mirkix / ardupilotblue Goto Github PK

Hi is there a step missing between downloading the already built exutables and running the arducopter? I have followed all the steps described but cant seem to make it work. Nay help will be very appreciated.

I would like to use the Frsky Taranis QX7 Transmitter with Flight Deck Software. I have a Frsky X8R Receiver S Port Telemetry serial output connected to the uart5 port on the BB Blue and the SBUS pin from the QX7 receiver connected to the SBUS on BBB.

In the Mission Planner software under Full Parameter Tree, I have changed the Serial 5_PROTOCOL value to "10" in order to enable Frsky SPort Passthrough. The transmitter is detected and can be calibrated with Mission Planner.

The Flight Deck Software on the QX7 Transmitter does not detect the Flight Controller (BBBlue). There is also a telemetry radio module connected to uart1 on BBB with the USB telemetry module connected to the GCS. I have edited the /etc/default/ardupilot file to

TELEM1="-C /dev/ttyO1
TELEM2="-A udp::14550"
GPS="-B /dev/ttyO2"
Unnamed="-F /dev/tty05"

Do you have any suggestions for using the Flight Deck software on the Frsky Taranis QX7 Transmitter with the Ardupilot Blue image for the BB Blue?

I followed the instructions provided. I'm running arducopter with no parameters and getting a "No INS backends available" error:

root@beaglebone:~# ./arducopter-3_5_0 
DataFlash_File: buffer size=16384
�       Q}��    Q��No INS backends available
�       Q� root@beaglebone:~# 

This is triggered by this line: https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_InertialSensor/AP_InertialSensor.cpp#L815

This is unexpected since I would expect the logic for accessing the IMU over i2c to solve this: https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_InertialSensor/AP_InertialSensor.cpp#L780

Is there anything else I can provide to help debugging?

Hello,

I am new to the Beaglebone Blue and I don't understands its power circuit.
I am trying to figure out how to connect and power using a LiPo batter a Racestar 4in1 ESC.
You say in the README that there is no need to enable power via the motors header for ESCs.
Then, how will the ESC be powered? From that tiny power out JST-SH connector on the board? I have a hard time imagining how to connect such a fragile socket to the beefy wires coming out of the ESC.

Also, If I understand correctly one is supposed to only use the BBBlue to charge the battery and power will be provided somewhere different?

Sorry if I am being a total noob but a diagram of the power scheme for such a drone would help me tremendously. Sadly I couldn't glean this info from the picture of the assembled drone you posted.

The ESC I am trying to use is this one: https://www.banggood.com/Racerstar-RS20Ax4-20A-4-in-1-Blheli_S-Opto-ESC-2-4S-Support-Oneshot42-Multishot-for-FPV-Racer-p-1068210.html?

• Can you update instructions to align and make sure we are pushing the right version into the feeds?
• I've added a pinmux helper for the PRU eCAP. (sudo sh -c "echo pruecapin_pu > /sys/devices/platform/ocp/ocp:P8_15_pinmux/state")

I fear the BB Blue doesn't offer enough amperage on the 5V servo rail to power all of the servos in my plane. Would it be safe to disable power output on /sys/class/gpio/gpio80/value and provide power on that rail from the ESC of the plane instead?

Hi Mirkix!

I'm not sure if this is the right forum for this. I have followed these directions over and over for the last 4 months, so this is not without really trying to make your directions work. My issue comes when trying to access Mission Planner, the MAVlink connection always times out. I guess the problem arises somewhere between :
Prebuild ArduPilot and Run ArduPilot. There must be missing instructions.

I would like to do the "Compile ArduPilot native on BeagleBone" like you did on the BBBMini, but the checkout function responds saying that git checkout ~ is not a git repository.

Nothing addresses the "blue-arduBUILD" naming function that is rendered following these directions.

But as an aside, it would be nice to either change the run ardupilot to :
sudo /usr/bin/ardupilot/blue-arducopter

or show the step how you got to:
sudo /home/debian/arducopter

To add a step, that these directions are missing (from the bbbmini page - modified):
"scp /usr/bin/ardupilot/* scp debian@beaglebone:/home/debian/"

I've never posted on one of these, but maybe if you could clarify some of these points, it would make life easier for someone else. Also, great pic of where to put the E4 pin. I had to hunt that down here:
http://esys.ir/images/img_Item/1317/Files/BeagleBone_Blue_sch.pdf

Vielen Dank fuer Ihre Hilfe!
EJH

I found that step 7 needs to be modified. The Ardupilot uses different directory name now for Beagle Bone Blue builds in current master repo.
7.cp build/bbbmini/bin/* /home/debian/
Should be changed to
7.cp build/blue/bin/* /home/debian/

@mirkix Thankyou very much for your amazing work on this project.

Unfortunately currently the build instructions do not work with SBUS RC controllers, the signal is not detected by ardupilot.

I have checked the output from my receiver with a scope verified that it is producing a signal, so the electronics appear good but this is not detected by ardupilot or the rcin examples test code. My best guess is that the recent device tree alterations in Linux have broken the installation code to install the PRU firmware and setup the pinmux (all the ardupilot examples I can find use the old cape manager format and give errors in the new device tree format). I have followed your instructions on a brand new beagleboard and patched with your latest patch and still cannot get any rc signal into ardupilot.

I’ve managed to get Hello world PRU code working to test PRU installation and decompiled the dtbos accessed in install.sh of Linux Hal Essentials in the hope of manually installing them as a workaround, no joy yet

I have tried the pre-compiled arduplane, but it doesn’t appear to install the firmware or setup the pinmuxing (which from reading the Linux HAL essentials appears to need to be set up separately), I have also compiled ardupilot from source on the bbb in case it was hidden in the source, apparently no change, my best guess is that the install.sh script needs to be run on the target bbb to enable the prus to read the receiver signal.

currently config-pin -q on P8:15 (the multi-function pin) gives cape not found, but can be manually set to the correct value (pru in or pru ecap I guess, based on similar terms in your ardupilot service script, which also appears to have been broken by the update).

Any work arounds you could suggest to get rc input working would be great. Any diagnostic code would also be very helpful.

Thank you for your time.

"The RC receiver signal has to be connected to connector E4 pin 4."
No documentation I was able to find can resolve "E4 pin 4".

In the link mentioned below, I could find the executable codes only for Arducopter and Arduplane
http://bbbmini.org/download/blue/

may I where I can find the Ardurover executable file?

Thank you,
Monica, P.

A wonderful port to blue for ArduPilot, I request you to please provide the libraries you made/used that access the peripherals of the blue/BBBMini

Hi

Just got my BeagleBoneBlue and followed your guide to setup ardupilot, but I can't find arduplane?

Am I doing something wrong or is it still in development or...?

Kind Regards
Jacob

I understand thet this is a safety feature but can it be circumvented in software or is there some hardware safety which will prevent it from working without radio plugged in?

Your Document says

sudo /opt/scripts/tools/update_kernel.sh --ti-rt-channel --lts-4_9

imfatamt/test says

sudo /opt/scripts/tools/update_kernel.sh --lts-4_19 --bone-rt-channel

Is it the Bone Rt Kernel or the ti rt channel

Hi There,
just wanted to know how did you compiled ardupilot on BeagleBone?
I followed the procedure (after setting up kernel & co)

git clone git://github.com/ArduPilot/ardupilot.git
cd ArduPilot
git submodule update --init --recursive

All went fine but when I'm going to ArduCopter folder I'm unable to compile

debian@bblue:~/ardupilot/ArduCopter$ make linux
make: *** No rule to make target 'linux'.  Stop.
debian@bblue:~/ardupilot/ArduCopter$

trying just a make shows me target available, not linux.

debian@bblue:~/ardupilot/ArduCopter$ make

 ArduPilot Building
 ==================

 The following web page has detailed information on building the code
     http://dev.ardupilot.org/wiki/building-the-code/

 Linux boards should use waf build system

 Before building a target you need to be in the target vehicle type directory
 e.g. ArduPlane, ArduCopter, APMrover2, AntennaTracker

 Most targets support a "-upload" extension to upload the firmware
 to a connected board.  e.g. "make px4-v2-upload"

 Some targets support a "-debug" extension to enable a debug build
 (with debug symbols, and without optimisation)

 Note that the px4 builds are NOT parallel safe, NO -j flag


 Targets
 -------

  px4-v1 - the PX4v1 board
  px4-v2 - the Pixhawk
  px4-v3 - the Pixhawk with 2M flash
  px4-v4 - the XRacer
  vrbrain - the VRBrain boards
  sitl - the SITL Software In The Loop simulation
  f4light - the OpenPilot Revolution, Revolution Mini, AirbotF4 and similar boards

Looks like there is no rule to build from source on target or linux? Did I missed something?

Thanks

Hi,

I would like to modify arducopter firmware and coding for implementing my own control loops.
Could you give me an idea where to start?

I also have some questions regarding the codes you are running in the PRUs. I just want to know if the signal you are feeding to the ESCs is running "automatically", i.e. without needing to update it every control loop, and if so, at what frequency is running? The reason I ask this is because I must run my control loop at 50 Hz but I want the ESCs to update at 400 Hz.

Regards,
Oscar

Hi @mirkix ,

I am trying to use a PPM receiver - more exactly the FS-IA6B - with my bbblue copter. I have followed all the software setup instructions and I am able to start the copter with GPS enabled, and connect with the Mission Planner using:
sudo ./arducopter-3_5_4 -C tcp:xxx.xxx.xxx.xxx:14550 -B /dev/ttyS2 and my personal Wi-Fi IP.

This is what I am doing to connect the receiver:

1. Use E4 pin 4 to and the 5V power out connector:

2. Use DSM2 pin 3 and the 5V power out connector:
   In this configuration I played with the copter switches, as shown below, without any result:
   (a). sudo ./arducopter-3_5_4 -C tcp:xxx.xxx.xxx.xxx:14550 -B /dev/ttyS2 -A /dev/ttyS4
   (b). sudo ./arducopter-3_5_4 -A tcp:xxx.xxx.xxx.xxx:14550 -B /dev/ttyS2 -C /dev/ttyS4

In the Mission Planner remote calibration I am not able to see any green bars, and at this point I am out of ideas and looking for help.

Thank you!!

PS I did bind the remote and the receiver.
PPS Although I have basic knowledge of both, I am not a computer scientist nor an electrical engineer, so instructions in a "for dummies" format are appreciated.

So I see it can run Arducopter/plane/rover, but is their a build for Ardutracker? If not, how hard would it be for me to build one?

in READ.me, the following link is no longer active and leads to a page with issues:
"Download ready compiled ArduPilot file from http://bbbmini.org/download/blue/"

I am getting an error starting Ardupilot on the BBB.

PLEASE NOTE

I'm currently using: https://rcn-ee.net/rootfs/bb.org/testing/2018-07-15/stretch-console/bone-debian-9.5-console-armhf-2018-07-15-1gb.img.xz.

---+++ Please try using this precise image first before raising issues! +++---

IS NOT AVAILABLE

debian@beaglebone:~$ systemctl status arducopter
● arducopter.service - ArduCopter Service
Loaded: loaded (/lib/systemd/system/arducopter.service; enabled; vendor preset: enabled)
Active: activating (auto-restart) (Result: exit-code) since Wed 2018-08-22 23:53:23 UTC; 1s ago
Process: 3142 ExecStart=/usr/bin/ardupilot/arducopter-3_5_4 $TELEM1 $TELEM2 $GPS (code=exited, status=1/FAILURE)
Process: 3133 ExecStartPre=/usr/bin/ardupilot/aphw (code=exited, status=0/SUCCESS)
Main PID: 3142 (code=exited, status=1/FAILURE)

Aug 22 23:53:23 beaglebone systemd[1]: arducopter.service: Failed with result 'exit-code'.

the journalctl output shows an error in

Aug 22 23:53:59 beaglebone systemd[1]: Starting ArduCopter Service...
Aug 22 23:53:59 beaglebone aphw[3565]: /bin/echo: write error: Device or resource busy
Aug 22 23:53:59 beaglebone systemd[1]: Started ArduCopter Service.
Aug 22 23:53:59 beaglebone arducopter-3_5_4[3574]: RCOutputAioPRU.cpp:SIGBUS error gernerated
Aug 22 23:53:59 beaglebone systemd[1]: arducopter.service: Main process exited, code=exited, status=1/FAILURE
Aug 22 23:53:59 beaglebone systemd[1]: arducopter.service: Unit entered failed state.
Aug 22 23:53:59 beaglebone systemd[1]: arducopter.service: Failed with result 'exit-code'.
Aug 22 23:54:00 beaglebone systemd[1]: arducopter.service: Service hold-off time over, scheduling restart.
Aug 22 23:54:00 beaglebone systemd[1]: Stopped ArduCopter Service.
Aug 22 23:54:00 beaglebone systemd[1]: Starting ArduCopter Service...

Version
arducopter-3_5_4
build from the Aug 20th 2018 for the software.

As an added note, when I tried to execute systemctl stop arducopter.service I get

Failed to stop arducopter.service: The name org.freedesktop.PolicyKit1 was not provided by any .service files

Thank you for putting together the instruction sheet, and the time to assist others.

V/r

Glen

Hello,

I have one of these -

XM+ Receiver with SBUS

I am powering this from the power port (5V & GND), and connecting the SBUS to the E4 PIN on BBBlue. However, I am not able to get Mission Planner to do radio calibration.

Will this work ? Any pointers?

When im trying to execute commands from instruction only one is executed:

root@beaglebone:~# /bin/bash -c "/bin/echo uart > /sys/devices/platform/ocp/ocp:P9_21_pinmux/state"
/bin/bash: /sys/devices/platform/ocp/ocp:P9_21_pinmux/state: No such file or directory
root@beaglebone:~# /bin/bash -c "/bin/echo uart > /sys/devices/platform/ocp/ocp:P9_22_pinmux/state"
/bin/bash: /sys/devices/platform/ocp/ocp:P9_22_pinmux/state: No such file or directory
root@beaglebone:~# /bin/bash -c "/bin/echo uart > /sys/devices/platform/ocp/ocp:P9_24_pinmux/state"
/bin/bash: /sys/devices/platform/ocp/ocp:P9_24_pinmux/state: No such file or directory
root@beaglebone:~# /bin/bash -c "/bin/echo uart > /sys/devices/platform/ocp/ocp:P9_26_pinmux/state"
/bin/bash: /sys/devices/platform/ocp/ocp:P9_26_pinmux/state: No such file or directory
root@beaglebone:~# /bin/bash -c "/bin/echo pruecapin_pu > /sys/devices/platform/ocp/ocp:P8_15_pinmux/state"
root@beaglebone:~# 

kernel:

root@beaglebone:~# uname -a
Linux beaglebone 4.4.113-ti-rt-r149 #1 SMP PREEMPT RT Fri Apr 6 22:38:23 UTC 2018 armv7l GNU/Linux
root@beaglebone:~# 

I can not find anywhere how motors should be connected to the board in right order. Please can You add it?