APM最新固件（20181220）

最新推荐文章于 2024-07-19 10:02:50 发布

yxq_1234

最新推荐文章于 2024-07-19 10:02:50 发布

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本文链接：https://blog.csdn.net/yxq_1234/article/details/85784602

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ardupilot/Makefile

MAKEFILE_LIST
WAF_BINARY= …/modules/waf/waf-light
WAF = python WAF_BINARY WAF_FLAGS
EXPLICIT_COMMANDS=‘check’ ‘check-all’ ‘clean’ ‘list_boards’
VEHICLES = ‘copter’ ‘plane’ ‘rover’ ‘sub’ ‘heli’
BOARD_LIST = WAF list_boards

sim_vehicle.py

WAF build //对应脚本279行
Configure waf
''ardupilot/modules/waf/waf-light"（287行） ''configure" ‘’–board" “sitl”（289行）
Setting top to “/ardupilot”
Setting out to “/ardupilot/build”
Autoconfiguration “enable”
Setting board to “sitl”
/usr/bin/g++
/usr/bin/gcc
cxx flags ‘-MMD’
‘/usr/bin/python’
’configure’ finished successfully.
Building
“/ardupilot/modules/waf/waf-light” “build” “–target” “bin/arducopter”（305行）
Waf: ‘/ardupilot/build/sitl’
333行“param_parse_path=ardupilot/Tools/autotest/param_metadata/param_parse.py”
cmd_param_build=“python …/param_parse.py --vehilce”
def do_build(vehicledir, opts, frame_options):
如果opts=“waf”，则执行 do_build_waf(opts,frame_options )
’build’ finished successfully
sim_vehilce: using defaults from (/ardupilot/Tools/autotest/default_params/copter.parm)
Run ArduCopter
“/ardupilot/Tools/autotest/run_in_terminal_window.sh” “ArduCopter” “/ardupilot/build/sitl/bin/arducopter”
“-S” “-I0” “–home” “-w” “–model” “–speedup” “–defaults” 依次对应540至547行 “/ardupilot/Tools/autotest/default_params/copter.parm” “-S” “-I0” “–home” “-w” “–model” “–speedup” “–defaults” “/ardupilot/Tools/autotest/default_params/copter.parm”

def start_mavproxy(opts,stuff)

如果在Windows下，/usr/bin/cygstart -w mavproxy.exe，否则mavproxy.py。
如果选择HTL，则“–load-module” “HIL”；
否则（“–master”,mavlink_port）,
如果stuff[“sitl-port”]，则（"–sitl", simout_port）