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BeagleBone Blue released, Linux-enabled autopilot for 80$

Jason - does fixing the .dts enable the analog in ports to be used in Arducopter? Sorry if this is a spectacularly uniformed question from someone with very limited Linux skills!

That would be nice! But I think it is not that easy, the Robotics Cape does some mmap with the adc.


Maybe it is a silly question, but I really cannot figure it out. The Beaglebone provide 6V PWM signal. However, the pwm signal provided to esc is usually 5V(I see many people mentioning 5V as a upper limit). What will happen if I just connect the esc to the Blue’s pwm output? I think of using extra circuit to do voltage level shift, but my boss does not like this idea and want me to find other compatible esc. How do your guys deal with esc with Blue? Is there some recommended esc compatible with Blue without extra circuits?

Take a look at this:
You will see that 99% of standard servos are rated 4.8-6.0 Volts and ESC ar somehow based on the same specs.

I don’t get any power on the GPS port. Any reason for this? Am I missing something?

Going to answer my own stupid question. No 5 volts because I was powering the board through usb.

would it be a big task to get Benewake TF mini LiDAR to work with this?

@chris33 quite easy, the hardest part is getting the device for the moment…


BeagleBoneBlue configuration is going forward.

Few problems with rc.local, solution with systemd and creation of a service.

Initial problem (rc.local not working) may be due to syntax error in the wiki rc.local example:

/bin/sleep 10
/bin/echo uart > /sys/devices/platform/ocp/ocp:P9_21_pinmux/state
/bin/echo uart > /sys/devices/platform/ocp/ocp:P9_22_pinmux/state
/bin/echo pruecapin_pu > /sys/devices/platform/ocp/ocp:P8_15_pinmux/state
/home/debian/arducopter -B /dev/ttyO2 -C /dev/ttyUSB0 > /home/debian/arducopter.log &

When running it, I have an error with :P8_15_pinmux/state:

Sep 12 13:45:21 beaglebone rc.local[1075]: /etc/rc.local: 17: /etc/rc.local: cannot create /sys/devices/platform/ocp/ocp:P8_15_pinmux/state: Directory nonexistent

May be it is due to \ missing before :P8 (could be ocp/ocp:P8_15_pinmux/state)

(I removed the line from rc.local).


Hi @mirkix,

I can not control the motors with the S.Bus signal from a FrSKY X8R, neither running your ready compiled Ardupilot file nor running “rc_test_servos -r” command. I have updated all, both GND are connected, I have seen the signal with an oscilloscope and apparently there is nothing strange (I can watch how a pulse width changes while I’m moving a stick). Actually the classical outputs of the X8R are working.

The S.Bus signal is interpreted by one PRU, isn’t it?. I am supposing that the loaded firmware on PRU isn’t correct. Could it be possible?. If you want I can copy the result of running $dmesg | grep pru.

Vielen Dank,

if the signal on your receiver exceeds 3,3v , is there a work around I am purchasing a transmitter and receiver at the end of the month and a couple of the receivers i’ve seen operate 4v -6.5v thanks.

@chris33 You can use a simple voltage divider .

For those of you who want to use the stock debian install on the BBBlue and arducopter / ardurover / etc, I’ve created a systemd config file that works well. I built a 450mm framed quad, initially with a bbbmini, but once I saw the blue, I switched to that. Very nice! Everything is working fantastic, want to pass along what I’ve learned and say thanks to Mirko for the fantastic work!

Here’s the arducopter.service and arducopter defaults files, adapt it as needed.


TELEM1="-C /dev/ttyS1"
TELEM2="-A udp:"
#TELEM2="-C /dev/ttyAMA0"
GPS="-B /dev/ttyS2"

# Options to pass to ArduCopter

# -A is a console switch (usually this is a Wi-Fi link)
# -C is a telemetry switch
# Usually this is either /dev/ttyAMA0 - UART connector on your Navio
# or /dev/ttyUSB0 if you're using a serial to USB convertor

# -B or -E is used to specify non default GPS


Description=ArduCopter Service
Conflicts=arduplane.service ardupilot.service ardurover.service

ExecStartPre=/bin/bash -c "/bin/echo uart > /sys/devices/platform/ocp/ocp:P9_21_pinmux/state"
ExecStartPre=/bin/bash -c "/bin/echo uart > /sys/devices/platform/ocp/ocp:P9_22_pinmux/state"
ExecStartPre=/bin/bash -c "/bin/echo uart > /sys/devices/platform/ocp/ocp:P9_24_pinmux/state"
ExecStartPre=/bin/bash -c "/bin/echo uart > /sys/devices/platform/ocp/ocp:P9_26_pinmux/state"
ExecStartPre=/bin/bash -c "/bin/echo pruecapin_pu > /sys/devices/platform/ocp/ocp:P8_15_pinmux/state"
ExecStart=/usr/bin/ardupilot/blue-arducopter $TELEM1 $TELEM2 $GPS


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@mlebret Hi, can your try again after sudo apt update and sudo apt upgrade.

I’ve seen a few new cape updates come through apt-get, did one of them happen to be enabling the ADC and related connections on the BBBlue? I’d really like to be able to hook my 3dr power module. :slight_smile:

If not, it’s been a while since I’ve poked around the dts files, but I’ll take a stab at it. I know just enough to be dangerous! :wink:

@croadfeldt No, this is not DTB related. It has something to do with the memory map of the Robotics Cape Software.

Hi, I am having the same problem with S.Bus. Have you found a solution?

I have got taranis qx7 transmitter and x8r receiver. the receiver is connected to beaglebone blue with sbus signal pin to E4 pin 4. the ground is also connected so the level is same. Before connecting I tested the connection by attaching the conventional channel output 2 to servo and checking with radio and everything works. I put oscilloscope on sbus and can see the signal and can also see the signal at pin 4 E4 but when I run the test code with ‘sudo /home/debian/RCInput’, I do not see the output, neither can I see any output with the ardurover after running the code . I have no problem with GPS or IMU.


Looks like the PRU is not enabled
Have you added the following line in the /etc/rc.local
/bin/echo pruecapin_pu > /sys/devices/platform/ocp/ocp:P8_15_pinmux/state

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Thank you @ppoirier ,
That indeed was the problem. Added that to the routine and everything works just fine, for now :smile:

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