Development Environment on CentOS

These instructions have not been tested with recent builds of PX4. We hope to provide fully tested instructions with the supported toolchain in the near future.

The build requires Python 2.7.5. Therefore as of this writing Centos 7 should be used. (For earlier Centos releases a side-by-side install of python v2.7.5 may be done. But it is not recommended because it can break yum.)

Common Dependencies

The EPEL repositories are required for openocd libftdi-devel libftdi-python

sudo yum install epel-release-7-5.noarch.rpm
yum update
yum groupinstall “Development Tools”
yum install python-setuptools python-numpy
easy_install pyserial
easy_install pexpect
easy_install toml
yum install openocd libftdi-devel libftdi-python python-argparse flex bison-devel ncurses-devel ncurses-libs autoconf texinfo libtool zlib-devel cmake

You may want to also install python-pip and screen

GCC Toolchain Installation

Execute the script below to install 5.4:

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" ~/.bash_profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi

Now restart your machine.

If using Debian Linux, run this command:

sudo dpkg --add-architecture i386
sudo apt-get update

Then install the 32 bit support libraries (this might fail and can be skipped if running a 32 bit OS):

sudo apt-get install libc6:i386 libgcc1:i386 libstdc++5:i386 libstdc++6:i386
sudo apt-get install gcc-4.6-base:i386


Check the version by entering the following command:

arm-none-eabi-gcc --version

The output should be something similar to:

arm-none-eabi-gcc (GNU Tools for ARM Embedded Processors) 5.4.1 20160609 (release) [ARM/embedded-5-branch revision 237715]
Copyright (C) 2015 Free Software Foundation, Inc.
This is free software; see the source for copying conditions.  There is NO

If you get the following output, make sure you have the 32bit libs installed properly as described in the installation steps:

arm-none-eabi-gcc --version
arm-none-eabi-gcc: No such file or directory

Additional 32 bit libraries

Once the arm toolchain is installed test it with:

arm-none-eabi-gcc --version

If you receive the following message

bash: gcc-arm-none-eabi-4_7-2014q2/bin/arm-none-eabi-gcc: /lib/ bad ELF interpreter: No such file or directory

Then you will also need to install other 32-bit libraries glibc.i686 ncurses-libs.i686

sudo yum install glibc.i686 ncurses-libs.i686

Pulling in ncurses-libs.i686 will pull in most of the other required 32 bit libraries. Centos 7 will install most all the PX4 related devices without the need for any added udev rules. The devices will be accessible to the predefined group ' dialout'. Therefore any references to adding udev rules can be ignored. The only requirement is that your user account is a member of the group 'dial out'

Ninja Build System

Ninja is a faster build system than Make and the PX4 CMake generators support it.

On Ubuntu Linux you can install this automatically from normal repos.

sudo apt-get install ninja-build -y

Other systems may not include Ninja in the package manager. In this case an alternative is to download the binary and add it to your path:

mkdir -p $HOME/ninja
cd $HOME/ninja
exportline="export PATH=$HOME/ninja:\$PATH"
if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
. ~/.profile

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