC on channel 1"

echo ""
echo "== ESC Calibration procedure == "
echo ""

while true; do
    read -p "Which ESC do you want to calibrate: 1, 2, 3 or 4? " num
    case $num in
        [1234]* ) break;;
        * ) echo "Please choose one of the above numbers.";;
    esac
done

echo "Calibrating ESC number $num"
rc_calibrate_escs
rc_test_servos -c $num -e 0.07

Edit .bashrc file to add some useful aliases:

PS1='\[\033[0;35m\]\u\[\033[0m\]\[\033[0;36m\]@\h\[\033[0m\]:\[\033[1;37m\]\w \$\[\033[0m\] '

alias ..='cd ..'
alias editbash='vim ~/.bashrc'
alias sourcebash='source ~/.bashrc'
alias setusbinternet='sudo route add default gw 192.168.6.1'
alias poff='sudo shutdown -h now'
alias setarducopter_service='echo "sudo vim /lib/systemd/system/ArduCopter.service"'
alias startarducopter='sudo systemctl start ArduCopter.service'
alias stoparducopter='sudo systemctl stop ArduCopter.service'
alias enablearducopter_service='cd /lib/systemd/system; sudo systemctl enable ArduCopter.service; sudo systemctl start ArduCopter.service; sudo shutdown -h now'
alias disablearducopter_service='cd /lib/systemd/system; sudo systemctl disable ArduCopter.service; sudo systemctl stop ArduCopter.service; sudo shutdown -h now'

Add Specific DNS adress leases for the hotspot by editting the file /etc/dnsmasq.conf and adding a line similar than this:

dhcp-host=cc:af:78:d0:89:39,192.168.8.95,infinite

angelsantamaria / ardupilot_copter_bbblue