2025.3.17

无人机Ardupilot开发环境的搭建

1.安装git

sudo apt-get install git

2.登陆官方仓库

https://github.com/ArduPilot/ardupilot

建立工作目录

mkdir fly

下载相关包

git clone -b Copter-4.0.7 https://github.com/ArduPilot/ardupilot.git

创建分支（注意位置）

git checkout -b Copter-4.0.7

查看分支：

git branch

拉下子模块

git submodule update --init --recursive

进入目录：

cd fly/ardupilot/Tools
cd environment_install

运行脚本

./install-prereqs-ubuntu.sh

单独安装失败的包

sudo apt update
sudo apt install python3-pip python3-matplotlib python3-serial python3-scipy python3-opencv python3-empy
sudo apt install python3-opencv
pip3 install empy

测试开发环境

./waf configure --board CubeBlack

如果报错：

/usr/bin/env: ‘python’: No such file or directory

则输入：

sudo apt update
sudo apt install python3 python3-pip
sudo ln -s /usr/bin/python3 /usr/bin/python
./waf configure --board CubeBlack

仍然报错：

y@y:~/fly/ardupilot$ ./waf configure --board CubeBlack
Setting top to                           : /home/y/fly/ardupilot
Setting out to                           : /home/y/fly/ardupilot/build
Autoconfiguration                        : enabled
Setting board to                         : CubeBlack
Using toolchain                          : arm-none-eabi
Could not find the program ['arm-none-eabi-ar']
(complete log in /home/y/fly/ardupilot/build/config.log)

 输入：

sudo apt install gcc-arm-none-eabi
which arm-none-eabi-ar
./waf configure --board CubeBlack

成功

环境编译：

./waf copter

环境搭建完成