PX4 自动驾驶用户指南 (v1.13)

# CentOS 上的开发环境

开发环境编译工作需要 Python 2.7.5 的支持，因此本文使用 CentOS 7 操作系统。 See Toolchain Installation for information about the environments and tools we do support! （如使用更早版本的 CentOS 则需要额外安装 python v2.7.5）。

The build requires Python 2.7.5. Therefore as of this writing Centos 7 should be used. (For earlier Centos releases a side-by-side install of python v2.7.5 may be done. But it is not recommended because it can break yum.)

# 通用依赖项

The EPEL repositories are required for openocd libftdi-devel libftdi-python

wget https://dl.fedoraproject.org/pub/epel/7/x86_64/e/epel-release-7-5.noarch.rpm
sudo yum install epel-release-7-5.noarch.rpm
yum update
yum groupinstall “Development Tools”
yum install python-setuptools python-numpy
easy_install pyserial
easy_install pexpect
easy_install toml
easy_install pyyaml
easy_install cerberus
yum install openocd libftdi-devel libftdi-python python-argparse flex bison-devel ncurses-devel ncurses-libs autoconf texinfo libtool zlib-devel cmake vim-common

注解

You may want to also install python-pip and screen.

# GCC 工具链安装

Execute the script below to install GCC 7-2017-q4:

注意

This version of GCC is out of date. At time of writing the current version on Ubuntu is 9-2020-q2-update (see focal nuttx docker file (opens new window))

pushd .
cd ~
wget https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/7-2017q4/gcc-arm-none-eabi-7-2017-q4-major-linux.tar.bz2
tar -jxf gcc-arm-none-eabi-7-2017-q4-major-linux.tar.bz2
exportline="export PATH=$HOME/gcc-arm-none-eabi-7-2017-q4-major/bin:\$PATH"
if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
popd

Now restart your machine.

Troubleshooting

Check the version by entering the following command:

arm-none-eabi-gcc --version

The output should be something similar to:

arm-none-eabi-gcc (GNU Tools for Arm Embedded Processors 7-2017-q4-major) 7.2.1 20170904 (release) [ARM/embedded-7-branch revision 255204]
Copyright (C) 2017 Free Software Foundation, Inc.
This is free software; see the source for copying conditions.  There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

# Ninja Build System

Ninja (opens new window) is a faster build system than Make and the PX4 CMake generators support it.

On Ubuntu Linux you can install this automatically from normal repos.

sudo apt-get install ninja-build -y

Other systems may not include Ninja in the package manager. In this case an alternative is to download the binary and add it to your path:

mkdir -p $HOME/ninja
cd $HOME/ninja
wget https://github.com/martine/ninja/releases/download/v1.6.0/ninja-linux.zip
unzip ninja-linux.zip
rm ninja-linux.zip
exportline="export PATH=$HOME/ninja:\$PATH"
if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
. ~/.profile

← Arch Linux →