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Building for BeagleBone Blue

I can’t find any description here how to build AP for BeagleBone Blue:

It is provided for BB Black and BBBMini (the site is not responding). But it should be different for Blue?


I’ve found a manual:

I’ve started to compile for the latest AP version:

./waf configure --board=blue
./waf copter

but I get an error:

…/…/libraries/AP_GPS/AP_GPS.cpp: In member function ‘void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t)’:
…/…/libraries/AP_GPS/AP_GPS.cpp:1005:10: error: too few arguments to function ‘void mavlink_msg_gps_raw_int_send(mavlink_channel_t, uint64_t, uint8_t, int32_t, int32_t, int32_t, uint16_t, uint16_t, uint16_t, uint16_t, uint8_t, int32_t, uint32_t, uint32_t, uint32_t, uint32_t, uint16_t)’
1005 | 0); // TODO one-sigma heading accuracy standard deviation

You need to get latest ArduPilot build and make sure you update recursively
git checkout master
git submodule update --init --recursive

OK, it worked on a fresh checkout, thanks!

Is there any documentation how to add an external sensor, for example another barometer or IMU? Add a module to the linux kernel, and then call the code from the ardupilot?

The external device has to be on the scanning list an not conflicting with internal devices and bus

Here is the definition file for Linux boards

Hi from Bolton-est, Québec!
Paul, to not interfere is to have different pin numbers for each variable right?
Ex.: I want to had voltage sensing to BBlue, I then add this line
#define …VOLTAGE_PIN 1
to the linux_blue elif?
And I can follow the BBlue git page for the pin numbers?

Thank you so much, your comments got me to a working hexa.


The mapping is already built in ArduPilot, Have you looked at the code or you are trying something else ?

As for the pins assignation they are generally mapped in the DTB that is in the boot files but it can be done now from user space using the Config-pin utility.

There is still come action on the BBBMINI gitter page, you can ask for more info


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