Ardupilot安装与配置

在上一篇QGC+PX4+AirSim软件仿真（Linux+Windows下）中，使用QGC+PX4+AirSim进行仿真测试，本文尝试使用Ardupilot替换PX4。

Cygwin

从cygwin下载setup-x86_64.exe

在命令行中运行

setup-x86_64.exe -P autoconf,automake,ccache,cygwin32-gcc-g++,gcc-g++,git,libtool,make,gawk,libexpat-devel,libxml2-devel,python37,python37-future,python37-lxml,python37-pip,libxslt-devel,python37-devel,procps-ng,zip,gdb,ddd

或者根据Cygwin安装与配置使用界面安装

AirSim

按照流程编译安装运行UE/VS/AirSim

ARM-GCC

从ARM-GCC下载程序

一路默认

记得勾选添加环境变量

MAVProxy

MAVProxy下载程序

一路默认安装

编译

打开Cygwin65-Terminal终端，先下载代码

$ git clone https://github.com/ArduPilot/ardupilot.git
Cloning into 'ardupilot'...
remote: Enumerating objects: 436168, done.
remote: Counting objects: 100% (191/191), done.
remote: Compressing objects: 100% (106/106), done.
remote: Total 436168 (delta 110), reused 132 (delta 85), pack-reused 435977
Receiving objects: 100% (436168/436168), 300.50 MiB | 1.11 MiB/s, done.
Resolving deltas: 100% (326866/326866), done.
Updating files: 100% (5805/5805), done.

切换至Copter-4.3分支

基础库

先编译基础库

1 2	`./waf configure --board CubeBlack ./waf copter`

命令运行会停在

Checking for program 'arm-none-eabi-size'      : /cygdrive/c/Program Files (x86)/GNU Arm Embedded Toolchain/10 2020-q4-major/bin/arm-none-eabi-size
Benchmarks                                     : disabled
Unit tests                                     : disabled
Scripting                                      : enabled
Scripting runtime checks                       : enabled
Debug build                                    : disabled
Coverage build                                 : disabled
SITL 32-bit build                              : disabled
Checking for program 'rsync'                   : /usr/bin/rsync
'configure' finished successfully (6.434s)

直接Ctrl + C退出即可

SITL

编译软件在环

1 2	`./waf configure --board=sitl --toolchain x86_64-pc-cygwin ./waf copter`

测试

使用软件在环测试

1	`./Tools/autotest/sim_vehicle.py --map --console -v ArduCopter -f airsim-copter --add-param-file=./Tools/autotest/default_params/airsim-quadX.parm --auto-sysid -N`