PX4-V1.14开发笔记（1）：下载px4代码

由于PX4-Autopilot托管在github，在国内下载可能遇到各种网络问题导致无法下载。为了提高下载速度，我们将PX4在github上的仓库以及其子仓库（依赖仓库）都搬移到gitee上了。

我们在gitee上创建了一个组织 px4-autopilot_v1-14做为镜像，一定能确保快速、稳定的下载。

这里我们详细说明下如何下载代码。

下载主仓库

我们在gitee上建立了PX4-Autopilot的镜像仓库。

git clone https://gitee.com/px4-autopilot_v1-14/PX4-Autopilot.git

下载完成后检出v1.14.3标签。

git checkout v1.14.3

下载子模块

通过修改.gitmodules的方式

一级子模块仓库

更换PX4-Autopilot/.gitmodules文件的内容，用如下替代：

[submodule "src/modules/mavlink/mavlink"]
    path = src/modules/mavlink/mavlink
    url = https://gitee.com/px4-autopilot_v1-14/mavlink.git
    branch = master
[submodule "src/drivers/uavcan/libuavcan"]
    path = src/drivers/uavcan/libuavcan
    url = https://gitee.com/px4-autopilot_v1-14/libuavcan.git
    branch = main
[submodule "Tools/simulation/jmavsim/jMAVSim"]
    path = Tools/simulation/jmavsim/jMAVSim
    url = https://gitee.com/px4-autopilot_v1-14/jMAVSim.git
    branch = main
[submodule "Tools/simulation/gazebo-classic/sitl_gazebo-classic"]
    path = Tools/simulation/gazebo-classic/sitl_gazebo-classic
    url = https://gitee.com/px4-autopilot_v1-14/PX4-SITL_gazebo-classic.git
    branch = main
[submodule "src/drivers/gps/devices"]
    path = src/drivers/gps/devices
    url = https://gitee.com/px4-autopilot_v1-14/PX4-GPSDrivers.git
    branch = main
[submodule "platforms/nuttx/NuttX/nuttx"]
    path = platforms/nuttx/NuttX/nuttx
    url = https://gitee.com/px4-autopilot_v1-14/NuttX.git
    branch = px4_firmware_nuttx-10.3.0+-v1.14
[submodule "platforms/nuttx/NuttX/apps"]
    path = platforms/nuttx/NuttX/apps
    url = https://gitee.com/px4-autopilot_v1-14/NuttX-apps.git
    branch = px4_firmware_nuttx-10.3.0+
[submodule "Tools/flightgear_bridge"]
    path = Tools/simulation/flightgear/flightgear_bridge
    url = https://gitee.com/px4-autopilot_v1-14/PX4-FlightGear-Bridge.git
[submodule "Tools/simulation/jsbsim/jsbsim_bridge"]
    path = Tools/simulation/jsbsim/jsbsim_bridge
    url = https://gitee.com/px4-autopilot_v1-14/px4-jsbsim-bridge.git
[submodule "src/drivers/cyphal/libcanard"]
    path = src/drivers/cyphal/libcanard
    url = https://github.com/opencyphal/libcanard.git

[submodule "src/drivers/cyphal/public_regulated_data_types"]
    path = src/drivers/cyphal/public_regulated_data_types
    url = https://gitee.com/px4-autopilot_v1-14/public_regulated_data_types.git
[submodule "src/drivers/cyphal/legacy_data_types"]
    path = src/drivers/cyphal/legacy_data_types
    url = https://gitee.com/px4-autopilot_v1-14/PX4-public_regulated_data_types.git
    branch = legacy

[submodule "src/lib/crypto/monocypher"]
    path = src/lib/crypto/monocypher
    url = https://gitee.com/px4-autopilot_v1-14/Monocypher.git
    branch = px4
[submodule "src/lib/events/libevents"]
    path = src/lib/events/libevents
    url = https://gitee.com/px4-autopilot_v1-14/libevents.git
    branch = main
[submodule "src/lib/crypto/libtomcrypt"]
    path = src/lib/crypto/libtomcrypt
    url = https://gitee.com/px4-autopilot_v1-14/libtomcrypt.git
    branch = px4
[submodule "src/lib/crypto/libtommath"]
    path = src/lib/crypto/libtommath
    url = https://gitee.com/px4-autopilot_v1-14/libtommath.git
    branch = px4
[submodule "src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client"]
    path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
    url = https://gitee.com/px4-autopilot_v1-14/Micro-XRCE-DDS-Client.git
    branch = px4

 这里我们对.gitmodules文件进行下说明。

[submodule "src/modules/mavlink/mavlink"]
path = src/modules/mavlink/mavlink
url = https://gitee.com/px4-autopilot_v1-14/mavlink.git branch = master

• path：相对当前.gitmodules的路径，也就是仓库下载后保存的路径；
• url：仓库地址，这里我们统一修改为gitee上的镜像地址；
• branch：分支，下载后自动检出；

同步子模块仓库地址

git submodule sync --recursive

更新（下载）子模块

git submodule update --init --recursive

二级子模块仓库

在下载完子仓库后，会继续下载子仓库的依赖仓库，这时会遇到例如flightgear的依赖仓库无法下载的问题，同样对仓库路径进行修改即可。

修改flightgear_bridge相关仓库地址

更换Tools\simulation\flightgear\flightgear_bridge\.gitmodules文件的内容，用如下替代：

[submodule "models/FlightGear-Rascal"]
    path = models/Rascal
    url = https://gitee.com/px4-autopilot_v1-14/FlightGear-Rascal.git
[submodule "models/FlightGear-TF-G1"]
    path = models/TF-G1
    url = https://gitee.com/px4-autopilot_v1-14/FlightGear-TF-G1.git
[submodule "models/FlightGear-TF-R1"]
    path = models/TF-R1
    url = https://gitee.com/px4-autopilot_v1-14/FlightGear-TF-R1.git
[submodule "models/FlightGear-TF-G2"]
    path = models/TF-G2
    url = https://gitee.com/px4-autopilot_v1-14/FlightGear-TF-G2.git

重新运行

git submodule sync --recursive
git submodule update --init --recursive

如果一些子仓库没有下载，可以手动下载然后拷贝：

# 下载
git clone https://gitee.com/px4-autopilot_v1-14/FlightGear-TF-G1.git    
git clone https://gitee.com/px4-autopilot_v1-14/FlightGear-Rascal.git    
# 拷贝
cp -r .\FlightGear-TF-G1\* E:\A-respository\D-px4\PX4-Autopilot\Tools\simulation\flightgear\flightgear_bridge\models\TF-G1
cp -r .\FlightGear-Rascal\* E:\A-respository\D-px4\PX4-Autopilot\Tools\simulation\flightgear\flightgear_bridge\models\Rascal

修改libevents相关仓库地址

紧接着再修改src\lib\events\libevents\.gitmodules文件的内容，用如下替代：

[submodule "libs/cpp/parse/nlohmann_json"]
    path = libs/cpp/parse/nlohmann_json
    url = https://gitee.com/px4-autopilot_v1-14/nlohmann_json.git

如果出现以下问题： 

fatal: could not get a repository handle for submodule 'libs/cpp/parse/nlohmann_json'

可以先下载： 

git clone https://gitee.com/px4-autopilot_v1-14/nlohmann_json.git

然后拷贝至指定目录：

cp -r nlohmann_json/* E:\A-respository\D-px4\PX4-Autopilot\src\lib\events\libevents\libs\cpp\parse\nlohmann_json 

修改mavlink相关仓库地址

紧接着再修改src\modules\mavlink\mavlink\.gitmodules文件的内容，用如下替代：

[submodule "pymavlink"]
    path = pymavlink
    url = https://gitee.com/px4-autopilot_v1-14/pymavlink.git

修改eProsima相关仓库地址

修改PX4-Autopilot/src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client/cmake/SuperBuild.cmake文件的内容，用如下代替

#https://github.com/eProsima/Micro-CDR.git
#替换为：
https://gitee.com/px4-autopilot_v1-14/Micro-CDR.git

# https://github.com/google/googletest.git
# 替换为
https://gitee.com/px4-autopilot_v1-14/googletest.git

通过仓库地址替换方式（简单）

我们已经将所有子仓库都放到了gitee，那么可以在命令行中使用git的insteadOf命令将github仓库路径替换为gitee镜像地址，这样就不用去修改文件了。

进入PX4-Autopilot路径后，将其子仓库的github地址替换为gitee地址即可，例如：

git config --global url."https://github.com/mavlink/mavlink.git".insteadOf https://gitee.com/px4-autopilot_v1-14/m

 关于NextPilot飞控

NextPilot飞控系统是一款基于px4和rt-thread的国产开源自动驾驶仪，由NextPilot开发团队（nextpilot@qq.com）负责维护。它能够便捷的应用于教育、研究和工业等领域，让工程师专注于自己的擅长领域（比如嵌入式、控制算法、应用业务）进行高效的开发。

• 官方网站：https://www.nextpilot.org
• 开发指南：https://www.nextpilot.org/develop
• 用户手册：https://www.nextpilot.org/manual
• 开源仓库：https://github.com/nextpilot/nextpilot-flight-control
• 开发工具：https://github.com/nextpilot/nextpilot-windows-toolchain
• 联系我们：nextpilot@qq.com