Building and running PX4 Autopilot on BeagleBone Blue
This article will explain how build and run the PX4 Autopilot on BeagleBone Blue.
- Windows Subsystem for Linux (WSL) - Ubuntu 20.04.5 LTS
- BeagleBone Blue - Debian GNU/Linux 10 (buster)
- Arm GNU Toolchain - 8.3-2013.02
- USB to UART Bridge - Silicon Labs CP210x
- GNSS and Compass M10Q-5883 - Mateksys (optional)
- Digital Airspeed Sensor ASPD-4525 - Mateksys (optional)
You need to connect the USB to UART Bridge to the UART1 port of the BeagleBone Blue board. The bridge will allow you to connect to the PX4 Autopilot via QGroundControl or to perform hardware-in-the-loop simulations. The image below shows the setup.
ASPD-4525 Digital Airspeed Sensor and M10Q-5883 GNSS and Compass
Beagle Bone Blue and Silicon Labs CP210x USB to UART Bridge
- Open a WLS window.
- Download and unzip the Arm GNU Toolchain (gcc-arm-8.3-2019.02-x86_64-arm-linux-gnueabihf.tar.xz).
- Clone the PX4 Autopilot repository. Make sure you checkout v1.13.3.
git clone --branch v1.13.3 https://github.com/PX4/PX4-Autopilot.git --recursive
- Enter the PX4-autopilot folder.
cd PX4-Autopilot
- Open the
init.cmakefile in theboards/beaglebone/blue/ folder. - Change the GIT_TAG from
1abcb0ato290e14fand the GIT_REPOSITORY from https://github.com/dagar/librobotcontrol.git to https://github.com/beagleboard/librobotcontrol.git. This change is required for thelibrobotcontrollibrary to compile and work properly.
The above step might not be needed for newer PX4 Autopilot builds - v1.14.x.
- Open the
default.px4boardfile in theboards/beaglebone/blue/folder. - Add the following lines to the file.
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS5"
CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
- Go back to the PX4-autopilot folder and execute the following commands.
export PATH=$PATH:/home/<username>/gcc-arm-8.3-2019.02-x86_64-arm-linux-gnueabihf/bin
make beaglebone_blue_default
- During the build process, you should observe the following output.
[0/1] Re-running CMake...
-- PX4 version: v1.13.3
-- PX4 config file: /home/kboychev/PX4-Autopilot/boards/beaglebone/blue/default.px4board
-- PLATFORM posix
-- LINUX y
-- TOOLCHAIN arm-linux-gnueabihf
-- ARCHITECTURE cortex-a8
-- ROMFSROOT px4fmu_common
-- TESTING y
-- SERIAL_TEL1 /dev/ttyS1
-- PX4 config: beaglebone_blue_default
-- PX4 platform: posix
-- PX4 lockstep: disabled
-- cmake build type: RelWithDebInfo
-- Building for code coverage
-- ROMFS: ROMFS/px4fmu_common
-- ROMFS: Adding boards/beaglebone/blue/init/rc.board_defaults -> /etc/init.d/rc.board_defaults
-- Configuring done
-- Generating done
-- Build files have been written to: /home/kboychev/PX4-Autopilot/build/beaglebone_blue_default
[0/963] git submodule src/drivers/gps/devices
[3/963] git submodule src/modules/mavlink/mavlink
[9/963] Generating Mavlink development: src/modules/mavlink/mavlink/message_definitions/v1.0/development.xml
Validating /home/kboychev/PX4-Autopilot/src/modules/mavlink/mavlink/message_definitions/v1.0/development.xml
Parsing /home/kboychev/PX4-Autopilot/src/modules/mavlink/mavlink/message_definitions/v1.0/development.xml
Validating /home/kboychev/PX4-Autopilot/src/modules/mavlink/mavlink/message_definitions/v1.0/standard.xml
Parsing /home/kboychev/PX4-Autopilot/src/modules/mavlink/mavlink/message_definitions/v1.0/standard.xml
Validating /home/kboychev/PX4-Autopilot/src/modules/mavlink/mavlink/message_definitions/v1.0/common.xml
Parsing /home/kboychev/PX4-Autopilot/src/modules/mavlink/mavlink/message_definitions/v1.0/common.xml
Validating /home/kboychev/PX4-Autopilot/src/modules/mavlink/mavlink/message_definitions/v1.0/minimal.xml
Parsing /home/kboychev/PX4-Autopilot/src/modules/mavlink/mavlink/message_definitions/v1.0/minimal.xml
Merged enum MAV_CMD
Merged enum MAV_CMD
Found 229 MAVLink message types in 4 XML files
Generating C implementation in directory /home/kboychev/PX4-Autopilot/build/beaglebone_blue_default/mavlink/development
Generating C implementation in directory /home/kboychev/PX4-Autopilot/build/beaglebone_blue_default/mavlink/standard
Generating C implementation in directory /home/kboychev/PX4-Autopilot/build/beaglebone_blue_default/mavlink/common
Generating C implementation in directory /home/kboychev/PX4-Autopilot/build/beaglebone_blue_default/mavlink/minimal
Copying fixed headers for protocol 2.0 to /home/kboychev/PX4-Autopilot/build/beaglebone_blue_default/mavlink
[19/963] Performing download step (git clone) for 'librobotcontrol'
-- librobotcontrol download command succeeded. See also /home/kboychev/PX4-Autopilot/build/beaglebone_blue_default/librobotcontrol-prefix/src/librobotcontrol-stamp/librobotcontrol-download-*.log
[22/963] Performing configure step for 'librobotcontrol'
-- librobotcontrol configure command succeeded. See also /home/kboychev/PX4-Autopilot/build/beaglebone_blue_default/librobotcontrol-prefix/src/librobotcontrol-stamp/librobotcontrol-configure-*.log
[23/963] Performing build step for 'librobotcontrol'
-- librobotcontrol build command succeeded. See also /home/kboychev/PX4-Autopilot/build/beaglebone_blue_default/librobotcontrol-prefix/src/librobotcontrol-stamp/librobotcontrol-build-*.log
[963/963] Linking CXX shared library src/examples/dyn_hello/examples__dyn_hello.px4mod
- Once the build is complete, you must upload the binaries to the BeagleBone Blue board. Use the following command to upload the binaries and the configuration files.
rsync -arh --progress /home/<username>/PX4-Autopilot/build/beaglebone_blue_default/bin [email protected]:/home/debian/px4
rsync -arh --progress /home/<username>/PX4-Autopilot/build/beaglebone_blue_default/etc [email protected]:/home/debian/px4
Once the binaries and the configuration files are uploaded to the BeagleBone Blue you can SSH into the BeagleBone Blue and run the px4 binary. To SSH into the BeagleBone Blue and run the px4 binary execute the following commands:
PX4 Autopilot running on BeagleBone Blue
The px4.config file is specific for every board. The px4.config file below is specific to the BeagleBoneBlue board only.
#!/bin/sh
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
. px4-alias.sh
set REQUESTED_AUTOSTART 2100
set PARAM_FILE eeprom/parameters_"$REQUESTED_AUTOSTART"
set AUTOSTART_FILE etc/init.d/airframes/2100_standard_plane
#Circuit breakers
param set CBRK_SUPPLY_CHK 894281
#Parameters
param select $PARAM_FILE
if [ -f $PARAM_FILE ]
then
if param load
then
echo "[param] Loaded: $PARAM_FILE"
else
echo "[param] FAILED loading $PARAM_FILE"
fi
else
echo "[param] Parameter file not found, creating $PARAM_FILE"
fi
if param compare SYS_AUTOSTART $REQUESTED_AUTOSTART
then
param set SYS_AUTOCONFIG 0
else
param set SYS_AUTOCONFIG 1
param set SYS_AUTOSTART 2100
fi
. "$AUTOSTART_FILE"
if param compare SYS_AUTOCONFIG 1
then
param set SYS_AUTOCONFIG 0
fi
# Board defaults
param set BAT1_V_CHANNEL 5
param set BAT1_V_DIV 11.0
# User-defined params
param set SYS_HITL 0
param set SYS_CTRL_ALLOC 1
# Waypoint storage
dataman start
# Resource load monitor
load_mon start
# RC update
rc_update start
manual_control start
# Sensors
if param compare SYS_HITL 1
then
param set COM_RC_IN_MODE 1
sensors start -h
commander start -h
param set GPS_1_CONFIG 0
else
sleep 1
bmp280 -I -a 0x76 start
sleep 1
mpu9250_i2c -I -a 0x68 start
sleep 1
ak8963 -I -a 0xC start
sleep 1
qmc5883l -X -a 0x0D start
sleep 1
ms4525do -X -a 0x2 start
sleep 1
gps start -d /dev/ttyS5 -b 9600 -p nmea
board_adc start
battery_status start
sensors start
commander start
fi
# Interface (configure outputs)
if param compare SYS_HITL 1
then
pwm_out_sim start -m hil
else
linux_pwm_out start
fi
# FW applications (start standard fixed-wing applications)
ekf2 start &
if param compare SYS_CTRL_ALLOC 1
then
control_allocator start
fi
fw_att_control start
fw_pos_control_l1 start
airspeed_selector start
fw_autotune_attitude_control start
land_detector start fixedwing
# Mavlink
mavlink start -d /dev/ttyS1 -b 921600 -x -Z
# RC input
rc_input start -d /dev/ttyS4
# Navigator
navigator start
# Logger
logger start -t -b 200
# Boot complete
mavlink boot_complete
px4.config
2KB
Binary
Last modified 3mo ago