ArduPilot SITL on FreeBSD 15.0 – successful build and a question about porting

[resora]

```If I understand things correctly DFU flashing is for device firmware then you flash ArduPilot Mission package onto device via GUI tool of QGroundControl? Is that right?```

Yes, dfu-util for flashing, and the ground station QGroundControl for precise settings, modes, motors, and other configurations. For now, QGroundControl needs to be built locally, since the ports don’t yet have the new Qt. To enter DFU mode, you need to press the button and connect the USB power. Then release the button.

$ arm-none-eabi-objcopy -I ihex -O binary arducopter_with_bl.hex arducopter_with_bl.bin // HEX to BIN

$ dfu-util -a 0 -s 0x08000000:leave -D arducopter_with_bl.bin

$ dfu-util -l // list DFU devices
$ usbconfig

You also need to configure /etc/devrules.conf, and in pwgroup add the user to all required groups.

# pw groupmod usb -m yourusername
# pw groupmod dialer -m yourusername
# pw groupmod uucp -m yourusername