Pixhawk Fire Cape User Group


Pixhawk Fire Cape User Group

This user group has been created to support the integration of the Pixhawk Fire Cape and the Beagle Bone Black 4gb Development Platform with software development for the various autonomous vehicles.

Members: 24
Latest Activity: Dec 15, 2016

Link to the Erle Robotics Forum

Discussion Forum

Setting up Debian for ArduPlane on Erle brain (BBB+PXF)

Started by Jan Ciesko. Last reply by Alex Wright Jan 12, 2016. 5 Replies

Hi guys, great to have this group :)My issue: I got hands on an Erle Brain (BBB+PXF). I've installed a Debian with a cape manager enabled kernel (4.1.x-ti), as well as bb.org-overlays and ArduCopter.…Continue

Fire Cape Software Issues

Started by Thomas J Coyle III. Last reply by Thomas J Coyle III Aug 8, 2015. 1 Reply

Hi All,Please used this discussion thread to list and discuss Fire Cape software issues.Regards,TCIII AVDContinue

Fire Cape Hardware Issues

Started by Thomas J Coyle III Aug 8, 2015. 0 Replies

Hi All,Please used this discussion thread to list and discuss Fire Cape hardware issues.Regards,TCIII AVDContinue

Tags: issues, hardware, pixhawk, cape, fire

Getting your BBB up and running

Started by Grant Morphett. Last reply by Linus Jul 22, 2015. 5 Replies

I have finally figured out how to get the ERLE Robotics image below working on my BBB:…Continue

Tags: erle, BBB, PXF

Comment Wall


You need to be a member of Pixhawk Fire Cape User Group to add comments!

Comment by Víctor Mayoral on July 12, 2015 at 11:55am


Comment by Víctor Mayoral on July 12, 2015 at 11:55am

Hi Grant,

The size of the image comes from the microSD card i use to create them. I also use an 8 GB one but probably from a different manufacturer than yours (mine is from Samsung) which answers why you can't flash it in yours. My only recommendation is to use one with more size (e.g. 16 GB).

Comment by Grant Morphett on July 11, 2015 at 3:01pm

I've downloaded the images and had a look Victor but am still slightly confused.  The Debian and Snappy images are named as:
Does this mean the Debian image is from 8 Jan this year?  The previous image I was trying to use was from 24 April this year so this "newer" image is dated older.
The snappy image is from 18 May this year?

I put my 8G SDcard into my linux laptop and run the following - note the error.

zcat erle-debian-8-1-15.img.gz | sudo dd of=/dev/mmcblk0 bs=8M
dd: error writing ‘/dev/mmcblk0’: No space left on device
0+152815 records in
0+152814 records out
7948206080 bytes (7.9 GB) copied, 695.947 s, 11.4 MB/s
I unzipped the image on my HDD and it looks like this:

8010072064 Jul 11 23:11 erle-debian-8-1-15.img
So I'm gunna guess that is slightly too big for my 8Gig SDCard.

Any chance you can shrink it?

Thanks, Grant.

Comment by Grant Morphett on July 11, 2015 at 4:45am

Thanks Victor.  I will check them out.

Thanks, Grant.

Comment by Víctor Mayoral on July 11, 2015 at 3:19am


Updated previous content and prepared new one available at http://erlerobotics.com/blog/updating-the-software/. Refer to this from now one.


Comment by Víctor Mayoral on July 11, 2015 at 1:00am

Hi Grant,

Apologies for the confusion and naming. We'll simplify it.

Note that external people has already succeeded and we flash those images in a daily basis. It seems you are getting already support at our forum so i'll answer there.

Comment by Grant Morphett on July 10, 2015 at 6:10pm

Hi everyone.  I'm trying to get my PXF to go but I am stuck at the first hurdle.  I'm trying to install the debian flasher erle brain image so I don't have to compile my own kernel to get the real time functionality.  Has anyone successfully done this?  See my post of the problems over on the erle site.  I tried not to bug anyone here with this as its a BBB issue - not an ArudPilot issue.

If anyone has successfully done this I'd love to know.

Thanks, Grant.

Comment by Thomas J Coyle III on June 10, 2015 at 6:14pm

Hi All,

I would like to report that Linus and I have gotten ArduRover2 firmware running on a Beagle Bone Black running Debian Linux.

Linus worked his programming wizardry and I provided the hardware and the I/O during the programming and subsequent connection to Mission Planner over a UDP link.

There is still much more work to do and a number of issues to resolve. However we are on the right track towards our goal of a fully functional ArduRover running on Beagle Bone Black/PX4 Fire Cape hardware.



Comment by Gary McCray on May 31, 2015 at 10:49am

Hi RoboBill / Victor,

I have an SF30/B and it is my intention to mount it in a true 3 Axis brushless Gimbal and scan it in yaw and pitch for indoor and outdoor navigation, both simple and mapped.

It is plenty fast for scanned use and while not cheap is still less than a quarter the price of any of the commercial single plane laser scanners like Hokuyo or SICK.

The reason I say true 3 axis is because most of the so called 3 axis controllers don't actually allow manual control of the third axis (yaw) but use it only for stabilization compensation.

Obviously for scanning this won't work.

So far I have identified four true 3 axis controllers:

The full sized Alexmos BG32.

The "Tiny" Alexmos BG32.

The EvvGC

And the Storm 32.

Currently I am gravitating towards the Storm32 because it is open source and inexpensive.

The EvvGC is also inexpensive but I don't know much about it.

The Alexmos BG32 boards are not open source and are not inexpensive but are in wide use. (Although the user interface is not universally "liked").

And the "Tiny" doesn't actually appear to be available anywhere yet.

If anybody has any suggestions as to these or other controller boards I am all ears.

I will be using a GoPro type gimbal even though the SF30B only weighs 30 grams (The same as a Mobius) so I can keep the scan rate up with the larger gimbal motors.

I believe that a circular (conical) scan might work better than a straight X/Y scan so that you have less acceleration and deceleration required and less force required.

(I'll probably do both).

Available time and money keep me from doing this as fast as I would like, but I will be working on it over the next several months.

Best Regards,


Comment by RoboBill on May 31, 2015 at 10:12am


My hope was to design and build an outdoor system that is affordable to hobbyists. The ROS "approved" lasers are either $1000's, have limited range or are for indoor use only. 

BTW have you seen the new Lightware SF30/B? Its still expensive but it has a very high scan rate.




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