实验要求
ubuntu16.04系统64bit
实验过程
参考：https://blog.csdn.net/oqqENvY12/article/details/52035127
参考官方文档：https://dev.px4.io/en/setup/dev_env_linux_ubuntu.html
准备工作
1.设置权限
打开终端输入：
sudo usermod -a -G dialout $USER然后注销并重新登录。
2.卸载模式管理器
sudo apt-get remove modemmanager3.安装CMake以及其他的依赖包
sudo add-apt-repository ppa:george-edison55/cmake-3.x -y
sudo apt-get update
sudo apt-get install python-argparse git-core wget zip python-empy qtcreator cmake build-essential genromfs -y
sudo add-apt-repository ppa:openjdk-r/ppa
sudo apt-get update
sudo apt-get install openjdk-8-jre
sudo apt-get install ant protobuf-compiler libeigen3-dev libopencv-dev openjdk-8-jdk openjdk-8-jre clang-3.5 lldb-3.5 -y
sudo add-apt-repository ppa:terry.guo/gcc-arm-embedded -y
sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
sudo apt-get update
sudo apt-get install python-serial openocd flex bison libncurses5-dev autoconf texinfo build-essential libftdi-dev libtool zlib1g-dev python-empy gcc-arm-none-eabi -y
4.更新gcc-arm。
wget https://launchpad.net/gcc-arm-embedded/4.9/4.9-2015-q3-update/+download/gcc-arm-none-eabi-4_9-2015q3-20150921-linux.tar.bz2
pushd .
sudo apt-get remove gcc-arm-none-eabi
tar -jxf gcc-arm-none-eabi-4_9-2015q3-20150921-linux.tar.bz2
sudo mv gcc-arm-none-eabi-4_9-2015q3 /opt
exportline="export PATH=/opt/gcc-arm-none-eabi-4_9-2015q3/bin:\$PATH"
if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
. ~/.profile
popd5.验证gcc
由于系统位数的原因，需要额外安装依赖包
sudo apt-get install lsb-core验证gcc，显示如下则安装成功
arm-none-eabi-gcc --version显示：
arm-none-eabi-gcc (GNU Tools for ARM Embedded Processors) 4.9.3 20150529 (release) [ARM/embedded-4_9-branch revision 227977]
Copyright (C) 2014 Free Software Foundation, Inc.
This is free software; see the source for copying conditions. There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
固件的下载及编译
1.下载git，创建文件夹，然后git初始化，下载固件
#安装git
sudo apt-get install git-all
#创建文件夹,在桌面右键打开终端
mkdir px4
cd px4
#git初始化
git init
#下载固件
git clone https://github.com/PX4/Firmware.git2.切换版本并编译
cd Firmware
#切换分支，与qgc安装的版本一致
git checkout -b v1.8.2
#更新子模块
git submodule update --init --recursive
#编译,pixhawk2.4.8采用的是v3
make px4fmu-v3_default3.将修改后的固件烧录到pixhawk中
make px4fmu-v3_default upload