PX4编译环境配置和qgc配置安装教程（2）

直接下载方法

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git clone https://github.com/PX4/PX4-Autopilot.git --recursive

cd PX4-Autopilot/

git submodule update --init --recursive

直到不再下载东西为止

这样就可以把全部代码给拉下来

以下是国内下载的方法

1.先git clone px4的源码

git代码肯定需要先安装git

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sudo apt-get install git

我们可以从gitee拉下来px4

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

cd ~/PX4-Autopilot
#切换到1.17.0分支，当然也可以尝试其他版本
# 使用以下命令切换版本，以V1.17.0为例：
git checkout v1.17.0

2.git clone模块

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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# 此部分不执行，解释作用：
#在~/PX4-Autopilot目录下执行
#git submodule update --init --recursive 
#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)
 
# 执行此部分：
#需要先进入~/PX4-Autopilot/.gitmodules文件
 
vi ~/PX4-Autopilot/.gitmodules
 
#将文件打开，可以看到里面都github的地址，直接用上面的命令，会很难成功
#所以：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/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，就可以了
git submodule update --init --recursive
 
有的子模块还是走的github，失败了就多执行几次，直到用上面命令不再下载东西了就可以了

3.一键配置环境

px4内部有对部分操作系统有一键配置的功能

路径：：~/下载/csdn-px4/PX4-Autopilot/Tools/setup

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./ubuntu.sh

然后就等待就可以了，等待安装完成为止

在PX4-Autopilot下面执行

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make px4_fmu-v5_default

编译没有报错，就算是完成了

4.安装qgc

qgc支持ubuntu22.04和24版本的，这俩个版本可以直接下载对应的包，就可以直接使用，如果是低于22.04的操作系统，需要编译qgc源码来安装

qgc下载链接

https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.htmlhttps://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html先添加权限，再启动对应的程序

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chmod +x QGroundControl-<arch>.AppImage
./QGroundControl-<arch>.AppImage

第二种办法，编译源码安装

参考链接

https://blog.csdn.net/weixin_55944949/article/details/143609531https://blog.csdn.net/weixin_55944949/article/details/143609531