task in 'objs/AC_AttitudeControl' failed
问题描述：
运行 ./waf configure --board Pixhawk1时出现下面的报错：
ubuntu@ubuntu-Dell-G15-5510:~/ardupilot$ ./waf configure --board Pixhawk1
Setting top to : /home/ubuntu/ardupilot
Setting out to : /home/ubuntu/ardupilot/build
Autoconfiguration : enabled
Checking for program 'python' : /usr/bin/python3
Checking for python version >= 3.6.9 : 3.6.9
Setting board to : Pixhawk1
Using toolchain : arm-none-eabi
Checking for 'g++' (C++ compiler) : /usr/bin/g++-10
Checking for 'gcc' (C compiler) : /usr/bin/gcc-10
Checking for c flags '-MMD' : yes
Checking for cxx flags '-MMD' : yes
CXX Compiler : g++ 10.3.0
Checking for program 'make' : /usr/bin/make
Checking for program 'arm-none-eabi-objcopy' : /opt/gcc-arm-none-eabi-10-2020-q4-major/bin/arm-none-eabi-objcopy
Including /home/ubuntu/ardupilot/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat
Removing AP_BATTERY_SMBUS_SOLO_ENABLED
Removing BOARD_CHECK_F427_USE_1M
Setup for MCU STM32F427xx
Writing hwdef setup in /home/ubuntu/ardupilot/build/Pixhawk1/hwdef.h
Writing DMA map
Setting up as normal
Generating ldscript.ld
No default parameter file found
Checking for env.py
env set ENABLE_DFU_BOOT=0
env set WITH_FATFS=1
env set PROCESS_STACK=0x1C00
env set MAIN_STACK=0x600
env set IOMCU_FW=0
env set PERIPH_FW=0
env set HAL_NUM_CAN_IFACES=2
env set HAL_CANFD_SUPPORTED=0
env set BOARD_FLASH_SIZE=2048
env set EXT_FLASH_SIZE_MB=0
env set INT_FLASH_PRIMARY=False
env set ENABLE_CRASHDUMP=True
env set APP_RAM_START=None
env set CPU_FLAGS=['-mcpu=cortex-m4', '-mfpu=fpv4-sp-d16', '-mfloat-abi=hard', '-DARM_MATH_CM4', '-u_printf_float']
env set CORTEX=cortex-m4
env set APJ_BOARD_ID=9
env set APJ_BOARD_TYPE=STM32F427xx
env set USBID=0x1209/0x5741
env set FLASH_RESERVE_START_KB=16
env set EXT_FLASH_RESERVE_START_KB=0
env set FLASH_TOTAL=2080768
env set HAS_EXTERNAL_FLASH_SECTIONS=0
env set CHIBIOS_BUILD_FLAGS=USE_FATFS=yes CHIBIOS_STARTUP_MK=os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk CHIBIOS_PLATFORM_MK=os/hal/ports/STM32/STM32F4xx/platform.mk MCU=cortex-m4 ENV_UDEFS=-DCHPRINTF_USE_FLOAT=1
Enabling ChibiOS asserts : no
Disabling Watchdog : no
Enabling malloc guard : no
Enabling ChibiOS thread statistics : no
Enabling -Werror : no
Checking for intelhex module: : OK
Enabled OpenDroneID : no
Enabled firmware ID checking : no
GPS Debug Logging : no
Enabled custom controller : no
Checking for HAVE_CMATH_ISFINITE : no
Checking for HAVE_CMATH_ISINF : no
Checking for HAVE_CMATH_ISNAN : no
Checking for NEED_CMATH_ISFINITE_STD_NAMESPACE : no
Checking for NEED_CMATH_ISINF_STD_NAMESPACE : no
Checking for NEED_CMATH_ISNAN_STD_NAMESPACE : no
Checking for header endian.h : not found
Checking for header byteswap.h : not found
Checking for HAVE_MEMRCHR : no
Configured VSCode Intellisense: : no
DC_DSDL compiler : /home/ubuntu/ardupilot/modules/DroneCAN/dronecan_dsdlc/dronecan_dsdlc.py
Source is git repository : yes
Update submodules : yes
Checking for program 'git' : /usr/bin/git
Gtest : STM32 boards currently don't support compiling gtest
Checking for program 'arm-none-eabi-size' : /opt/gcc-arm-none-eabi-10-2020-q4-major/bin/arm-none-eabi-size
Benchmarks : disabled
Unit tests : disabled
Scripting : maybe
Scripting runtime checks : enabled
Debug build : disabled
Coverage build : disabled
Force 32-bit build : disabled
Checking for program 'rsync' : /usr/bin/rsync
'configure' finished successfully (0.284s)
ubuntu@ubuntu-Dell-G15-5510:~/ardupilot$ ./waf copter
Waf: Entering directory `/home/ubuntu/ardupilot/build/Pixhawk1'
Checking for env.py
env added ENABLE_DFU_BOOT=0
env added WITH_FATFS=1
env added PROCESS_STACK=0x1C00
env added MAIN_STACK=0x600
env added IOMCU_FW=0
env added PERIPH_FW=0
env added HAL_NUM_CAN_IFACES=2
env added HAL_CANFD_SUPPORTED=0
env added BOARD_FLASH_SIZE=2048
env added EXT_FLASH_SIZE_MB=0
env added INT_FLASH_PRIMARY=False
env added ENABLE_CRASHDUMP=True
env appended APP_RAM_START=None
env appended CPU_FLAGS=['-mcpu=cortex-m4', '-mfpu=fpv4-sp-d16', '-mfloat-abi=hard', '-DARM_MATH_CM4', '-u_printf_float']
env added CORTEX=cortex-m4
env added APJ_BOARD_ID=9
env added APJ_BOARD_TYPE=STM32F427xx
env added USBID=0x1209/0x5741
env added FLASH_RESERVE_START_KB=16
env added EXT_FLASH_RESERVE_START_KB=0
env added FLASH_TOTAL=2080768
env added HAS_EXTERNAL_FLASH_SECTIONS=0
env added CHIBIOS_BUILD_FLAGS=USE_FATFS=yes CHIBIOS_STARTUP_MK=os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk CHIBIOS_PLATFORM_MK=os/hal/ports/STM32/STM32F4xx/platform.mk MCU=cortex-m4 ENV_UDEFS=-DCHPRINTF_USE_FLOAT=1
Embedding file bootloader.bin:/home/ubuntu/ardupilot/Tools/bootloaders/Pixhawk1_bl.bin
Embedding file hwdef.dat:/home/ubuntu/ardupilot/build/Pixhawk1/hw.dat
Embedding file io_firmware.bin:Tools/IO_Firmware/iofirmware_lowpolh.bin
Embedding file io_firmware_dshot.bin:Tools/IO_Firmware/iofirmware_dshot_lowpolh.bin
[ 3/11] Creating build/Pixhawk1/hwdef.h
[ 4/11] Creating build/Pixhawk1/modules/ChibiOS/include_dirs
[ 5/11] Compiling libraries/AP_Scripting/generator/src/main.c
[ 6/11] Processing modules/mavlink/message_definitions/v1.0/all.xml
[ 7/11] Processing dronecangen: modules/DroneCAN/DSDL/.github modules/DroneCAN/DSDL/ardupilot modules/DroneCAN/DSDL/com modules/DroneCAN/DSDL/cuav modules/DroneCAN/DSDL/dronecan modules/DroneCAN/DSDL/mppt modules/DroneCAN/DSDL/tests modules/DroneCAN/DSDL/uavcan
[ 8/11] Creating build/Pixhawk1/ap_version.h
[ 9/11] Creating build/Pixhawk1/chibios_flags.h
Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/all.xml.
Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/all.xml
Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/ardupilotmega.xml.
Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/ardupilotmega.xml
Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/ASLUAV.xml.
Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/ASLUAV.xml
Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/common.xml.
Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/common.xml
Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/development.xml.
Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/development.xml
Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/icarous.xml.
Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/icarous.xml
Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/minimal.xml.
Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/minimal.xml
Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/python_array_test.xml.
Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/python_array_test.xml
Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/standard.xml.
Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/standard.xml
Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/test.xml.
Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/test.xml
Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/ualberta.xml.
Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/ualberta.xml
Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/uAvionix.xml.
Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/uAvionix.xml
Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/loweheiser.xml.
Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/loweheiser.xml
Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/storm32.xml.
Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/storm32.xml
Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/AVSSUAS.xml.
Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/AVSSUAS.xml
Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/cubepilot.xml.
Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/cubepilot.xml
Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/csAirLink.xml.
Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/csAirLink.xml
Merged enum MAV_CMD
Merged enum MAV_CMD
Merged enum MAV_CMD
Merged enum MAV_CMD
Merged enum MAV_CMD
Found 337 MAVLink message types in 17 XML files
Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/all
Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/ardupilotmega
Including /home/ubuntu/ardupilot/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat
Removing AP_BATTERY_SMBUS_SOLO_ENABLED
Removing BOARD_CHECK_F427_USE_1M
Setup for MCU STM32F427xx
Writing hwdef setup in /home/ubuntu/ardupilot/build/Pixhawk1/hwdef.h
Writing DMA map
Setting up as normal
No change in hwdef.h
Generating ldscript.ld
No default parameter file found
Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/ASLUAV
[10/11] Linking build/Pixhawk1/modules/ChibiOS/libch.a
[11/11] Processing /home/ubuntu/ardupilot/build/Pixhawk1/libraries/AP_Scripting/lua_generated_bindings.cpp,/home/ubuntu/ardupilot/build/Pixhawk1/libraries/AP_Scripting/lua_generated_bindings.h: libraries/AP_Scripting/generator/description/bindings.desc build/Pixhawk1/gen-bindings -> build/Pixhawk1/libraries/AP_Scripting/lua_generated_bindings.cpp build/Pixhawk1/libraries/AP_Scripting/lua_generated_bindings.h
Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/common
Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/development
Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/icarous
Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/minimal
Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/python_array_test
Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/standard
Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/test
Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/ualberta
Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/uAvionix
Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/loweheiser
Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/storm32
Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/AVSSUAS
Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/cubepilot
Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/csAirLink
Copying fixed headers for protocol 2.0 to /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0
expanding com.himark.servo.ServoInfo
expanding com.hobbywing.esc.SetLED
expanding mppt.OutputEnable
expanding uavcan.protocol.file.Write
expanding uavcan.equipment.actuator.ArrayCommand
expanding uavcan.equipment.camera_gimbal.Mode
expanding ardupilot.equipment.power.BatteryInfoAux
expanding com.hobbywing.esc.GetMajorConfig
expanding dronecan.protocol.CanStats
expanding uavcan.protocol.GlobalTimeSync
expanding uavcan.protocol.file.GetDirectoryEntryInfo
expanding uavcan.equipment.air_data.AngleOfAttack
expanding ardupilot.equipment.power.BatteryCells
expanding com.hobbywing.esc.SetID
expanding uavcan.protocol.AccessCommandShell
expanding uavcan.protocol.dynamic_node_id.Allocation
expanding uavcan.equipment.ice.reciprocating.CylinderStatus
expanding uavcan.equipment.camera_gimbal.AngularCommand
expanding ardupilot.equipment.trafficmonitor.TrafficReport
expanding com.hobbywing.esc.SetDirection
expanding uavcan.tunnel.Call
expanding uavcan.protocol.file.BeginFirmwareUpdate
expanding uavcan.equipment.ice.FuelTankStatus
expanding uavcan.equipment.hardpoint.Command
expanding uavcan.equipment.camera_gimbal.Status
expanding ardupilot.indication.NotifyState
expanding com.hobbywing.esc.RawCommand
expanding dronecan.remoteid.SecureCommand
expanding uavcan.protocol.file.Read
expanding uavcan.protocol.param.GetSet
expanding uavcan.equipment.ahrs.MagneticFieldStrength2
expanding uavcan.equipment.esc.Status
expanding uavcan.equipment.air_data.StaticPressure
expanding uavcan.equipment.gnss.RTCMStream
expanding ardupilot.gnss.MovingBaselineData
expanding com.hobbywing.esc.SetThrottleSource
expanding com.hobbywing.esc.StatusMsg3
expanding cuav.equipment.power.CBAT
expanding dronecan.sensors.rc.RCInput
expanding uavcan.tunnel.Protocol
expanding uavcan.protocol.Panic
expanding uavcan.protocol.param.Value
expanding uavcan.equipment.ice.reciprocating.Status
expanding uavcan.equipment.device.Temperature
expanding uavcan.equipment.power.PrimaryPowerSupplyStatus
expanding ardupilot.indication.Button
expanding com.hobbywing.esc.SetBaud
expanding com.xacti.GnssStatus
expanding dronecan.remoteid.Location
expanding dronecan.protocol.Stats
expanding uavcan.protocol.NodeStatus
expanding uavcan.protocol.CANIfaceStats
expanding uavcan.protocol.debug.LogLevel
expanding uavcan.protocol.file.Path
expanding uavcan.protocol.dynamic_node_id.server.AppendEntries
expanding uavcan.equipment.gnss.Fix
expanding ardupilot.equipment.power.BatteryContinuous
expanding com.xacti.GimbalControlData
expanding dronecan.remoteid.OperatorID
expanding uavcan.CoarseOrientation
expanding uavcan.protocol.DataTypeKind
expanding uavcan.protocol.GetDataTypeInfo
expanding uavcan.protocol.param.Empty
expanding uavcan.equipment.hardpoint.Status
expanding uavcan.equipment.camera_gimbal.GEOPOICommand
expanding com.himark.servo.ServoCmd
expanding com.hobbywing.esc.StatusMsg2
expanding com.xacti.GimbalAttitudeStatus
expanding dronecan.remoteid.System
expanding uavcan.navigation.GlobalNavigationSolution
expanding uavcan.protocol.file.Delete
expanding uavcan.protocol.enumeration.Begin
expanding uavcan.equipment.air_data.Sideslip
expanding uavcan.equipment.gnss.Fix2
expanding ardupilot.gnss.Heading
expanding com.hex.equipment.flow.Measurement
expanding com.hobbywing.esc.GetMaintenanceInformation
expanding dronecan.remoteid.SelfID
expanding uavcan.tunnel.Broadcast
expanding uavcan.protocol.debug.LogMessage
expanding uavcan.protocol.file.GetInfo
expanding uavcan.equipment.esc.RPMCommand
expanding uavcan.equipment.gnss.Auxiliary
expanding ardupilot.equipment.power.BatteryPeriodic
expanding com.xacti.CopterAttStatus
expanding mppt.Stream
expanding uavcan.protocol.SoftwareVersion
expanding uavcan.protocol.file.Error
expanding uavcan.protocol.enumeration.Indication
expanding uavcan.equipment.ahrs.MagneticFieldStrength
expanding uavcan.equipment.air_data.IndicatedAirspeed
expanding uavcan.equipment.indication.SingleLightCommand
expanding ardupilot.gnss.RelPosHeading
expanding com.hobbywing.esc.SetReportingFrequency
expanding uavcan.tunnel.Targetted
expanding uavcan.protocol.file.EntryType
expanding uavcan.protocol.param.NumericValue
expanding uavcan.equipment.ahrs.Solution
expanding uavcan.equipment.gnss.ECEFPositionVelocity
expanding uavcan.equipment.indication.BeepCommand
expanding ardupilot.indication.SafetyState
expanding com.hobbywing.esc.GetEscID
expanding com.hobbywing.esc.SelfTest
expanding dronecan.remoteid.ArmStatus
expanding dronecan.sensors.hygrometer.Hygrometer
expanding uavcan.protocol.HardwareVersion
expanding uavcan.protocol.GetTransportStats
expanding uavcan.protocol.dynamic_node_id.server.Discovery
expanding uavcan.equipment.actuator.Command
expanding uavcan.equipment.power.BatteryInfo
expanding com.volz.servo.ActuatorStatus
expanding com.hobbywing.esc.SetAngle
expanding uavcan.protocol.RestartNode
expanding uavcan.protocol.dynamic_node_id.server.RequestVote
expanding uavcan.equipment.air_data.TrueAirspeed
expanding uavcan.equipment.indication.RGB565
expanding ardupilot.gnss.Status
expanding com.hobbywing.esc.StatusMsg1
expanding dronecan.remoteid.BasicID
expanding uavcan.Timestamp
expanding uavcan.protocol.GetNodeInfo
expanding uavcan.protocol.dynamic_node_id.server.Entry
expanding uavcan.equipment.actuator.Status
expanding uavcan.equipment.air_data.StaticTemperature
expanding uavcan.equipment.safety.ArmingStatus
expanding uavcan.equipment.indication.LightsCommand
expanding ardupilot.equipment.proximity_sensor.Proximity
expanding com.xacti.GnssStatusReq
expanding uavcan.tunnel.SerialConfig
expanding uavcan.protocol.debug.KeyValue
expanding uavcan.protocol.param.ExecuteOpcode
expanding uavcan.equipment.ahrs.RawIMU
expanding uavcan.equipment.esc.RawCommand
expanding uavcan.equipment.air_data.RawAirData
expanding uavcan.equipment.power.CircuitStatus
expanding uavcan.equipment.range_sensor.Measurement
[1/114] ChibiOS: Compiling crt0_v7m.S
[2/114] ChibiOS: Compiling vectors.S
[3/114] ChibiOS: Compiling chcoreasm.S
[4/114] ChibiOS: Compiling ff.c
[5/114] ChibiOS: Compiling ffunicode.c
[6/114] ChibiOS: Compiling chcore.c
[7/114] ChibiOS: Compiling crt1.c
[8/114] ChibiOS: Compiling bufstreams.c
[9/114] ChibiOS: Compiling chprintf.c
[10/114] ChibiOS: Compiling chscanf.c
[11/114] ChibiOS: Compiling memstreams.c
[12/114] ChibiOS: Compiling nullstreams.c
[13/114] ChibiOS: Compiling osal.c
[15/114] ChibiOS: Compiling hal_can_lld.c
[14/114] ChibiOS: Compiling hal_adc_lld.c
[16/114] ChibiOS: Compiling hal_crypto_lld.c
[17/114] ChibiOS: Compiling hal_dac_lld.c
[18/114] ChibiOS: Compiling stm32_dma.c
[19/114] ChibiOS: Compiling stm32_exti.c
[20/114] ChibiOS: Compiling hal_pal_lld.c
[21/114] ChibiOS: Compiling hal_i2c_lld.c
[22/114] ChibiOS: Compiling hal_mac_lld.c
[23/114] ChibiOS: Compiling hal_usb_lld.c
[24/114] ChibiOS: Compiling hal_wspi_lld.c
[25/114] ChibiOS: Compiling hal_rtc_lld.c
[26/114] ChibiOS: Compiling hal_sdc_lld.c
[27/114] ChibiOS: Compiling hal_i2s_lld.c
[28/114] ChibiOS: Compiling hal_spi_lld.c
[30/114] ChibiOS: Compiling hal_eicu_lld.c
[32/114] ChibiOS: Compiling hal_icu_lld.c
[31/114] ChibiOS: Compiling hal_gpt_lld.c
[29/114] ChibiOS: Compiling hal_st_lld.c
[33/114] ChibiOS: Compiling hal_pwm_lld.c
[34/114] ChibiOS: Compiling hal_serial_lld.c
[35/114] ChibiOS: Compiling hal_uart_lld.c
[36/114] ChibiOS: Compiling hal_wdg_lld.c
[37/114] ChibiOS: Compiling hal_efl_lld.c
[38/114] ChibiOS: Compiling hal_lld.c
[39/114] ChibiOS: Compiling stm32_isr.c
[40/114] ChibiOS: Compiling nvic.c
[42/114] ChibiOS: Compiling hal_adc.c
[45/114] ChibiOS: Compiling hal_crypto.c
[44/114] ChibiOS: Compiling hal_can.c
[43/114] ChibiOS: Compiling hal_buffers.c
[41/114] ChibiOS: Compiling hal.c
[46/114] ChibiOS: Compiling hal_dac.c
[47/114] ChibiOS: Compiling hal_efl.c
[48/114] ChibiOS: Compiling hal_eicu.c
[49/114] ChibiOS: Compiling hal_flash.c
[50/114] ChibiOS: Compiling hal_gpt.c
[51/114] ChibiOS: Compiling hal_i2c.c
[52/114] ChibiOS: Compiling hal_i2s.c
[53/114] ChibiOS: Compiling hal_icu.c
[54/114] ChibiOS: Compiling hal_mac.c
[55/114] ChibiOS: Compiling hal_mmc_spi.c
[56/114] ChibiOS: Compiling hal_mmcsd.c
[57/114] ChibiOS: Compiling hal_pal.c
[58/114] ChibiOS: Compiling hal_pwm.c
[59/114] ChibiOS: Compiling hal_queues.c
[60/114] ChibiOS: Compiling hal_rtc.c
[61/114] ChibiOS: Compiling hal_sdc.c
[62/114] ChibiOS: Compiling hal_serial.c
[63/114] ChibiOS: Compiling hal_serial_usb.c
[65/114] ChibiOS: Compiling hal_spi.c
[64/114] ChibiOS: Compiling hal_sio.c
[66/114] ChibiOS: Compiling hal_st.c
[67/114] ChibiOS: Compiling hal_trng.c
[68/114] ChibiOS: Compiling hal_uart.c
[69/114] ChibiOS: Compiling hal_usb.c
[70/114] ChibiOS: Compiling hal_wdg.c
[71/114] ChibiOS: Compiling hal_wspi.c
[72/114] ChibiOS: Compiling chdelegates.c
[73/114] ChibiOS: Compiling chfactory.c
[74/114] ChibiOS: Compiling chmboxes.c
[75/114] ChibiOS: Compiling chmemcore.c
[76/114] ChibiOS: Compiling chmemheaps.c
[77/114] ChibiOS: Compiling chmempools.c
[78/114] ChibiOS: Compiling chobjcaches.c
[79/114] ChibiOS: Compiling chpipes.c
[80/114] ChibiOS: Compiling chcond.c
[81/114] ChibiOS: Compiling chdebug.c
[82/114] ChibiOS: Compiling chdynamic.c
[83/114] ChibiOS: Compiling chevents.c
[84/114] ChibiOS: Compiling chinstances.c
[85/114] ChibiOS: Compiling chmsg.c
[86/114] ChibiOS: Compiling chmtx.c
[87/114] ChibiOS: Compiling chregistry.c
[88/114] ChibiOS: Compiling chrfcu.c
[90/114] ChibiOS: Compiling chsem.c
[89/114] ChibiOS: Compiling chschd.c
[91/114] ChibiOS: Compiling chstats.c
[93/114] ChibiOS: Compiling chthreads.c
[92/114] ChibiOS: Compiling chsys.c
[94/114] ChibiOS: Compiling chtm.c
[95/114] ChibiOS: Compiling chtrace.c
[96/114] ChibiOS: Compiling chvt.c
[97/114] ChibiOS: Compiling fatfs_diskio.c
[98/114] ChibiOS: Compiling fatfs_syscall.c
[99/114] ChibiOS: Compiling syscalls.c
[100/114] ChibiOS: Compiling stubs.c
[101/114] ChibiOS: Compiling board.c
[102/114] ChibiOS: Compiling usbcfg.c
[103/114] ChibiOS: Compiling usbcfg_dualcdc.c
[104/114] ChibiOS: Compiling usbcfg_common.c
[105/114] ChibiOS: Compiling flash.c
[106/114] ChibiOS: Compiling malloc.c
[107/114] ChibiOS: Compiling hrt.c
[109/114] ChibiOS: Compiling bouncebuffer.c
[108/114] ChibiOS: Compiling stm32_util.c
[110/114] ChibiOS: Compiling watchdog.c
[111/114] ChibiOS: Compiling ch.cpp
[112/114] ChibiOS: Compiling CrashCatcher_armv7m.S
[113/114] ChibiOS: Compiling CrashCatcher.c
[114/114] ChibiOS: Compiling crashdump.c
ChibiOS: Done!
CrashCatcher: Done!
arm-none-eabi-ar: creating modules/ChibiOS/libch.a
arm-none-eabi-ar: creating modules/ChibiOS/libcc.a
[ 12/1092] Compiling libraries/AC_AttitudeControl/ControlMonitor.cpp
[ 13/1092] Compiling libraries/AC_AttitudeControl/AC_AttitudeControl_Multi_6DoF.cpp
[ 14/1092] Compiling libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
[ 15/1092] Compiling libraries/AC_AttitudeControl/AC_CommandModel.cpp
[ 16/1092] Compiling libraries/AC_AttitudeControl/AC_AttitudeControl_TS.cpp
[ 17/1092] Compiling libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
[ 18/1092] Compiling libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp
[ 19/1092] Compiling libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
[ 20/1092] Compiling libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
[ 21/1092] Compiling libraries/AC_AutoTune/AC_AutoTune_FreqResp.cpp
[ 22/1092] Compiling libraries/AC_Autorotation/AC_Autorotation.cpp
[ 23/1092] Compiling libraries/AC_Avoidance/AP_OAVisGraph.cpp
[ 24/1092] Compiling libraries/AC_Avoidance/AP_OAPathPlanner.cpp
[ 25/1092] Compiling libraries/AC_Avoidance/AP_OADijkstra.cpp
[ 26/1092] Compiling libraries/AC_Avoidance/AC_Avoidance_Logging.cpp
[ 27/1092] Compiling libraries/AC_InputManager/AC_InputManager_Heli.cpp
g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
compilation terminated.
g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
compilation terminated.
g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
compilation terminated.
g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
compilation terminated.
g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
compilation terminated.
g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
compilation terminated.
g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
compilation terminated.
g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
compilation terminated.
g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
compilation terminated.
g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
compilation terminated.
g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
compilation terminated.
g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
compilation terminated.
g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
compilation terminated.
g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
compilation terminated.
g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
compilation terminated.
g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
compilation terminated.
Waf: Leaving directory `/home/ubuntu/ardupilot/build/Pixhawk1'
Build failed
-> task in 'objs/AC_AttitudeControl' failed (exit status 1):
{task 139622748409080: cxx ControlMonitor.cpp -> ControlMonitor.cpp.0.o}
(run with -v to display more information)
-> task in 'objs/AC_AttitudeControl' failed (exit status 1):
{task 139622748408408: cxx AC_AttitudeControl_Heli.cpp -> AC_AttitudeControl_Heli.cpp.0.o}
(run with -v to display more information)
-> task in 'objs/AC_AttitudeControl' failed (exit status 1):
{task 139622748408968: cxx AC_CommandModel.cpp -> AC_CommandModel.cpp.0.o}
(run with -v to display more information)
-> task in 'objs/AC_AttitudeControl' failed (exit status 1):
{task 139622748408632: cxx AC_AttitudeControl_Multi_6DoF.cpp -> AC_AttitudeControl_Multi_6DoF.cpp.0.o}
(run with -v to display more information)
-> task in 'objs/AC_AttitudeControl' failed (exit status 1):
{task 139622748408520: cxx AC_AttitudeControl_Multi.cpp -> AC_AttitudeControl_Multi.cpp.0.o}
(run with -v to display more information)
-> task in 'objs/AC_AutoTune' failed (exit status 1):
{task 139622746429704: cxx AC_AutoTune_Multi.cpp -> AC_AutoTune_Multi.cpp.0.o}
(run with -v to display more information)
-> task in 'objs/AC_AttitudeControl' failed (exit status 1):
{task 139622748408856: cxx AC_AttitudeControl_TS.cpp -> AC_AttitudeControl_TS.cpp.0.o}
(run with -v to display more information)
-> task in 'objs/AC_AttitudeControl' failed (exit status 1):
{task 139622748408744: cxx AC_AttitudeControl_Sub.cpp -> AC_AttitudeControl_Sub.cpp.0.o}
(run with -v to display more information)
-> task in 'objs/AC_AutoTune' failed (exit status 1):
{task 139622746429592: cxx AC_AutoTune_Heli.cpp -> AC_AutoTune_Heli.cpp.0.o}
(run with -v to display more information)
-> task in 'objs/AC_AutoTune' failed (exit status 1):
{task 139622746429480: cxx AC_AutoTune_FreqResp.cpp -> AC_AutoTune_FreqResp.cpp.0.o}
(run with -v to display more information)
-> task in 'objs/AC_Avoidance' failed (exit status 1):
{task 139622877655672: cxx AP_OAVisGraph.cpp -> AP_OAVisGraph.cpp.0.o}
(run with -v to display more information)
-> task in 'objs/AC_Avoidance' failed (exit status 1):
{task 139622877655448: cxx AP_OADijkstra.cpp -> AP_OADijkstra.cpp.0.o}
(run with -v to display more information)
-> task in 'objs/AC_Avoidance' failed (exit status 1):
{task 139622877655336: cxx AC_Avoidance_Logging.cpp -> AC_Avoidance_Logging.cpp.0.o}
(run with -v to display more information)
-> task in 'objs/AC_InputManager' failed (exit status 1):
{task 139622745305496: cxx AC_InputManager_Heli.cpp -> AC_InputManager_Heli.cpp.0.o}
(run with -v to display more information)
-> task in 'objs/AC_Autorotation' failed (exit status 1):
{task 139622745307288: cxx AC_Autorotation.cpp -> AC_Autorotation.cpp.0.o}
(run with -v to display more information)
-> task in 'objs/AC_Avoidance' failed (exit status 1):
{task 139622877655560: cxx AP_OAPathPlanner.cpp -> AP_OAPathPlanner.cpp.0.o}
(run with -v to display more information)解决方案：
在ardupilot的论坛ArduPilot Discourse（需要科学上网）上我找到和我一样的问题描述
下面概述一下具体解决的办法：
首先在ardupilot根目录下执行：
./waf clean上面这个命令会删除编译文件，清理空间
然后修改waf使用的gcc和g++路径：
export CC=/usr/lib/ccache/arm-none-eabi-gcc
export CXX=/usr/lib/ccache/arm-none-eabi-g++在前面安装依赖项的时候，arm-none-eabi-gcc和arm-none-eabi-g++就已经被安装了，但是在有些ubuntu系统上，waf在工作的时候可能会使用系统默认的gcc和g++，而这就是上面报错出现的原因
额外说明：
如果编译过程中有这个错误
ChibiOS build requires g++ version 10.2.1 or later, found 6.3.1上面的错误也是g++版本不对导致的，正确的g++版本应该是arm-none-eabi-g++，解决方案和上面写的一样
参考资料：
Ardupilot开发环境搭建教程Ardupilot开发环境搭建（Ubuntu18.04，20190407） - 知乎 (zhihu.com)
Ardupilot论坛ArduPilot Discourse
linux上更改默认gcc/g++linux上升级gcc/g++ | 魔のkyo的BLOG (kyo86.com)
The python version is too old, expecting (3, 6, 9)
问题描述：
报错记录：
ubuntu@ubuntu-Dell-G15-5510:~/ardupilot/ArduCopter$ sim_vehicle.py -w
SIM_VEHICLE: Start
SIM_VEHICLE: Killing tasks
SIM_VEHICLE: Starting up at SITL location
SIM_VEHICLE: WAF build
SIM_VEHICLE: Configure waf
SIM_VEHICLE: "/home/ubuntu/ardupilot/modules/waf/waf-light" "configure" "--board" "sitl"
Setting top to : /home/ubuntu/ardupilot
Setting out to : /home/ubuntu/ardupilot/build
Autoconfiguration : enabled
Checking for program 'python' : /usr/bin/python
Checking for python version >= 3.6.9 : 2.7.17
The python version is too old, expecting (3, 6, 9)
(complete log in /home/ubuntu/ardupilot/build/config.log)
SIM_VEHICLE: (Configure waf) exited with code 256
SIM_VEHICLE: Killing tasks
我的系统中python2和python3都有装，python2就叫python，python3叫python3，这里显然是找错了位置
解决方案：
解决这样的问题可以将python这个环境变量指向python3的安装位置，也可以修改waf-light文件来设置引用哪一个python
cd ~/ardupilot/modules/waf
gedit waf-light将第一行的
#!/usr/bin/env python改为
#!/usr/bin/env python3
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