Just want to tell that the DIY Ardupilot Cape for the BeagleBone Black (BBBmini) is now Open Hardware. You can get the KiCad sources here BBBMINI-PCB. I will not sell the PCBs, but I add some lines how to get 10 PCBs for less than 30$.
The BBMINI-PCB is updated to Rev 1.4, here some improvements:
I also started a new project with is in an early stage of development, a Self Balancing Robot based on the BBBmini and Ardupilot software. AP_AHRS will be used to to get the pitch angle and AC_PID to balance the robot. It runs at 400 Hz, there are two Stepper Motors and there is a PRU Code inside the BeagelBone which can create up to 200000 steps per / second to the Stepper Motors.
Here is the first very early stage of development video, it balancing fine.
Best regards Mirko