Setting up everything

1. Set up your build environment on your host PC (not the bone). Just follow the cross compile directions here: http://eewiki.net/display/linuxonarm/BeagleBone+Black#BeagleBoneBlack-ARMCrossCompiler:GCC
2. Flash the bone with the latest debian image. We're using images_BBB-eMMC-flasher-debian-7.4-2014-04-23-2gb.img for this tutorial
3. Start building the Xenomai kernel in the background. This can take a long time. Here is the guide I follow. When you get to "Preparing SD Card", use sshfs to mount the bone onto ${BBB}/sd instead of flashing angstrom: http://brunosmartins.info/xenomai-on-the-beaglebone-black-in-14-easy-steps/
4. Make sure libfreeimage-dev, nodejs are installed.
5. Clone this quadcopter repository on branch master_rev2 onto your beaglebone black