PX4配置過程與踩坑
阿新 • • 發佈：2022-05-31
0.前言
由於需要在GitHub下載程式碼，而國內訪問受限，可能會出現一些問題，這裡建議使用github國內映象，參看：GitHub國內映象網站，當然下面會給出具體解決方案。
1.步驟
1.1下載原始碼：git clone https://github.com/PX4/PX4-Autopilot.git
注意：
若該步驟出錯，使用映象,也就是執行：git clone https://hub.fastgit.xyz/PX4/PX4-Autopilot.git
或者使用gitee映象：git clone https://gitee.com/robin_shaun/PX4_Firmware(注意使用這個方法時的原始碼檔名是PX4_Firmware
1.2 切換到原始碼資料夾：cd PX4-Autopilot
1.3 更新工程子模組git submodule update --init --recursive
注意：
若該步驟出錯，歸根到底還是因為github訪問不穩定。解決方案如下：
(方案的總體原則就是改變原始碼裡面各個.gitmodules檔案裡的下載地址，需要注意的是原始碼位置，我這裡是將原始碼放在主資料夾下，也就是 ~/PX4_Autopilot)
(1)原始碼主資料夾下
cd ~/PX4_Autopilot-
gedit .gitmodules
(注意：這裡主要是為了修改檔案，我用的是gedit編輯器，也可以用vim, nano，vs code之類的,後面相同)
將 .gitmodules 中的內容更換為：
[submodule "mavlink/include/mavlink/v2.0"] path = mavlink/include/mavlink/v2.0 url = https://gitee.com/robin_shaun/c_library_v2.git branch = master [submodule "src/drivers/uavcan/libuavcan"] path = src/drivers/uavcan/libuavcan url = https://gitee.com/robin_shaun/uavcan.git branch = px4 [submodule "Tools/jMAVSim"] path = Tools/jMAVSim url = https://gitee.com/robin_shaun/jMAVSim.git branch = master [submodule "Tools/sitl_gazebo"] path = Tools/sitl_gazebo url = https://gitee.com/robin_shaun/sitl_gazebo.git branch = master [submodule "src/lib/matrix"] path = src/lib/matrix url = https://gitee.com/robin_shaun/Matrix.git branch = master [submodule "src/lib/ecl"] path = src/lib/ecl url = https://gitee.com/robin_shaun/ecl.git branch = master [submodule "boards/atlflight/cmake_hexagon"] path = boards/atlflight/cmake_hexagon url = https://gitee.com/robin_shaun/cmake_hexagon.git branch = px4 [submodule "src/drivers/gps/devices"] path = src/drivers/gps/devices url = https://gitee.com/robin_shaun/GpsDrivers.git branch = master [submodule "src/modules/micrortps_bridge/micro-CDR"] path = src/modules/micrortps_bridge/micro-CDR url = https://gitee.com/robin_shaun/micro-CDR.git branch = px4 [submodule "platforms/nuttx/NuttX/nuttx"] path = platforms/nuttx/NuttX/nuttx url = https://gitee.com/robin_shaun/NuttX.git branch = px4_firmware_nuttx-9.1.0+ [submodule "platforms/nuttx/NuttX/apps"] path = platforms/nuttx/NuttX/apps url = https://gitee.com/robin_shaun/NuttX-apps.git branch = px4_firmware_nuttx-9.1.0+ [submodule "platforms/qurt/dspal"] path = platforms/qurt/dspal url = https://gitee.com/robin_shaun/dspal.git [submodule "Tools/flightgear_bridge"] path = Tools/flightgear_bridge url = https://gitee.com/robin_shaun/PX4-FlightGear-Bridge.git branch = master [submodule "Tools/jsbsim_bridge"] path = Tools/jsbsim_bridge url = https://gitee.com/robin_shaun/px4-jsbsim-bridge.git [submodule "src/examples/gyro_fft/CMSIS_5"] path = src/examples/gyro_fft/CMSIS_5 url = https://gitee.com/mirrors/CMSIS_5
git submodule update --init
(2) libuavcan資料夾
cd ~/PX4_Autopilot/src/drivers/uavcan/libuavcan-
gedit .gitmodules
將 .gitmodules 中的內容更換為：
[submodule "dsdl"]
path = dsdl
url = https://gitee.com/robin_shaun/dsdl
branch = legacy-v0
[submodule "libuavcan/dsdl_compiler/pyuavcan"]
path = libuavcan/dsdl_compiler/pyuavcan
url = https://gitee.com/robin_shaun/pyuavcan
[submodule "libuavcan_drivers/kinetis"]
path = libuavcan_drivers/kinetis
url = https://gitee.com/robin_shaun/libuavcan_kinetis.git
git submodule update --init
(3) jMAVSim資料夾
cd ~/PX4_Autopilot/Tools/jMAVSim-
gedit .gitmodules
將 .gitmodules 中的內容更換為：
[submodule "jMAVlib"]
path = jMAVlib
url = https://gitee.com/robin_shaun/jMAVlib
branch = master
git submodule update --init
(4) sitl_gazebo資料夾
cd ~/PX4_Autopilot/Tools/sitl_gazebo-
gedit .gitmodules
將 .gitmodules 中的內容更換為：
[submodule "external/OpticalFlow"]
path = external/OpticalFlow
url = https://gitee.com/robin_shaun/OpticalFlow
git submodule update --init
(5) dspal資料夾
cd ~/PX4_Autopilot/platforms/qurt/dspal-
gedit .gitmodules
將 .gitmodules 中的內容更換為：
[submodule "cmake_hexagon"]
path = cmake_hexagon
url = https://gitee.com/robin_shaun/cmake_hexagon
git submodule update --init
(6) pyuavcan資料夾
cd ~/PX4_Autopilot/src/drivers/uavcan/libuavcan/libuavcan/dsdl_compiler/pyuavcan-
gedit .gitmodules
將 .gitmodules 中的內容更換為：
[submodule "dsdl"]
path = dsdl
url = https://gitee.com/robin_shaun/dsdl
git submodule update --init
(7) OpticalFlow資料夾
cd ~/PX4_Autopilot/Tools/sitl_gazebo/external/OpticalFlow-
gedit .gitmodules
將 .gitmodules 中的內容更換為：
[submodule "external/klt_feature_tracker"]
path = external/klt_feature_tracker
url = https://gitee.com/robin_shaun/klt_feature_tracker
git submodule update --init
(8)終於修改完了，可以再次執行下這句命令
git submodule update --init
1.4 編譯
cd ~/PX4_Firmware
make px4_sitl_default gazebo
注意：
這一步可能會報錯：ninja: build stopped: subcommand failed.
不要慌！
- 先看看子模組是否更新成功。執行命令：
git submodule update --init --recursive
linux哲學，沒有訊息就是好訊息，如果沒有出現任何內容，說明子模組更新成功（看不懂什麼是子模組也沒問題，意思就是到此為止，沒問題）。 - 接下來清理下make環境就ok了：
make clean - 最後再執行一次編譯命令：
make px4_sitl_default gazebo
以下是我成功的介面