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

Posted by Jan Ciesko on January 8, 2016 at 5:04am

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. All compiles ok. But ArduPlane fails on launch with "FRAM: Failed to receive Manufacturer ID 5 times".

I believe I'm not loading the right cape? Could perhaps somebody explain /boot/uEnv.txt and what to set for:

##Example v4.1.x
#cape_disable=bone_capemgr.disable_partno=
#cape_enable=bone_capemgr.enable_partno=

I've followed this:

http://elinux.org/Beagleboard:BeagleBoneBlack_Debian#Loading_custom_capes

https://github.com/RobertCNelson/bb.org-overlays

Thx a lot.

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Replies

  • Víctor Mayoral January 8, 2016 at 5:46am

    Hi Jan,

    I'll make a fix to solve the FRAM issue this weekend. For now refer to Iñigo's fix.

    As for creating yourself a Debian image, that's a time consuming matter that will require you to make sure that you load the appropriate "capes". We provide Debian (bootable and flashable) images that can probably help in the process of creating an image yourself.

    erlerobot/ardupilot
    APM Plane, APM Copter, APM Rover source. Contribute to erlerobot/ardupilot development by creating an account on GitHub.
    • Jan Ciesko > Víctor Mayoral January 8, 2016 at 8:36am

      Victor, do you know how to load the cape? This is what I see in the capemhr slot file.

      debian@beaglebone:~$ cat /sys/devices/platform/bone_capemgr/slots
      0: PF---- -1
      1: PF---- -1
      2: PF---- -1
      3: PF---- -1
      4: P-O-L- 0 Override Board Name,00A0,Override Manuf,univ-all

    • Alex Wright > Jan Ciesko January 12, 2016 at 4:42pm

      You need to edit the uEnv.txt to load the correct dtb at boot. Does the capemgr work with 4.1 kernels? I havent tried it in a while. I fly with the bbbmini on my beaglebone black and I load the cape using the uEnv.txt

    • Jan Ciesko > Víctor Mayoral January 8, 2016 at 8:33am

      It might be my configuration error - perhaps the FRAM flag is ok :)

  • Iñigo Muguruza January 8, 2016 at 5:29am

    Hi @Jan,

    Try setting  LINUX_STORAGE_USE_FRAM to 0

    This constant is located here:

    https://github.com/diydrones/ardupilot/blob/036eb21c09b3fd847713967...

    Recompile the code and try again!

    Iñigo

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