Pat Hickey
12 years ago
1 changed files with 36 additions and 116 deletions
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Getting the source |
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================== |
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# ArduPilot Project |
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We'll assume you are putting the source in `/home/name/ardupilot`. |
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## Getting the source |
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You can either download the source using the "ZIP" button at |
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https://github.com/diydrones/ardupilot, or you can grab it from github |
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using git: |
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You can either download the source using the "ZIP" button at the top of the |
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github page, or you can make a clone using git: |
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``` |
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git clone git://github.com/diydrones/ardupilot.git |
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``` |
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Building using Arduino |
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====================== |
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## Building using Arduino IDE |
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First install the libraries: |
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ArduPilot is no longer compatible with the standard Arduino distribution. |
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You need to use a patched Arduino IDE to build ArduPilot. |
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1. Copy the `libraries` directory to your |
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`/path/to/arduino/hardware/libraries/` or |
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`/path/to/arduino/libraries` directory. |
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1. The patched ArduPilot Arduino IDE is available for Mac and Windows from |
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the [downloads page][1]. On Linux, you should use the makefile build. |
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2. Restart the Arduino IDE. |
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2. Unpack and launch the ArduPilot Arduino IDE. In the preferences menu, set |
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your sketchbook location to your downloaded or cloned `ardupilot` directory. |
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Each library comes with a simple example. You can find the examples in |
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the menu File→Examples |
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3. In the ArduPilot Arduino IDE, select your ArduPilot type (APM1 or APM2) from |
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the ArduPilot menu (in the top menubar). |
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Building using make |
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=================== |
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4. Restart the ArduPilot Arduino IDE. You should now be able to build ArduPlane |
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or ArduCopter from source. |
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1. Go to the directory of the sketch and type `make`. |
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5. Remember that, after changing ArduPilot type (APM1 or APM2) in the IDE, |
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you'll need to close and restart the IDE before continuing. |
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2. Type `make upload` to upload according to the parameters in |
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`config.mk`. |
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[1]: http://code.google.com/p/ardupilot-mega/downloads/list |
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For example: |
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``` |
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cd ArduPlane # or ArduCopter etc. |
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make |
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make upload |
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``` |
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Building using cmake |
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==================== |
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``` |
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cd ArduPlane # or ArduCopter etc. |
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mkdir build |
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cd build |
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# If you have Arduino installed in a non-standard location you by |
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# specify it by using -DARDUINO_SDK_PATH=/path/to/arduino |
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cmake .. -DAPM_BOARD=mega -DAPM_PORT=/dev/ttyUSB0 # Or -DAPM_BOARD=mega2560 |
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make # Will build the sketch. |
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make ArduPlane-upload # Will upload the sketch. |
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``` |
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If you have a sync error during upload, reset the board or power cycle |
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the board before the upload starts. |
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Building using Eclipse |
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====================== |
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Generating the Eclipse project for your system |
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---------------------------------------------- |
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``` |
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mkdir /home/name/apm-build |
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cd /home/name/apm-build |
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cmake -G"Eclipse CDT4 - Unix Makefiles" \ |
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-D CMAKE_BUILD_TYPE=Debug \ |
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-D BOARD=mega \ |
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-D PORT=/dev/ttyUSB0 \ |
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../ardupilot/ArduCopter |
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``` |
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## Building using make |
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Change the `../ardupilot/ArduCopter` above to be whatever sketch you |
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want to build. |
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1. Before you build the project for the first time, you'll need to run |
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`make configure` from a sketch directory. This will create a `config.mk` |
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file at the top level of the repository. You can set some defaults in |
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`config.mk` |
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_Note: Unix can be substituted for MinGW/MSYS/NMake (for Windows). |
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See http://www.vtk.org/Wiki/Eclipse_CDT4_Generator)._ |
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2. In the sketch directory, type `make` to build for APM2. Alternatively, |
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`make apm1` will build for the APM1. |
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### Define options |
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3. Type `make upload` to upload. You may need to set the correct default |
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serial port in your `config.mk`. |
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* `CMAKE_BUILD_TYPE` choose from `DEBUG`, `RELEASE` etc. |
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# User Technical Support |
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* `PORT` is the port for uploading to the board, `COM0` etc. on |
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Windows, `/dev/ttyUSB0` etc. on Linux. |
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ArduPilot users should use the DIYDrones.com forums for technical support. |
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* `BOARD` is your board type, `mega` for the 1280 or `mega2560` for |
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the 2560 boards. |
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# Development Team |
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* `ARDUINO_SDK_PATH` to specify the path to your Arduino installation |
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if it isn't in the default path. |
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Importing the Eclipse build project |
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----------------------------------- |
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The ArduPilot project is open source and maintained by a team of volunteers. |
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1. Import project using Menu File→Import. |
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To contribute, you can send a pull request on Github. You can also join the |
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[development discussion on Google Groups][2]. Note that the Google Groups |
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mailing lists are NOT for user tech support, and are moderated for new users to |
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prevent off-topic discussion. |
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2. Select General→Existing projects into workspace. |
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3. Browse to where your build tree is and select the root build tree |
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directory. |
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4. Keep "Copy projects into workspace" unchecked. |
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You should now have a fully functional eclipse project. |
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Importing the Eclipse source project |
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------------------------------------ |
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You can also import the source repository (`/home/name/ardupilot`) if you |
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want to modify the source/commit using git. |
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Configuring Eclipse to recognize PDE files |
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------------------------------------------ |
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* File association: Go to Window→Preferences→General→Content |
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Types. This tree associates a filename or filename pattern with its |
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content type so that tools can treat it properly. Source and header |
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files for most languages are under the Text tree. Add "*.pde" as a |
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C++ Source. |
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* Autocompletion: Right click on source project→Properties→Project |
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References→apm-build Project |
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* Regenerating the Eclipse source project file: `cmake -G"Eclipse |
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CDT4 - Unix Makefiles" -DECLIPSE_CDT4_GENERATE_SOURCE_PROJECT=TRUE |
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/home/name/ardupilot` |
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Build a package using cpack |
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=========================== |
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``` |
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cd build |
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cmake .. |
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make package |
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make package_source |
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``` |
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[2]: https://groups.google.com/forum/?fromgroups#!forum/drones-discuss |
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