Yesterday at BeaglePilot's weekly meeting we had great progress :):
- We got readings from the MPU6000 (SPI) and MS5611 (SPI) from the AP_Linux_HAL.
- We made ArduPlane and ArduCopter work in the BeagleBone (we didn't finish the tests with APMRover2 but i'd guess it should be fine as well).
- We interfaced MAVProxy with ardupilot running on the BeagleBone :)
There's still much work to do but we are happily moving forward.
In the following weeks you can expect the following to happen:
- More ardupilot hardware tests and drivers will come out. We are happy to have Jimmy Johnson and Daniel Frenzel with us doing a great job coding kernel drivers.
- A new Device Tree for our hardware.
- ROS integration and tests through MAVLink (using the already available mavlink_ros ROS package). We will also look into the possibility of coding a ROS bridge directly into ardupilot.
- Improved PWM and PPM generation using directly the PRU.
- ROS-ardupilot tests and performance report.
We will also be testing the Real-Time capabilities both in hardware and software. Here you have some first results. We will try to continue reporting about it.
Comments
Hi Swift,
I confirm that those steps work. how to make the rt-kernel should do it.
Ping me if you find some issues.
Great work so far, if you need any assistance in the rover side I will be happy to contribute programming needs, we have been using begal bone for a few other features, digital FPV etc, we test out this on our setup next week, simple skid steer rover...
That is a good starting point ... :) We want to see the first flight :)