Ubuntu下Pixhawk环境搭建

网上很多博客中介绍的方法大多比较久远的了，自己综合参考了不少博客的过程中，还是踩了很多坑，特总结下来，以便后面重搭环境时之需。

官方的配置教程

前期准备

1. 设置权限

   sudo usermod -a -G dialout $USER

2. 安装相关工具

   sudo add-apt-repository ppa:george-edison55/cmake-3.x -y
   sudo apt-get update
   # 必备软件 python git qt
   sudo apt-get install python-argparse git-core wget zip python-empy qtcreator cmake build-essential genromfs -y
   # 仿真工具
   sudo add-apt-repository ppa:openjdk-r/ppa
   sudo apt-get update
   sudo apt-get install openjdk-8-jre
   sudo apt-get install ant protobuf-compiler libeigen3-dev libopencv-dev openjdk-8-jdk openjdk-8-jre clang-3.5 lldb-3.5 -y

3. 卸载模式管理器

   sudo apt-get remove modemmanager

4. 更新包列表和安装下面的依赖包

   sudo add-apt-repository ppa:terry.guo/gcc-arm-embedded -y
   sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
   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  -y

5. 工具链安装（若gcc-arm-none-eabi版本不对）（非必须）

   • 如果以前装过工具链，删除残余

     sudo apt-get remove gcc-arm-none-eabi gdb-arm-none-eabi binutils-arm-none-eabi gcc-arm-embedded
     sudo add-apt-repository --remove ppa:team-gcc-arm-embedded/ppa

   • 安装工具链

     特殊原因，推荐使用浏览器下载：https://launchpad.net/gcc-arm-embedded/5.0/5-2016-q2-update/+download/gcc-arm-none-eabi-5_4-2016q2-20160622-linux.tar.bz2

     pushd .
     cd ~
     tar -jxf gcc-arm-none-eabi-5_4-2016q2-20160622-linux.tar.bz2
     exportline="export PATH=$HOME/gcc-arm-none-eabi-5_4-2016q2/bin:\$PATH"
     if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
     . ~/.profile
     popd

     这是安装最新的工具链，版本是5.4。

安装过程

1. 下载代码

   mkdir -p ~/src
   cd ~/src
   git clone https://github.com/PX4/Firmware.git

2. 初始化

   cd Firmware
   # 下载相关子模块
   git submodule update --init --recursive

3. 编译

   make px4fmu-v2_default

成功后显示：

[100%] Built target nuttx_px4fmu-v2_default.elf
Scanning dependencies of target px4
[100%] Generating px4fmu-v2.bin
[100%] Creating /home/cong/src/Firmware/build/px4fmu-v2_default/px4fmu-v2_default.px4
[100%] Built target px4

若报错：

-- Configuring incomplete, errors occurred!
make[1]: *** /root/src/Firmware/build/nuttx_px4fmu-v2_default: No such file or directory.  Stop.
Makefile:154: recipe for target 'px4fmu-v2_default' failed
make: *** [px4fmu-v2_default] Error 2

解决办法：安装最新gcc-arm-none-eabi版本

上传Pixhawk

sudo make px4fmu-v2_default upload

Debug:

内存溢出：

https://dev.px4.io/en/debug/faq.html

region `flash' overflowed by 24405 bytes
collect2: error: ld returned 1 exit status
platforms/nuttx/CMakeFiles/nuttx_px4fmu-v2_default.elf.dir/build.make:187: recipe for target 'nuttx_px4fmu-v2_default.elf' failed
make[3]: *** [nuttx_px4fmu-v2_default.elf] Error 1
CMakeFiles/Makefile2:5057: recipe for target 'platforms/nuttx/CMakeFiles/nuttx_px4fmu-v2_default.elf.dir/all' failed
make[2]: *** [platforms/nuttx/CMakeFiles/nuttx_px4fmu-v2_default.elf.dir/all] Error 2
Makefile:105: recipe for target 'all' failed
make[1]: *** [all] Error 2
Makefile:153: recipe for target 'px4fmu-v2_default' failed
make: *** [px4fmu-v2_default] Error 2

解决方法：

1. 编译器版本太低。将arm-none-eabi升级到最新版本

   参考本文上面的教程

2. 减少不必要的模块

   /Firmware/cmake/configs/nuttx_px4fmu-v2_default.cmake

   注释：

   #drivers/px4flow
   #drivers/distance_sensor/ll40ls
   #drivers/distance_sensor/mb12xx
   #drivers/distance_sensor/sf0x
   #drivers/distance_sensor/sf1xx
   #drivers/distance_sensor/srf02
   #drivers/distance_sensor/srf02_i2c
   #drivers/distance_sensor/teraranger
   #drivers/distance_sensor/tfmini

   ​