Remove all the crap off this image.
apt remove bone101 bonescript nodejs bb-node-red-installer apache2
Install NTP
apt install ntp -y
ln -fs /usr/share/zoneinfo/Australia/Melbourne /etc/localtime
Configure the ardurover service.
[Unit]
Description=Ardurover Service
After=bb-wl18xx-wlan0.service
[Service]
ExecStartPre=/bin/echo uart > /sys/devices/platform/ocp/ocp\:P9_21_pinmux/state
ExecStartPre=/bin/echo uart > /sys/devices/platform/ocp/ocp\:P9_22_pinmux/state
ExecStart=/usr/bin/ardupilot/blue-ardurover -A udp:192.168.0.103:14550 -B /dev/ttyS2
StandardOutput=null
[Install]
WantedBy=multi-user.target
Alias=Ardurover.service
http://www.strawsondesign.com/content/manual-pinmux
// Cape and Blue
#define GPS_HEADER_PIN_3 2 // P9_22, normally UART2 RX
#define GPS_HEADER_PIN_4 3 // P9_21, normally UART2 TX
#define UART1_HEADER_PIN_3 14 // P9_26, normally UART1 RX
#define UART1_HEADER_PIN_4 15 // P9_24, normally UART1 TX
#define SPI_HEADER_PIN_3 112 // P9_30, normally SPI1 MOSI
#define SPI_HEADER_PIN_4 111 // P9_29, normally SPI1 MISO
#define SPI_HEADER_PIN_5 110 // P9_31, normally SPI1 SCLK
// Blue Only
#define BLUE_SPI_PIN_6_SS1 29 // gpio 0_29 pin H18
#define BLUE_SPI_PIN_6_SS2 7 // gpio 0_7 pin C18
#define BLUE_GP0_PIN_3 57 // gpio 1_25 pin U16
#define BLUE_GP0_PIN_4 49 // gpio 1_17 pin P9.23
#define BLUE_GP0_PIN_5 116 // gpio 3_20 pin D13
#define BLUE_GP0_PIN_6 113 // gpio 3_17 pin P9_28
#define BLUE_GP1_PIN_3 98 // gpio 3_2 pin J15
#define BLUE_GP1_PIN_4 97 // gpio 3_1 pin H17