Linux系统ubuntu20.04 无人机PX4 开发环境搭建
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。
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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：
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cd ~/PX4-Autopilot使用以下命令切换版本，以V1.14.0为例：
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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：
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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
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[submodule "src/modules/mavlink/mavlink"]
path = src/modules/mavlink/mavlink
url = https://github.com/mavlink/mavlink.git
branch = master
[submodule "src/drivers/uavcan/libuavcan"]
path = src/drivers/uavcan/libuavcan
url = https://github.com/dronecan/libuavcan.git
branch = main
[submodule "Tools/simulation/jmavsim/jMAVSim"]
path = Tools/simulation/jmavsim/jMAVSim
url = https://github.com/PX4/jMAVSim.git
branch = main
[submodule "Tools/simulation/gazebo-classic/sitl_gazebo-classic"]
path = Tools/simulation/gazebo-classic/sitl_gazebo-classic
url = https://github.com/PX4/PX4-SITL_gazebo-classic.git
branch = main
[submodule "src/drivers/gps/devices"]
path = src/drivers/gps/devices
url = https://github.com/PX4/PX4-GPSDrivers.git
branch = main
[submodule "platforms/nuttx/NuttX/nuttx"]
path = platforms/nuttx/NuttX/nuttx
url = https://github.com/PX4/NuttX.git
branch = px4_firmware_nuttx-10.3.0+-v1.14
[submodule "platforms/nuttx/NuttX/apps"]
path = platforms/nuttx/NuttX/apps
url = https://github.com/PX4/NuttX-apps.git
branch = px4_firmware_nuttx-10.3.0+
[submodule "Tools/flightgear_bridge"]
path = Tools/simulation/flightgear/flightgear_bridge
url = https://github.com/PX4/PX4-FlightGear-Bridge.git
[submodule "Tools/simulation/jsbsim/jsbsim_bridge"]
path = Tools/simulation/jsbsim/jsbsim_bridge
url = https://github.com/PX4/px4-jsbsim-bridge.git
[submodule "src/drivers/cyphal/libcanard"]
path = src/drivers/cyphal/libcanard
url = https://github.com/opencyphal/libcanard.git
[submodule "src/drivers/cyphal/public_regulated_data_types"]
path = src/drivers/cyphal/public_regulated_data_types
url = https://github.com/opencyphal/public_regulated_data_types.git
[submodule "src/drivers/cyphal/legacy_data_types"]
path = src/drivers/cyphal/legacy_data_types
url = https://github.com/PX4/public_regulated_data_types.git
branch = legacy
[submodule "src/lib/crypto/monocypher"]
path = src/lib/crypto/monocypher
url = https://github.com/PX4/Monocypher.git
branch = px4
[submodule "src/lib/events/libevents"]
path = src/lib/events/libevents
url = https://github.com/mavlink/libevents.git
branch = main
[submodule "src/lib/crypto/libtomcrypt"]
path = src/lib/crypto/libtomcrypt
url = https://github.com/PX4/libtomcrypt.git
branch = px4
[submodule "src/lib/crypto/libtommath"]
path = src/lib/crypto/libtommath
url = https://github.com/PX4/libtommath.git
branch = px4
[submodule "src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client"]
path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
branch = 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
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[submodule "src/modules/mavlink/mavlink"]
path = src/modules/mavlink/mavlink
url = https://gitee.com/wtp95/mavlink.git
branch = master
[submodule "Tools/flightgear_bridge"]
path = Tools/simulation/flightgear/flightgear_bridge
url = https://gitee.com/seokhb/PX4-FlightGear-Bridge.git
[submodule "Tools/simulation/gazebo-classic/sitl_gazebo-classic"]
path = Tools/simulation/gazebo-classic/sitl_gazebo-classic
url = https://gitee.com/seokhb/PX4-SITL_gazebo-classic.git
branch = main
[submodule "Tools/simulation/jmavsim/jMAVSim"]
path = Tools/simulation/jmavsim/jMAVSim
url = https://gitee.com/seokhb/jMAVSim.git
branch = main
[submodule "Tools/simulation/jsbsim/jsbsim_bridge"]
path = Tools/simulation/jsbsim/jsbsim_bridge
url = https://gitee.com/seokhb/px4-jsbsim-bridge.git
[submodule "platforms/nuttx/NuttX/apps"]
path = platforms/nuttx/NuttX/apps
url = https://gitee.com/seokhb/NuttX-apps.git
branch = px4_firmware_nuttx-10.3.0+
[submodule "platforms/nuttx/NuttX/nuttx"]
path = platforms/nuttx/NuttX/nuttx
url = https://gitee.com/seokhb/NuttX.git
branch = px4_firmware_nuttx-10.3.0+-v1.14
[submodule "src/drivers/cyphal/public_regulated_data_types"]
path = src/drivers/cyphal/public_regulated_data_types
url = https://gitee.com/seokhb/public_regulated_data_types.git
[submodule "src/drivers/cyphal/legacy_data_types"]
path = src/drivers/cyphal/legacy_data_types
url = https://gitee.com/jiyuanwangxs/legacy_data_types.git
branch = legacy
[submodule "src/drivers/cyphal/libcanard"]
path = src/drivers/cyphal/libcanard
url = https://gitee.com/seokhb/libcanard.git
[submodule "src/drivers/gps/devices"]
path = src/drivers/gps/devices
url = https://gitee.com/seokhb/PX4-GPSDrivers.git
branch = main
[submodule "src/drivers/uavcan/libuavcan"]
path = src/drivers/uavcan/libuavcan
url = https://gitee.com/seokhb/libuavcan.git
[submodule "src/lib/crypto/libtomcrypt"]
path = src/lib/crypto/libtomcrypt
url = https://gitee.com/seokhb/libtomcrypt.git
branch = px4
[submodule "src/lib/crypto/libtommath"]
path = src/lib/crypto/libtommath
url = https://gitee.com/seokhb/libtommath.git
branch = px4
[submodule "src/lib/crypto/monocypher"]
path = src/lib/crypto/monocypher
url = https://gitee.com/seokhb/Monocypher.git
branch = px4
[submodule "src/lib/events/libevents"]
path = src/lib/events/libevents
url = https://gitee.com/seokhb/libevents.git
branch = main
[submodule "src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client"]
path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
url = https://gitee.com/seokhb/Micro-XRCE-DDS-Client.git
branch = px4然后执行下面的命令，就可以
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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：
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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
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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。
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# >>> 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
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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
则需要在.bashrc文件的最后一行加入
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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
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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）
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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：
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roslaunch px4 mavros_posix_sitl.launch新打开一个终端，输入：
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rostopic echo mavros/stateheader:
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
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sudo usermod -a -G dialout $USER
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sudo apt-get remove modemmanager -y安装一些依赖库
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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
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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