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WAF Build

Ardupilot is gradually moving from the make-based build system to Waf.

To keep access to Waf convenient, use the following alias from the root ardupilot directory:

alias waf="$PWD/modules/waf/waf-light"

You can also define the alias or create a function in your shell rc file (e.g. ~/.bashrc).

You can read the Waf Book if you want to learn more about Waf.

Calling waf

Waf should always be called from the ardupilot's root directory.

Differently from the make-based build, with Waf there's a configure step to choose the board to be used (default is sitl):

# Configure the Linux board
waf configure --board=linux

Waf build system is composed of commands. For example, the above command (configure) is for configuring the build. Consequently, in order to build, a "build" command is issued, thus waf build. That is the default command, so calling just waf is enough:

# Build programs from bin group
waf

# Waf also accepts '-j' option to parallelize the build.
waf -j8

To clean things up, use the clean or distclean command:

# 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.

To list the task generator names that can be used for the option --targets, use the listcommand:

waf list

Program groups

The programs in ardupilot are categorized into the following groups:

bin: the main binaries, that is, ardupilot's main products - the vehicles and Antenna Tracker
tools
examples: programs that show how certain libraries are used or to simply test their operation
benchmarks: requires --enable-benchmarks during configurarion
tests: basically unit tests to ensure changes don't break the system's logic

There's also a special group, called "all", that comprises all groups.

All build files are placed under build/<board>/, where <board> represents the board/platform you selected during configuration. Each program group has a folder with its name directly under build/<board>/. Thus, a program will be stored in build/<board>/<group/, where <group> is the group the program belongs to. For example, for a linux build, arducopter will be located at build/linux/bin/arducopter.

Building a program group

Ardupilot adds to waf an option called --program-group, which receives as argument the group you want it to build. For a build command, if you don't pass any of --targets or --program-group, then the group "bin" is selected by default. The option --program-group can be passed multiple times.

Examples:

# Group bin is the default one
waf

# Build all vehicles and Antenna Tracker
waf --program-group bin

# Build all benchmarks and tests
waf --program-group benchmarks --program-group tests

Shortcut for program groups

For less typing, you can use the group name as the command to waf. Examples:

# Build all vehicles and Antenna Tracker
waf bin

# Build all examples
waf examples

Building a specific program

In order to build a specific program, you just need to pass its path relative to build/<board>/ to the option --targets. Example:

# Build arducopter
waf --targets bin/arducopter

# Build vectors unit test
waf --targets tests/test_vectors

Shortcuts for vehicles

Vehicles can be built in the common single program building way (example: waf --targets bin/arducopter). But that is too much typing :-), we provide shortcut commands for vehicles:

# Build arducopter
waf copter

# Build arduplane
waf plane

# Build ardurover
waf rover

Checking

The command check builds all programs and then run the relevant tests. In that context, a relevant test is a program from the group "tests" that makes one of the following statements true:

it's the first time the test is built since the last cleanup or when the project was cloned.
the program had to be rebuilt (due to modifications in the code or dependencies, for example)
the test program failed in the previous check.

That is, the tests are run only if necessary. If you want waf to run all tests, then you can use either option --alltests or the shortcut command check-all.