Looks kinda quite in here in the linux section. I’m working on building a DIY flight controller on a Raspberry Pi zero using the same components that are on Erle PXFMini in breakout boards.
I’ve compiled a realtime patched kernel os and I have compiled APM for the Pi using the documentation on the Erle robotics site. I’m looking for any documentation on APM running on Linux, can anyone point me in the right direction?
Thanks Linus, looked through most of those but they are mostly board specific. The bbb instructions were probably the most helpful but still ran into problems. Biggest problem I think was using make to build the apm. I ditched that and used waf. Probably the most useful info is in the waf instructions here:
Made progress tonight but I’m running into errors when starting apm, looks like the errors might be due to not having hardware connected up to the zero. Ordered a mpu-9250 breakout board so we’ll see if I get any closer when it arrives.
pi@barney-pi0:~/ArduCopter/bin $ sudo ./arducopter-quad
Raspberry Pi 1 with BCM2708!
Init APM:Copter V3.4-dev (7091daa1)
Free RAM: 262144
FW Ver: 120
load_all took 17us
0 0 0 DataFlash_File: buffer size=16384
▒ Q}▒No INS backends available
MPU9250: unexpected WHOAMI 0x0
Interrupted: Segmentation fault
I think it faults because of the MPU9250 not being found. Not sure what the “No INS backends available” is caused by, same problem with not being able to find the MPU9250?
That BBBmini looks very interesting. What does it use for pwm to the esc’s? On this Pi I’m working on I’ll be adding a breakout board for a PCA9685 for the pwm. I think the max update rate for the PCA is 100hz though.
the BBBmini uses the Programmable Real-Time Units of the BeagleBone (Black or Green) for PWM.
Look here for Mirkos great documentation https://github.com/mirkix/BBBMINI
Do you recommend one of the beaglebones over the other? I imagine that the built in bluetooth of the green would be nice, but think that you would want to use an external Wi-Fi module?
Hello Steve,
how is your project? I’m also interested in FC Pi Zero.
I ordered these PCBs from the Matic Jovanovic’s project (http://spikey.si/how-raspberry-pi-zero-got-ardupilot-hopefully-flies/).
But I confess I’m confused about the connections and the shofts to be installed!