Building for Erle-Brain

Warning

This page is under construction. Links here are to the top level of Erle-Robotics documentation because deeper URLs keep on being broken.

These instructions explain how to build ArduPilot on the Erle-Brain board.

Tip

Alternatively you can follow Erle-Robotics’s documentation on how to build from source.

Connection and setup

Connect to Erle-Brain using microUSB:

sudo ifconfig eth6 192.168.7.1
ssh root@192.168.7.2

Tip

Check the interface Erle-Brain creates using ifconfig command.

Give Erle-Brain Internet access connecting Ethernet wire into RJ45 connector and configure the interface:

$ sudo ifconfig eth0 up
$ sudo dhclient eth0
#Check if Erle BRain has Internet access
$ ping www.google.es
# press |ctrl| |c| to exit

Clone the source:

cd
git clone https://github.com/erlerobot/ardupilot.git
cd ardupilot
git submodule update --init --recursive

Build

Build for Copter:

cd /home/pi/ardupilot/ArduCopter
make pxf -j4

This will build the firmware for a quadcopter. If you wish to build for another frame type (such as hexacopter) append “-hexa” onto the end of the make command (i.e. make -j4 pxf-hexa). The full list of available frames can be found in the targets.mk file.

Note

If building for Plane, Rover or Antenna Tracker replace the above “ArduCopter” with “ArduPlane”, “APMrover2” or “AntennaTracker”.

Move firmware to the executable directory

Move the executable to the directory from where it is normally started:

sudo cp ArduCopter.elf /~

Tip

If you are unable to copy the executable it may be because the destination file is locked because it is already running. Use the following command to stop the running service

systemctl stop apm-copter.service

Tip

Autopilot launch configuration is covered in the documentation.