BeagleBone Blue
Last updated
Last updated
:::warning PX4 does not manufacture this (or any) autopilot. Contact the for hardware support or compliance issues. :::
:::warning PX4 support for this flight controller is . :::
is an all-in-one Linux-based computer. Although it is optimized for robotics, this compact and inexpensive board has all necessary sensors and peripherals needed by a flight controller. This topic shows how to set up the board to run PX4 with robotics package.
BeagleBone Blue images can be found here:
:::tip Optionally you can update to a realtime kernel, and if you do, re-check if librobotcontrol works properly with the realtime kernel. :::
The recommended way to build PX4 for BeagleBone Blue is to compile on a development computer and upload the PX4 executable binary directly to the BeagleBone Blue.
For easy access to your board, you can connect it to your home network via wifi.
The steps are (execute on the board):
:::note The format of the <SSID> above is normally the text 'wifi' followed by a string of other characters. After entering the command you will be prompted to enter the wifi password. :::
Root login can be enabled on the board with:
First set up rsync (this is used to transfer files from the development computer to the target board over a network - WiFi or Ethernet). For rsync over SSH with key authentication, follow the steps here (on the development machine):
Generate an SSH key if you have not previously done so:
ENTER //no passphrase
ENTER
ENTER
Define the BeagleBone Blue board as beaglebone in /etc/hosts and copy the public SSH key to the board for password-less SSH access:
Alternatively you can use the beaglebone's IP directly:
When prompted if you trust: yes
Enter root password
Cross Compile Setup
Toolchain download
First install the toolchain into /opt/bbblue_toolchain/gcc-arm-linux-gnueabihf. Here is an example of using soft link to select which version of the toolchain you want to use:
:::tip GCC in the toolchain should be compatible with kernel in BeagleBone Blue. General rule of thumb is to choose a toolchain where version of GCC is not higher than version of GCC which comes with the OS image on BeagleBone Blue. :::
:::tip The GCC version of the toolchain should be compatible with kernel in BeagleBone Blue. :::
As a general rule of thumb is to choose a toolchain where the version of GCC is not higher than the version of GCC which comes with the OS image on BeagleBone Blue.
Add it to the PATH in ~/.profile as shown below
:::note Logout and Login to apply the change, or execute the same line on your current shell. :::
Setup other dependencies by downloading the PX4 source code and then running the setup scripts:
Compile and Upload
:::note Without upload, files stored local in build folder. :::
To test the uploaded files, run the following commands on the BeagleBone Blue board:
:::note Currently librobotcontrol requires root access. :::
You can also natively build PX4 builds directly on the BeagleBone Blue.
After acquiring the pre-built library,
Select the librobotcontrol installation directory, and set it in the LIBROBOTCONTROL_INSTALL_DIR environment variable so that other unwanted headers will not be included
Install robotcontrol.h and rc/* into $LIBROBOTCONTROL_INSTALL_DIR/include
Install pre-built native (ARM) version of librobotcontrol.* into $LIBROBOTCONTROL_INSTALL_DIR/lib
Run the following commands on the BeagleBone Blue (i.e. via SSH):
Install dependencies:
Clone the PX4 Firmware directly onto the BeagleBone Blue.
All changes can be made in de px4.config file directly on beaglebone. For example, you can change the WIFI to wlan.
:::note If you want to change permanently, you have to change PX4-Autopilot/posix-configs/bbblue/px4.config on the Build Machine before build. :::
Here is an example [/etc/rc.local]:
Below is a systemd service example [/lib/systemd/system/px4-quad-copter.service]:
When PX4 starts, it automatically applies power to servos.
BeagleBone Blue has some unique features such as multiple choices of WiFi interfaces and power sources. Refer to comments in /home/debian/px4/px4.config for usage of these features.
For a quadcopter with GPS and an SBUS receiver, here are typical connections:
Connect the ESC of motor 1, 2, 3 and 4 to channel 1, 2, 3 and 4 of servo outputs on BeagleBone Blue, respectively. If your ESC connector contains a power output pin, remove it and do not connect it to the power output pin of the servo channel on the BeagleBone Blue.
Connect the above mentioned converted SBUS signal to the dsm2 port if you have the matching connector for dsm2, otherwise connect it to any other available UART port and change the corresponding port in /home/debian/px4/px4.config accordingly.
Connect the signals of GPS module to GPS port on the BeagleBone Blue. Note that the signal pins of the GPS port on the BeagleBone Blue are only 3.3V tolerant, so choose your GPS module accordingly.
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(updated frequently).
Information about flashing OS images can be found on . Other useful information can be found in the .
The latest OS images at time of updating this document is .
:::tip This approach is recommended over due to speed of deployment and ease of use. :::
:::note The PX4 build requires which is automatically included in the build (but it can be installed and tested independently if required). :::
The ARM Cross Compiler for BeagleBone Blue can be found at .
Download and unpack to the bbblue_toolchain folder.
Different ARM Cross Compiler versions for BeagleBone Blue can be found at .
See the instructions for additional information.
Continue with the .
SBUS signal from receiver (e.g., FrSky X8R) is an inverted signal. UARTs on BeagleBone Blue can only work with non-inverted 3.3V level signal. contains a SBUS signal inverter circuit.
