一、主要參考的內容
px4的開發者手冊
https://dev.px4.io/zh/setup/dev_env_linux.html
其中有的shell指令
權限設置
警告：永遠不要使用
sudo來修復權限問題，否則會帶來更多的權限問題，需要重裝系統來解決。
把用戶添加到用戶組 "dialout":
sudo usermod -a -G dialout $USER 然后注銷后，重新登錄，因為重新登錄后所做的改變才會有效。
安裝
更新包列表，安裝下面編譯PX4的依賴包。PX4主要支持的系列：
- NuttX based hardware: Pixhawk, Pixfalcon, Pixracer, Crazyflie, Intel® Aero Ready to Fly Drone
- Qualcomm Snapdragon Flight hardware
- Linux-based hardware: Raspberry Pi 2/3, Parrot Bebop
- Host simulation: jMAVSim SITL and Gazebo SITL
提示：安裝Ninja Build System可以比make更快進行編譯。如果安裝了它就會自動選擇使用它進行編譯。
sudo add-apt-repository ppa:george-edison55/cmake-3.x -y
sudo apt-get update
# 必備軟件 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 樹莓派
樹莓派開發者應該從下面地址下載樹莓派Linux工具鏈。安裝腳本會自動安裝交叉編譯工具鏈。如果想要用原生樹莓派工具鏈在樹莓派上直接編譯，參見這里。
git clone https://github.com/pixhawk/rpi_toolchain.git cd rpi_toolchain ./install_cross.sh 在工具鏈安裝過程中需要輸入密碼。
如果不想把工具鏈安裝在默認位置/opt/rpi_toolchain，可以執行./install_cross.sh <PATH>向安裝腳本傳入其它地址。安裝腳本會自動配置需要的環境變量。
最后，運行以下命令更新環境變量：
source ~/.profile
Raspberry Pi 2 開發板
以下命令編譯生成Raspbian（posix_pi2_release）版本的固件。
cd Firmware make posix_rpi2_release # for cross-compiler build "mainapp"可執行文件位於目錄build_posix_rpi2_release/src/firmware/posix下。 將其復制到RPi（用你的RPi的IP或主機名替換YOUR_PI，關於如何訪問你的RPi，查看介紹)
然后使用以下命令設置你的RPi的IP（或主機名）：
export AUTOPILOT_HOST=192.168.X.X 並上傳：
cd Firmware make posix_rpi_cross upload # for cross-compiler build 然后，通過ssh連接並運行它（以root權限）：
sudo ./px4 px4.config
二、自己的添加和總結
make posix_rpi_cross后出現的問題：
-- CMAKE_MODULE_PATH: /home/myfly2/src/myFirmware/Firmware/cmake -- Build Type: RelWithDebInfo -- PX4 VERSION: v1.6.5-114-g4ccbeb4 -- CONFIG: posix-rpi-cross -- CMAKE_INSTALL_PREFIX: /usr -- The CXX compiler identification is unknown -- The C compiler identification is unknown -- The ASM compiler identification is unknown -- Found assembler: arm-linux-gnueabihf-gcc CMake Error at CMakeLists.txt:275 (project): The CMAKE_CXX_COMPILER: arm-linux-gnueabihf-g++ is not a full path and was not found in the PATH. Tell CMake where to find the compiler by setting either the environment variable "CXX" or the CMake cache entry CMAKE_CXX_COMPILER to the full path to the compiler, or to the compiler name if it is in the PATH. CMake Error at CMakeLists.txt:275 (project): The CMAKE_C_COMPILER: arm-linux-gnueabihf-gcc is not a full path and was not found in the PATH. Tell CMake where to find the compiler by setting either the environment variable "CC" or the CMake cache entry CMAKE_C_COMPILER to the full path to the compiler, or to the compiler name if it is in the PATH. CMake Error at CMakeLists.txt:275 (project): The CMAKE_ASM_COMPILER: arm-linux-gnueabihf-gcc is not a full path and was not found in the PATH. Tell CMake where to find the compiler by setting either the environment variable "ASM" or the CMake cache entry CMAKE_ASM_COMPILER to the full path to the compiler, or to the compiler name if it is in the PATH. -- Warning: Did not find file Compiler/-ASM -- Configuring incomplete, errors occurred! See also "/home/myfly2/src/myFirmware/Firmware/build_posix_rpi_cross/CMakeFiles/CMakeOutput.log". See also "/home/myfly2/src/myFirmware/Firmware/build_posix_rpi_cross/CMakeFiles/CMakeError.log". /bin/sh: 1: cd: can't cd to /home/myfly2/src/myFirmware/Firmware/build_posix_rpi_cross Makefile:158: recipe for target 'posix_rpi_cross' failed make: *** [posix_rpi_cross] Error 2
解決辦法：
修改~/.profile,增加環境：
export RPI_TOOLCHAIN_DIR=/opt/rpi_toolchain/gcc-linaro-arm-linux-gnueabihf-raspbian export PATH=$RPI_TOOLCHAIN_DIR/bin:$PATH export AUTOPILOT_HOST=192.168.1.105
然后：
source ~/.profile
繼續出現問題2：
-- CMAKE_MODULE_PATH: /home/myfly2/src/myFirmware/Firmware/cmake -- Build Type: RelWithDebInfo -- PX4 VERSION: v1.6.5-114-g4ccbeb4 -- CONFIG: posix-rpi-cross -- CMAKE_INSTALL_PREFIX: /usr -- The CXX compiler identification is GNU 4.8.3 -- The C compiler identification is GNU 4.8.3 -- The ASM compiler identification is GNU -- Found assembler: /opt/rpi_toolchain/gcc-linaro-arm-linux-gnueabihf-raspbian/bin/arm-linux-gnueabihf-gcc -- Check for working CXX compiler: /opt/rpi_toolchain/gcc-linaro-arm-linux-gnueabihf-raspbian/bin/arm-linux-gnueabihf-g++ -- Check for working CXX compiler: /opt/rpi_toolchain/gcc-linaro-arm-linux-gnueabihf-raspbian/bin/arm-linux-gnueabihf-g++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Check for working C compiler: /opt/rpi_toolchain/gcc-linaro-arm-linux-gnueabihf-raspbian/bin/arm-linux-gnueabihf-gcc -- Check for working C compiler: /opt/rpi_toolchain/gcc-linaro-arm-linux-gnueabihf-raspbian/bin/arm-linux-gnueabihf-gcc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Found PythonInterp: /usr/bin/python (found version "2.7.12") CMake Error at /usr/share/cmake-3.5/Modules/FindPackageHandleStandardArgs.cmake:148 (message): couldn't find python module jinja2: for debian systems try: sudo apt-get install python-jinja2 or for all other OSs/debian: sudo -H pip install jinja2 (missing: PY_JINJA2) Call Stack (most recent call first): /usr/share/cmake-3.5/Modules/FindPackageHandleStandardArgs.cmake:388 (_FPHSA_FAILURE_MESSAGE) cmake/common/px4_base.cmake:621 (find_package_handle_standard_args) CMakeLists.txt:295 (px4_find_python_module) -- Configuring incomplete, errors occurred! See also "/home/myfly2/src/myFirmware/Firmware/build_posix_rpi_cross/CMakeFiles/CMakeOutput.log". /bin/sh: 1: cd: can't cd to /home/myfly2/src/myFirmware/Firmware/build_posix_rpi_cross Makefile:158: recipe for target 'posix_rpi_cross' failed make: *** [posix_rpi_cross] Error 2
這個問題少了jinja2：
sudo apt-get install python-jinja2