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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.