So I should be looking at getting a BluePill board (well really 2 because I’m sure I’ll find a way to mess one up 
) and then using either his pre-compiled code or modifying my own copy to do what I need? Any recommended sources for the boards?
Also, given my current problems with my BeagleBone (see "EKF3 IMU0 forced reset" error immediately & bad Baro health. Any ideas?), should I just give up on it entirely and get a Pixhawk or Cube-series board, then return to the BeagleBone later when I’ve got more ArduPilot experience?