Ardupilot开源飞控工程项目编译回顾
1. 源由
最近，有点莫名的连续遇到了2次Ardupilot编译报错。百思不得其解，特地记录下，以便后续不要犯类似的毛病。
问题/现象这里不重复了，请看链接： Build error compiling 4.5.1 Copter with F405 (4.4.x) target #26785
2. 工程编译
正常工作编译，大家可以参考：
好处：中文
坏处：无法与官方项目同步
好处：最新同步文档
坏处：英语不习惯的人，。。。。不多说，反正永远也不会习惯。。。。
3. 命令列表
这里罗列一些日常常用的工程编译命令。
3.1 工作环境设置
注意：请替换自己代理服务器的IP和port。
- git代理设置
$ git config --global "url.ssh://git@ssh.github.com:443/.insteadOf" git@github.com:
$ git config --global http.proxy http://192.168.1.9:808
$ git config --global https.proxy http://192.168.1.9:808
- http/https代理设置
$ export https_proxy=http://192.168.1.9:808/
$ export http_proxy=http://192.168.1.9:808/
- apt代理设置
$ sudo apt-get -o Acquire::http::proxy="http://192.168.1.9:808" update
3.2 获取工程代码
通常git协议容易获取代码，https不是很方便，而且开发角度使用git会更好。
$ git clone git@github.com:ArduPilot/ardupilot.git
3.3 建立编译环境
$ cd ardupilot
$ ./Tools/environment_install/install-prereqs-ubuntu.sh -y
3.4 编译工程代码
$ cd ardupilot
$ ./Tools/gittools/submodule-sync.sh
$ ./Tools/scripts/build_bootloaders.py Aocoda-RC-H743Dual
$ ./waf configure --board Aocoda-RC-H743Dual
$ ./waf copter
3.5 保存编译结果
$ cd ardupilot
$ cd build
$ rm -rf ArduCopter lib libraries modules .dep .wafpickle-linux*
$ zip -r Aocoda-RC-H743Dua.zip Aocoda-RC-H743Dual
3.6 清理编译结果
$ ./waf clean
3.7 编译设备目标
$ ./waf copter //多旋翼
$ ./waf heli //直升机
$ ./waf antennatracker //跟踪天线
$ ./waf blimp //飞艇
$ ./waf plane //固定翼
$ ./waf rover //车
$ ./waf sub //潜水艇
4. 补充 帮助命令waf
$ ./waf -h
waf [commands] [options]
Main commands (example: ./waf build -j4)
AP_Periph : builds AP_Periph programs
all : builds all programs of all group
antennatracker: builds antennatracker programs
benchmarks : builds all programs of benchmarks group
bin : builds all programs of bin group
blimp : builds blimp programs
bootloader : builds bootloader programs
build : executes the build
check : builds all programs and run tests
check-all : shortcut for `waf check --alltests`
clean : cleans the project
conf :
Decorator: attach new configuration functions to :py:class:`waflib.Build.BuildContext` and
:py:class:`waflib.Configure.ConfigurationContext`. The methods bound will accept a parameter
named 'mandatory' to disable the configuration errors::
def configure(conf):
conf.find_program('abc', mandatory=False)
:param f: method to bind
:type f: function
configure : configures the project
copter : builds copter programs
dist : makes a tarball for redistributing the sources
distcheck : checks if the project compiles (tarball from 'dist')
distclean : removes build folders and data
examples : builds all programs of examples group
heli : builds heli programs
install : installs the targets on the system
iofirmware : builds iofirmware programs
list : lists the targets to execute
localinstall : runs install using BLD/install as destdir, where BLD is the build variant directory
plane : builds plane programs
replay : builds replay programs
rover : builds rover programs
rsync : runs localinstall and then rsyncs BLD/install with the target system
step : executes tasks in a step-by-step fashion, for debugging
sub : builds sub programs
tests : builds all programs of tests group
tool : builds all programs of tool group
uninstall : removes the targets installed
Options:
--version show program's version number and exit
-c COLORS, --color=COLORS
whether to use colors (yes/no/auto) [default: auto]
-j JOBS, --jobs=JOBS amount of parallel jobs (2)
-k, --keep continue despite errors (-kk to try harder)
-v, --verbose verbosity level -v -vv or -vvv [default: 0]
--zones=ZONES debugging zones (task_gen, deps, tasks, etc)
-h, --help show this help message and exit
--notests Exec no unit tests
--alltests Exec all unit tests
--clear-failed Force failed unit tests to run again next time
--testcmd=TESTCMD Run the unit tests using the test-cmd string example "--testcmd="valgrind --error-exitcode=1 %s" to run under valgrind
--dump-test-scripts Create python scripts to help debug tests
Configuration options:
-o OUT, --out=OUT build dir for the project
-t TOP, --top=TOP src dir for the project
--check-cxx-compiler=CHECK_CXX_COMPILER
list of C++ compilers to try [g++ clang++ icpc]
--check-c-compiler=CHECK_C_COMPILER
list of C compilers to try [gcc clang icc]
Build and installation options:
-p, --progress -p: progress bar; -pp: ide output
--targets=TARGETS task generators, e.g. "target1,target2"
Step options:
--files=FILES files to process, by regexp, e.g. "*/main.c,*/test/main.o"
Installation and uninstallation options:
-f, --force force file installation
--distcheck-args=ARGS
arguments to pass to distcheck
Python Options:
--nopyc Do not install bytecode compiled .pyc files (configuration) [Default:install]
--nopyo Do not install optimised compiled .pyo files (configuration) [Default:install]
--nopycache Do not use __pycache__ directory to install objects [Default:auto]
--python=PYTHON python binary to be used [Default: /usr/bin/python3]
--pythondir=PYTHONDIR
Installation path for python modules (py, platform-independent .py and .pyc files)
--pythonarchdir=PYTHONARCHDIR
Installation path for python extension (pyext, platform-dependent .so or .dylib files)
Ardupilot configure options:
--board=BOARD Target board to build, choices are ACNS-CM4Pilot, ACNS-F405AIO, aero, AeroFox-Airspeed, AeroFox-Airspeed-DLVR, AeroFox-GNSS_F9P, AeroFox-PMU,
airbotf4, AIRLink, Airvolute-DCS2, AnyleafH7, Aocoda-RC-H743Dual, AR-F407SmartBat, ARK_CANNODE, ARK_GPS, ARK_RTK_GPS, ARKV6X, AtomRCF405NAVI,
bbbmini, BeastF7, BeastF7v2, BeastH7, BeastH7v2, bebop, BETAFPV-F405, bhat, BirdCANdy, BlitzF745, BlitzF745AIO, BlitzH743Pro, BlitzMiniF745,
BlitzWingH743, blue, C-RTK2-HP, canzero, CarbonixF405, CarbonixL496, crazyflie2, CUAV-Nora, CUAV-Nora-bdshot, CUAV-X7, CUAV-X7-bdshot, CUAV_GPS,
CUAVv5, CUAVv5-bdshot, CUAVv5Nano, CUAVv5Nano-bdshot, CubeBlack, CubeBlack+, CubeBlack-periph, CubeGreen-solo, CubeOrange, CubeOrange-bdshot,
CubeOrange-joey, CubeOrange-ODID, CubeOrange-periph, CubeOrange-periph-heavy, CubeOrange-SimOnHardWare, CubeOrangePlus, CubeOrangePlus-bdshot,
CubeOrangePlus-SimOnHardWare, CubePilot-CANMod, CubePilot-PPPGW, CubePurple, CubeRedPrimary, CubeRedPrimary-PPPGW, CubeRedSecondary, CubeSolo,
CubeYellow, CubeYellow-bdshot, dark, DevEBoxH7v2, disco, DrotekP3Pro, Durandal, Durandal-bdshot, edge, erleboard, erlebrain2, esp32buzz,
esp32diy, esp32empty, esp32icarus, esp32nick, esp32s3devkit, esp32s3empty, esp32tomte76, f103-ADSB, f103-Airspeed, f103-GPS, f103-HWESC,
f103-QiotekPeriph, f103-RangeFinder, f103-Trigger, f303-GPS, f303-HWESC, f303-M10025, f303-M10070, f303-MatekGPS, f303-PWM, f303-TempSensor,
f303-Universal, F35Lightning, f405-MatekAirspeed, f405-MatekGPS, F4BY, FlyingMoonF407, FlyingMoonF427, FlyingMoonH743, FlywooF405Pro,
FlywooF405S-AIO, FlywooF745, FlywooF745Nano, fmuv2, fmuv3, fmuv3-bdshot, fmuv5, FoxeerF405v2, FoxeerH743v1, FreeflyRTK, G4-ESC, H757I_EVAL,
H757I_EVAL_intf, HEEWING-F405, HEEWING-F405v2, Here4AP, Here4FC, HerePro, Hitec-Airspeed, HitecMosaic, HolybroG4_Compass, HolybroG4_GPS,
HolybroGPS, iomcu, iomcu-dshot, iomcu-f103, iomcu-f103-dshot, iomcu_f103_8MHz, JFB100, JFB110, JHEMCU-GSF405A, JHEMCU-GSF405A-RX2, KakuteF4,
KakuteF4Mini, KakuteF7, KakuteF7-bdshot, KakuteF7Mini, KakuteH7, KakuteH7-bdshot, KakuteH7-Wing, KakuteH7Mini, KakuteH7Mini-Nand, KakuteH7v2,
kha_eth, linux, luminousbee4, luminousbee5, MambaF405-2022, MambaF405US-I2C, MambaF405v2, MambaH743v4, MatekF405, MatekF405-bdshot,
MatekF405-CAN, MatekF405-STD, MatekF405-TE, MatekF405-TE-bdshot, MatekF405-Wing, MatekF405-Wing-bdshot, MatekF765-SE, MatekF765-Wing,
MatekF765-Wing-bdshot, MatekH743, MatekH743-bdshot, MatekH743-periph, MatekL431-ADSB, MatekL431-Airspeed, MatekL431-BattMon, MatekL431-bdshot,
MatekL431-DShot, MatekL431-EFI, MatekL431-GPS, MatekL431-HWTelem, MatekL431-Periph, MatekL431-Proximity, MatekL431-Rangefinder, MatekL431-RC,
MatekL431-Serial, MazzyStarDrone, MicoAir405v2, mindpx-v2, mini-pix, modalai_fc-v1, mRo-M10095, mRoCANPWM-M10126, mRoControlZeroClassic,
mRoControlZeroF7, mRoControlZeroH7, mRoControlZeroH7-bdshot, mRoControlZeroOEMH7, mRoCZeroOEMH7-bdshot, mRoNexus, mRoPixracerPro,
mRoPixracerPro-bdshot, mRoX21, mRoX21-777, navigator, navio, navio2, Nucleo-G491, Nucleo-L476, Nucleo-L496, NucleoH743, NucleoH755, obal,
ocpoc_zynq, omnibusf4, omnibusf4pro, omnibusf4pro-bdshot, omnibusf4pro-one, omnibusf4v6, OMNIBUSF7V2, OmnibusNanoV6, OmnibusNanoV6-bdshot,
OrqaF405Pro, PH4-mini, PH4-mini-bdshot, Pix32v5, PixC4-Jetson, PixFlamingo, PixFlamingo-F767, Pixhawk1, Pixhawk1-1M, Pixhawk1-1M-bdshot,
Pixhawk1-bdshot, Pixhawk4, Pixhawk4-bdshot, Pixhawk5X, Pixhawk6C, Pixhawk6C-bdshot, Pixhawk6X, Pixhawk6X-bdshot, Pixhawk6X-ODID,
Pixhawk6X-PPPGW, PixPilot-C3, PixPilot-V3, PixPilot-V6, Pixracer, Pixracer-bdshot, Pixracer-periph, PixSurveyA1, PixSurveyA1-IND, PixSurveyA2,
pocket, pxf, pxfmini, QioTekAdeptF407, QioTekZealotF427, QioTekZealotH743, QioTekZealotH743-bdshot, R9Pilot, RADIX2HD, ReaperF745, revo-mini,
revo-mini-bdshot, revo-mini-i2c, revo-mini-i2c-bdshot, revo-mini-sd, rFCU, rGNSS, rst_zynq, SDMODELH7V1, SDMODELH7V2, Sierra-F405, Sierra-F412,
Sierra-F9P, Sierra-L431, Sierra-PrecisionPoint, Sierra-TrueNavIC, Sierra-TrueNavPro, Sierra-TrueNavPro-G4, Sierra-TrueNorth, Sierra-TrueSpeed,
sitl, SITL_arm_linux_gnueabihf, sitl_periph, sitl_periph_gps, sitl_periph_universal, SITL_static, SITL_x86_64_linux_gnu, SIYI_N7, SkystarsH7HD,
SkystarsH7HD-bdshot, skyviper-f412-rev1, skyviper-journey, skyviper-v2450, sparky2, speedybeef4, SpeedyBeeF405Mini, SpeedyBeeF405WING,
speedybeef4v3, speedybeef4v4, SPRacingH7, SPRacingH7RF, SuccexF4, sw-nav-f405, sw-spar-f407, Swan-K1, TBS-Colibri-F7, thepeach-k1, thepeach-r1,
TMotorH743, vnav, VRBrain-v51, VRBrain-v52, VRBrain-v54, VRCore-v10, VRUBrain-v51, YJUAV_A6, YJUAV_A6SE, YJUAV_A6SE_H743, YJUAV_A6Ultra,
ZubaxGNSS, zynq.
--debug Configure as debug variant.
-g, --debug-symbols
Add debug symbolds to build.
--disable-watchdog Build with watchdog disabled.
--coverage Configure coverage flags.
--Werror build with -Werror.
--disable-Werror Disable -Werror.
--toolchain=TOOLCHAIN
Override default toolchain used for the board. Use "native" for using the host toolchain.
--disable-gccdeps Disable the use of GCC dependencies output method and use waf default method.
--enable-asserts enable OS level asserts.
--save-temps save compiler temporary files.
--enable-malloc-guard
enable malloc guard regions.
--enable-stats enable OS level thread statistics.
--enable-ppp enable PPP networking.
--bootloader Configure for building a bootloader.
--signed-fw Configure for signed firmware support.
--private-key=PRIVATE_KEY
path to private key for signing firmware.
--no-autoconfig Disable autoconfiguration feature. By default, the build system triggers a reconfiguration whenever it thinks it's necessary - this option
disables that.
--no-submodule-update
Don't update git submodules. Useful for building with submodules at specific revisions.
--enable-header-checks
Enable checking of headers
--default-parameters=DEFAULT_PARAMETERS
set default parameters to embed in the firmware
--enable-math-check-indexes
Enable checking of math indexes
--disable-scripting
Disable onboard scripting engine
--enable-scripting Enable onboard scripting engine
--no-gcs Disable GCS code
--scripting-checks Enable runtime scripting sanity checks
--enable-onvif Enables and sets up ONVIF camera control
--scripting-docs enable generation of scripting documentation
--enable-opendroneid
Enables OpenDroneID
--enable-check-firmware
Enables firmware ID checking on boot
--enable-custom-controller
Enables custom controller
--enable-gps-logging
Enables GPS logging
--enable-dds Enable the dds client to connect with ROS2/DDS.
--disable-networking
Disable the networking API code
--enable-networking-tests
Enable the networking test code. Automatically enables networking.
--enable-dronecan-tests
Enables DroneCAN tests in sitl
Linux boards configure options:
--prefix=PREFIX installation prefix [default: '/usr/']
--destdir=DESTDIR installation root [default: '']
--bindir=BINDIR bindir
--libdir=LIBDIR libdir
--apstatedir=APSTATEDIR
Where to save data like parameters, log and terrain. This is the --localstatedir + ArduPilots subdirectory [default: board-dependent, usually
/var/lib/ardupilot]
--rsync-dest=RSYNC_DEST
Destination for the rsync Waf command. It can be passed during configuration in order to save typing.
--enable-benchmarks
Enable benchmarks.
--enable-lttng Enable lttng integration
--disable-libiio Don't use libiio even if supported by board and dependencies available
--disable-tests Disable compilation and test execution
--enable-sfml Enable SFML graphics library
--enable-sfml-joystick
Enable SFML joystick input library
--enable-sfml-audio
Enable SFML audio library
--osd Enable OSD support
--osd-fonts Enable OSD support with fonts
--sitl-osd Enable SITL OSD
--sitl-rgbled Enable SITL RGBLed
--force-32bit Force 32bit build
--build-dates Include build date in binaries. Appears in AUTOPILOT_VERSION.os_sw_version
--sitl-flash-storage
Use flash storage emulation.
--enable-ekf2 Configure with EKF2.
--disable-ekf3 Configure without EKF3.
--ekf-double Configure EKF as double precision.
--ekf-single Configure EKF as single precision.
--static Force a static build
--postype-single force single precision postype_t
--consistent-builds
force consistent build outputs for things like __LINE__
--extra-hwdef=EXTRA_HWDEF
Extra hwdef.dat file for custom build.
--assert-cc-version=ASSERT_CC_VERSION
fail configure if not using the specified gcc version
--num-aux-imus=NUM_AUX_IMUS
number of auxiliary IMUs
--board-start-time=BOARD_START_TIME
zero time on boot in microseconds
Ardupilot build options:
--program-group=PROGRAM_GROUP
Select all programs that go in <PROGRAM_GROUP>/ for the build. Example: `waf --program-group examples` builds all examples. The special group
"all" selects all programs.
--upload Upload applicable targets to a connected device. Not all platforms may support this. Example: `waf copter --upload` means "build arducopter and
upload it to my board".
--upload-port=UPLOAD_PORT
Specify the port to be used with the --upload option. For example a port of /dev/ttyS10 indicates that serial port 10 shuld be used.
--upload-force Override board type check and continue loading. Same as using uploader.py --force.
--summary-all Print build summary for all targets. By default, only information about the first 20 targets will be printed.
Ardupilot check options:
--check-verbose Output all test programs.
--define=DEFINE Add C++ define to build.
Ardupilot clean options:
--clean-all-sigs Clean signatures for all tasks. By default, tasks that scan for implicit dependencies (like the compilation tasks) keep the dependency
information across clean commands, so that that information is changed only when really necessary. Also, some tasks that don't really produce
files persist their signature. This option avoids that behavior when cleaning the build.
--asan Build using the macOS clang Address Sanitizer. In order to run with Address Sanitizer support llvm-symbolizer is required to be on the PATH.
This option is only supported on macOS versions of clang.
--ubsan Build using the gcc undefined behaviour sanitizer
--ubsan-abort Build using the gcc undefined behaviour sanitizer and abort on error
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