PX4飛控學習(一)
阿新 • • 發佈:2019-01-28
一. linux下環境搭建
- 使用者需要 “dialout” 組 來訪問usb
cat >$HOME/rule.tmp <<_EOF
# All 3D Robotics (includes PX4) devices
SUBSYSTEM=="usb", ATTR{idVendor}=="26AC", GROUP="plugdev"
# FTDI (and Black Magic Probe) Devices
SUBSYSTEM=="usb", ATTR{idVendor}=="0483", GROUP="plugdev"
# Olimex Devices
SUBSYSTEM=="usb", ATTR{idVendor}=="15ba", GROUP="plugdev" _EOF
sudo mv \$HOME/rule.tmp /etc/udev/rules.d/10-px4.rules
sudo /etc/init.d/udev restart
sudo usermod -a -G dialout $USER
- 必要的工具
#cmake python gcc等編譯工具
sudo add-apt-repository ppa:george-edison55/cmake-3.x -y
sudo apt-get update
sudo apt-get install python-argparse git-core wget zip \
python-empy qtcreator cmake build-essential genromfs -y
#模擬工具
sudo apt-get install ant protobuf-compiler libeigen3-dev libopencv-dev openjdk-8-jdk openjdk-8-jre clang-3.5 lldb-3.5 -y
#ubuntu預設會安裝一個串列埠調變解調器的驅動,電腦重啟後會使用串列埠或usb串列埠,應該解除安裝
sudo apt-get remove modemmanager
#arm-gcc等工具
sudo add-apt-repository ppa:terry.guo/gcc-arm-embedded -y
sudo apt-get update
sudo apt-get install python-serial openocd flex bison libncurses5-dev autoconf texinfo build-essential libftdi-dev libtool zlib1g-dev python-empy gcc-arm-none-eabi gdb-arm-none-eabi -y
#stlink linux驅動
sudo apt-get install git libusb-1.0.0-dev
git clone https://github.com/texane/stlink.git
cd stlink
sudo make install
- PX4原始碼下載
mkdir -p ~/src
cd ~/src
#原始碼下載
git clone https://github.com/PX4/Firmware.git
cd Firmware
#專案依賴庫更新
git submodule update --init --recursive
cd ..
- 編譯
cd Firmware
make px4fmu-v2_default
make px4fmu-v2_default upload