- Download the latest 1.x release from http://arduino.cc/en/Main/Software.
- Unzip and install into the Applications folder.
- Get the newest copy of Arduplane from the Ardupilot repository. I grabbed version 2.34.
- My home directory is /Users/mh, and my working directory is /Users/mh/apm
- Change to the working directory and unzip ArduPlane-2.34.zip.
- You should see these directories. There's some others that you can ignore.
Connect your APM to the computer via USB
- IF YOUR APM IS ON AN AIRCRAFT, DISCONNECT THE AIRCRAFT BATTERIES OR REMOVE THE PROPS!
- No kidding, the props can spin up unexpectedly and send you to the hospital for stitches!
Run Arduino and configure the environment
- Run the Arduino program. Restart it if it was already running so that it can see the APM USB connection.
- Set the CPU type: Tools / Board / Arduino Mega 2560 (AtMega 1280 for APM1)
- Set the APM serial port: Tools / Serial Port / /dev/tty.*usb* The name will vary, look for tty and usb.
- Set the sketchbook location: Arduino / Preferences... / Sketchbook Location
- Set it to the unzipped directory; In my case: /Users/mh/apm/ArduPlane-2.34
- Quit Arduino and Restart.
- Double check that the above three settings are still good.
Compile (Verify) the ArduPlane software
- File / Open... and navigate to /Users/mh/apm/ArduPlane-2.34/ArduPlane
- Open ArduPlane.pde. This will give you a window with several files opened in tabs.
- Click the Verify button.
- After a while, you should get a message like "Binary sketch size: 157,232 bytes (of a 258,048 byte maximum)"
Upload to APM
- Click the Upload button.
- You should see the APM serial light blink furiously
- You should get the message "*******"
Working on the Arducopter software
- note: There's some unorthogonality with the downloaded Arducopter zip file. There's no intermediate directory with a version number.
- Grab the newest copy of ArduCopter from the ArduCopter repository. I grabbed version 2.5.5.
- Unzip ArduCopter-2.5.5.zip in some scratch directory. This will give you two directories, Arducopter and libraries. libraries is identical to the ArduPlane version, so you can ignore it.
- Delete the directory ArduPlane-2.34/ArduCopter
- Copy ArduCopter to ArduPlane-2.34.
- You should see the directory ArduPlane-2.34/ArduCopter.
- In Arduino, open the file ArduPlane-2.34/ArduCopter/ArduCopter.pde.
- Compile and Upload as described above!
Working with git
- The Arduplane projects are hosted on Google Code. Get a Google account if you don't have one.
- Instructions for checking out are on the ArduPilot source page.
- You don't need to grab ArduCopter separately. It will be in the ArduCopter directory as described above. If you do grab it, it will have a single file pointing you to the ArduPlane repository.
Using command line tools
- There are notes in README.txt
- tl;dr: cd ArduPlane; make configure; edit ../config.mk; make; make upload
- I had to edit the following entry in libraries/AP_Common/Arduino.mk to add the -C parameter.
upload: $(SKETCHHEX) $(AVRDUDE) -c $(UPLOAD_PROTOCOL) -p $(MCU) -P $(PORT) -b$(UPLOAD_SPEED) -U flash:w:$(SKETCHHEX):i -C /Applications/Arduino.app/Contents/Resources/Java/hardware/tools/avr/etc/avrdude.conf