ArduPilot是一款非常出色的飞控开源软件，而且是基于GPL V3协议，所以相应的代码修改，必须开源出来。与PX4的BSD协议不一样，通常商业角度更多倾向于BSD协议。

当前(截止发稿日)ArduPilot尚未支持AOCODARC的硬件，本次编译主要是针对AOCODARC-H743DUAL飞控板进行相应的适配。

1. 编译目标（AOCODARC-H743DUAL）

• 控制器：STM32H743VI H6
• 陀螺仪：MPU6000
• 气压计：BMP280/DPS310/MS5611
• 黑匣子：128MB
• PWM输出：10CH
• 舵机输出：2CH
• 通用串口：8CH
• 输入电源：3-6SLipo
• 输出电源：5V/2.5A, 9V/3A
• 重量：8.8g
• 外形尺寸：37mm x 37mm
• 安装孔位：30.5mm x 30.5mm

注：经厂家技术支持确认，该板子所有外设参考MATEK H743板子设计，总体上差异不大。

2. 硬件支持包（APM-AOCODARC-H743DUAL）

• 硬件配置文件：APM-AOCODARCH7DUAL.rar // 厂家提供
• 软件启动代码：APM_AOCODA-H7DUAL_bl.rar // 经沟通，修改自MATEK H743 bootloader(仅更换名字)
  

3. 编译步骤

3.1 软件配置环境准备

这里基于Ubuntu准备相关的软件配置环境。

$ sudo apt-get update
$ sudo apt-get install git
$ sudo apt-get install gitk git-gui

3.2 开源代码更新

$ git clone https://github.com/ArduPilot/ardupilot.git
Cloning into 'ardupilot'...
remote: Enumerating objects: 396410, done.
remote: Counting objects: 100% (354/354), done.
remote: Compressing objects: 100% (218/218), done.
remote: Total 396410 (delta 206), reused 219 (delta 135), pack-reused 396056
Receiving objects: 100% (396410/396410), 263.32 MiB | 807.00 KiB/s, done.
Resolving deltas: 100% (292856/292856), done.
Updating files: 100% (4916/4916), done.$ cd ardupilot$ git checkout Copter-4.3.0  //使用最新的版本 4.3.0多轴飞控固件
Note: switching to 'Copter-4.3.0'.You are in 'detached HEAD' state. You can look around, make experimental
changes and commit them, and you can discard any commits you make in this
state without impacting any branches by switching back to a branch.If you want to create a new branch to retain commits you create, you may
do so (now or later) by using -c with the switch command. Example:git switch -c <new-branch-name>Or undo this operation with:git switch -Turn off this advice by setting config variable advice.detachedHead to falseHEAD is now at 93448b7138 Copter: version to 4.3.0 official$ git submodule66e5de0d4221666cfa7db7e7247f53de9be7fedc modules/ChibiOS (heads/master)599965086437137ec0fe66e185611f43f335f889 modules/CrashDebug (heads/master)f8cc245a8afafd21b99d20bab7f04aeac3c30fff modules/DroneCAN/DSDL (f8cc245)c00fc457e22c0b71e3a385f092b519830ef58ea2 modules/DroneCAN/dronecan_dsdlc (c00fc45)c83db7d055b281e46d90f533de04fcb3ce66c255 modules/DroneCAN/libcanard (c83db7d)8fb1b18ab3250695d85fe2943dfc68e8b45024b7 modules/DroneCAN/pydronecan (1.0.12-1-g8fb1b18)8039b4030795b1c9b8cedb78e3a2a6fb89574b6e modules/gbenchmark (v1.5.1)e1f690585d4803402584962bfaa8240ecaf1db30 modules/gsoap (heads/master)c5fed93f941865a0e912e9baf46ded713506590a modules/gtest (release-1.8.0-2268-gc5fed93f)1bbee3177611553e76f1b8b71c932bb82385dd00 modules/mavlink (1.0.12-311-g1bbee317)5eec0220302dfaa23602d7ee901cde0579fbf9e2 modules/uavcan (5eec0220)51f1529bd20759642e9fd0a8db648da9ba380b18 modules/waf (waf-1.9.2-730-g51f1529b)$ git submodule update --init --recursive
Submodule 'modules/ChibiOS' (https://github.com/ArduPilot/ChibiOS.git) registered for path 'modules/ChibiOS'
Submodule 'modules/CrashDebug' (https://github.com/ardupilot/CrashDebug) registered for path 'modules/CrashDebug'
Submodule 'modules/DroneCAN/DSDL' (https://github.com/DroneCAN/DSDL.git) registered for path 'modules/DroneCAN/DSDL'
Submodule 'modules/DroneCAN/dronecan_dsdlc' (https://github.com/DroneCAN/dronecan_dsdlc) registered for path 'modules/DroneCAN/dronecan_dsdlc'
Submodule 'modules/DroneCAN/libcanard' (https://github.com/DroneCAN/libcanard) registered for path 'modules/DroneCAN/libcanard'
Submodule 'modules/DroneCAN/pydronecan' (https://github.com/DroneCAN/pydronecan) registered for path 'modules/DroneCAN/pydronecan'
Submodule 'modules/gbenchmark' (https://github.com/google/benchmark.git) registered for path 'modules/gbenchmark'
Submodule 'modules/gsoap' (https://github.com/ArduPilot/gsoap) registered for path 'modules/gsoap'
Submodule 'gtest' (https://github.com/ArduPilot/googletest) registered for path 'modules/gtest'
Submodule 'modules/mavlink' (https://github.com/ArduPilot/mavlink) registered for path 'modules/mavlink'
Submodule 'modules/uavcan' (https://github.com/DroneCAN/libuavcan.git) registered for path 'modules/uavcan'
Submodule 'modules/waf' (https://github.com/ArduPilot/waf.git) registered for path 'modules/waf'
Cloning into '/home/daniel/RCCode/ardupilot/modules/ChibiOS'...
Cloning into '/home/daniel/RCCode/ardupilot/modules/CrashDebug'...
Cloning into '/home/daniel/RCCode/ardupilot/modules/DroneCAN/DSDL'...
Cloning into '/home/daniel/RCCode/ardupilot/modules/DroneCAN/dronecan_dsdlc'...
Cloning into '/home/daniel/RCCode/ardupilot/modules/DroneCAN/libcanard'...
Cloning into '/home/daniel/RCCode/ardupilot/modules/DroneCAN/pydronecan'...
Cloning into '/home/daniel/RCCode/ardupilot/modules/gbenchmark'...
Cloning into '/home/daniel/RCCode/ardupilot/modules/gsoap'...
Cloning into '/home/daniel/RCCode/ardupilot/modules/gtest'...
Cloning into '/home/daniel/RCCode/ardupilot/modules/mavlink'...
Cloning into '/home/daniel/RCCode/ardupilot/modules/uavcan'...
Cloning into '/home/daniel/RCCode/ardupilot/modules/waf'...
Submodule path 'modules/ChibiOS': checked out '66e5de0d4221666cfa7db7e7247f53de9be7fedc'
Submodule path 'modules/CrashDebug': checked out '599965086437137ec0fe66e185611f43f335f889'
Submodule 'CrashCatcher' (https://github.com/ardupilot/CrashCatcher.git) registered for path 'modules/CrashDebug/CrashCatcher'
Submodule 'mri' (https://github.com/ardupilot/mri.git) registered for path 'modules/CrashDebug/mri'
Cloning into '/home/daniel/RCCode/ardupilot/modules/CrashDebug/CrashCatcher'...
Cloning into '/home/daniel/RCCode/ardupilot/modules/CrashDebug/mri'...
Submodule path 'modules/CrashDebug/CrashCatcher': checked out '4cf6e11df3a081b0f573a7834ed8e1e4000af73e'
Submodule 'CppUTest' (https://github.com/ardupilot/CppUTest.git) registered for path 'modules/CrashDebug/CrashCatcher/CppUTest'
Cloning into '/home/daniel/RCCode/ardupilot/modules/CrashDebug/CrashCatcher/CppUTest'...
Submodule path 'modules/CrashDebug/CrashCatcher/CppUTest': checked out '011f371fdb5d7e441fb023be67295783e053df4a'
Submodule path 'modules/CrashDebug/mri': checked out 'b35c89451b41a45b7f5b580acaff555315ac88e2'
Submodule 'CppUTest' (https://github.com/ardupilot/CppUTest.git) registered for path 'modules/CrashDebug/mri/CppUTest'
Cloning into '/home/daniel/RCCode/ardupilot/modules/CrashDebug/mri/CppUTest'...
Submodule path 'modules/CrashDebug/mri/CppUTest': checked out '011f371fdb5d7e441fb023be67295783e053df4a'
Submodule path 'modules/DroneCAN/DSDL': checked out 'f8cc245a8afafd21b99d20bab7f04aeac3c30fff'
remote: Enumerating objects: 9, done.
remote: Counting objects: 100% (9/9), done.
remote: Compressing objects: 100% (3/3), done.
remote: Total 5 (delta 4), reused 3 (delta 2), pack-reused 0
Unpacking objects: 100% (5/5), 584 bytes | 584.00 KiB/s, done.
From https://github.com/DroneCAN/dronecan_dsdlc* branch            c00fc457e22c0b71e3a385f092b519830ef58ea2 -> FETCH_HEAD
Submodule path 'modules/DroneCAN/dronecan_dsdlc': checked out 'c00fc457e22c0b71e3a385f092b519830ef58ea2'
remote: Enumerating objects: 18, done.
remote: Counting objects: 100% (18/18), done.
remote: Compressing objects: 100% (8/8), done.
remote: Total 14 (delta 11), reused 9 (delta 6), pack-reused 0
Unpacking objects: 100% (14/14), 2.55 KiB | 186.00 KiB/s, done.
From https://github.com/DroneCAN/libcanard* branch            c83db7d055b281e46d90f533de04fcb3ce66c255 -> FETCH_HEAD
Submodule path 'modules/DroneCAN/libcanard': checked out 'c83db7d055b281e46d90f533de04fcb3ce66c255'
Submodule 'drivers/avr/avr-can-lib' (https://github.com/rennerm/avr-can-lib) registered for path 'modules/DroneCAN/libcanard/drivers/avr/avr-can-lib'
Submodule 'dsdl_compiler/pyuavcan' (https://github.com/DroneCAN/pydronecan) registered for path 'modules/DroneCAN/libcanard/dsdl_compiler/pyuavcan'
Cloning into '/home/daniel/RCCode/ardupilot/modules/DroneCAN/libcanard/drivers/avr/avr-can-lib'...
Cloning into '/home/daniel/RCCode/ardupilot/modules/DroneCAN/libcanard/dsdl_compiler/pyuavcan'...
Submodule path 'modules/DroneCAN/libcanard/drivers/avr/avr-can-lib': checked out '9c6bc9118de66d6edaf1b8539e2b9717ba26d123'
Submodule path 'modules/DroneCAN/libcanard/dsdl_compiler/pyuavcan': checked out '8fb1b18ab3250695d85fe2943dfc68e8b45024b7'
Submodule path 'modules/DroneCAN/pydronecan': checked out '8fb1b18ab3250695d85fe2943dfc68e8b45024b7'
Submodule path 'modules/gbenchmark': checked out '8039b4030795b1c9b8cedb78e3a2a6fb89574b6e'
Submodule path 'modules/gsoap': checked out 'e1f690585d4803402584962bfaa8240ecaf1db30'
Submodule path 'modules/gtest': checked out 'c5fed93f941865a0e912e9baf46ded713506590a'
Submodule path 'modules/mavlink': checked out '1bbee3177611553e76f1b8b71c932bb82385dd00'
Submodule 'pymavlink' (https://github.com/ArduPilot/pymavlink.git) registered for path 'modules/mavlink/pymavlink'
Cloning into '/home/daniel/RCCode/ardupilot/modules/mavlink/pymavlink'...
Submodule path 'modules/mavlink/pymavlink': checked out '9a1ca0a08281e29269a59bd27a57369dd44ef15c'
Submodule path 'modules/uavcan': checked out '5eec0220302dfaa23602d7ee901cde0579fbf9e2'
Submodule 'dsdl' (https://github.com/dronecan/DSDL) registered for path 'modules/uavcan/dsdl'
Submodule 'libuavcan/dsdl_compiler/pyuavcan' (https://github.com/dronecan/pydronecan) registered for path 'modules/uavcan/libuavcan/dsdl_compiler/pyuavcan'
Cloning into '/home/daniel/RCCode/ardupilot/modules/uavcan/dsdl'...
Cloning into '/home/daniel/RCCode/ardupilot/modules/uavcan/libuavcan/dsdl_compiler/pyuavcan'...
Submodule path 'modules/uavcan/dsdl': checked out '5d303e1a9eb9bce17bb58a2378c1666d1cef3665'
Submodule path 'modules/uavcan/libuavcan/dsdl_compiler/pyuavcan': checked out 'fb6ab582e5aa69500b249910e5f55fd40ec11ca5'
Submodule path 'modules/waf': checked out '51f1529bd20759642e9fd0a8db648da9ba380b18'

3.3 厂家硬件支持包

将软件支持包解压复制到ArduPilot目录下，然后移动到对应的工程目录。

$ cd ardupilot
$ mv APM-AOCODA-H7DUAL libraries/AP_HAL_ChibiOS/hwdef/AOCODA-H7DUAL
$ mv AOCODA-H7DUAL_bl.hex Tools/bootloaders/AOCODA-H7DUAL_bl.hex
$ mv AOCODA-H7DUAL_bl.bin Tools/bootloaders/AOCODA-H7DUAL_bl.bin

3.4 目标固件编译准备

$ Tools/environment_install/install-prereqs-ubuntu.sh -y
---------- Tools/environment_install/install-prereqs-ubuntu.sh start ----------
+ '[' 1000 == 0 ']'
+ OPT=/opt
+ ARDUPILOT_TOOLS=Tools/autotest
+ ASSUME_YES=false
+ QUIET=false
+ sep='##############################################'
+ OPTIND=1
+ getopts yq opt
+ case "$opt" in
+ ASSUME_YES=true
+ getopts yq opt
+ APT_GET='sudo apt-get'
+ true
+ APT_GET='sudo apt-get --assume-yes'
+ false
+ sudo apt-get --assume-yes update
Hit:1 http://mirrors.aliyun.com/ubuntu focal InRelease
Get:2 http://mirrors.aliyun.com/ubuntu focal-updates InRelease [114 kB]
Get:3 http://mirrors.aliyun.com/ubuntu focal-backports InRelease [108 kB]
Get:4 http://mirrors.aliyun.com/ubuntu focal-security InRelease [114 kB]
Get:5 http://mirrors.aliyun.com/ubuntu focal-updates/main i386 Packages [745 kB]
Get:6 http://mirrors.aliyun.com/ubuntu focal-updates/main amd64 Packages [2,196 kB]
Get:7 http://mirrors.aliyun.com/ubuntu focal-updates/main amd64 DEP-11 Metadata [275 kB]
Get:8 http://mirrors.aliyun.com/ubuntu focal-updates/universe amd64 DEP-11 Metadata [405 kB]
Get:9 http://mirrors.aliyun.com/ubuntu focal-backports/main amd64 DEP-11 Metadata [7,964 B]
Get:10 http://mirrors.aliyun.com/ubuntu focal-backports/universe amd64 DEP-11 Metadata [30.5 kB]
Get:11 http://mirrors.aliyun.com/ubuntu focal-security/main amd64 DEP-11 Metadata [40.7 kB]
Get:12 http://mirrors.aliyun.com/ubuntu focal-security/universe amd64 DEP-11 Metadata [93.1 kB]
Hit:13 http://packages.ros.org/ros2/ubuntu focal InRelease
Fetched 4,129 kB in 2s (2,168 kB/s)
Reading package lists... Done
+ package_is_installed lsb-release
+ dpkg-query -W '-f=${Status}' lsb-release
+ grep -c 'ok installed'
1
++ lsb_release -c -s
+ RELEASE_CODENAME=focal
+ PYTHON_V=python3
+ PIP=pip3
+ '[' focal == bionic ']'
+ '[' focal == buster ']'
+ '[' focal == focal ']'
+ SITLFML_VERSION=2.5
+ SITLCFML_VERSION=2.5
+ PYTHON_V=python3
+ PIP=pip3
+ ARM_PKG_CONFIG_NOT_PRESENT=0
++ apt-cache search -n '^pkg-config-arm-linux-gnueabihf'
+ '[' -z 'pkg-config-arm-linux-gnueabihf - manage compile and link flags for libraries for armhf architecture' ']'
+ '[' 0 -eq 1 ']'
+ INSTALL_PKG_CONFIG=pkg-config-arm-linux-gnueabihf
+ BASE_PKGS='build-essential ccache g++ gawk git make wget'
+ '[' focal == bionic ']'
+ PYTHON_PKGS='future lxml pymavlink MAVProxy pexpect flake8 geocoder empy dronecan'
+ [[ '' -ne 1 ]]
+ '[' focal == bionic ']'
+ PYTHON_PKGS='future lxml pymavlink MAVProxy pexpect flake8 geocoder empy dronecan pygame intelhex'
+ ARM_LINUX_PKGS='g++-arm-linux-gnueabihf pkg-config-arm-linux-gnueabihf'
+ SITL_PKGS='libtool libxml2-dev libxslt1-dev python3-dev python3-pip python3-setuptools python3-numpy python3-pyparsing python3-psutil'
+ [[ '' -ne 1 ]]
+ SITL_PKGS='libtool libxml2-dev libxslt1-dev python3-dev python3-pip python3-setuptools python3-numpy python3-pyparsing python3-psutil xterm python3-matplotlib python3-serial python3-scipy python3-opencv libcsfml-dev libcsfml-audio2.5 libcsfml-dev libcsfml-graphics2.5 libcsfml-network2.5 libcsfml-system2.5 libcsfml-window2.5 libsfml-audio2.5 libsfml-dev libsfml-graphics2.5 libsfml-network2.5 libsfml-system2.5 libsfml-window2.5 python3-yaml'
+ [[ '' -ne 1 ]]
+ COVERAGE_PKGS='lcov gcovr'
+ heading 'Add user to dialout group to allow managing serial ports'
+ echo '##############################################'
##############################################
+ echo Add user to dialout group to allow managing serial ports
Add user to dialout group to allow managing serial ports
+ echo '##############################################'
##############################################
+ sudo usermod -a -G dialout daniel
+ echo 'Done!'
Done!
+ '[' focal == focal ']'
+ BASE_PKGS+=' python-is-python3'
+ SITL_PKGS+=' libpython3-stdlib'
+ [[ '' -ne 1 ]]
+ '[' focal == bullseye ']'
+ '[' focal == groovy ']'
+ '[' focal == focal ']'
+ SITL_PKGS+=' libjpeg8-dev'
+ '[' focal == bullseye ']'
+ '[' focal == groovy ']'
+ '[' focal == focal ']'
+ SITL_PKGS+=' python3-wxgtk4.0'
+ SITL_PKGS+=' fonts-freefont-ttf libfreetype6-dev libpng16-16 libportmidi-dev libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsdl1.2-dev'
++ apt-cache search -n '^realpath$'
+ RP=
+ '[' -n '' ']'
++ apt-cache search -n '^libtool-bin'
+ LBTBIN='libtool-bin - Generic library support script (libtool binary)'
+ '[' -n 'libtool-bin - Generic library support script (libtool binary)' ']'
+ SITL_PKGS+=' libtool-bin'
+ sudo apt-get --assume-yes install build-essential ccache g++ gawk git make wget python-is-python3 libtool libxml2-dev libxslt1-dev python3-dev python3-pip python3-setuptools python3-numpy python3-pyparsing python3-psutil xterm python3-matplotlib python3-serial python3-scipy python3-opencv libcsfml-dev libcsfml-audio2.5 libcsfml-dev libcsfml-graphics2.5 libcsfml-network2.5 libcsfml-system2.5 libcsfml-window2.5 libsfml-audio2.5 libsfml-dev libsfml-graphics2.5 libsfml-network2.5 libsfml-system2.5 libsfml-window2.5 python3-yaml libpython3-stdlib libjpeg8-dev python3-wxgtk4.0 fonts-freefont-ttf libfreetype6-dev libpng16-16 libportmidi-dev libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsdl1.2-dev libtool-bin g++-arm-linux-gnueabihf pkg-config-arm-linux-gnueabihf lcov gcovr
Reading package lists... Done
Building dependency tree
Reading state information... Done
ccache is already the newest version (3.7.7-1).
fonts-freefont-ttf is already the newest version (20120503-10).
g++ is already the newest version (4:9.3.0-1ubuntu2).
g++-arm-linux-gnueabihf is already the newest version (4:9.3.0-1ubuntu2).
gawk is already the newest version (1:5.0.1+dfsg-1).
libjpeg8-dev is already the newest version (8c-2ubuntu8).
libpng16-16 is already the newest version (1.6.37-2).
libpython3-stdlib is already the newest version (3.8.2-0ubuntu2).
libtool is already the newest version (2.4.6-14).
libtool-bin is already the newest version (2.4.6-14).
make is already the newest version (4.2.1-1.2).
python-is-python3 is already the newest version (3.8.2-4).
python3-dev is already the newest version (3.8.2-0ubuntu2).
python3-numpy is already the newest version (1:1.17.4-5ubuntu3).
python3-psutil is already the newest version (5.5.1-1ubuntu4).
python3-pyparsing is already the newest version (2.4.6-1).
python3-serial is already the newest version (3.4-5.1).
python3-setuptools is already the newest version (45.2.0-1).
gcovr is already the newest version (4.2-1).
lcov is already the newest version (1.14-2).
libcsfml-audio2.5 is already the newest version (2.5-1build1).
libcsfml-dev is already the newest version (2.5-1build1).
libcsfml-graphics2.5 is already the newest version (2.5-1build1).
libcsfml-network2.5 is already the newest version (2.5-1build1).
libcsfml-system2.5 is already the newest version (2.5-1build1).
libcsfml-window2.5 is already the newest version (2.5-1build1).
libportmidi-dev is already the newest version (1:217-6).
libsdl-image1.2-dev is already the newest version (1.2.12-12).
libsdl-mixer1.2-dev is already the newest version (1.2.12-16build1).
libsdl-ttf2.0-dev is already the newest version (2.0.11-6).
libsdl1.2-dev is already the newest version (1.2.15+dfsg2-5).
libsfml-audio2.5 is already the newest version (2.5.1+dfsg-1build1).
libsfml-dev is already the newest version (2.5.1+dfsg-1build1).
libsfml-graphics2.5 is already the newest version (2.5.1+dfsg-1build1).
libsfml-network2.5 is already the newest version (2.5.1+dfsg-1build1).
libsfml-system2.5 is already the newest version (2.5.1+dfsg-1build1).
libsfml-window2.5 is already the newest version (2.5.1+dfsg-1build1).
pkg-config-arm-linux-gnueabihf is already the newest version (4:9.3.0-1ubuntu2).
python3-matplotlib is already the newest version (3.1.2-1ubuntu4).
python3-opencv is already the newest version (4.2.0+dfsg-5).
python3-scipy is already the newest version (1.3.3-3build1).
python3-wxgtk4.0 is already the newest version (4.0.7+dfsg-2build1).
build-essential is already the newest version (12.8ubuntu1.1).
git is already the newest version (1:2.25.1-1ubuntu3.6).
libfreetype6-dev is already the newest version (2.10.1-2ubuntu0.2).
libxml2-dev is already the newest version (2.9.10+dfsg-5ubuntu0.20.04.4).
libxslt1-dev is already the newest version (1.1.34-4ubuntu0.20.04.1).
python3-yaml is already the newest version (5.3.1-1ubuntu0.1).
wget is already the newest version (1.20.3-1ubuntu2).
python3-pip is already the newest version (20.0.2-5ubuntu1.6).
xterm is already the newest version (353-1ubuntu1.20.04.2).
The following packages were automatically installed and are no longer required:binutils-arm-linux-gnueabi cpp-9-arm-linux-gnueabi cpp-arm-linux-gnueabi gcc-9-arm-linux-gnueabi-basegir1.2-ubuntu-app-launch-3 libasan5-armel-cross libatomic1-armel-cross libautopilot-gtk libc6-armel-cross libcapnp-0.7.0libev4 libfwupdplugin1 libgcc-9-dev-armel-cross libgcc-s1-armel-cross libgomp1-armel-cross libjs-underscoreliblttng-ust-ctl4 liblttng-ust0 libmirclient9 libmircommon7 libmircore1 libmirprotobuf3 libstdc++6-armel-crosslibubsan1-armel-cross libubuntu-app-launch4 libunity-gtk3-parser0 liburcu6 libwebsockets15 libxpathselect1.4v5libzeitgeist-2.0-0 mir-utils python3-autopilot python3-autopilot-trace python3-evdev python3-extras python3-fixturespython3-junitxml python3-linecache2 python3-mimeparse python3-pbr python3-subunit python3-testscenarios python3-testtoolspython3-traceback2 python3-unittest2 python3-xlib recordmydesktop ubuntu-app-launch usb-modeswitch usb-modeswitch-datazeitgeist-core
Use 'sudo apt autoremove' to remove them.
0 upgraded, 0 newly installed, 0 to remove and 18 not upgraded.
+ '[' focal == bionic ']'
+ pip3 install --user -U future lxml pymavlink MAVProxy pexpect flake8 geocoder empy dronecan pygame intelhex
Requirement already satisfied: future in /usr/lib/python3/dist-packages (0.18.2)
Requirement already satisfied: lxml in /home/daniel/.local/lib/python3.8/site-packages (4.9.1)
Requirement already satisfied: pymavlink in /home/daniel/.local/lib/python3.8/site-packages (2.4.37)
Requirement already satisfied: MAVProxy in /home/daniel/.local/lib/python3.8/site-packages (1.8.59)
Requirement already satisfied: pexpect in /home/daniel/.local/lib/python3.8/site-packages (4.8.0)
Requirement already satisfied: flake8 in /home/daniel/.local/lib/python3.8/site-packages (5.0.4)
Requirement already satisfied: geocoder in /home/daniel/.local/lib/python3.8/site-packages (1.38.1)
Requirement already satisfied: empy in /home/daniel/.local/lib/python3.8/site-packages (3.3.4)
Requirement already satisfied: dronecan in /home/daniel/.local/lib/python3.8/site-packages (1.0.16)
Requirement already satisfied: pygame in /home/daniel/.local/lib/python3.8/site-packages (2.1.2)
Requirement already satisfied: intelhex in /home/daniel/.local/lib/python3.8/site-packages (2.3.0)
Requirement already satisfied: numpy in /usr/lib/python3/dist-packages (from MAVProxy) (1.17.4)
Requirement already satisfied: pyserial>=3.0 in /home/daniel/.local/lib/python3.8/site-packages (from MAVProxy) (3.5)
Requirement already satisfied: ptyprocess>=0.5 in /home/daniel/.local/lib/python3.8/site-packages (from pexpect) (0.7.0)
Requirement already satisfied: pyflakes<2.6.0,>=2.5.0 in /home/daniel/.local/lib/python3.8/site-packages (from flake8) (2.5.0)
Requirement already satisfied: mccabe<0.8.0,>=0.7.0 in /home/daniel/.local/lib/python3.8/site-packages (from flake8) (0.7.0)
Requirement already satisfied: pycodestyle<2.10.0,>=2.9.0 in /home/daniel/.local/lib/python3.8/site-packages (from flake8) (2.9.1)
Requirement already satisfied: requests in /usr/lib/python3/dist-packages (from geocoder) (2.22.0)
Requirement already satisfied: click in /usr/lib/python3/dist-packages (from geocoder) (7.0)
Requirement already satisfied: six in /usr/lib/python3/dist-packages (from geocoder) (1.14.0)
Requirement already satisfied: ratelim in /home/daniel/.local/lib/python3.8/site-packages (from geocoder) (0.1.6)
Requirement already satisfied: decorator in /usr/lib/python3/dist-packages (from ratelim->geocoder) (4.4.2)
--- Logging error ---
Traceback (most recent call last):File "/home/daniel/.local/lib/python3.8/site-packages/pip/_internal/utils/logging.py", line 177, in emitself.console.print(renderable, overflow="ignore", crop=False, style=style)File "/home/daniel/.local/lib/python3.8/site-packages/pip/_vendor/rich/console.py", line 1673, in printextend(render(renderable, render_options))File "/home/daniel/.local/lib/python3.8/site-packages/pip/_vendor/rich/console.py", line 1305, in renderfor render_output in iter_render:File "/home/daniel/.local/lib/python3.8/site-packages/pip/_internal/utils/logging.py", line 134, in __rich_console__for line in lines:File "/home/daniel/.local/lib/python3.8/site-packages/pip/_vendor/rich/segment.py", line 249, in split_linesfor segment in segments:File "/home/daniel/.local/lib/python3.8/site-packages/pip/_vendor/rich/console.py", line 1283, in renderrenderable = rich_cast(renderable)File "/home/daniel/.local/lib/python3.8/site-packages/pip/_vendor/rich/protocol.py", line 36, in rich_castrenderable = cast_method()File "/home/daniel/.local/lib/python3.8/site-packages/pip/_internal/self_outdated_check.py", line 130, in __rich__pip_cmd = get_best_invocation_for_this_pip()File "/home/daniel/.local/lib/python3.8/site-packages/pip/_internal/utils/entrypoints.py", line 58, in get_best_invocation_for_this_pipif found_executable and os.path.samefile(File "/usr/lib/python3.8/genericpath.py", line 101, in samefiles2 = os.stat(f2)
FileNotFoundError: [Errno 2] No such file or directory: '/usr/bin/pip3.8'
Call stack:File "/home/daniel/.local/bin/pip3", line 8, in <module>sys.exit(main())File "/home/daniel/.local/lib/python3.8/site-packages/pip/_internal/cli/main.py", line 70, in mainreturn command.main(cmd_args)File "/home/daniel/.local/lib/python3.8/site-packages/pip/_internal/cli/base_command.py", line 101, in mainreturn self._main(args)File "/home/daniel/.local/lib/python3.8/site-packages/pip/_internal/cli/base_command.py", line 223, in _mainself.handle_pip_version_check(options)File "/home/daniel/.local/lib/python3.8/site-packages/pip/_internal/cli/req_command.py", line 190, in handle_pip_version_checkpip_self_version_check(session, options)File "/home/daniel/.local/lib/python3.8/site-packages/pip/_internal/self_outdated_check.py", line 236, in pip_self_version_checklogger.warning("[present-rich] %s", upgrade_prompt)File "/usr/lib/python3.8/logging/__init__.py", line 1458, in warningself._log(WARNING, msg, args, **kwargs)File "/usr/lib/python3.8/logging/__init__.py", line 1589, in _logself.handle(record)File "/usr/lib/python3.8/logging/__init__.py", line 1599, in handleself.callHandlers(record)File "/usr/lib/python3.8/logging/__init__.py", line 1661, in callHandlershdlr.handle(record)File "/usr/lib/python3.8/logging/__init__.py", line 954, in handleself.emit(record)File "/home/daniel/.local/lib/python3.8/site-packages/pip/_internal/utils/logging.py", line 179, in emitself.handleError(record)
Message: '[present-rich] %s'
Arguments: (UpgradePrompt(old='22.2.1', new='22.3'),)
+ [[ -z '' ]]
+ maybe_prompt_user 'Install ArduPilot STM32 toolchain [N/y]?'
+ true
+ return 0
+ DO_AP_STM_ENV=1
+ heading 'Removing modemmanager and brltty package that could conflict with firmware uploading'
+ echo '##############################################'
##############################################
+ echo Removing modemmanager and brltty package that could conflict with firmware uploading
Removing modemmanager and brltty package that could conflict with firmware uploading
+ echo '##############################################'
##############################################
+ package_is_installed modemmanager
+ dpkg-query -W '-f=${Status}' modemmanager
+ grep -c 'ok installed'
0
+ package_is_installed brltty
+ dpkg-query -W '-f=${Status}' brltty
+ grep -c 'ok installed'
0
+ echo 'Done!'
Done!
++ which ccache
+ CCACHE_PATH=/usr/bin/ccache
+ [[ 1 -eq 1 ]]
+ install_arm_none_eabi_toolchain
+ ARM_ROOT=gcc-arm-none-eabi-10-2020-q4-major
+ case $(uname -m) in
++ uname -m
+ '[' '!' -d /opt/gcc-arm-none-eabi-10-2020-q4-major ']'
+ echo 'Registering STM32 Toolchain for ccache'
Registering STM32 Toolchain for ccache
+ sudo ln -s -f /usr/bin/ccache /usr/lib/ccache/arm-none-eabi-g++
+ sudo ln -s -f /usr/bin/ccache /usr/lib/ccache/arm-none-eabi-gcc
+ echo 'Done!'
Done!
+ heading 'Check if we are inside docker environment...'
+ echo '##############################################'
##############################################
+ echo Check if we are inside docker environment...
Check if we are inside docker environment...
+ echo '##############################################'
##############################################
+ IS_DOCKER=false
+ [[ -f /.dockerenv ]]
+ grep -Eq '(lxc|docker)' /proc/1/cgroup
+ echo 'Done!'
Done!
+ SHELL_LOGIN=.profile
+ false
+ heading 'Adding ArduPilot Tools to environment'
+ echo '##############################################'
##############################################
+ echo Adding ArduPilot Tools to environment
Adding ArduPilot Tools to environment
+ echo '##############################################'
##############################################
+++ realpath Tools/environment_install/install-prereqs-ubuntu.sh
++ dirname /home/daniel/RCCode/ardupilot/Tools/environment_install/install-prereqs-ubuntu.sh
+ SCRIPT_DIR=/home/daniel/RCCode/ardupilot/Tools/environment_install
++ realpath /home/daniel/RCCode/ardupilot/Tools/environment_install/../../
+ ARDUPILOT_ROOT=/home/daniel/RCCode/ardupilot
+ [[ 1 -eq 1 ]]
+ exportline='export PATH=/opt/gcc-arm-none-eabi-10-2020-q4-major/bin:$PATH'
+ grep -Fxq 'export PATH=/opt/gcc-arm-none-eabi-10-2020-q4-major/bin:$PATH' /home/daniel/.profile
+ exportline2='export PATH=/home/daniel/RCCode/ardupilot/Tools/autotest:$PATH'
+ grep -Fxq 'export PATH=/home/daniel/RCCode/ardupilot/Tools/autotest:$PATH' /home/daniel/.profile
+ [[ '' -ne 1 ]]
+ exportline3='source /home/daniel/RCCode/ardupilot/Tools/completion/completion.bash'
+ grep -Fxq 'source /home/daniel/RCCode/ardupilot/Tools/completion/completion.bash' /home/daniel/.profile
+ maybe_prompt_user 'Add ArduPilot Bash Completion to your bash shell [N/y]?'
+ true
+ return 0
+ echo source /home/daniel/RCCode/ardupilot/Tools/completion/completion.bash
+ eval source /home/daniel/RCCode/ardupilot/Tools/completion/completion.bash
++ source /home/daniel/RCCode/ardupilot/Tools/completion/completion.bash
+++++ dirname /home/daniel/RCCode/ardupilot/Tools/completion/completion.bash
++++ builtin cd /home/daniel/RCCode/ardupilot/Tools/completion
++++ pwd
+++ _AP_COMPLETION_DIR=/home/daniel/RCCode/ardupilot/Tools/completion
+++ source /home/daniel/RCCode/ardupilot/Tools/completion/bash/_waf
++++ complete -F _waf waf
+++ source /home/daniel/RCCode/ardupilot/Tools/completion/bash/_sim_vehicle
++++ complete -F _sim_vehicle sim_vehicle.py
+++ source /home/daniel/RCCode/ardupilot/Tools/completion/bash/_ap_bin
++++ complete -F _ap_bin arducopter
++++ complete -F _ap_bin arduplane
++++ complete -F _ap_bin ardusub
++++ complete -F _ap_bin arducopter
+++ source /home/daniel/RCCode/ardupilot/Tools/completion/bash/_ap_autotest
++++ complete -F _ap_autotest autotest.py
+ exportline4='export PATH=/usr/lib/ccache:$PATH'
+ grep -Fxq 'export PATH=/usr/lib/ccache:$PATH' /home/daniel/.profile
+ echo 'Done!'
Done!
+ [[ '' -ne 1 ]]
+ '[' -d .git ']'
+ heading 'Update git submodules'
+ echo '##############################################'
##############################################
+ echo Update git submodules
Update git submodules
+ echo '##############################################'
##############################################
+ cd /home/daniel/RCCode/ardupilot
+ git submodule update --init --recursive
+ echo 'Done!'
Done!
+ false
+ echo '---------- Tools/environment_install/install-prereqs-ubuntu.sh end ----------'
---------- Tools/environment_install/install-prereqs-ubuntu.sh end ----------
$ . ~/.profile
$ ./waf clean

3.5 目标固件编译

$ ./waf configure --board AOCODA-H7DUAL
$ ./waf copter
Waf: Entering directory `/home/daniel/RCCode/ardupilot/build/AOCODA-H7DUAL'
Checking for env.py
No env.py found
Generating hwdef.h
Adding environment OPTIMIZE -Os
Setup for MCU STM32H743xx
Writing hwdef setup in /home/daniel/RCCode/ardupilot/build/AOCODA-H7DUAL/hwdef.h
MCU Flags: cortex-m7 ['-mcpu=cortex-m7', '-mfpu=fpv5-d16', '-mfloat-abi=hard']
Writing DMA map
Generating ldscript.ld
Default parameters path from command line: /home/daniel/RCCode/ardupilot/libraries/AP_HAL_ChibiOS/hwdef/AOCODA-H7DUAL/defaults.parm
Embedding file font0.bin:libraries/AP_OSD/fonts/font0.bin
Embedding file font1.bin:libraries/AP_OSD/fonts/font1.bin
Embedding file font2.bin:libraries/AP_OSD/fonts/font2.bin
Embedding file font3.bin:libraries/AP_OSD/fonts/font3.bin
Embedding file font4.bin:libraries/AP_OSD/fonts/font4.bin
Embedding file hwdef.dat:/home/daniel/RCCode/ardupilot/build/AOCODA-H7DUAL/hw.dat
[3/9] Creating build/AOCODA-H7DUAL/hwdef.h
[4/9] Creating build/AOCODA-H7DUAL/modules/ChibiOS/include_dirs
Adding environment OPTIMIZE -Os
Setup for MCU STM32H743xx
Writing hwdef setup in /home/daniel/RCCode/ardupilot/build/AOCODA-H7DUAL/hwdef.h
MCU Flags: cortex-m7 ['-mcpu=cortex-m7', '-mfpu=fpv5-d16', '-mfloat-abi=hard']
Writing DMA map
No change in hwdef.h
Generating ldscript.ld
Default parameters path from hwdef: /home/daniel/RCCode/ardupilot/libraries/AP_HAL_ChibiOS/hwdef/AOCODA-H7DUAL/defaults.parm[5/9] Compiling libraries/AP_Scripting/generator/src/main.c
[6/9] Processing modules/mavlink/message_definitions/v1.0/all.xml
Validation skipped for /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/all.xml.
Parsing /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/all.xml
Validation skipped for /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/ardupilotmega.xml.
Parsing /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/ardupilotmega.xml
Validation skipped for /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/ASLUAV.xml.
Parsing /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/ASLUAV.xml
Validation skipped for /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/common.xml.
Parsing /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/common.xml
Validation skipped for /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/development.xml.
Parsing /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/development.xml
Validation skipped for /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/icarous.xml.
Parsing /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/icarous.xml
Validation skipped for /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/minimal.xml.
Parsing /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/minimal.xml
Validation skipped for /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/python_array_test.xml.
Parsing /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/python_array_test.xml
Validation skipped for /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/standard.xml.
Parsing /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/standard.xml
Validation skipped for /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/test.xml.
Parsing /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/test.xml
Validation skipped for /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/ualberta.xml.
Parsing /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/ualberta.xml
Validation skipped for /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/uAvionix.xml.
Parsing /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/uAvionix.xml
Validation skipped for /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/loweheiser.xml.
Parsing /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/loweheiser.xml
Validation skipped for /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/storm32.xml.
Parsing /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/storm32.xml
Validation skipped for /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/AVSSUAS.xml.
Parsing /home/daniel/RCCode/ardupilot/modules/mavlink/message_definitions/v1.0/AVSSUAS.xml
Merged enum MAV_CMD
Merged enum MAV_CMD
Merged enum MAV_CMD
Merged enum MAV_CMD
Merged enum MAV_CMD
Found 320 MAVLink message types in 15 XML files
Generating C implementation in directory /home/daniel/RCCode/ardupilot/build/AOCODA-H7DUAL/libraries/GCS_MAVLink/include/mavlink/v2.0/all
Generating C implementation in directory /home/daniel/RCCode/ardupilot/build/AOCODA-H7DUAL/libraries/GCS_MAVLink/include/mavlink/v2.0/ardupilotmega
[7/9] Creating build/AOCODA-H7DUAL/ap_version.h
Generating C implementation in directory /home/daniel/RCCode/ardupilot/build/AOCODA-H7DUAL/libraries/GCS_MAVLink/include/mavlink/v2.0/ASLUAV
Generating C implementation in directory /home/daniel/RCCode/ardupilot/build/AOCODA-H7DUAL/libraries/GCS_MAVLink/include/mavlink/v2.0/common
[8/9] Linking build/AOCODA-H7DUAL/modules/ChibiOS/libch.a
Generating C implementation in directory /home/daniel/RCCode/ardupilot/build/AOCODA-H7DUAL/libraries/GCS_MAVLink/include/mavlink/v2.0/development
Generating C implementation in directory /home/daniel/RCCode/ardupilot/build/AOCODA-H7DUAL/libraries/GCS_MAVLink/include/mavlink/v2.0/icarous
Generating C implementation in directory /home/daniel/RCCode/ardupilot/build/AOCODA-H7DUAL/libraries/GCS_MAVLink/include/mavlink/v2.0/minimal
Generating C implementation in directory /home/daniel/RCCode/ardupilot/build/AOCODA-H7DUAL/libraries/GCS_MAVLink/include/mavlink/v2.0/python_array_test
Generating C implementation in directory /home/daniel/RCCode/ardupilot/build/AOCODA-H7DUAL/libraries/GCS_MAVLink/include/mavlink/v2.0/standard
Generating C implementation in directory /home/daniel/RCCode/ardupilot/build/AOCODA-H7DUAL/libraries/GCS_MAVLink/include/mavlink/v2.0/test
Generating C implementation in directory /home/daniel/RCCode/ardupilot/build/AOCODA-H7DUAL/libraries/GCS_MAVLink/include/mavlink/v2.0/ualberta
Generating C implementation in directory /home/daniel/RCCode/ardupilot/build/AOCODA-H7DUAL/libraries/GCS_MAVLink/include/mavlink/v2.0/uAvionix
Generating C implementation in directory /home/daniel/RCCode/ardupilot/build/AOCODA-H7DUAL/libraries/GCS_MAVLink/include/mavlink/v2.0/loweheiser
Generating C implementation in directory /home/daniel/RCCode/ardupilot/build/AOCODA-H7DUAL/libraries/GCS_MAVLink/include/mavlink/v2.0/storm32
Generating C implementation in directory /home/daniel/RCCode/ardupilot/build/AOCODA-H7DUAL/libraries/GCS_MAVLink/include/mavlink/v2.0/AVSSUAS
Copying fixed headers for protocol 2.0 to /home/daniel/RCCode/ardupilot/build/AOCODA-H7DUAL/libraries/GCS_MAVLink/include/mavlink/v2.0
[9/9] Processing /home/daniel/RCCode/ardupilot/build/AOCODA-H7DUAL/libraries/AP_Scripting/lua_generated_bindings.cpp,/home/daniel/RCCode/ardupilot/build/AOCODA-H7DUAL/libraries/AP_Scripting/lua_generated_bindings.h: libraries/AP_Scripting/generator/description/bindings.desc build/AOCODA-H7DUAL/gen-bindings -> build/AOCODA-H7DUAL/libraries/AP_Scripting/lua_generated_bindings.cpp build/AOCODA-H7DUAL/libraries/AP_Scripting/lua_generated_bindings.h
[1/107] ChibiOS: Compiling crt0_v7m.S
[2/107] ChibiOS: Compiling vectors.S
[3/107] ChibiOS: Compiling chcoreasm_v7m.S
[4/107] ChibiOS: Compiling chcore.c
[5/107] ChibiOS: Compiling chcore_v7m.c
[6/107] ChibiOS: Compiling crt1.c
[7/107] ChibiOS: Compiling chprintf.c
[8/107] ChibiOS: Compiling memstreams.c
[9/107] ChibiOS: Compiling nullstreams.c
[10/107] ChibiOS: Compiling osal.c
[11/107] ChibiOS: Compiling hal_adc_lld.c
[12/107] ChibiOS: Compiling stm32_bdma.c
[13/107] ChibiOS: Compiling hal_crypto_lld.c
[14/107] ChibiOS: Compiling hal_dac_lld.c
[15/107] ChibiOS: Compiling stm32_dma.c
[16/107] ChibiOS: Compiling stm32_exti.c
[17/107] ChibiOS: Compiling hal_can_lld.c
[18/107] ChibiOS: Compiling hal_pal_lld.c
[19/107] ChibiOS: Compiling hal_i2c_lld.c
[20/107] ChibiOS: Compiling stm32_mdma.c
[21/107] ChibiOS: Compiling hal_usb_lld.c
[22/107] ChibiOS: Compiling hal_wspi_lld.c
[23/107] ChibiOS: Compiling hal_trng_lld.c
[24/107] ChibiOS: Compiling hal_rtc_lld.c
[25/107] ChibiOS: Compiling hal_sdc_lld.c
[26/107] ChibiOS: Compiling hal_spi_lld.c
[27/107] ChibiOS: Compiling hal_eicu_lld.c
[28/107] ChibiOS: Compiling hal_gpt_lld.c
[29/107] ChibiOS: Compiling hal_icu_lld.c
[30/107] ChibiOS: Compiling hal_pwm_lld.c
[31/107] ChibiOS: Compiling hal_st_lld.c
[32/107] ChibiOS: Compiling hal_serial_lld.c
[33/107] ChibiOS: Compiling hal_uart_lld.c
[34/107] ChibiOS: Compiling hal_wdg_lld.c
[35/107] ChibiOS: Compiling hal_lld.c
[36/107] ChibiOS: Compiling stm32_isr.c
[37/107] ChibiOS: Compiling nvic.c
[38/107] ChibiOS: Compiling hal.c
[40/107] ChibiOS: Compiling hal_buffers.c
[39/107] ChibiOS: Compiling hal_adc.c
[41/107] ChibiOS: Compiling hal_can.c
[42/107] ChibiOS: Compiling hal_crypto.c
[43/107] ChibiOS: Compiling hal_dac.c
[44/107] ChibiOS: Compiling hal_efl.c
[45/107] ChibiOS: Compiling hal_eicu.c
[46/107] ChibiOS: Compiling hal_flash.c
[47/107] ChibiOS: Compiling hal_gpt.c
[48/107] ChibiOS: Compiling hal_i2c.c
[49/107] ChibiOS: Compiling hal_i2s.c
[50/107] ChibiOS: Compiling hal_icu.c
[51/107] ChibiOS: Compiling hal_mac.c
[52/107] ChibiOS: Compiling hal_mmc_spi.c
[53/107] ChibiOS: Compiling hal_mmcsd.c
[54/107] ChibiOS: Compiling hal_pal.c
[55/107] ChibiOS: Compiling hal_pwm.c
[56/107] ChibiOS: Compiling hal_queues.c
[57/107] ChibiOS: Compiling hal_rtc.c
[58/107] ChibiOS: Compiling hal_sdc.c
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[107/107] ChibiOS: Compiling crashdump.cChibiOS: Done!
CrashCatcher: Done!arm-none-eabi-ar: creating modules/ChibiOS/libch.a
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[615/812] Compiling libraries/AP_ADSB/sagetech-sdk/toGS.c
[616/812] Compiling libraries/AP_ADSB/sagetech-sdk/sgDecodeFlightId.c
[617/812] Compiling libraries/AP_ADSB/sagetech-sdk/toHeading2.c
[618/812] Compiling libraries/AP_ADSB/sagetech-sdk/toUint16.c
[619/812] Compiling libraries/AP_ADSB/sagetech-sdk/toVel.c
[620/812] Compiling libraries/AP_ADSB/sagetech-sdk/target.c
[621/812] Compiling libraries/AP_ADSB/sagetech-sdk/uint322Buf.c
[622/812] Compiling libraries/AP_ADSB/sagetech-sdk/uint162Buf.c
[623/812] Compiling libraries/AP_ADSB/sagetech-sdk/toUint32.c
[624/812] Compiling libraries/AP_ADSB/sagetech-sdk/toInt32.c
[625/812] Compiling libraries/AP_ADSB/sagetech-sdk/toInt16.c
[626/812] Compiling libraries/AP_ADSB/sagetech-sdk/toIcao.c
[627/812] Compiling libraries/AP_ADSB/sagetech-sdk/toHeading.c
[628/812] Compiling libraries/AP_ADSB/sagetech-sdk/sgEncodeTargetReq.c
[629/812] Compiling libraries/AP_ADSB/sagetech-sdk/sgEncodeInstall.c
[630/812] Compiling libraries/AP_ADSB/sagetech-sdk/sgEncodeFlightId.c
[631/812] Compiling libraries/AP_ADSB/sagetech-sdk/sgDecodeInstall.c
[632/812] Compiling libraries/AP_ADSB/sagetech-sdk/sgDecodeAck.c
[633/812] Compiling libraries/AP_ADSB/sagetech-sdk/float2Buf.c
[634/812] Compiling libraries/AP_ADSB/sagetech-sdk/icao2Buf.c
[635/812] Compiling libraries/AP_ADSB/sagetech-sdk/toTOA.c
[636/812] Compiling libraries/AP_ADSB/sagetech-sdk/appendChecksum.c
[637/812] Compiling libraries/AP_ADSB/sagetech-sdk/sgEncodeDataReq.c
[638/812] Compiling libraries/AP_ADSB/sagetech-sdk/sgEncodeOperating.c
[639/812] Compiling libraries/AP_ADSB/sagetech-sdk/sgEncodeGPS.c
[640/812] Compiling libraries/AP_Airspeed/AP_Airspeed.cpp
[641/812] Compiling libraries/AP_Airspeed/AP_Airspeed_NMEA.cpp
[642/812] Compiling libraries/AP_AHRS/AP_AHRS.cpp
[643/812] Compiling libraries/AP_AHRS/AP_AHRS_Backend.cpp
[644/812] Compiling libraries/AP_AHRS/AP_AHRS_DCM.cpp
[645/812] Compiling libraries/AP_Baro/AP_Baro_SITL.cpp
[646/812] Compiling libraries/AP_Baro/AP_Baro.cpp
[647/812] Compiling libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp
[648/812] Compiling libraries/AP_BattMonitor/AP_BattMonitor.cpp
[649/812] Compiling libraries/AP_BoardConfig/AP_BoardConfig.cpp
[650/812] Compiling libraries/AP_CANManager/AP_CANDriver.cpp
[651/812] Compiling libraries/AP_CANManager/AP_CANManager.cpp
[652/812] Compiling libraries/AP_Compass/AP_Compass.cpp
[653/812] Compiling libraries/AP_HAL/SIMState.cpp
[654/812] Compiling libraries/AP_InertialSensor/AP_InertialSensor.cpp
[655/812] Compiling libraries/AP_Math/vector3.cpp
[656/812] Compiling libraries/AP_Math/SCurve.cpp
[657/812] Compiling libraries/AP_Math/quaternion.cpp
[658/812] Compiling libraries/AP_Mission/AP_Mission.cpp
[659/812] Compiling libraries/AP_DAL/AP_DAL_Beacon.cpp
[660/812] Compiling libraries/AP_DAL/AP_DAL.cpp
[661/812] Compiling libraries/AP_DAL/AP_DAL_VisualOdom.cpp
[662/812] Compiling libraries/AP_DAL/AP_DAL_RangeFinder.cpp
[663/812] Compiling libraries/AP_NavEKF2/AP_NavEKF2.cpp
[664/812] Compiling libraries/AP_NavEKF3/AP_NavEKF3_GyroBias.cpp
[665/812] Compiling libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp
[666/812] Compiling libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
[667/812] Compiling libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
[668/812] Compiling libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp
[669/812] Compiling libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
[670/812] Compiling libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp
[671/812] Compiling libraries/AP_NavEKF3/AP_NavEKF3.cpp
[672/812] Compiling libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
[673/812] Compiling libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
[674/812] Compiling libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp
[675/812] Compiling libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
[676/812] Compiling libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
[677/812] Compiling libraries/AP_Rally/AP_Rally.cpp
[678/812] Compiling libraries/AP_RangeFinder/AP_RangeFinder.cpp
[679/812] Compiling libraries/AP_Scheduler/AP_Scheduler.cpp
[680/812] Compiling libraries/AP_Terrain/AP_Terrain.cpp
[681/812] Compiling libraries/AP_Vehicle/AP_Vehicle.cpp
[682/812] Compiling libraries/AP_Logger/AP_Logger.cpp
[683/812] Compiling libraries/AP_Logger/AP_Logger_File.cpp
[684/812] Compiling libraries/AP_Logger/AP_Logger_Backend.cpp
[685/812] Compiling libraries/AP_Logger/LoggerMessageWriter.cpp
[686/812] Compiling libraries/GCS_MAVLink/GCS_Common.cpp
[687/812] Compiling libraries/GCS_MAVLink/GCS_Dummy.cpp
[688/812] Compiling libraries/GCS_MAVLink/GCS_Fence.cpp
[689/812] Compiling libraries/RC_Channel/RC_Channel.cpp
[690/812] Compiling libraries/SRV_Channel/SRV_Channels.cpp
[691/812] Compiling libraries/StorageManager/StorageManager.cpp
[692/812] Compiling libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.cpp
[693/812] Compiling libraries/AP_RCProtocol/AP_RCProtocol.cpp
[694/812] Compiling libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
[695/812] Compiling libraries/AP_RCProtocol/AP_RCProtocol_SRXL2.cpp
[696/812] Compiling libraries/AP_RCProtocol/AP_RCProtocol_FPort2.cpp
[697/812] Compiling libraries/AP_RCProtocol/AP_RCProtocol_FPort.cpp
[698/812] Compiling libraries/AP_RCProtocol/AP_RCProtocol_DSM.cpp
[699/812] Compiling libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp
[700/812] Compiling libraries/AP_BLHeli/AP_BLHeli.cpp
[701/812] Compiling libraries/AC_Fence/AC_Fence.cpp
[702/812] Compiling libraries/AC_Fence/AC_PolyFence_loader.cpp
[703/812] Compiling libraries/AC_Avoidance/AP_OABendyRuler.cpp
[704/812] Compiling libraries/AC_Avoidance/AP_OADatabase.cpp
[705/812] Compiling libraries/AC_Avoidance/AC_Avoid.cpp
[706/812] Compiling libraries/AP_Filesystem/AP_Filesystem_posix.cpp
[707/812] Compiling libraries/AP_ADSB/AP_ADSB.cpp
[708/812] Compiling libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.cpp
[709/812] Compiling libraries/AP_GyroFFT/AP_GyroFFT.cpp
[710/812] Compiling libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp
[711/812] Compiling libraries/AP_RCTelemetry/AP_RCTelemetry.cpp
[712/812] Compiling libraries/AP_CustomRotations/AP_CustomRotations_params.cpp
[713/812] Compiling libraries/AP_CustomRotations/AP_CustomRotations.cpp
[714/812] Compiling libraries/AP_AIS/AP_AIS.cpp
[715/812] Compiling libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
[716/812] Compiling libraries/AC_AttitudeControl/AC_WeatherVane.cpp
[717/812] Compiling libraries/AC_AttitudeControl/AC_PosControl.cpp
[718/812] Compiling libraries/AC_PrecLand/AC_PrecLand.cpp
[719/812] Compiling libraries/AC_WPNav/AC_Loiter.cpp
[720/812] Compiling libraries/AP_Motors/AP_MotorsTri.cpp
[721/812] Compiling libraries/AP_Motors/AP_MotorsMatrix.cpp
[722/812] Compiling libraries/AP_Avoidance/AP_Avoidance.cpp
[723/812] Compiling libraries/AP_Arming/AP_Arming.cpp
[724/812] Compiling libraries/AP_Follow/AP_Follow.cpp
[725/812] Compiling libraries/AP_OSD/AP_OSD_Screen.cpp
[726/812] Compiling libraries/AP_OSD/AP_OSD_ParamSetting.cpp
[727/812] Compiling libraries/AP_OSD/AP_OSD_ParamScreen.cpp
[728/812] Compiling libraries/AC_AutoTune/AC_AutoTune.cpp
[729/812] Compiling libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
[730/812] Compiling libraries/AP_HAL_ChibiOS/Storage.cpp
[731/812] Compiling libraries/AP_HAL_ChibiOS/RCOutput.cpp
[732/812] Compiling libraries/AP_HAL_ChibiOS/system.cpp
[733/812] Compiling libraries/AP_HAL_ChibiOS/GPIO.cpp
[734/812] Compiling ArduCopter/mode_autorotate.cpp
[735/812] Compiling ArduCopter/mode_avoid_adsb.cpp
[736/812] Compiling ArduCopter/terrain.cpp
[737/812] Linking build/AOCODA-H7DUAL/lib/libArduCopter_libs.a
[738/812] Compiling ArduCopter/avoidance_adsb.cpp
[739/812] Compiling ArduCopter/inertia.cpp
[740/812] Compiling ArduCopter/AP_Rally.cpp
[741/812] Compiling ArduCopter/standby.cpp
[742/812] Compiling ArduCopter/mode_loiter.cpp
[743/812] Compiling ArduCopter/Attitude.cpp
[744/812] Compiling ArduCopter/AP_State.cpp
[745/812] Compiling ArduCopter/mode_systemid.cpp
[746/812] Compiling ArduCopter/ekf_check.cpp
[747/812] Compiling ArduCopter/afs_copter.cpp
[748/812] Compiling ArduCopter/mode_brake.cpp
[749/812] Compiling ArduCopter/mode_rtl.cpp
[750/812] Compiling ArduCopter/mode_land.cpp
[751/812] Compiling ArduCopter/commands.cpp
[752/812] Compiling ArduCopter/takeoff.cpp
[753/812] Compiling ArduCopter/mode_acro_heli.cpp
[754/812] Compiling ArduCopter/sensors.cpp
[755/812] Compiling ArduCopter/landing_gear.cpp
[756/812] Compiling ArduCopter/mode_turtle.cpp
[757/812] Compiling ArduCopter/takeoff_check.cpp
[758/812] Compiling ArduCopter/radio.cpp
[759/812] Compiling ArduCopter/Log.cpp
[760/812] Compiling ArduCopter/mode_circle.cpp
[761/812] Compiling ArduCopter/mode_smart_rtl.cpp
[762/812] Compiling ArduCopter/mode_auto.cpp
[763/812] Compiling ArduCopter/land_detector.cpp
[764/812] Compiling ArduCopter/mode_drift.cpp
[765/812] Compiling ArduCopter/Parameters.cpp
[766/812] Compiling ArduCopter/mode_follow.cpp
[767/812] Compiling ArduCopter/mode_stabilize.cpp
[768/812] Compiling ArduCopter/mode_flowhold.cpp
[769/812] Compiling ArduCopter/motors.cpp
[770/812] Compiling ArduCopter/RC_Channel.cpp
[771/812] Compiling ArduCopter/mode_sport.cpp
[772/812] Compiling ArduCopter/system.cpp
[773/812] Compiling ArduCopter/surface_tracking.cpp
[774/812] Compiling ArduCopter/failsafe.cpp
[775/812] Compiling ArduCopter/autoyaw.cpp
[776/812] Compiling ArduCopter/mode_zigzag.cpp
[777/812] Compiling ArduCopter/UserCode.cpp
[778/812] Compiling ArduCopter/crash_check.cpp
[779/812] Compiling ArduCopter/mode_flip.cpp
[780/812] Compiling ArduCopter/compassmot.cpp
[781/812] Compiling ArduCopter/toy_mode.cpp
[782/812] Compiling ArduCopter/fence.cpp
[783/812] Compiling ArduCopter/UserParameters.cpp
[784/812] Compiling ArduCopter/mode_guided_nogps.cpp
[785/812] Compiling ArduCopter/mode.cpp
[786/812] Compiling ArduCopter/mode_althold.cpp
[787/812] Compiling ArduCopter/GCS_Copter.cpp
[788/812] Compiling ArduCopter/mode_autotune.cpp
[789/812] Compiling ArduCopter/mode_poshold.cpp
[790/812] Compiling ArduCopter/navigation.cpp
[791/812] Compiling ArduCopter/precision_landing.cpp
[792/812] Compiling ArduCopter/motor_test.cpp
[793/812] Compiling ArduCopter/baro_ground_effect.cpp
[794/812] Compiling ArduCopter/AP_Arming.cpp
[795/812] Compiling ArduCopter/avoidance.cpp
[796/812] Compiling ArduCopter/tuning.cpp
[797/812] Compiling ArduCopter/heli.cpp
[798/812] Compiling ArduCopter/mode_guided.cpp
[799/812] Compiling ArduCopter/mode_stabilize_heli.cpp
[800/812] Compiling ArduCopter/mode_throw.cpp
[801/812] Compiling ArduCopter/Copter.cpp
[802/812] Compiling ArduCopter/esc_calibration.cpp
[803/812] Compiling ArduCopter/GCS_Mavlink.cpp
[804/812] Compiling ArduCopter/mode_acro.cpp
[805/812] Compiling ArduCopter/events.cpp
[806/812] Linking build/AOCODA-H7DUAL/bin/arducopter
[807/812] apj_tool build/AOCODA-H7DUAL/bin/arducopter
Loaded binary file of length 2891560
Setting defaults from /home/daniel/RCCode/ardupilot/libraries/AP_HAL_ChibiOS/hwdef/AOCODA-H7DUAL/defaults.parm
Saved binary of length 2891560
[808/812] Generating bin/arducopter.bin
[809/812] app_descriptor build/AOCODA-H7DUAL/bin/arducopter.bin
No APP_DESCRIPTOR found
[810/812] apj_gen build/AOCODA-H7DUAL/bin/arducopter.bin
[811/812] bin cleanup build/AOCODA-H7DUAL/bin/arducopter.bin
[812/812] Generating bin/arducopter.hex
Waf: Leaving directory `/home/daniel/RCCode/ardupilot/build/AOCODA-H7DUAL'BUILD SUMMARY
Build directory: /home/daniel/RCCode/ardupilot/build/AOCODA-H7DUAL
Target          Text (B)  Data (B)  BSS (B)  Total Flash Used (B)  Free Flash (B)
---------------------------------------------------------------------------------
bin/arducopter   1271768      3196   259032               1274964          428964Build commands will be stored in build/AOCODA-H7DUAL/compile_commands.json
'copter' finished successfully (15m0.590s)

4. 目标固件（Copter-4.3.0固件）

AOCODA-H7DUAL(Copter-4.3.0固件).zip

$ tree build/AOCODA-H7DUAL
build/AOCODA-H7DUAL
├── ap_config.h
├── ap_romfs_embedded.h
├── ap_version.h
├── bin
│   ├── arducopter
│   ├── arducopter.apj
│   ├── arducopter.bin
│   ├── arducopter.hex
│   └── arducopter_with_bl.hex
├── common.ld
├── compile_commands.json
├── env.py
├── gen-bindings
├── hw.dat
├── hwdef.h
├── ldscript.ld
├── Linker.map
└── Makefile

5. 参考资料

【1】Setting up the Build Environment (Linux/Ubuntu)
【2】ArduPilot BUILD.md

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