Configuring Raspberry

Raspberry Pi OS Lite (Legacy)

IMPORTANT OBAL is tested on Raspberry Pi OS Lite (Legacy), Although Ardupilot can run on Raspberry Bullseye-64bit after this PR-22418, but you need to recombile Linux kernel to enable CONFIG_STRICT_DEVMEM. for more details about this topic pleae check my article here.

Remaining steps are the same for both OS-Legacy or OS-64.

Enable SPI & I2C Buses

It is important to enable I2C & SPI Buses. These are two interfaces that are needed to communicate with sensors on the board.

To enable them you need to execute command.

sudo raspi-config An interface will appear like the image below, and you can easily go through it to enable I2C & SPI.

You then need to reboot the board and login again.

sudo reboot now

Change I2C Bus Speed

Now you need to enable I2C bus speed 400KHz. This is a simple step. run command:

sudo nano /boot/config.txt and search for dtparam=i2c_arm=on and add ,i2c_arm_baudrate=400000 next to it. the result should be:

dtparam=i2c_arm=on,i2c_arm_baudrate=400000 then press CTRL-X and save and exit. you need to restart again

sudo reboot now