Building ArduPilot

Building and Loading ArduPilot Firmware¶

As of ArduPilot 4.4, the EchoPilot AI hardware definition files are not yet pulled into the ArduPilot repository. Therefore, if you wish to use ArduPilot firmware on the EchoPilot AI, you will need to follow the steps below and build ArduPilot from source. Fortunately the process is straightforward:

Prerequisites¶

These instructions were tested on Ubuntu 20.04 LTS. They are not guaranteed to work on any other flavor of Linux, within a virtual machine or under WSL 1 or 2. We recommend a physical machine running Ubuntu 20.04 LTS for the most pain-free experience.

Download ArduPilot¶

These instructions will install ArduPilot in ~/ardupilot. If you wish to use a different location, please adjust the directory below and throughout these instructions. If you are a novice, we recommend proceeding exactly as described below.

cd ~
git clone --recurse-submodules https://github.com/ArduPilot/ardupilot
cd ardupilot

Setup the toolchain¶

Tools/environment_install/install-prereqs-ubuntu.sh -y

Now reload the path (log-out and log-in to make permanent)

. ~/.profile

Checkout a release or tag¶

You can identify a version you wish to build by looking at the ArduPilot tags https://github.com/ArduPilot/ardupilot/tags. In the example below, we will demonstrate checking out release ArduCopter-stable

git checkout tags/ArduCopter-stable
git submodule update --init --recursive

Warning

We have observed a failure to identify I2C compasses on ArduPilot 4.3 releases. If your design relies on the RM3100 compass onboard the EchoPilot AI, we recommend avoiding version 4.3.x. This problem appears to have been fixed in 4.4+ releases. We recommend using version 4.2.4 or earlier, or 4.4+.

Do a test build¶

Before we build firmware for the EchoPilot AI board, it is wise to first build a native target to verify that your toolchain and environment is setup and working. Build the sitl (software in the loop simulator) target first:

./waf configure --board sitl
./waf copter

If the build completes without errors, congrats! If there are errors, you will need to resolve them before proceeding.

Download and Install the Hardware Definition Files for ArduPilot¶

Obtain the hardware board files from the EchoPilot AI BSP repo and checkout the appropriate branch matching the hardware revision of your EchoPilot AI using the commands below. The Hardware revision is marked on the board silkscreen near the FAN connector:

git clone https://github.com/EchoMAV/echopilot_ai_bsp
cd echopilot_ai_bsp
git checkout board_revision_0     # Select the appropriate revision

Warning

Be sure you checked out the appropriate branch matching your EchoPilot AI hardware revision!

Install the ArduPilot board definition files into the correct folder using the provided install_ardupilot.sh script. The first argument is the path to where you have the ardupilot repo on your system, e.g. ~/ardupilot.

./install_ardupilot.sh ~/ardupilot

Build ArduPilot for the EchoPilot AI¶

At this point, you should have the hardware files located in ~/ardupilot/libraries/AP_HAL_ChibiOS/hwdef/EchoPilotAI/. To build firmware targeting this board, use the command:

cd ~/ardupilot
./waf configure --board EchoPilotAI
./waf copter    # or choose a different target

Tip

The example above builds copter, for other vehicle targets, see below:

./waf copter                            # All multirotor types
./waf heli                              # Helicopter types
./waf plane                             # Fixed wing airplanes including VTOL
./waf rover                             # Ground-based rovers and surface boats
./waf sub                               # ROV and other submarines

The arducopter.apj and arducopter.bin file will be located in the ~/ardupilot/build/EchoPilotAI/bin/ folder. The firmware is now ready to be loaded on the board. This can be done by adding the upload argument, or with a ground control station.

Info

If the EchoPilot AI is plugged in to your host computer, unplug it before proceeding. The board should be totally powered off before proceeding.

Uploading using the WAF script¶

./waf copter --upload

When the build completes, the system will wait for a USB connection from the EchoPilot AI's bootloader. You should see a message indicating waiting for the bootloader.... At this point, plug in a USB-A to USB-C cable between the host computer and the FMU USB connection on the EchoPilot AI. The board should be recognized and the firmware will be uploaded automatically.

Upload using QGroundControl¶

Optionally, you can use QGroundControl to upload the ~/ardupilot/build/EchoPilotAI/bin/arducopter.apj file created previously. This is especially useful if you wish to send a firmware update to a customer as they can do it without terminal access. Follow the steps to upload Custom Firmware using QGroundControl: https://docs.qgroundcontrol.com/master/en/SetupView/Firmware.html