MAVProxy is a command-line, console based GCS for UAVs and is written in python. It is used to connect to the autopilot after the Beagle-bone start-up and has interface for communicating with multiple Ground Stations simultaneously.

Setting up MavProxy on the Beaglone-bone black (BBBK)

Instructions till 5 are needed to provide internet connectivity to the BBBK, if you already have that, skip to step 6.

1. Connect the BBBK to a Linux system (Ubuntu or Fedora) using USB (hereafter referred as the 'Gateway'). An interface appears on the Gateway with a pre-assigned IP (example: 10.0.0.1). The BBBK will have an IP 10.0.0.2 in that case. When using a new BBBK, please follow the instructions given in the 'Quick Start' guide available in BBBK package kit and make sure that you can connect to the BBBK before proceeding.
2. Connect to the BBBK. We need internet connectivity to install dependencies and download MAVProxy. So, set the default route on the BBBK:

   root@beaglebone:~#route add default gw 10.0.0.1
   

3. Configure DNS server on BBBK:

   root@beaglebone:~#echo 'nameserver 8.8.8.8' > /etc/resolv.conf
   

4. Enable IP forwarding on the Gateway (as superuser):

   bash> echo 1 > /proc/sys/net/ipv4/ip_forward
   

5. Enable SNAT on the Gateway. There are two slightly different ways, depending on whether you have a static IP to connect to the internet or a dynamic IP that keeps changing. Use the first option if you have a dynamic IP:

   bash> sudo iptables -t nat -A POSTROUTING -o wlan0 -j MASQUERADE
   

where wlan0 is the interface connected to the internet, use this option if you have a dynamic IP.

bash> sudo iptables -t nat -A POSTROUTING -o eth0 -j SNAT --to-source 11.1.1.1

where eth0 is the interface connected to the internet with a static IP of 11.1.1.1

6. Install dependencies using opkg/apt-get/yum based on operating system that runs on BBBK

   root@beaglebone:~#opkg update && opkg install python-pip python-setuptools python-smbus
   

7. Download the zip file for MAVProxy from here: ​https://github.com/tridge/MAVProxy
8. Unzip the file using

   root@beaglebone:~#unzip MAVProxy-master.zip
   

9. Go to 'Master' folder and run the install script:

   root@beaglebone:~#cd MAVProxy-master;python setup.py install