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ardupilot/Tools/Linux_HAL_Essentials/pru/rangefinderpru/README.md

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PRU firmware for HC-SR04 rangefinder

HC-SR04 driver that can be used with BeagleBone Black

Install PRU C-Compiler

  1. sudo apt-get update
  2. sudo apt-get install ti-pru-cgt-installer

Rebuild rangefinder.c

  1. cd ardupilot/Tools/Linux_HAL_Essentials/rangefinderpru/
  2. make