一. linux下环境搭建
用户需要 “dialout” 组 来访问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等编译工具 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 #模拟工具 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默认会安装一个串口调制解调器的驱动，电脑重启后会使用串口或usb串口，应该卸载 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驱动 sudo apt-get install git libusb-1.0.0-dev git clone https://github.com/texane/stlink.git cd stlink sudo make install PX4源码下载 mkdir -p ~/src cd ~/src #源码下载 git clone https://github.com/PX4/Firmware.git cd Firmware #项目依赖库更新 git submodule update --init --recursive cd .. 编译 cd Firmware make px4fmu-v2_default make px4fmu-v2_default upload