interface diagram

Running APM

Running APM
cd /home/bit/ardupilot/ArduCopter/
sudo ArduCopter.elf -A udp:
-A is for primary telemetry
-B is for external GPS
-C is for secondary telemetry (it can be used without primary telemetry)
-E is for secondary external GPS
sudo ArduCopter.elf -C /dev/ttyAMA0
sudo ArduCopter.elf –A –C /dev/ttyAMA0
Autostarting APM on boot

ardupilot is configed into a system service by default. Once you power on your raspberry board, ardupilot will launch automaticlly. Please take a look into the service config file in /lib/systemd/system/ardupilot.sercice. If you’d like to stop or disable ardupilot auto start. ssh to your raspberry board and execute “sudo systemctl stop ardupilot” or “sudo systemctl disable ardupilot”. Regarding how to access to raspberry board, please check “Configuring WiFi access” and “Configuring Ethernet access” sections in [Software Configuration] => [Prepare SD Image]

Connecting to the GCS
Build from Source code
a. Prepare the build environment
b. Get the code
   there is APM source code which stored /home/bit/ardupilot by default.
   if user want to
c. Building APM
Further configuration