I would like to connect a BeagleBoard-xM to the ArduPilotMega 2560. Connecting over serial appears to me to be the easiest way. I see that in the Arducopter code, Serial2 is not being used. However, tonight I noticed this comment in the optical flow code: "External ADNS3080 OpticalFlow is connected via Serial port 2 (in SPI mode)." I would also like to use optical flow, in addition to the BeagleBoard-xM. Can anyone confirm this comment is true?
If this is the case, how do you suggest that I connect the BeagleBoard-xM and ArduPilotMega so that they can exchange data?