Here are my steps; I'm building the TI kernel.. 
mkdir demo
cd demo
git clone git://git.buildroot.net/buildroot

>From 
https://eewiki.net/display/linuxonarm/BeagleBone+Black#BeagleBoneBlack-TIBSP

git clone https://github.com/RobertCNelson/ti-linux-kernel-dev/
cd ti-linux-kernel-dev/
git checkout origin/ti-linux-3.14.y -b tmp
./build_kernel.sh
(This should finish with the menuconfig just exit)
cd ../..

You should have the following directories:
buildroot  ti-linux-kernel-dev
mkdir bld
cd bild
make O=$PWD -C ../buildroot/ beaglebone_defconfig
make menuconfig
goto kernel
change Kernel version to Local directory
change path to. the full path to the ti kernel i.e 
/home/tcmichals/projects/copter/demo/ti-linux-kernel-dev/KERNEL
Then change the configuration path to 
/home/tcmichals/projects/copter/demo/ti-linux-kernel-dev/patches/defconfig
then save
exit
make
(it is still building.. will take hour or so) 
Hope this helps














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