README.md

Shopping List

• BeagleBone Blue
• 3D printed BeagleBone Blue case
• Martian II 220mm frame
• Racerstar RS20Ax4-V2 Quad electronic speed control
• Racerstar motors
• Props
• 2S LiPo battery
• XT60 socket
• DSM transmitter
• DSM satellite receiver
• 4-wire JST-SH cable
• velcro
• wires, solder and soldering iron
• heat-shrink tubing and hot air gun

Mechanical assembly

Motor positions

The motors should be configured as "Quad X" where BeagleBone Blue's USB connector is forward-facing.

Wiring

ESC connection from BeagleBone Blue

1. yellow
2. orange
3. green/black
4. blue

Software setup and test

ardupilot_setup.sh

#!/bin/bash
cd /opt/scripts/tools
git pull
sudo ./update_kernel.sh --ti-rt-channel --lts-4_4
yes | sudo developers/update_bootloader.sh
# Be sure to not try to run "apt-get upgrade" from within Cloud9. "dpkg --configure -a" to fix.
sudo apt-get upgrade -y
sudo apt-get install -y ardupilot-copter-blue
sudo sed -i 's/GOVERNOR="ondemand"/GOVERNOR="performance"/g' /etc/init.d/cpufrequtils
echo "uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo" | sudo tee -a /boot/uEnv.txt
echo "enable_uboot_overlays=1" | sudo tee -a /boot/uEnv.txt
sudo mkdir -p /var/APM/logs
sudo mv /etc/rc.local /etc/rc.local.bak.$RANDOM
cat <<EOX | sudo tee /etc/rc.local
#!/bin/sh
echo pruecapin_pu > /sys/devices/platform/ocp/ocp\:P8_15_pinmux/state
sleep 10
echo 4a334000.pru0 > /sys/bus/platform/drivers/pru-rproc/unbind
echo 4a338000.pru1 > /sys/bus/platform/drivers/pru-rproc/unbind
/usr/bin/ardupilot/blue-arducopter -A udp:10.0.0.10:14550 -l /var/APM/logs 2>&1 > /var/APM/logs/blue-arducopter.log &
exit 0
EOX
sudo chmod +x /etc/rc.local 
xxd -r -a - /var/APM/ArduCopter.stg <<EOF
0000000: 5041 0600 0002 0000 7800 0602 f303 0f00  PA......x.......
0000010: 0601 0415 000b 4401 0000 0000 000b 8400  ......D.........
0000020: 00bd 7a76 442a 0200 0000 0003 c500 006c  ..zvD*.........l
0000030: 095f bc4e c2a7 3c02 2463 bd03 8307 0011  ._.N..<.$c......
0000040: 6824 0003 c501 0000 0000 0000 0000 0000  h$..............
0000050: 0000 0003 c307 0000 0000 0003 8502 0000  ................
0000060: 0000 0000 0000 0000 0000 0003 0308 0000  ................
0000070: 0000 0006 0313 0000 0000 0006 0323 0094  .............#..
0000080: 5604 0006 0333 00ea 74ea 0249 c100 0001  V....3..t..I....
0000090: 7102 0000 fc00 06c1 0300 0195 0100 0001  q...............
00000a0: 9345 0000 0000 6fc3 0000 bcc2 0080 c643  .E....o........C
00000b0: 93c3 0300 110c 0400 0345 0300 3ea1 b53d  .........E..>..=
00000c0: 71d4 8e3d 6b17 6bbf 0305 0300 c606 803f  q..=k.k........?
00000d0: 6ca3 7f3f bccb 7f3f 0343 0800 1168 1600  l..?...?.C...h..
00000e0: 0383 0800 0000 0000 03c5 0300 0000 0000  ................
00000f0: 0000 0000 0000 0000 0385 0300 0000 0000  ................
0000100: 0000 0000 0000 0000 03c3 0800 0000 0000  ................
0000110: 0345 0400 0000 0000 0000 0000 0000 0000  .E..............
0000120: 0305 0400 0000 0000 0000 0000 0000 0000  ................
0000130: 9f05 0200 9bd7 133b d2d9 043c 0000 0000  .......;...<....
0000140: 0642 1408 db05 ffff 3f00 0000 0000 0000  .B......?.......
0000150: 0000 0000 0000 0000 0000 0000 0000 0000  ................
*
0000600: ae65 0000 0000 0000 0000 0000 0000 0000  .e..............
0000610: 0000 0000 0000 0000 0000 0000 0000 0000  ................
*
0003ff0: 0000 0000 0000 0000 0000 0000 0000 0000  ................
EOF