編譯環境准備
Ardupilot源碼下載和PX4 toolchain工具鏈下載
(見https://www.cnblogs.com/BlogsOfLei/p/7707485.html)
注意：最新版本的github已經支持下載工程項目中的子模塊。如果喜歡git bash終端指令下載，可見：
https://www.cnblogs.com/BlogsOfLei/p/8624650.html
終端編譯
打開終端PX4 Console，進入固件對用的文件下。此處以編譯四旋翼固件為例，如下圖：
make px4-v2編譯選項，選擇編譯px4-v2固件，回車確定，等待編譯完成。編譯成功得到的固件在ArduCopter文件下，名稱為***.px4。
| make px4-v2 | Build the Pixhawk firmware for a quad |
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| make px4-v3 | Build The Cube firmware for a quad |
| make px4-v4 | Build the PixRacer firmware for quad |
| make px4 | Build both PX4 (obsolete) and PixHawk firmware for a quadcopter |
| make clean | “clean” the ardupilot directory |
| make px4-clean | “clean” the PX4Firmware and PX4NuttX directories so the next build will completely rebuild them |
| make px4-cleandep | “clean” .d and .o files from the PX4Firmware and PX4NuttX directories. faster but less complete rebuild compared to “px4-clean” |
| make px4-v2-upload | Build and upload the Pixhawk firmware for a quad (i.e. no need to upload using a ground station) |
Eclipse 編譯
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Eclipse IDE環境的配置請見https://www.cnblogs.com/BlogsOfLei/p/7707485.html。
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選擇編譯目錄
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新加編譯選項
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點擊編譯選項進行編譯，等待編譯完成。編譯成功后，生成的目標文件位於ArduCopter目錄文件下，格式為***.px4。