table of Contents

First, establish a flying control firmware compilation environment

1.1 Get Flight Control Source Code

1.2 Run the Automation Profile using PowerShell

1.3 Installing the Future Library, Python3

1.4 Download and install the GCC compiler

1.5 Configuring environment variables

1.6 Switch to the latest stable version of the firmware

1.7 Update Module

Second, based on WAF compilation APM flying control firmware

2.1 Configuring Flight Control Types

2.2 Compiling Fly Control Firmware

2.3 Burn Flight Control Firmware

---

table of Contents

First, establish a flying control firmware compilation environment

 

1.1 Get Flight Control Source Code

1.2 Run the Automation Profile using PowerShell

1.3 Installing the Future Library, Python3

1.4 Download and install the GCC compiler

1.5 Switch to the latest stable version of the flying control firmware

1.6 Update Module

Second, based on WAF compilation APM flying control firmware

2.1 Configuring Flight Control Types

2.2 Compiling Fly Control Firmware

2.3 Burn Flight Control Firmware

---

First, establish a flying control firmware compilation environment

1.1 Get Flight Control Source Code

Source address:https://github.com/ArduPilot/ardupilot

It is recommended to install the GIT to facilitate download source and code management. link:https://git-scm.com/ 

After installing git, open Git Bash

Use the gitclone command Clone flight control code, not detail, please learn from your own method.

pay attention:

1. Do not place the Flight Control Source Code Ardupilot folder into the C drive, the Win10 operating system is very strict to the access rights of the C drive, which will result in the back compile time.

2. Flying source code paths cannot contain Chinese, otherwise it will also be reported when compiling.

 

1.2 Run the Automation Profile using PowerShell

Start button right click, or Ctrl + X, administrator runs PowerShell

 

After opening, pass the CD command, go to. \ ArduPilot \ Tools \ Environment_INSTALL directory

Enter. \ Then press the Tab key to switch to Install-prereqs-windows.ps1, run the carriage return.

The download process may sometimes need to hang the VPN, you can hang mostly, if there is a problem, try to run once or more, still can't, turn off the ladder, and then download it.

 

1.3 Installing the Future Library, Python3

Run "setup x86_64.exe", install CYGWIN64 and other environments

1.4 Download and install the GCC compiler

• Download link:http://firmware.ardupilot.org/Tools/STM32-tools/gcc-arm-none-eabi-6-2017-q2-update-win32-sha2.exe
• After download, install, pay attention, the last step check "Add path to environment variable"

 

1.5 Configuring environment variables

If the software defaults to generate environment variables, it is only generated.
.. \ gnu Tools ARM Embedded \ 6 2017-Q2-Update \ BIN This path

COULD NOT FIND THE PROGRAM ['ARM-NONE-EABI-AR']] This error will appear when compiling

Arm-none-eabi-ar's path in, .. \ gnu Tools ARM Embedded \ 6 2017-q2-update \ ARM-NONE-EABI \ BIN

Therefore, the environment variable has to manually add one

After confirming the shutdown all the way, restart the computer to take effect (personal test), otherwise it will still report the error "Could Not Find The Program ['ARM-NONE-EABI-AR']".

1.6 Switch to the latest stable version of the firmware

 

• CD to the ArduPilot source directory.
• Enter: git tag View all TAGs included in the source code
• Press the carriage return to display the next line, see "Q" with "Q" after seeing the version you want

• Create a branch from the Self-Wing 3.6.7 Stable Edition, named: MyCopter3.6.7

git checkout -b MyCopter3.6.7 Copter-3.6.7 

 

• Create a branch from a fixed wing 4.0.5 stabilization, branch name: MyCopter4.0.5

git checkout -b MyPlane4.0.5 ArduPlane-4.0.5 
The branch name can be replaced by self-replacement, and the flying control firmware of any version of the stable version can be replaced on demand.

Note: Do not switch to the "Master" branch, this is an unstable version, and in most cases, the code of the Master branch is unable to compile

1.7 Update Module

Just switch over the branch, remember to update the child module.
git submodule update --init --recursive 
 

 

Second, based on WAF compilation APM flying control firmware

Switching the firmware version is "git bash", and the compiling firmware is "cygwin64", and the two looks almost, don't mix.
CD to the ArduPilot directory

 

2.1 Configuring Flight Control Types

View all supported types

./waf list_boards

Set the compilation target to FMUV3 version of the flight control
If your flight control is pixhawk2.4.x, the FMUV3 here will be changed to Fmuv2; if your flight control is Pixhawk4, it will change the FMUV3 here to Pixhawk4, and

./waf configure --board fmuv3

 

2.2 Compiling Fly Control Firmware

/ If it is compiled multifier firmware, run the following command

./waf copter

 / If it is compiled conventional fixed wing firmware or vertical start-off fixation (both the same firmware), run the following command

./waf plane

 / If you are compiling a helicopter firmware, run the following command

./waf heli


 If it is compiled unmanned car firmware, run the following command

./waf rover

 If it is compiled submarine firmware, run the following command
./waf sub

 

• If you are compiling peripheral firmware (such as GPS of CAN bus versions), run the following command

./waf AP_Periph

• If you have compiled it last time, you suddenly compile the error, try the following command, delete the previous compilation cache, which will compile the next time you compile

./waf distclean This command is equivalent to manually deleting "ArduPilot / folder

• List all the commands of WAF and how to use it

./waf -h

 

to sum up:

• ./waf list_boards, see what kind of flying control board that supports firmware supports;
• ./waf configure -board xxx is configured according to the board type;
• ./waf copter or ./waf plane ... Select your control object;
• If it fails, it can be used ./waf distclean Clear the build folder, resolve the error and re-perform

 

2.3 Burn Flight Control Firmware

1. Install the latest version of the ground station MissionPlanner;
2. Compiled firmware in Ardupilot / Bulid / Fmuv3 / Bin / ArduCopter.apj, using the Mission Planner for firmware.