对于模拟目标和硬件目标，可以在控制台上或 IDE 中生成 PX4。
For solutions to common build problems see Troubleshooting below.
The PX4 source code is stored on Github in the PX4/Firmware repository. We recommend that you fork this repository (creating a copy associated with your own Github account), and then clone the source to your local computer.
Forking the repository allows you to better manage your custom code. Later on you will be able to use git to share changes with the main project.
The steps to fork and clone the project source code are:
- 在GitHub上 注册。
转到 Firmware 存储库，然后单击右上角附近的 Fork 按钮。 这将创建并打开分叉存储库。
复制 Firmware 存储库分叉的存储库URl。 最简单的方法是单击 Clone 或下载 按钮，然后复制URL：
Install git (if you haven't already done so as part of setting up the development environment):
- On macOS use the terminal command:
brew install git
- On Ubuntu use the terminal command:
sudo apt install git
- For other platforms see the git documentation.
- On macOS use the terminal command:
Open a command prompt/terminal on your computer
- On OS X, hit ⌘-space and search for 'terminal'.
- On Ubuntu, click the launch bar and search for 'terminal'.
- On Windows, find the PX4 folder in the start menu and click on 'PX4 Console'.
Clone the repository fork using the copied URL. This will look something like:
git clone https://github.com/<youraccountname>/Firmware.git
> **Tip** If you're just experimenting (and don't want to make any sort of permanent changes) you can simply clone the main Firmware repository as shown: > > sh > git clone https://github.com/PX4/Firmware.git Windows users [refer to the Github help](https://help.github.com/desktop/guides/getting-started-with-github-desktop/installing-github-desktop/). You can use a *git* command line client as above or instead perform the same actions with the *Github for Windows* app.
This will copy most of the very latest version of PX4 source code onto your computer (the rest of the code is automatically fetched from other git submodules when you build PX4).
To get the source code for a specific older release:
sh git clone https://github.com/PX4/Firmware.git cd Firmware
sh git tag -l
迁出特定tag的代码（比如 tag为 1.7.4的beta版本）
sh git checkout v1.7.4beta
For the first build we'll build for a simulated target using a console environment. This allows us to validate the system setup before moving on to real hardware and an IDE.
Navigate into the Firmware directory and start jMAVSim using the following command:
make px4_sitl jmavsim
This will bring up the PX4 console below:
The drone can be flown by typing:
pxh> commander takeoff
The drone can be landed by typing
commander land and the whole simulation can be stopped by doing CTRL+C (or by entering
Flying the simulation with the ground control station is closer to the real operation of the vehicle. Click on a location in the map while the vehicle is flying (takeoff flight mode) and enable the slider. This will reposition the vehicle.
To build for NuttX- or Pixhawk- based boards, navigate into the Firmware directory and then call
make with the build target for your board.
For example, to build for Pixracer you would use the following command:
cd Firmware make px4_fmu-v4_default
In the example above the first part of the build target
px4_fmu-v4is the firmware for a particular flight controller hardware and
defaultis the configuration name (in this case the "default" configuration). The
defaultis optional so you could instead do:
A successful run will end with similar output to:
-- Build files have been written to: /home/youruser/src/Firmware/build/px4_fmu-v4_default [954/954] Creating /home/youruser/src/Firmware/build/px4_fmu-v4_default/px4_fmu-v4_default.px4
The following list shows the build commands for common boards:
- Pixhawk 4:
- Pixhawk 3 Pro:
- Pixhawk Mini:
- Pixhawk 2:
- mRo Pixhawk:
make px4_fmu-v3_default（支持 2MB 闪存）
- mRo X-2.1:
- Crazyflie 2.0:
- Intel® Aero Ready to Fly Drone:
- Pixhawk 1:
make px4_fmu-v2_default> Warning You must use a supported version of GCC to build this board (e.g. the same as used by CI/docker) or remove modules from the build. 使用不受支持的 GCC 构建可能会失败，因为 PX4 对飞控板有 1MB 的闪存限制。
- Pixhawk 1 的 2 MB 闪存版:
_defaultsuffix is optional (i.e. you can also build using
make bitcraze_crazyflie, etc.).
upload to the make commands to upload the compiled binary to the autopilot hardware via USB. For example
make px4_fmu-v4_default upload
A successful run will end with this output:
Erase : [====================] 100.0% Program: [====================] 100.0% Verify : [====================] 100.0% Rebooting. [100%] Built target upload
The following boards have more complicated build and/or deployment instructions.
The command below builds the target for Raspberry Pi 2/3 Navio2.
Set the IP (or hostname) of your RPi using:
The value of the environment variable should be set before the build, or
make uploadwill fail to find your RPi.
Build the executable file:
cd Firmware make emlid_navio2_cross # for cross-compiler build
The "px4" executable file is in the directory build/emlid_navio2_cross/. Make sure you can connect to your RPi over ssh, see instructions how to access your RPi.
Then upload it with:
cd Firmware make emlid_navio2_cross upload # for cross-compiler build
Then, connect over ssh and run it with (as root):
sudo ./bin/px4 -s px4.config
If you're building directly on the Pi, you will want the native build target (emlid_navio2_native).
cd Firmware make emlid_navio2_native # for native build
The "px4" executable file is in the directory build/emlid_navio2_native/. Run it directly with:
sudo ./build/emlid_navio2_native/px4 -s ./posix-configs/rpi/px4.config
A successful build followed by executing px4 will give you something like this:
<br />______ __ __ ___ | ___ \ \ \ / / / | | |_/ / \ V / / /| | | __/ / \ / /_| | | | / /^\ \ \___ | \_| \/ \/ |_/ px4 starting. pxh>
To autostart px4, add the following to the file /etc/rc.local (adjust it accordingly if you use native build), right before the
exit 0 line:
cd /home/pi && ./bin/px4 -d -s px4.config > px4.log
Support for the Parrot Bebop is at an early stage and should be used very carefully.
cd Firmware make parrot_bebop
Turn on your Bebop and connect your host machine with the Bebop's wifi. Then, press the power button four times to enable ADB and to start the telnet daemon.
make parrot_bebop upload
This will upload the PX4 mainapp into /data/ftp/internal_000/px4/ and create the file /home/root/parameters if not already present. This also uploads the mixer file and the px4.config file into the /home/root/ directory.
Connect to the Bebop's wifi and press the power button four times. Next, connect with the Bebop via telnet or adb shell and run the commands below.
Kill the Bebop's proprietary driver with
and start the PX4 mainapp with:
/data/ftp/internal_000/px4/px4 -s /home/root/px4.config /data/ftp/internal_000/px4/
In order to fly the Bebop, connect a joystick device with your host machine and start QGroundControl. Both the Bebop and the joystick should be recognized. Follow the instructions to calibrate the sensors and setup your joystick device.
To auto-start PX4 on the Bebop at boot, modify the init script
/etc/init.d/rcS_mode_default. Comment the following line:
DragonStarter.sh -out2null &
Replace it with:
echo 1 > /sys/class/gpio/gpio85/value # enables the fan /data/ftp/internal_000/px4/px4 -d -s /home/root/px4.config /data/ftp/internal_000/px4/ >/dev/null &
Enable adb server by pressing the power button 4 times and connect to adb server as described before:
adb connect 192.168.42.1:9050
Re-mount the system partition as writeable:
adb shell mount -o remount,rw /
In order to avoid editing the file manually, you can use this one: https://gist.github.com/bartslinger/8908ff07381f6ea3b06c1049c62df44e
Save the original one and push this one to the Bebop
adb shell cp /etc/init.d/rcS_mode_default /etc/init.d/rcS_mode_default_backup adb push rcS_mode_default /etc/init.d/ adb shell chmod 755 /etc/init.d/rcS_mode_default
Sync and reboot:
adb shell sync adb shell reboot
Build instructions for the OcPoC-Zynq Mini are covered in:
- Aerotenna OcPoC-Zynq Mini Flight Controller > Building PX4 for OcPoC-Zynq (PX4 User Guide)
- OcPoC PX4 Setup Page
This section shows how to build for the Qualcomm Snapdragon Flight.
The commands below build the targets for the Linux and the DSP side. Both executables communicate via muORB.
cd Firmware make atlflight_eagle_default
To load the SW on the device, connect via USB cable and make sure the device is booted. Run this in a new terminal window:
Go back to previous terminal and upload:
make atlflight_eagle_default upload
Note that this will also copy (and overwrite) the two config files mainapp.config and px4.config to the device. Those files are stored under /usr/share/data/adsp/px4.config and /home/linaro/mainapp.config respectively if you want to edit the startup scripts directly on your vehicle.
The mixer currently needs to be copied manually:
adb push ROMFS/px4fmu_common/mixers/quad_x.main.mix /usr/share/data/adsp
Run the DSP debug monitor:
Note: alternatively, especially on Mac, you can also use nano-dm.
Go back to ADB shell and run px4:
cd /home/linaro ./px4 -s mainapp.config
Note that the px4 will stop as soon as you disconnect the USB cable (or if you ssh session is disconnected). To fly, you should make the px4 auto-start after boot.
To run the px4 as soon as the Snapdragon has booted, you can add the startup to
Either edit the file
/etc/rc.local directly on the Snapdragon:
adb shell vim /etc/rc.local
Or copy the file to your computer, edit it locally, and copy it back:
adb pull /etc/rc.local gedit rc.local adb push rc.local /etc/rc.local
For the auto-start, add the following line before
(cd /home/linaro && ./px4 -s mainapp.config > mainapp.log) exit 0
Make sure that the
rc.local is executable:
adb shell chmod +x /etc/rc.local
Then reboot the Snapdragon:
The PX4 system supports Qt Creator, Eclipse and Sublime Text. Qt Creator is the most user-friendly variant and hence the only officially supported IDE. Unless an expert in Eclipse or Sublime, their use is discouraged. Hardcore users can find an Eclipse project and a Sublime project in the source tree.
Qt creator offers clickable symbols, auto-completion of the complete codebase and building and flashing firmware.
Before starting Qt Creator, the project file needs to be created:
cd ~/src/Firmware mkdir ../Firmware-build cd ../Firmware-build cmake ../Firmware -G "CodeBlocks - Unix Makefiles"
Then load the CMakeLists.txt in the root firmware folder via File > Open File or Project (Select the CMakeLists.txt file).
After loading, the play button can be configured to run the project by selecting 'custom executable' in the run target configuration and entering 'make' as executable and 'upload' as argument.
Windows has not been tested for PX4 development with Qt Creator.
Before starting Qt Creator, the project file needs to be created:
cd ~/src/Firmware mkdir -p build/creator cd build/creator cmake ../.. -G "CodeBlocks - Unix Makefiles"
That's it! Start Qt Creator, then complete the steps in the video below to set up the project to build.
The previous sections showed how you can call make to build a number of different targets, start simulators, use IDEs etc. This section shows how make options are constructed and how to find the available choices.
The full syntax to call make with a particular configuration and initialization file is:
make [VENDOR_][MODEL][_VARIANT] [VIEWER_MODEL_DEBUGGER]
VENDOR_MODEL_VARIANT: (also known as
- VENDOR: The manufacturer of the board:
parrot, etc. The vendor name for Pixhawk series boards is
- MODEL: The board model "model":
- VARIANT: Indicates particular configurations: e.g.
lpe, which contain components that are not present in the
defaultconfiguration. Most commonly this is
default, and may be omitted.
You can get a list of all available
CONFIGURATION_TARGEToptions using the command below:
sh make list_config_targets
VIEWER: This is the simulator ("viewer") to launch and connect:
MODEL: The vehicle model to use (e.g.
tailsitter, etc), which will be loaded by the simulator. The environment variable
PX4_SIM_MODELwill be set to the selected model, which is then used in the startup script to select appropriate parameters.
DEBUGGER: Debugger to use:
callgrind. For more information see Simulation Debugging.
You can get a list of all available
VIEWER_MODEL_DEBUGGERoptions using the command below:
sh make px4_sitl list_vmd_make_targets
- Most of the values in the
VIEWER_MODEL_DEBUGGERhave defaults, and are hence optional. For example,
gazebois equivalent to
- You can use three underscores if you want to specify a default value between two other settings. For example,
gazebo___gdbis equivalent to
- You can use a
VIEWER_MODEL_DEBUGGERto start PX4 and wait for a simulator. For example start PX4 using
make px4_sitl_default noneand jMAVSim using
VENDOR_MODEL_VARIANT options map to particular cmake configuration files in the PX4 source tree under the /boards directory. Specifically
VENDOR_MODEL_VARIANT maps to a configuration file boards/VENDOR/MODEL/VARIANT.cmake (e.g.
px4_fmu-v5_default corresponds to boards/px4/fmu-v5/default.cmake).
Additional make targets are discussed in the following sections (list is not exhaustive):
bloaty_compare_master build target allows you to get a better understanding of the impact of changes on code size. When it is used, the toolchain downloads the latest successful master build of a particular firmware and compares it to the local build (using the bloaty size profiler for binaries).
This can help analyse changes that (may) cause
px4_fmu-v2_defaultto hit the 1MB flash limit.
Bloaty must be in your path and found at cmake configure time. The PX4 docker files install bloaty as shown:
git clone --recursive https://github.com/google/bloaty.git /tmp/bloaty \ && cd /tmp/bloaty && cmake -GNinja . && ninja bloaty && cp bloaty /usr/local/bin/ \ && rm -rf /tmp/*
The example below shows how you might see the impact of removing the mpu9250 driver from
px4_fmu-v2_default. First it locally sets up a build without the driver:
% git diff diff --git a/boards/px4/fmu-v2/default.cmake b/boards/px4/fmu-v2/default.cmake index 40d7778..2ce7972 100644 --- a/boards/px4/fmu-v2/default.cmake +++ b/boards/px4/fmu-v2/default.cmake @@ -36,7 +36,7 @@ px4_add_board( imu/l3gd20 imu/lsm303d imu/mpu6000 - imu/mpu9250 + #imu/mpu9250 #iridiumsbd #irlock #magnetometer # all available magnetometer drivers
Then use the make target, specifying the target build to compare (
px4_fmu-v2_default in this case):
% make px4_fmu-v2_default bloaty_compare_master ... ... ... VM SIZE FILE SIZE -------------- -------------- [DEL] -52 MPU9250::check_null_data(unsigned int*, unsigned char) -52 [DEL] [DEL] -52 MPU9250::test_error() -52 [DEL] [DEL] -52 MPU9250_gyro::MPU9250_gyro(MPU9250*, char const*) -52 [DEL] [DEL] -56 mpu9250::info(MPU9250_BUS) -56 [DEL] [DEL] -56 mpu9250::regdump(MPU9250_BUS) -56 [DEL] ... -336 [DEL] [DEL] -344 MPU9250_mag::_measure(ak8963_regs) -344 [DEL] [DEL] -684 MPU9250::MPU9250(device::Device*, device::Device*, char const*, char const*, cha -684 [DEL] [DEL] -684 MPU9250::init() -684 [DEL] [DEL] -1000 MPU9250::measure() -1000 [DEL] -41.3% -1011 [43 Others] -1011 -41.3% -1.0% -1.05Ki [Unmapped] +24.2Ki +0.2% -1.0% -10.3Ki TOTAL +14.9Ki +0.1%
This shows that removing mpu9250 from
px4_fmu-v2_default would save 10.3 kB of flash. It also shows the sizes of different pieces of the mpu9250 driver.
The PX4 Firmware Version and Custom Firmware Version are published using the MAVLink AUTOPILOT_VERSION message, and displayed in the QGroundControl Setup > Summary airframe panel:
These are extracted at build time from the active git tag for your repo tree. The git tag should be formatted as
<PX4-version>-<vendor-version> (e.g. the tag in the image above was set to
If you use a different git tag format, versions information may not be displayed properly.
Many build problems are caused by either mismatching submodules or an incompletely cleaned-up build environment. Updating the submodules and doing a
distclean can fix these kinds of errors:
git submodule update --recursive make distclean
region 'flash' overflowed by XXXX bytes error indicates that the firmware is too large for the target hardware platform. This is common for
make px4_fmu-v2_default builds, where the flash size is limited to 1MB.
If you're building the vanilla master branch, the most likely cause is using an unsupported version of GCC. In this case, install the version specified in the Developer Toolchain instructions.
If building your own branch, it is possibly you have increased the firmware size over the 1MB limit. In this case you will need to remove any drivers/modules that you don't need from the build.
MacOS allows a default maximum of 256 open files in all running processes. The PX4 build system opens a large number of files, so you may exceed this number.
The build toolchain will then report
Too many open files for many files, as shown below:
/usr/local/Cellar/gcc-arm-none-eabi/20171218/bin/../lib/gcc/arm-none-eabi/7.2.1/../../../../arm-none-eabi/bin/ld: cannot find NuttX/nuttx/fs/libfs.a: Too many open files
The solution is to increase the maximum allowed number of open files (e.g. to 300). You can do this in the macOS Terminal for each session:
- Run this script Tools/mac_set_ulimit.sh, or
- Enter this command:
sh ulimit -S -n 300
As of macOS Catalina 10.15.1 there may be problems when trying to build the simulator with cmake. If you have build problems on this platform then try run the following command in your terminal:
xcode-select --install sudo ln -s /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/* /usr/local/include/