Make编译Ardupilot源码的两种方法

编译环境准备

​ Ardupilot源码下载和PX4 toolchain工具链下载

​ (见https://www.cnblogs.com/BlogsOfLei/p/7707485.html)

​ 注意：最新版本的github已经支持下载工程项目中的子模块。如果喜欢git bash终端指令下载，可见：

​ https://www.cnblogs.com/BlogsOfLei/p/8624650.html

终端编译

​ 打开终端PX4 Console，进入固件对用的文件下。此处以编译四旋翼固件为例，如下图：

​ make px4-v2编译选项，选择编译px4-v2固件，回车确定，等待编译完成。编译成功得到的固件在ArduCopter文件下，名称为***.px4。

编译选项说明

make px4-v2	Build the Pixhawk firmware for a quad
make px4-v3	Build The Cube firmware for a quad
make px4-v4	Build the PixRacer firmware for quad
make px4	Build both PX4 (obsolete) and PixHawk firmware for a quadcopter
make clean	“clean” the ardupilot directory
make px4-clean	“clean” the PX4Firmware and PX4NuttX directories so the next build will completely rebuild them
make px4-cleandep	“clean” .d and .o files from the PX4Firmware and PX4NuttX directories. faster but less complete rebuild compared to “px4-clean”
make px4-v2-upload	Build and upload the Pixhawk firmware for a quad (i.e. no need to upload using a ground station)

Eclipse 编译

• Eclipse IDE环境的配置请见https://www.cnblogs.com/BlogsOfLei/p/7707485.html。

• 选择编译目录

　　

• 新加编译选项

　　

• 点击编译选项进行编译，等待编译完成。编译成功后，生成的目标文件位于ArduCopter目录文件下，格式为***.px4。

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