Beaglebone Blue build form zero to ardupilot


The beaglebone blue hardware is super, but document is not so easy to find....and some how confusing....

beaglebone blue is an integration of beaglebone green wifi with beaglebone robotic cap and BBBMINI, the later one is for ardupilot and developped by Mirko Denecke
So, it's interesting to know how he did it.
https://github.com/mirkix/BBBMINI
https://github.com/mirkix/BBBMINI/blob/master/doc/software/software.md
Mirko's BBBmini project description on hackster.io.

as to beagleboneBlue 2 github,
more hardware stiff https://github.com/beagleboard/beaglebone-blue
this is mirkix ownner https://github.com/mirkix/ardupilotblue

So, for SW install, I follow the later one.

  1. using firmware with sd card, this latest version at this time:
Stretch IoT (non-GUI) for BeagleBone and PocketBeagle via microSD card
Debian 9.2 4GB SD IoT

2. follow the https://github.com/mirkix/ardupilotblue  for following:

Prepare BeagleBone Blue

  1. Update software: sudo apt update && sudo apt upgrade -y
  2. Install software: sudo apt install -y bb-cape-overlays cpufrequtils ardupilot-copter-blue
  3. Set clock to 1GHz: sudo sed -i 's/GOVERNOR="ondemand"/GOVERNOR="performance"/g' /etc/init.d/cpufrequtils
  4. Update scripts: cd /opt/scripts && sudo git pull
  5. Install RT Kernel 4.4: sudo /opt/scripts/tools/update_kernel.sh --ti-rt-channel --lts-4_4
  6. Reboot system: sudo reboot

Prebuild ArduPilot

  1. Download ready compiled ArduPilot file from http://bbbmini.org/download/blue/
  2. Copy file via SCP or microSD on your BeagleBone Blue
  3. change the property of these files to 777, and a shorter file name... such as arduicopter without version..

Run ArduPilot

ArduCopter: sudo /home/debian/arducopter (plus parameter)
there are a lot of parameter, in the github there is an 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
this did not work, you have to change arduicopter-quad to your exe name, 

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