After transmitter configuration, I installed the APM Planner application, available for download here
Before proceeding, it's important to added an exception to Windows Firewall to allow inbound UDP packets sent on port 14550.
I connected the battery to the TrainingSphere and I was able to see realtime telemetry, as shown in the video. A side note: for some reason I had no time to investigate, the "-A" option of the ArduCopter command is not able to resolve a computer name. For this reason, I configured my PC to have a static IP address
I performed the required calibration steps required, namely
All these step are clearly described in the this Youtube playlist
Before proceeding, one further step is required: disable prearming checks, because the Raspberry+Navio platform fail to return a correct internal voltage value. This causes the APM not to arm the motors. Despite there is a tutorial about this on the copter.ardupilot.com website, the only way I found to set this parameter is to search for it in the full parameters list
Another parameter I had to change in the full parameters list is the frame type. I searched the source code for the FRAME_COAX definition, and I found out the correct value is 9, so I change the FRAME parameter to 9
Now I am able to fire up for the first time the TrainingSphere