About three months ago I introduced the BBBMINI  a DIY Cape for the BeagleBone Black. The BBBMINI should make it easy to start with Ardupilot running on Embedded Linux. It also keep the DIY spirit, so it has no SMD parts to solder and only 0.1” pinheader to connect external hardware. So you do not have to struggle with DF13 connectors if you want to change the cable pinout.

I got good feedback, so I decided to make things easier which seems some people stuck with, when they build a BBBMINI.

The first thing is wiring a BBBMINI up on a Proto Cape board. It is prone to errors and remote support is difficult. The Proto Cape wiring is also not so reliable. So I get familiar with KiCad and designed the BBBMINI PCB.


0.1” / 2.54mm pinheader

Use GY-9250 and GY-63 sensor breakout board (about 5$ to 9$ each with shipping from china)

Free SPI connector for additional sensors like a second IMU, ...

Free I2C connector for additional hardware like external Mag, LED Controller, Ultrasonic Rangefinder, ...

Free UART for additional hardware like Telemetry Radio or second GPS



Extra PWM OUT for X-Quad


All necessary parts to build a BBBMINI PCB is less than 35$ including the sensor boards

There is now a Rev 1.2 version of the PCB which fix a power issue of the Rev 1.0. The Rev 1.2 boards should receive me next week. After successful testing  all necessary files will be released on the BBBMINI GitHub page.

Also some people can not get all the Device Tree stuff to work or can not get a RT-Kernel up and running. So there is now a prebuild Image which you can write to a sdcard and direct boot from the sdcard with RT-Kernel and Device Tree already loaded at startup.  

Debian 8 with BBBMINI support:

GCC 4.9 so you can compile Ardupilot direct on the BeagleBone

Kernel 4.0.4 RT PREEMPT already installed and loaded at startup

Device Tree for BBBMINI already loaded at startup

Further information is available on the BBBMINI GitHub page.

Best regards


Views: 2849

Comment by RC Tech.se on June 15, 2015 at 12:36pm

Refreshing with some proper DIY! The use of china modules is great idea.

Comment by Gary McCray on June 15, 2015 at 12:56pm

This is great news Mirko,

Really glad to see you kept this ball rolling.

Are you planning on having the boards available for sale? Soon I hope.

Also any possibility of kits?

This would make a really good kit.

The all 1/10" pin board should make soldering easy for everybody.

Thank You,


Comment by Víctor Mayoral on June 15, 2015 at 1:48pm

Great stuff Mirko, keep it up!

Comment by Thomas J Coyle III on June 15, 2015 at 4:37pm

Hi Mirko

When will you have the new run of the v1.2 board available and how might one purchase a board?

I presently have a bbb with a PXF Fire Cape, but also have another bbb that sure could use your BBBMINI!



Comment by JB on June 15, 2015 at 9:09pm

I particularly like the availability of a preconfigured downloadable software image and that you're using inexpensive sensor modules! Great work!

Please let us know when the boards become available, and where, to purchase.

Comment by robert bouwens on June 15, 2015 at 10:12pm

i would support a small production batch of the pcb.

maybe others will join.

Comment by Olivier on June 15, 2015 at 10:39pm

+1, Robert.

Great to see such follow-up work, Mirko!

Comment by Marc Dornan on June 15, 2015 at 11:00pm

@Robert count me in.

Comment by Víctor Mayoral on June 16, 2015 at 1:51am
Comment by Mirko Denecke on June 16, 2015 at 9:23am

@Gary, Thomas, JB, Robert, Oliver and Marc. I should get about 10 pcbs next week. You can get one for free, because I only need 3 pcbs for me. May I will discover it is possible to sell them if there are more people interested in that pcb. Otherwise I will release the GERBER-Files so everyone (or small groups) can send it to a manufacturer, it is about 17$ for 10 pcbs (lead free) in good quality + 13$ for shipping.


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