mirror of https://github.com/ArduPilot/ardupilot
57 lines
1.5 KiB
Plaintext
57 lines
1.5 KiB
Plaintext
To keep access to waf convenient, use the following alias from the
|
|
root ardupilot directory:
|
|
|
|
alias waf="$PWD/modules/waf/waf-light"
|
|
|
|
Waf should always be called from the ardupilot's root.
|
|
|
|
Differently from the make-based build, with waf there's a configure step
|
|
to choose the board to be used
|
|
|
|
# Configure the Linux board.
|
|
waf configure --board=linux
|
|
|
|
by default the board used is 'sitl'.
|
|
|
|
To build, use the 'waf build' command. This is the default command, so
|
|
calling just 'waf' is enough
|
|
|
|
# From the root ardupilot directory, build everything.
|
|
waf
|
|
|
|
# Waf also accepts '-j' option to parallelize the build.
|
|
waf -j8
|
|
|
|
It's possible to build for just a vehicle or an example by specifying it as the
|
|
target:
|
|
|
|
# From the top directory
|
|
waf --targets bin/ArduCopter
|
|
|
|
# List all the targets available
|
|
waf list
|
|
|
|
There are also shortcuts for vehicle builds, for example:
|
|
# Shortcut for waf --targets bin/ArduCopter
|
|
waf copter
|
|
|
|
By default all the files produced by the build will be inside the build/
|
|
subdirectory. The binaries will also be there, with the name identifying
|
|
the target board.
|
|
|
|
To clean things up use
|
|
|
|
# Clean the build products, but keep configure information
|
|
waf clean
|
|
|
|
# Clean everything, will need to call configure again
|
|
waf distclean
|
|
|
|
using git to clean the files also work fine.
|
|
|
|
There's also a make wrapper called "Makefile.waf". You can use
|
|
`make -f Makefile.waf help` for instructions on how to use it.
|
|
|
|
TODO: Add explanation on how the build system is organized once we
|
|
settle down.
|