px4固件编译过程梳理与问题分析

安装Firmware-v1.9.2分支
在Ubuntu18.04系统上安装
1.先git软件包

git clone -b v1.9.2 https://github.com/PX4/Firmware.git
git submodule update --init --recursive

2.将px4_fmu-v5_default.px4放到/home/lwz/Firmware192/cmake/configs/uavcan_board_ident目录下
3.在/home/lwz/Firmware192/Tools/setup目录下

./ubuntu.sh

4、安装完成后

make px4_fmu-v5_default

5、在build文件夹中可以看到编译后的固件

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一些问题与解决

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1、执行pip3 install --user numpy
报错Command "/usr/bin/python3 -u -c "import setuptools, tokenize;__file__='/tmp/pip-build-9srzmt13/numpy/setup.py';f=getattr(tokenize, 'open', open)(__file__);code=f.read().replace('\r\n', '\n');f.close();exec(compile(code, __file__, 'exec'))" install --record /tmp/pip-c_5b3uer-record/install-record.txt --single-version-externally-managed --compile --user --prefix=" failed with error code 1 in /tmp/pip-build-9srzmt13/numpy/
解决方法： sudo apt-get install python3-dev
2、
修改python的默认版本

sudo apt update
sudo apt install software-properties-common
sudo add-apt-repository ppa:deadsnakes/ppa
sudo apt install python3.5
python3.5 -V
which python3.5
sudo update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.5 1
which python3.4
sudo update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.4 2
sudo update-alternatives --config python3
python3 -V

3、Linux下python报错：ModuleNotFoundError: No module named ‘apt_pkg‘
3.4到3.5

sudo apt-get install -f -y python3-apt
cd /usr/lib/python3/dist-packages/
sudo cp apt_pkg.cpython-34m-x86_64-linux-gnu.so apt_pkg.cpython-35m-x86_64-linux-gnu.so
sudo ln -s apt_pkg.cpython-35m-x86_64-linux-gnu.so apt_pkg.so

4、sudo apt install --fix-missing python3-pip