sudo apt-get install g++ make pkg-config python python-dev python-lxml python-pip
sudo pip install future
git clone https://github.com/ArduPilot/ardupilot
cd ardupilot
git branch -a  # <-- See all available branches.
git checkout Copter-3.6  # <-- Select one of the ArduCopter branches.
git submodule update --init --recursive
./waf configure --board=blue  # <-- BeagleBone Blue.
./waf
sudo cp ./build/blue/bin/a* /usr/bin/ardupilot