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注意：该编译方法生成的固件基于Chibios系统，如果想要Nuttx系统固件，需采用make编译，步骤见make编译说明部分。
安装Cygwin
安装应用程序，在安装界面中选择网络安装和下载包服务器地址，直到进入下图界面
在搜索框中搜索待安装的包，并点击skip按钮选择安装版本，选择成功后bin选择被打钩，表示选择安装有效。依次搜索下表中的包，并选择安装有效。全被选择完成之后，点击下一步进行安装(下载包和安装包过程需要一段比较长的时间，需耐心等待)。
| Package Name | Category / Name / Description |
|---|---|
| autoconf | Devel | autoconf: Wrapper scripts for autoconf commands |
| automake | Devel | automake: Wrapper scripts for automake and aclocal |
| ccache | Devel | ccache: A C compiler cache for improving recompilation |
| gcc-g++ | Devel | gcc-g++ GNU Compiler Collection (C++) |
| git | Devel | git: Distributed version control system |
| libtool | Devel | libtool: Generic library support script |
| make | Devel | make: The GNU version of the ‘make’ utility |
| gawk | Interpreters | gawk: GNU awk, a pattern scanning and processing language |
| libexpat-devel | Libs | libexpat-devel: Expat XML parser library (development files) |
| libxml2-devel | Libs | libxml2-devel: Gnome XML library (development) |
| libxslt-devel | Libs | libxslt-devel: XML template library (development files) |
| python2-devel | Python | python2-devel: Python2 language interpreter (python3 does not work yet) |
| python2-future | Python | python2-future: Clean single-source support for Python 3 and 2 |
| python2-libxml2 | Python | python2-libxml2: Gnome XML Library (Python bindings |
| python2-pip | Python | python2-pip: Python package installation tool |
| procps-ng | System | procps-ng: System and process monitoring utilities (required for pkill) |
| gdb | Devel | gdb: The GNU Debugger |
| ddd | Devel | ddd: DDD, the data display debugger |
| zip | Archive | zip: Info-ZIP compression utility |
打开Cygwin64 Terminal(从桌面快捷方式或者开始菜单中打开)，输入以下指令安装依赖的python组件包。
pip2 install empy ? pip2 install pyserial ? pip2 install pymavlink
安装GCC编译器(http://firmware.ardupilot.org/Tools/STM32-tools/gcc-arm-none-eabi-6-2017-q2-update-win32-sha2.exe)，安装过程中选择Add path to environment variable。
打开Cygwin64 Terminal，进入Ardupilot工程目录下
查看能编译目标板指令
./waf list_boards
配置目标板，以下列出常用的配置目标板指令：
./waf configure --board bebop --static # Bebop or Bebop2 ./waf configure --board edge # emlid edge ./waf configure --board fmuv3 # Pixhawk2/Cube using ChibiOS ./waf configure --board fmuv4 # Pixracer using ChibiOS ./waf configure --board navio2 # emlid navio2 ./waf configure --board Pixhawk1 # Pixhawk1 ./waf configure --board CubeBlack # Pixhawk2 ./waf configure --board Pixracer # Pixracer ./waf configure --board skyviper-v2450 # SkyRocket‘s SkyViper GPS drone using ChibiOS ./waf configure --board sitl # software-in-the-loop simulator ./waf configure --board sitl --debug # software-in-the-loop simulator with debug symbols
此处编译pixhawk1为例。输入指令./waf configure --board Pixhawk1。注意区分大小写。
编译目标指令。输入以下指令编译四旋翼固件，固件格式为apj和bin，其中apj可通过MissionPlaner地面站烧写至目标板。
./waf --targets bin/arducopter
关于waf编译详细说明请见文档：https://github.com/ArduPilot/ardupilot/blob/master/BUILD.md
标签：lang ane symbol can gnome conf control zip esc
原文地址：https://www.cnblogs.com/BlogsOfLei/p/10275708.html
