mirror of https://github.com/ArduPilot/ardupilot
132 lines
4.4 KiB
Markdown
132 lines
4.4 KiB
Markdown
# ArduPilot Project
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You can find lots of development information at the [ArduPilot development site](http://dev.ardupilot.com)
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#### To compile APM2.x Ardupilot after version 3.1 please follow the instructions found at
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[Arduino Tools] (http://firmware.diydrones.com/Tools/Arduino/)
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## Getting the source
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You can either download the source using the "ZIP" button at the top
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of the github page, or you can make a clone using git:
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```
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git clone git://github.com/diydrones/ardupilot.git
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```
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## Prerequisites
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### Ubuntu Linux
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The following packages are required to build ardupilot for the
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APM1/APM2 (Arduino) platform in Ubuntu: `gawk make git arduino-core
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g++`
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To build ardupilot for the PX4 platform, you'll first need to install
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the PX4 toolchain and download the PX4 source code. See the [PX4
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toolchain installation
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page](https://pixhawk.ethz.ch/px4/dev/toolchain_installation_lin).
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The easiest way to install all these prerequisites is to run the
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`ardupilot/Tools/scripts/install-prereqs-ubuntu.sh` script, which will
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install all the required packages and download all the required
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software.
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## Building using the Arduino IDE
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ArduPilot is no longer compatible with the standard Arduino
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distribution. You need to use a patched Arduino IDE to build
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ArduPilot.
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Do not try to use the Arduino IDE to build in Linux--you should follow
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the instructions in the "Building using make" section.
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1. The patched ArduPilot Arduino IDE is available for Mac and Windows
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from the [downloads
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page](http://firmware.diydrones.com).
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2. Unpack and launch the ArduPilot Arduino IDE. In the preferences
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menu, set your sketchbook location to your downloaded or cloned
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`ardupilot` directory.
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3. In the ArduPilot Arduino IDE, select your ArduPilot type (APM1 or
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APM2) from the ArduPilot menu (in the top menubar).
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4. Restart the ArduPilot Arduino IDE. You should now be able to build
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ArduPlane or ArduCopter from source.
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5. Remember that, after changing ArduPilot type (APM1 or APM2) in the
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IDE, you'll need to close and restart the IDE before continuing.
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## Building using make
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1. Before you build the project for the first time, you'll need to run `make
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configure` from a sketch directory (i.e. ArduPlane, ArduCopter, etc...).
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This will create a `config.mk` file at the top level of the repository. You
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can set some defaults in `config.mk`
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2. In the sketch directory, type `make` to build for APM2. Alternatively,
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`make apm1` will build for the APM1 and `make px4` will build for the PX4.
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The binaries will generated in `/tmp/<i>sketchname</i>.build`.
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3. Type `make upload` to upload. You may need to set the correct default
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serial port in your `config.mk`.
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## Development using VirtualBox
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ardupilot has a standardized Linux virtual machine (VM) setup script
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that uses the free VirtualBox virtualization software. You can use it
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to create a standard, reproducible development environment in just a
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few minutes in Linux, OS X, or Windows.
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1. [Download VirtualBox](https://www.virtualbox.org/wiki/Downloads)
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for your Mac, Windows or Linux machine.
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2. [Install vagrant](http://docs.vagrantup.com/v2/installation/).
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4. In the `ardupilot` directory, run `vagrant up` from the command
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line. This will create a new Ubuntu Linux VM.
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5. Run `vagrant ssh -c "ardupilot/Tools/scripts/install-prereqs-ubuntu.sh -y"`.
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This will install all the prerequisites for doing ardupilot development.
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You can now run `vagrant ssh` to log in to the development
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environment. The `~/ardupilot` directory in the VM is actually the
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`ardupilot` directory in your host operating system--changes in either
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directory show up in the other.
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Once you've followed the instructions above, here's how you would
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build ArduCopter for PX4 in the development environment:
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```
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$ vagrant ssh
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# cd ardupilot/ArduCopter
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# make configure
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```
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Back at the terminal:
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```
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# make px4
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# make px4-upload # (optional)
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```
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# User Technical Support
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ArduPilot users should use the DIYDrones.com forums for technical support.
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# Development Team
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The ArduPilot project is open source and maintained by a team of volunteers.
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To contribute, you can send a pull request on Github. You can also
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join the [development discussion on Google
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Groups](https://groups.google.com/forum/?fromgroups#!forum/drones-discuss). Note
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that the Google Groups mailing lists are NOT for user tech support,
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and are moderated for new users to prevent off-topic discussion.
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