Kerloud mini Ardupilot飞控固件使用详解
简介
Kerloud Mini对应的PX4固件我们之前已开源,用户可访问产品链接获取相关信息:http://cloudkernel-tech.gitee.io/kerloud_mini/。
为了更好地服务用户,我们现将支持Kerloud Mini的Ardupilot固件进行开源。本文将详细介绍固件获取方法、使用细节等,方便用户快速使用。
如何克隆代码
git clone --recursive https://github.com/cloudkernel-tech/ardupilot
git checkout master_kerloud
git clone --recursive https://gitee.com/cloudkernel-tech/ardupilot.git
git checkout master_kerloud
如何编译
开发环境设置
具体指令列举如下:
sudo apt-get update
sudo apt-get install git
sudo apt-get install gitk git-gui
# install required packages
cd <ardupilot_directory>
Tools/environment_install/install-prereqs-ubuntu.sh -y
. ~/.profile
# unpack Gcc compiler to a directory
cd <TARGET_DIR>
tar -xjvf gcc-arm-none-eabi-6-2017-q2-update-linux.tar.bz2
export PATH=$PATH:<TARGET_DIR>/gcc-arm-none-eabi-6-2017-q2/bin
# add current user to dialout group and log out to take effect
sudo usermod -a -G dialout $USER
cd /usr/lib/ccache
sudo ln -s /usr/bin/ccache arm-none-eabi-g++
sudo ln -s /usr/bin/ccache arm-none-eabi-gcc
编译和加载
./waf configure --board kerloudmini
# build for multicopter
./waf copter
# upload
./waf copter –upload
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