The problem is to build an updated system with real time kernel and the correct ArduPilot firmware.
You can look here to get a rough idea on how I did it a few years ago Building an autopilot from scratch using a RaspBerryPi Zero : Mini Zee
The problem is to build an updated system with real time kernel and the correct ArduPilot firmware.
You can look here to get a rough idea on how I did it a few years ago Building an autopilot from scratch using a RaspBerryPi Zero : Mini Zee