pixhawk开发环境

Windows 7 64bit

软件安装

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首先，需要安装一些软件，CMake、32位的Java jdk以及PX4 Toolchain Installer。 
CMake的话笔者使用的是CMake-3.3.2-win32-x86版本。 
关于CMake的安装有一点需要注意，在第三步Install Options安装选项中，需要将CMake加入到系统路径中： 
 
Java sdk： 
 
Eclipse 需要 Java，用命令 java -version 来查看 Java 是否配置 成功。 

接下来进行PX4固件相关的配置，安装PX4 Toolchain Installer，默认安装在C盘根目录下，笔者不服，非要安装在D盘，安装的时候一路下一步就行。

安装完以后在开始菜单会出现一套工具链包括，PX4Console、PX4Ecplise. 

代码编译

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打开PX4console，下载PX4固件，输入指令：

<code class="hljs php has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;">git <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">clone</span> https:<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//github.com/PX4/Firmware.git</span></code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li></ul>

切换到Firmware文件夹，输入指令：

<code class="hljs bash has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cd</span> Firmware</code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li></ul>

之后输入指令：

<code class="hljs brainfuck has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">git</span> <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">submodule</span> <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">update</span> <span class="hljs-literal" style="color: rgb(0, 102, 102); box-sizing: border-box;">-</span><span class="hljs-literal" style="color: rgb(0, 102, 102); box-sizing: border-box;">-</span><span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">init</span> <span class="hljs-literal" style="color: rgb(0, 102, 102); box-sizing: border-box;">-</span><span class="hljs-literal" style="color: rgb(0, 102, 102); box-sizing: border-box;">-</span><span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">recursive</span></code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li></ul>

（根据网速耗时有差异，耐心等待）

关键一步

在开始最后的编译之前，有一个步骤必不可少，将arm-none-eabi-gcc 4.7.4换成4.8.4，下载4.8.4版本的压缩文件。

解压后将这四个文件夹复制并替换到PX4Toolchain安装目录下的toolchain文件夹下，这里笔者替换到的文件夹为D:\px4\toolchain。

随后启动PX4 Console控制台进行编译，先进入Firmware文件夹，输入指令：

<code class="hljs bash has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cd</span> Firmware</code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li></ul>

进行编译

<code class="hljs lasso has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;">make px4fmu<span class="hljs-attribute" style="box-sizing: border-box;">-v2_default</span></code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li></ul>

（漫长的等待，可能需要半个小时）

编译成功的界面如下：

如果在没有进行arm-none-eabi-gcc 4.7.4替换的情况下直接进行固件编译，则会出现如下所示的错误：

为时不晚，依然来得及将下载好的4.8.4版arm-none-eabi-gcc解压并替换掉Toolchain文件夹下的相应文件。

之后重启PX4Console控制台，首先还是先进入到Firmware文件夹下：

<code class="hljs bash has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cd</span> Firmware</code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li></ul>

输入指令：

<code class="hljs go has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">make</span> clean</code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li></ul>

清除上一次的编译，然后重新编译，输入指令：

<code class="hljs lasso has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;">make px4fmu<span class="hljs-attribute" style="box-sizing: border-box;">-v2_default</span></code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li></ul>

（又是漫长的等待，但是等待都是值得的） 

固件烧录

将飞控板通过USB连接电脑，输入以下指令即可完成固件的烧录：

<code class="hljs lasso has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;">make px4fmu<span class="hljs-attribute" style="box-sizing: border-box;">-v2_default</span> upload</code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li></ul>

烧录成功的界面如下图： 

配置Eclipse

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现在控制台已经编译成功了，接下来就是进行Eclipse的配置了

• 打开PX4Eclipse。

第一次启动时，选择好workplace，并勾选Use this as the default and……。由于笔者以D盘作为工作目录，因此这里依然保持将workplace放置在D盘。

• 建立工程

File -> New -> Makefile Project with Existing Code。 
然后点击Browse……到D:\px4\Firmware，并选择Cross GCC，点击Finish。 

然后进入Workbench：

• 创建编译目标

可以在右边板块中Make Target（ 或者菜单 Window -> Show View -> Make Target 也可以打开）,选中根文件夹（Firmware），可以创建新的 make Target（绿色圆形按钮）。 如创建目标 px4fmu-v2_default 

px4fmu-v2_default创建好如下：

同理创建目标：all,archives,clean,distclean,px4io-v2_default, px4fmu-v2_default upload

• 各 make target 说明

  • all – builds the autopilot software (depends on archives)
  • archives– 编译实时系统 NuttX OS
  • distclean– 删除所有编译的文件，包括编译的操作系统
  • clean – 删除编译的固件相关文件，不会清除archives
  • px4fmu-v2_default—FMU 固件
  • px4io-v2_default—IO 固件
  • px4fmu-v2_default upload – 烧录固件到飞控板

• 路径配置 
  必须配置好Eclipse软件的路径才能进行编译，这一步至关重要。 
  打开eclipse软件，打开目录栏的Project -> Priorities 
   
  有点意思的是，你得先打开左边Firmware中的随便一个文件，否则Priorities这一项会是灰色的，无法进行操作。 
  打开相应栏，更改CWD、PWD的路径： 
  开始的路径（如果装在默认路径则为C：\px4） 
  然后你的CWD路径为 C:\px4\Firmware 
  这里将路径改为 /D/px4/Firmware 
  差别不大，还望仔细，笔者当时在这个问题上可是纠结了特别久，无限的报错，not contain Cmakelists.txt。也是得到高人相助，开始人指出来笔者还根本看不出，然后仔细的发现原来是：“\”、“/”“这样的问题。 
  然后再将PWD的路径也做相应的更改。

• 编译固件 
  点击上述Target中的px4fmu-v2_default，即可进行编译。此操作与在Console控制台中输入make有同样的效果。

• 烧录固件 
  固件的烧录可以直接使用QGC地面站进行。也可以在PX4 Console或者PX4 Eclipse中进行，编译成功后在PX4 Eclipse界面右侧点击Target中的px4fmu-v2_default upload即可进行固件的烧录。这样就可以将自己的算法加入到原生固件中了。

至此，在Windows环境下编译Pixhawk原生固件PX4的操作已经完成。

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Ubuntu 14.04 LTS

笔者同时也进行了Ubuntu上的环境搭建。跟随大流，笔者安装了Ubutnu 14.04 LTS虚拟机，64位操作系统。

在Ubuntu上搭建环境相对简单许多，按照PX4中文维基官网的教程即可。

工具链安装

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• 权限设置

把用户添加到用户组　“dialout”（如果这步没做，会导致很多用户权限问题）:

<code class="hljs bash has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">sudo</span> usermod <span class="hljs-operator" style="box-sizing: border-box;">-a</span> -G dialout <span class="hljs-variable" style="color: rgb(102, 0, 102); box-sizing: border-box;">$USER</span></code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li></ul>

然后注销后，重新登录，因为重新登录后所做的改变才会有效

• 安装CMake

<code class="hljs bash has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">sudo</span> add-apt-repository ppa:george-edison55/cmake-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">3</span>.x -y<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">sudo</span> apt-get update<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">sudo</span> apt-get install python-argparse git-core wget zip \    python-empy qtcreator cmake build-essential genromfs -y<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># simulation tools</span><span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">sudo</span> apt-get install ant protobuf-compiler libeigen3-dev libopencv-dev openjdk-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">7</span>-jdk openjdk-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">7</span>-jre clang-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">3.5</span> lldb-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">3.5</span> -y</code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li></ul>

• 卸载模式管理器

Ubuntu配备了一系列代理管理，这会严重干扰任何机器人相关的串口（或usb串口），卸载掉它也不会有什么影响。

<code class="hljs bash has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">sudo</span> apt-get remove modemmanager</code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li></ul>

• 更新包列表和安装下面的依赖包

<code class="hljs lasso has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;">sudo add<span class="hljs-attribute" style="box-sizing: border-box;">-apt</span><span class="hljs-attribute" style="box-sizing: border-box;">-repository</span> ppa:terry<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">.</span>guo/gcc<span class="hljs-attribute" style="box-sizing: border-box;">-arm</span><span class="hljs-attribute" style="box-sizing: border-box;">-embedded</span> <span class="hljs-attribute" style="box-sizing: border-box;">-y</span>sudo apt<span class="hljs-attribute" style="box-sizing: border-box;">-get</span> updatesudo apt<span class="hljs-attribute" style="box-sizing: border-box;">-get</span> install python<span class="hljs-attribute" style="box-sizing: border-box;">-serial</span> openocd <span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;">\</span>    flex bison libncurses5<span class="hljs-attribute" style="box-sizing: border-box;">-dev</span> autoconf texinfo build<span class="hljs-attribute" style="box-sizing: border-box;">-essential</span> <span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;">\</span>    libftdi<span class="hljs-attribute" style="box-sizing: border-box;">-dev</span> libtool zlib1g<span class="hljs-attribute" style="box-sizing: border-box;">-dev</span> <span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;">\</span>    python<span class="hljs-attribute" style="box-sizing: border-box;">-empy</span> gcc<span class="hljs-attribute" style="box-sizing: border-box;">-arm</span><span class="hljs-attribute" style="box-sizing: border-box;">-none</span><span class="hljs-attribute" style="box-sizing: border-box;">-eabi</span> <span class="hljs-attribute" style="box-sizing: border-box;">-y</span></code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li></ul>

代码编译

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根据PX4中文维基官网教程。

• 安装Git

<code class="hljs lasso has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;">sudo apt<span class="hljs-attribute" style="box-sizing: border-box;">-get</span> install git<span class="hljs-attribute" style="box-sizing: border-box;">-all</span></code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li></ul>

• 下载代码

<code class="hljs php has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;">mkdir -p ~/srccd ~/srcgit <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">clone</span> https:<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//github.com/PX4/Firmware.git</span></code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li></ul>

• 初始化 
  先进入Firmware文件夹，进而进行初始化、更新子模块操作，耐心的等待……

<code class="hljs brainfuck has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">cd</span> <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">Firmware</span><span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">git</span> <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">submodule</span> <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">update</span> <span class="hljs-literal" style="color: rgb(0, 102, 102); box-sizing: border-box;">-</span><span class="hljs-literal" style="color: rgb(0, 102, 102); box-sizing: border-box;">-</span><span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">init</span> <span class="hljs-literal" style="color: rgb(0, 102, 102); box-sizing: border-box;">-</span><span class="hljs-literal" style="color: rgb(0, 102, 102); box-sizing: border-box;">-</span><span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">recursive</span></code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li></ul>

• 编译 
  在上一步的操作结束之后，即可进行编译：

<code class="hljs lasso has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;">make px4fmu<span class="hljs-attribute" style="box-sizing: border-box;">-v2_default</span></code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li></ul>

注意到“make”是一个字符命令编译工具，“px4fmu-v2”是硬件版本，“default”是默认配置，所有的PX4编译目标遵循这个规则。

与Windows环境中相同，这里也可能因为gcc-arm-none-eabi版本不对，需要进行版本升级到4.8.4，方法如下：

• 下载gcc-arm-none-eabi 4.8.4，对于的文件夹命名为arm-none-eabi-4_8-2014**q3**

<code class="hljs avrasm has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;">wget https://launchpadlibrarian<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">.net</span>/<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">186124160</span>/gcc-arm-none-eabi-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">4</span>_8-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2014</span>q3-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">20140805</span>-linux<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">.tar</span><span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">.bz</span>2</code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li></ul>

• 去旧迎新

<code class="hljs bash has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">pushd</span> .<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># => 卸载新版的gcc-arm-none-eabi</span><span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">sudo</span> apt-get remove gcc-arm-none-eabi<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># => 安装下载好的gcc-arm-none-eabi</span>tar xjvf gcc-arm-none-eabi-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">4</span>_8-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2014</span>q3-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">20140805</span>-linux.tar.bz2<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">sudo</span> mv gcc-arm-none-eabi-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">4</span>_8-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2014</span>q3 /optexportline=<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"export PATH=/opt/gcc-arm-none-eabi-4_8-2014q3/bin:\$PATH"</span><span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> grep -Fxq <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"<span class="hljs-variable" style="color: rgb(102, 0, 102); box-sizing: border-box;">$exportline</span>"</span> ~/.profile; <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">then</span> <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">echo</span> nothing to <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">do</span> ; <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span> <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">echo</span> <span class="hljs-variable" style="color: rgb(102, 0, 102); box-sizing: border-box;">$exportline</span> >> ~/.profile; <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">fi</span><span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># => 使路径生效</span>. ~/.profile<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">popd</span></code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li></ul>

笔者装的是Ubuntu 64位系统，而上述arm-none-eabi是直接下载的编译好的32位，还需要安装一个东西

<code class="hljs lasso has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;">sudo apt<span class="hljs-attribute" style="box-sizing: border-box;">-get</span> install lsb<span class="hljs-attribute" style="box-sizing: border-box;">-core</span></code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li></ul>

可以检查arm-none-eabi 4.8.4是否安装成功，输入以下指令：

<code class="hljs lasso has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;">arm<span class="hljs-attribute" style="box-sizing: border-box;">-none</span><span class="hljs-attribute" style="box-sizing: border-box;">-eabi</span><span class="hljs-attribute" style="box-sizing: border-box;">-g</span><span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;">++</span> <span class="hljs-attribute" style="box-sizing: border-box;">-v</span></code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li></ul>

如果出现如下信息，交叉编译环境搭建就没有什么问题了 

• 编译

<code class="hljs bash has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cd</span> ~/src/Firmwaremake</code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li></ul>

进入Firmware所在的文件夹，make成功后，显示如下： 

Qt Creator

---

Qt Creator是官方唯一支持的IDE，在Ubuntu上针对PX4固件使用，便于看代码的同时也可以进行编译烧录。

• 安装Qt

<code class="hljs bash has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">sudo</span> apt-get install qtcreator</code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li></ul>

Qt Creator的常见功能如下： 

在打开Qt之前，应该创建project文件：

<code class="hljs bash has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cd</span> ~/src/Firmwaremkdir ../Firmware-build<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cd</span> ../Firmware-buildcmake ../Firmware -G <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"CodeBlocks - Unix Makefiles"</span><span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">#可以发现Firmware-build目录生成了一些文件</span></code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li></ul>

• 打开Qt 
   
  Ubuntu用户只要导入主文件夹里的CMakeLists.txt文件就可以了，打开Qt，通过File -> Open File or Project -> 选择CMakeLists.txt (默认位置在Firmware文件夹根目录下) 
  

• 项目配置 
  选择src/Firmware-build作为构建目录 
   
  运行设置 
  

• 编译 
  

至此，在Windows已经Ubuntu下的环境搭建已经全部搭建成功。 
现在是2016.7.26 19:37 为了确保方法的有效性，笔者已经在都装有Ubuntu虚拟机的笔记本和台式机上用上述方法完成了两种系统下环境搭建、代码编译的复现，亲测有效。