Archived: Building ArduPilot for Flymaple on Linux



ArduPilot no longer supports FlyMaple.


Support for FlyMaple in ArduPilot was removed in May 2016. This documentation is for older versions

About Flymaple

  • The APMPilot firmware has been ported to run on Flymaple

  • Flymaple is an inexpensive board based on a 75MHz ARM Cortex-M3 processor.

  • It includes 10DOF sensors (accelerometer, gyroscope, magnetometer and barometer).

../_images/flymaple_v1.1.jpg ../_images/FlyMaple_PinOut.jpg

How to build APM for Flymaple on Linux.

  • You need a number of additional resources to build ardupilot for Flymaple.

  • I have assumed that you will install them in your home directory.

  • But they can really go anywhere provided you make the appropriate changes to PATH and

cd ~
git clone
cd libmaple
wget http ://
tar xvzf gcc-arm-none-eabi-latest-linux32.tar.gz
export PATH=$PATH:~/libmaple/arm/bin
cp main.cpp.example main.cpp
  • At this stage you can test your flymaple CPU and the upload process with ‘make install’

  • This will upload a simple LED blinking program to your Flymaple board.

  • Now download ardupilot APM:

cd ~
git clone --recurse-submodules
cd ardupilot
  • Now edit to be something like this: START
# Select maple_RET6 for Flymaple
BOARD = maple_RET6
# HAL_BOARD determines default HAL target.
# The communication port used to communicate with the Flymaple
PORT = /dev/ttyACM0
# You must provide the path to the libmaple library directory:
LIBMAPLE_PATH = $(HOME)/libmaple
# Also, the ARM compiler tools MUST be in your current PATH like:
# export PATH=$PATH:~/libmaple/arm/bin END
  • Now build APM for, say a rover:

cd Rover
 make flymaple
 make upload

Documentation on how to wire up and configure APM on Flymaple for a buggy type rover are at: