OBAL on Raspberry Pi Zero W 2 and Jetson Nano

[b06stiles]

Hi Mohammad

Firstly thanks for your great work! I now have some OBAL boards waiting to be built!

Question: Has anyone successfully got Ardupilot running on the Pi Zero W 2?

I've had success on the Zero W (Debian Bullseye), and partial success on both the Zero W 2 and the Jetson Nano using the aarch64-linux-gnu compiler, but the results and problems may be out of scope of this forum...

Many thanks

Bob

[FelixvdDonk]

https://www.youtube.com/watch?v=7T92mprZYnQ In this video it is running on the Pi Zero W 2.

[b06stiles]

Thanks for that - I didn't look closely enough!

[HefnySco]

@b06stiles OBAL - especially GY-91 version runs best on RPI-Z2.
You can even use RPI-camera while running ardupilot, but in this case you need to use cpu affinity to dedicate a cpu to ardupilot.

I believe the problems you faced is because using 64-bit OS or Bullseye. I use the legacy Raspberry Pi OS (Legacy)
.
For Jetson nano I have no idea. Please share your experience with Jetson Nano when possible.

[b06stiles]

Hm sounds right. I was hoping that the 64 bit OS would be backward compatible.

For the record, the part that is failing is the call to mmap() in the Memory_Table constructor which maps physical addresses to virtual memory (in RCInput_RPI.cpp). It's returning 0xFF....FF, which is then crashing memset().

I'll try 32-bit Bullseye, and if that fails, the link above.
Thanks!

[HefnySco]

Thank you for sharing this info.

[b06stiles]

OK Ardupilot is now running on the Pi Zero W 2 using both Buster 32 bit and Bullseye 32 bit lite. Cool!
Thanks guys.