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折腾了一段时间Ardupilot的代码，先从例程开始学起，既然搞飞控，自然想到先从串口着手，下面分析一下UART_test的学习心得。打开源码最让人疑惑的就是这行代码：const AP_HAL::HAL& hal = AP_HAL::get_HAL();     首先它涉及到一个HAL类，它是属于AP_HAL空间的，所有要使用这个类而不再AP_HAL空间就需要加AP_HAL::

To build for a Pixhawk2/Pixhawk/PX4 target on Linux you need thefollowing tools and git repositories:The gcc-arm cross-compiler fromhereThe ardupilot git repository fromgithub.com/ArduPilot/ardupi

1.修改权限sudo usermod -a -G dialout $USER2.安装Ninjia Build Systemsudo add-apt-repository ppa:george-edison55/cmake-3.x -ysudo apt-get updatesudo apt-get install python-argparse git-core wget

px4_pollfd_struct_t fds[] = { { .fd = sensor_sub_fd, .events = POLLIN }, /* there could be more file descriptors here, in the form like: * { .fd = other_sub_fd, .events =