Cygwin工具编译Ardupilot方法

注意：该编译方法生成的固件基于Chibios系统，如果想要Nuttx系统固件，需采用make编译，步骤见make编译说明部分。

软件安装准备

• 安装Cygwin

  • 打开链接www.cygwin.com/install.html ，选择下载setup-x86_64.exe

  • 安装应用程序，在安装界面中选择网络安装和下载包服务器地址，直到进入下图界面

  

  • 在搜索框中搜索待安装的包，并点击skip按钮选择安装版本，选择成功后bin选择被打钩，表示选择安装有效。依次搜索下表中的包，并选择安装有效。全被选择完成之后，点击下一步进行安装(下载包和安装包过程需要一段比较长的时间，需耐心等待)。

  

  Package Name	Category / Name / Description
  autoconf	Devel | autoconf: Wrapper scripts for autoconf commands
  automake	Devel | automake: Wrapper scripts for automake and aclocal
  ccache	Devel | ccache: A C compiler cache for improving recompilation
  gcc-g++	Devel | gcc-g++ GNU Compiler Collection (C++)
  git	Devel | git: Distributed version control system
  libtool	Devel | libtool: Generic library support script
  make	Devel | make: The GNU version of the ‘make’ utility
  gawk	Interpreters | gawk: GNU awk, a pattern scanning and processing language
  libexpat-devel	Libs | libexpat-devel: Expat XML parser library (development files)
  libxml2-devel	Libs | libxml2-devel: Gnome XML library (development)
  libxslt-devel	Libs | libxslt-devel: XML template library (development files)
  python2-devel	Python | python2-devel: Python2 language interpreter (python3 does not work yet)
  python2-future	Python | python2-future: Clean single-source support for Python 3 and 2
  python2-libxml2	Python | python2-libxml2: Gnome XML Library (Python bindings
  python2-pip	Python | python2-pip: Python package installation tool
  procps-ng	System | procps-ng: System and process monitoring utilities (required for pkill)
  gdb	Devel | gdb: The GNU Debugger
  ddd	Devel | ddd: DDD, the data display debugger
  zip	Archive | zip: Info-ZIP compression utility

• 打开Cygwin64 Terminal(从桌面快捷方式或者开始菜单中打开)，输入以下指令安装依赖的python组件包。

    pip2 install empy
  ​
    pip2 install pyserial
  ​
    pip2 install pymavlink

• 安装GCC编译器(http://firmware.ardupilot.org/Tools/STM32-tools/gcc-arm-none-eabi-6-2017-q2-update-win32-sha2.exe)，安装过程中选择Add path to environment variable。

编译目标程序

• 打开Cygwin64 Terminal，进入Ardupilot工程目录下

• 查看能编译目标板指令

  ./waf list_boards

• 配置目标板，以下列出常用的配置目标板指令：

  ./waf configure --board bebop --static # Bebop or Bebop2
  ./waf configure --board edge           # emlid edge
  ./waf configure --board fmuv3          # Pixhawk2/Cube using ChibiOS
  ./waf configure --board fmuv4          # Pixracer using ChibiOS
  ./waf configure --board navio2         # emlid navio2
  ./waf configure --board Pixhawk1       # Pixhawk1
  ./waf configure --board CubeBlack      # Pixhawk2
  ./waf configure --board Pixracer       # Pixracer
  ./waf configure --board skyviper-v2450 # SkyRocket's SkyViper GPS drone using ChibiOS
  ./waf configure --board sitl           # software-in-the-loop simulator
  ./waf configure --board sitl --debug   # software-in-the-loop simulator with debug symbols

  此处编译pixhawk1为例。输入指令./waf configure --board Pixhawk1。注意区分大小写。

  

• 编译目标指令。输入以下指令编译四旋翼固件，固件格式为apj和bin，其中apj可通过MissionPlaner地面站烧写至目标板。

  ./waf --targets bin/arducopter

  

关于waf编译详细说明请见文档：https://github.com/ArduPilot/ardupilot/blob/master/BUILD.md