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SourceCode

How to Compile Ardupilot Software & Install it on Raspberry?

Download

Download Binaries from here. You can find different folders for different boards and configuration.

Building The Code

This board does not have any closed source or special drivers. Any Raspberry-Pi board will do the job. All you need is to compile Ardupilot from its main repository. It is straightforward.

git clone https://github.com/ArduPilot/ardupilot.git
cd ardupilot 
git submodule update --init  --recursive
make obal

For Raspberry-Zero you can download its cross-tool from here

you can compile using the following command

./waf configure --toolchain=/opt/cross-pi-gcc/bin/arm-linux-gnueabihf --board obal
./waf rover
./waf copter
./waf plane

Deploy Binary

  1. Copy ardupilot binary to /home/pi .
  2. Create empty file /home/pi/ardu.parm using touch /home/pi/ardu.parm you can add any initialization parameters to this file.

Run ArduPilot

ArduCopter: sudo /home/pi/arducopter (plus parameter)

ArduPlane: sudo /home/pi/arduplane (plus parameter)

ArduRover: sudo /home/pi/ardurover (plus parameter)

ArduSub: sudo /home/pi/ardusub (plus parameter)

Start Parameter ArduPilot Serial Port
-A SERIAL0
-B SERIAL3
-C SERIAL1
-D SERIAL2
-E SERIAL4
-F SERIAL5

Check http://ardupilot.org/copter/docs/parameters.html#serial0-baud-serial0-baud-rate to set the right value for SERIALx_BAUD and SERIALx_PROTOCOL

To connect a MAVLink groundstation with IP 192.168.1.123 add -C udp:192.168.1.123:14550

To use MAVLink via radio connected to Serial0 add -C /dev/serial0.

If there is a GPS connected to Serial1 add -B /dev/serial1.

Note: OBAL board default port is serial 0

Example: MAVLink groundstation with IP 192.168.178.26 on port 14550 via wifi and GPS connected to /dev/serial0 and telemetry via OTG /dev/serial1.

sudo /home/pi/arducopter -A udp:192.168.1.123:14550 -B /dev/serial0 -C serial1

Running as a Service

create service file and edit it

sudo nano /lib/systemd/system/ardurover.service 

[Unit]
Description=ArduPilot-Rover for Linux OPAL Board
After=systemd-modules-load.service
Documentation=https://docs.obal.com/page.html
Conflicts=arduplane.service arducopter.service ardurover.service

[Service]
Type=single
ExecStart=/home/pi/ardurover -A  udp:**YourTargetIP**:14550:bcast -B /dev/serial0
Restart=on-failure

[Install]
WantedBy=multi-user.target

Above file is for running rover but you can replace ardurover with other binaries e.g. arducopter & arduplane.

Running Service

sudo systemctl enable ardurover.service

sudo systemctl start ardurover.service