I’m going to try to run pixhawlk PX4 on the BB-AI64 paired with the Robotics-Cape. I have seen various articles about running PX4 on the BB-Blue but not BB-AI64. Obviously the BB-Blue has IMU/gyro/Accel/altitude on board so is well suited to running PX4. I’m hoping that the pairing of BB-AI64 and the robotics cape will have adequate sensors plus strong video processing.
Can anyone say if PX4 on AI64 has been done before? Are there any show stoppers that I should know about?
Nope no one has done it yet, feel free to tackle it and post your port.
Hi @RX22 ,
there is support for Ardupilot running on beagles too (pocket, black and blue).
I tried to run ardupilot on BBAI 64 with the bbbmini cape and a customized cape but I couldn’t have sucess once I didn’t figure out how to enable all Buses (SPI and I2C).
Another issue is to have outputs, ardupilot runs a PRUS program that reads pwm values from shared memory and there is no PRUS on BBAI-64, so a new way must be developed (or using a I2C/PWM adaptar as the PCA9685 or a new interpretation of the IOMCU, an alternative - I didn’t have sucess was enableing the CAN bus - what I saw wasn’t present in the BBAI-64).
There are actually more pru units on the BBAI64. The problem is there is not much documentation. Not to mention the M4 cores and DSP’s
Another thing I was thinking and I didn’t continue my researches is that was a better approach using a cheaper board like speedybee as flight controller and using the BBAI-64 as a companion computer using the MAVSDK to communicate my AI codes to ardupilot.