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PX4固件下载

PX4的源码处于GitHub，因为众所周知的原因git clone经常失败，此处从Gitee获取PX4源码和依赖模块。

git clone https://gitee.com/voima/PX4-Autopilot.git

正克隆到 ‘PX4-Autopilot’…
remote: Enumerating objects: 454209, done.
remote: Total 454209 (delta 0), reused 0 (delta 0), pack-reused 454209
接收对象中: 100% (454209/454209), 215.48 MiB | 2.32 MiB/s, 完成.
处理 delta 中: 100% (334699/334699), 完成.

使用cd命令切换到 px4项目文件目录：

cd ~/PX4-Autopilot

使用以下命令切换版本，以V1.14.0为例：

git checkout v1.14.0 #切换到1.14.0分支，当然也可以尝试其他版本

因为PX4的完整项目是嵌套子模块存储的，以上命令只下载了px4的基本代码，所以我们要进行子模块的下载，运行下列命令：

 git submodule update --init --recursive # 在~/PX4-Autopilot目录下执行

以上命令中，submodule是子模块的意思， --init 选项会初始化，并注册子模块的地址，–recursive选项会递归克隆子模块。

此更新的链接来源于~/PX4-Autopilot/.gitmodules(注意是隐藏文件)

将文件打开，粘贴到下面，可以看到里面都github的地址，直接用上面的命令，会很难成功

[submodule "src/modules/mavlink/mavlink"]path = src/modules/mavlink/mavlinkurl = https://github.com/mavlink/mavlink.gitbranch = master
[submodule "src/drivers/uavcan/libuavcan"]path = src/drivers/uavcan/libuavcanurl = https://github.com/dronecan/libuavcan.gitbranch = main
[submodule "Tools/simulation/jmavsim/jMAVSim"]path = Tools/simulation/jmavsim/jMAVSimurl = https://github.com/PX4/jMAVSim.gitbranch = main
[submodule "Tools/simulation/gazebo-classic/sitl_gazebo-classic"]path = Tools/simulation/gazebo-classic/sitl_gazebo-classicurl = https://github.com/PX4/PX4-SITL_gazebo-classic.gitbranch = main
[submodule "src/drivers/gps/devices"]path = src/drivers/gps/devicesurl = https://github.com/PX4/PX4-GPSDrivers.gitbranch = main
[submodule "platforms/nuttx/NuttX/nuttx"]path = platforms/nuttx/NuttX/nuttxurl = https://github.com/PX4/NuttX.gitbranch = px4_firmware_nuttx-10.3.0+-v1.14
[submodule "platforms/nuttx/NuttX/apps"]path = platforms/nuttx/NuttX/appsurl = https://github.com/PX4/NuttX-apps.gitbranch = px4_firmware_nuttx-10.3.0+
[submodule "Tools/flightgear_bridge"]path = Tools/simulation/flightgear/flightgear_bridgeurl = https://github.com/PX4/PX4-FlightGear-Bridge.git
[submodule "Tools/simulation/jsbsim/jsbsim_bridge"]path = Tools/simulation/jsbsim/jsbsim_bridgeurl = https://github.com/PX4/px4-jsbsim-bridge.git
[submodule "src/drivers/cyphal/libcanard"]path = src/drivers/cyphal/libcanardurl = https://github.com/opencyphal/libcanard.git
[submodule "src/drivers/cyphal/public_regulated_data_types"]path = src/drivers/cyphal/public_regulated_data_typesurl = https://github.com/opencyphal/public_regulated_data_types.git
[submodule "src/drivers/cyphal/legacy_data_types"]path = src/drivers/cyphal/legacy_data_typesurl = https://github.com/PX4/public_regulated_data_types.gitbranch = legacy
[submodule "src/lib/crypto/monocypher"]path = src/lib/crypto/monocypherurl = https://github.com/PX4/Monocypher.gitbranch = px4
[submodule "src/lib/events/libevents"]path = src/lib/events/libeventsurl = https://github.com/mavlink/libevents.gitbranch = main
[submodule "src/lib/crypto/libtomcrypt"]path = src/lib/crypto/libtomcrypturl = https://github.com/PX4/libtomcrypt.gitbranch = px4
[submodule "src/lib/crypto/libtommath"]path = src/lib/crypto/libtommathurl = https://github.com/PX4/libtommath.gitbranch = px4
[submodule "src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client"]path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Clienturl = https://github.com/PX4/Micro-XRCE-DDS-Client.gitbranch = px4

将其更新为 gitee 的地址，已经整理测试好了，直接替换掉文件的内容即可

[submodule "src/modules/mavlink/mavlink"]path = src/modules/mavlink/mavlinkurl = https://gitee.com/wtp95/mavlink.gitbranch = master[submodule "Tools/flightgear_bridge"]path = Tools/simulation/flightgear/flightgear_bridgeurl = https://gitee.com/seokhb/PX4-FlightGear-Bridge.git[submodule "Tools/simulation/gazebo-classic/sitl_gazebo-classic"]path = Tools/simulation/gazebo-classic/sitl_gazebo-classicurl = https://gitee.com/seokhb/PX4-SITL_gazebo-classic.gitbranch = main[submodule "Tools/simulation/jmavsim/jMAVSim"]path = Tools/simulation/jmavsim/jMAVSimurl = https://gitee.com/seokhb/jMAVSim.gitbranch = main[submodule "Tools/simulation/jsbsim/jsbsim_bridge"]path = Tools/simulation/jsbsim/jsbsim_bridgeurl = https://gitee.com/seokhb/px4-jsbsim-bridge.git[submodule "platforms/nuttx/NuttX/apps"]path = platforms/nuttx/NuttX/appsurl = https://gitee.com/seokhb/NuttX-apps.gitbranch = px4_firmware_nuttx-10.3.0+[submodule "platforms/nuttx/NuttX/nuttx"]path = platforms/nuttx/NuttX/nuttxurl = https://gitee.com/seokhb/NuttX.gitbranch = px4_firmware_nuttx-10.3.0+-v1.14[submodule "src/drivers/cyphal/public_regulated_data_types"]path = src/drivers/cyphal/public_regulated_data_typesurl = https://gitee.com/seokhb/public_regulated_data_types.git[submodule "src/drivers/cyphal/legacy_data_types"]path = src/drivers/cyphal/legacy_data_typesurl = https://gitee.com/jiyuanwangxs/legacy_data_types.gitbranch = legacy[submodule "src/drivers/cyphal/libcanard"]path = src/drivers/cyphal/libcanardurl = https://gitee.com/seokhb/libcanard.git[submodule "src/drivers/gps/devices"]path = src/drivers/gps/devicesurl = https://gitee.com/seokhb/PX4-GPSDrivers.gitbranch = main[submodule "src/drivers/uavcan/libuavcan"]path = src/drivers/uavcan/libuavcanurl = https://gitee.com/seokhb/libuavcan.git[submodule "src/lib/crypto/libtomcrypt"]path = src/lib/crypto/libtomcrypturl = https://gitee.com/seokhb/libtomcrypt.gitbranch = px4[submodule "src/lib/crypto/libtommath"]path = src/lib/crypto/libtommathurl = https://gitee.com/seokhb/libtommath.gitbranch = px4[submodule "src/lib/crypto/monocypher"]path = src/lib/crypto/monocypherurl = https://gitee.com/seokhb/Monocypher.gitbranch = px4[submodule "src/lib/events/libevents"]path = src/lib/events/libeventsurl = https://gitee.com/seokhb/libevents.gitbranch = main[submodule "src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client"]path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Clienturl = https://gitee.com/seokhb/Micro-XRCE-DDS-Client.gitbranch = px4

然后执行下面的命令，就可以

git submodule update --init --recursive

有的子模块还是走的github，失败了就多试几次，直到用上面命令不再下载东西了就可以了

开发环境搭建

PX4的完整代码已经下载完了，接下来就是配置开发环境。PX4源码中已经提供了开发环境配置的脚本，在/PX4-Autopilot/Tools/setup目录中，该目录下的文件如下：

可以看到里面有Arch/Macos和ubuntu系统的配置脚本。
ubuntu系统，运行ubuntu.sh文件
这是一个脚本文件，里面是一些bash命令，可以理解为一系列下载px4开发环境的代码。在上图界面右键选择在终端打开，使用下列命令运行：

bash ubuntu.sh

如果出现很多错误，和镜像源有关，那么则手动安装一些模块

sudo apt install python3-pip
pip3 install kconfiglib
pip3 install --user jinja2
pip3 install --user jsonschema
sudo apt-get update
sudo apt-get install libgstreamer1.0-0 gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-libav gstreamer1.0-doc gstreamer1.0-tools gstreamer1.0-x gstreamer1.0-alsa gstreamer1.0-gl gstreamer1.0-gtk3 gstreamer1.0-qt5 gstreamer1.0-pulseaudio libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev

然后需配置~/.bashrc文件，打开该文件，在底部添加如下内容，保存。

# >>> PX4 initialize >>>
source ~/PX4-Autopilot/Tools/simulation/gazebo-classic/setup_gazebo.bash ~/PX4-Autopilot ~/PX4-Autopilot/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Autopilot
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic
# <<< PX4 initialize <<<

然后进行编译

cd ~/PX4-Autopilot  # 也可以 roscd px4
make px4_sitl_default gazebo
```cd ~/PX4-Autopilot 
如果出现下面的错误，一直在等待master> [Msg] Waiting for master.
[Err] [ConnectionManager.cc:121] Failed to connect to master in 30 seconds.
[Err] [gazebo_shared.cc:78] Unable to initialize transport.
[Err] [gazebo_client.cc:56] Unable to setup Gazebo
![在这里插入图片描述](https://img-blog.csdnimg.cn/direct/db19e2b420d54580b3a52f053d642fbf.png)则需要在.bashrc文件的最后一行加入```c
source /opt/ros/noetic/setup.bash

然后再启动

终端出现如下，gazebo启动，中间有个小飞机，则代表开发环境搭建成功

MAVROS安装

安装geographiclib数据库（GeographicLib是一个用于解决地理坐标转换、大地测量（geodesy）和地图投影等问题的库，广泛用于航空航天和GIS（地理信息系统）领域）

安装MAVROS

sudo apt install ros-noetic-mavros ros-noetic-mavros-extras

准备解压 …/ros-noetic-mavros_1.18.0-1focal.20240304.150259_amd64.deb …
正在解压 ros-noetic-mavros (1.18.0-1focal.20240304.150259) 并覆盖 (1.15.0-1focal
.20230216.003459) …
准备解压 …/ros-noetic-mavros-extras_1.18.0-1focal.20240304.151354_amd64.deb .
…
正在解压 ros-noetic-mavros-extras (1.18.0-1focal.20240304.151354) 并覆盖 (1.15.0
-1focal.20230216.014052) …
正在设置 ros-noetic-mavros (1.18.0-1focal.20240304.150259) …
正在设置 ros-noetic-mavros-extras (1.18.0-1focal.20240304.151354) …

安装geographiclib数据库（GeographicLib是一个用于解决地理坐标转换、大地测量（geodesy）和地图投影等问题的库，广泛用于航空航天和GIS（地理信息系统）领域）

wget https://gitee.com/robin_shaun/XTDrone/raw/master/sitl_config/mavros/install_geographiclib_datasets.sh
sudo chmod a+x ./install_geographiclib_datasets.sh
sudo ./install_geographiclib_datasets.sh 

检查MAVROS是否安装成功可输入如下命令：

roslaunch px4 mavros_posix_sitl.launch

新打开一个终端，输入：

rostopic echo mavros/state

header:
seq: 27
stamp:
secs: 27
nsecs: 524000000
frame_id: ‘’
connected: True
armed: False
guided: True
manual_input: False
mode: “AUTO.LOITER”
system_status: 3

看到connected为True 则 MAVROS安装成功

安装地面站QGC

首先执行下面指令

sudo usermod -a -G dialout $USER

sudo apt-get remove modemmanager -y

安装一些依赖库

sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y
sudo apt install libfuse2 -y
sudo apt install libxcb-xinerama0 libxkbcommon-x11-0 libxcb-cursor0 -y

然后系统登出再登入，确定改变了用户权限

下面开始安装QGC
下载QGroundControl.AppImage,下载链接
将该文件移动到主目录下面
通过指令更改权限，和运行

chmod +x ./QGroundControl.AppImage
./QGroundControl.AppImage  

然后会运行QGC的软件

之后双击 QGroundControl.AppImage 图标也可以运行该软件