NAVIO: Building APM (ArduPilot) from sources

APM

Where to get the code

Working repository for Navio APM port is on our GitHub.

Changes are being pushed in the main ArduPilot repository after some time.

Hot to build

You can build APM directly on your Raspberry Pi, it will take approximately 15 minutes.

For faster build environment it’s better to use cross-compiling on Linux PC or virtual machine.

If you’d like to build on Raspberry Pi skip the next step.

Cross-compiler setup on Linux (optional)

Standard ARM compiler from Ubuntu repositories is not suitable for cross-compiling for Raspberry Pi since it does not support hard float for ARMv6 architecture, instead use compiler provided by Raspberry Pi Foundation that is available here.

 

Download and extract it somewhere, for example in /opt/:

sudo git clone --depth 1 https://github.com/raspberrypi/tools.git /opt/tools

 

If you’re using 32-bit distro add the following to your PATH:

export PATH=/opt/tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian/bin:$PATH

 

For 64-bit distro add this to your PATH:

export PATH=/opt/tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian-x64/bin:$PATH

 

If you would like to add the compiler to the PATH permanently edit /etc/environment.

Building APM

These steps are the same both for compiling APM directly on Raspberry Pi and cross-compiling.

Download the APM’s port for Navio:

git clone https://github.com/emlid/ardupilot.git

 

For Navio and Navio+ boards switch to the ‘navio’ branch:

git checkout navio

For Navio Raw switch to the ‘navio-raw’ branch:

git checkout navio-raw

 

Navigate to the autopilot’s directory, for example rover, run configuration and build it:

cd ardupilot/APMrover2
make configure
make navio

Executable file will be placed in /tmp/APMrover2.build directory.

 

If you’re using cross-compiler transfer the binary to your Raspberry Pi:

rsync -avz /tmp/APMrover2.build/APMrover2.elf pi@192.168.1.3:/home/pi/

Where 192.168.1.3 is an IP address of your Raspberry Pi with Navio.

 

If you are compiling directly on Raspberry copy the binary from tmp directory to your home folder:

cp /tmp/APMrover2.build/APMrover2.elf /home/pi/APMrover2.elf

Instructions how to run APM on Raspberry and to connect GCS to it are available here.