Beagleboard.org has released the BeagleBone Blue some days ago, a Linux-enabled computer for robotic applications.
The BeagleBone Blue is an open hardware platform that include a large array of sensors and IO; IMU, Baro, PPM for RC input, 8 channels PWM output to Servos, DC motor driver, analog input, PRU, GPIO, LEDs, buttons, serial, CAN, I2C, SPI, USB, WiFi, Bluethooth, 2-cell LiPo charger and wide input voltage range.
Jason Kridner has designed the BeagleBone Blue and he contacted me to implement the ArduPilot Flight Controller Software on BeagleBone Blue and make it a full blown Linux-enabled autopilot. Based on my previous experience with a similar project called the BBBmini, a BeagleBone Black or Green coupled with a sensor cape of my own, that has been successfully built and flown by numerous DIYers around the world, the BeagleBone Blue is natural extension of my design with the benefit of having a single board solution.
Experimenters can now have their copter, plane, rover, submarine being controlled with ArduPilot software powered by a versatile Linux platform with enough power to add cameras, additional sensors and use a large array of available robotic language like ROS, dronekit-python and Mission Control suites for just 80$.
https://github.com/mirkix/ardupilotblue
I am not related to TI or beagleboard.org. BBBmini and BeagleBone Blue ArduPilot support are both pure hobby projects.
Great job Mirko!
Great Project Mirko !!
I had the chance to follow the work in this one and there was some tricky parts to resolve within the code.
This BBBlue is a real bargain compared to NAVIO or Intel Aero for anyone interested trying a Linux based FC.
S1CAR1US I know it so much that I build mine from scratch at half the price last year.
Thanks to Mirko for his help in this project :-)
http://diydrones.com/profiles/blogs/mini-zee-a-100-diy-smart-drone-...
Unlike the RPI , the BBB makes all the timing process internally (PPM-in and PWM-out) using the PRU : A programmable realtime unit within the SOC. On RPI we need external components to do it.
great work Mirko!
I like the docs you've done. Could we get those in the ArduPilot wiki too? Or at least a link?
If you don't have write permission to the wiki repo then please let know.
S1CAR1US
There is no real difference if we look at the signals, but with the BBB its all done internally with no additional components. The BBB has been designed as a general purpose ARM based system with lots of IO. The configuration can be modified using the Device Tree structure (equivalent to Bios) were the IO are profiled and defined.
Getting back to the MiniZee, if you follow the blog, you will see that someone made a pc board that you can order from OSH Park. It is opened hardware, so you can to copy and modify. If you have other questions about this project, feel free to ask on the MiniZee Blogpost. Lets keep the BBBlue topic going on here ;-)
Soby using the BBBlue, you can build a balancing robot one day, and build a Flight Controller the next just by uploading software and rewiring IO.
Patrick...but but but I want a quadcopter, self balancing on two wheels tho...so I can drive up walls and across ceilings! ;-)
it's very challenging to design a flight controller hardware unlike a rover hardware or a ground based machine. whosoever designs a flight controller hardware or software is a genius. BBB is a natural improvement since it incorporates more sensors than other boards making it more versatile.
@S1CAR1US
I think the unique think of the BeagleBone Blue is that it is single board solution for this small price. Technically the advantage of using the firmware I have written for the PRUs of the BeagleBone (internal PWM generation) is, that you can set the update frequency for each of the up to 12 PWM channels. I.E. if you are flying a quadcopter the update frequency of the ESCs will be 400Hz, if there are some servos connected too, you can set the update frequency for the servos to the standard value of 50Hz. A lot of servos can not handle 400Hz. When using a PXFmini you only can set a global update frequency for all PWM outputs. So you may have to choose, lower the ESC update frequency to 50Hz or keep the 400Hz and the servos may not work.
The BeagleBone Blue offers 4 (and a half) serial connection which may be useful to connect external sensors, also the CAN interface seems to be more important in the future.
But each type of flight controllers has it advantages and disadvantages, it depends on your requirements which one you choose.
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