ardupilot/Tools/ArduPPM/ATMega32U2/Bootloaders/arduino-usbdfu/readme.txt

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To setup the project and program an ATMEG32U2 with the Arduino USB DFU bootloader:
> make clean
> make
> make program
Check that the board enumerates as "Atmega32u2".
Test by uploading the Arduino-usbserial application firmware (see instructions in Arduino-usbserial directory)