How to Download Custom Firmware for Pixhawk

Building PX4 Software

PX4 can be congenital on the console or in an IDE, for both simulated and hardware targets.

Before following these instructions yous must showtime install the
Developer Toolchain
for your host operating system and target hardware.

For solutions to common build bug see
Troubleshooting
below.

Download the PX4 Source Code

The PX4 source code is stored on Github in the
PX4/Firmware
repository. To get the
very latest
version onto your computer, enter the post-obit command into a final:

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

This is all you need to do just to build the latest code.
GIT Examples > Contributing code to PX4
provides a lot more information about using git to contribute to PX4.

First Build (Using the jMAVSim Simulator)

First we’ll build a imitation target using a console environs. This allows u.s.a. to validate the system setup before moving on to existent hardware and an IDE.

Navigate into the
Firmware
directory and outset
jMAVSim
using the following command:

        make px4_sitl jmavsim
        
      

This will bring upwards the PX4 console beneath:

The drone can be flown past typing:

        pxh> commander takeoff
        
      

The drone can be landed by typing
commander land
and the whole simulation can exist stopped by doing
CTRL+C
(or by entering
shutdown).

Flying the simulation with the ground command station is closer to the real operation of the vehicle. Click on a location in the map while the vehicle is flight (takeoff flight mode) and enable the slider. This will reposition the vehicle.

PX4 can be used with a number of other
Simulators, including
Gazebo Simulation
and
AirSim Simulation. These are also started with
brand
– eastward.one thousand.

          
            brand px4_sitl gazebo
          
        

NuttX / Pixhawk Based Boards

Building

To build for NuttX- or Pixhawk- based boards, navigate into the
Firmware
directory and then telephone call
make
with the build target for your board.

For case, to build for
Pixracer
you would utilise the post-obit command:

        
          cd
          Firmware brand px4_fmu-v4_default
        
      

In the instance to a higher place the first part of the build target
px4_fmu-v4
is the firmware for a particular flight controller hardware and
default
is the configuration proper name (in this example the “default” configuration). The
default
is optional and so you could instead do:

          
            brand px4_fmu-v4
          
        

A successful run will end with like output to:

        -- Build files have been written to: /home/youruser/src/Firmware/build/px4_fmu-v4_default [954/954] Creating /domicile/youruser/src/Firmware/build/px4_fmu-v4_default/px4_fmu-v4_default.px4
        
      

The following listing shows the build commands for common boards:

• Pixhawk iv:
  make px4_fmu-v5_default
• Pixracer:
  brand px4_fmu-v4_default
• Pixhawk iii Pro:
  make px4_fmu-v4pro_default
• Pixhawk Mini:
  brand px4_fmu-v3_default
• Pixhawk 2:
  make px4_fmu-v3_default
• mRo Pixhawk:
  make px4_fmu-v3_default
  (supports 2MB Wink)
• HKPilot32:
  make px4_fmu-v2_default
• Pixfalcon:
  make px4_fmu-v2_default
• Dropix:
  make px4_fmu-v2_default
• MindPX/MindRacer:
  make airmind_mindpx-v2_default
• mRo Ten-2.ane:
  make mro_x21_default
• Crazyflie 2.0:
  make bitcraze_crazyflie_default
• Intel® Aero Ready to Fly Drone:
  make intel_aerofc-v1_default
• Pixhawk 1:
  make px4_fmu-v2_default

  Yous
  must
  utilise a supported version of GCC to build this board (e.1000. the same as used by
  CI/docker) or remove modules from the build. Building with an unsupported GCC may fail, as PX4 is close to the board’s 1MB wink limit.

• Pixhawk ane with 2 MB wink:
  make px4_fmu-v3_default

Mostly the
_default
suffix is optional (i.e. you can as well build using
make px4_fmu-v4,
make bitcraze_crazyflie, etc.).

Uploading Firmware (Flashing the lath)

Append
upload
to the make commands to upload the compiled binary to the autopilot hardware via USB. For case

        make px4_fmu-v4_default upload
        
      

A successful run volition cease with this output:

        Erase  : [====================] 100.0% Program: [====================] 100.0% Verify : [====================] 100.0% Rebooting.  [100%] Congenital target upload
        
      

Other Boards

The following boards have more complicated build and/or deployment instructions.

Raspberry Pi 2/3 Boards

The command beneath builds the target for
Raspberry Pi 2/3 Navio2.

Cross-compiler Build

Gear up the IP (or hostname) of your RPi using:

        
          consign
          AUTOPILOT_HOST=192.168.10.X
        
      

or

        
          export
          AUTOPILOT_HOST=pi_hostname.domain
        
      

The value of the surroundings variable should be set before the build, or
brand upload
will fail to find your RPi.

Build the executable file:

        
          cd
          Firmware make emlid_navio2
          # for cross-compiler build
        
      

The “px4” executable file is in the directory
build/emlid_navio2_default/. Make sure y’all can connect to your RPi over ssh, run into
instructions how to admission your RPi.

Then upload it with:

        
          cd
          Firmware make emlid_navio2 upload
          # for cross-compiler build
        
      

And so, connect over ssh and run it with (every bit root):

        sudo ./bin/px4
          -s
          px4.config
        
      

Native Build

If you’re building
straight
on the Pi, you volition want the native build target (emlid_navio2_native).

        
          cd
          Firmware brand emlid_navio2_native
          # for native build
        
      

The “px4” executable file is in the directory
build/emlid_navio2_native/. Run it directly with:

        sudo ./build/emlid_navio2_native/px4
          -s
          ./posix-configs/rpi/px4.config
        
      

A successful build followed past executing px4 will give you something like this:

        
          ______  __   __    ___ | ___ \ \ \ / /   /   | | |_/ /  \ 5 /   / /| | |  __/   /   \  / /_| | | |     / /^\ \ \___  | \_|     \/   \/     |_/  px4 starting.   pxh>
        
      

Autostart

To autostart px4, add the following to the file
/etc/rc.local
(adjust it appropriately if you use native build), right earlier the
go out 0
line:

        
          cd
          /home/pi && ./bin/px4
          -d
          -due south
          px4.config > px4.log
        
      

OcPoC-Zynq Mini

Build instructions for the
OcPoC-Zynq Mini
are covered in:

• Aerotenna OcPoC-Zynq Mini Flight Controller > Edifice PX4 for OcPoC-Zynq
  (PX4 User Guide)
• OcPoC PX4 Setup Folio

QuRT / Snapdragon Based Boards

This department shows how to build for the
Qualcomm Snapdragon Flight.

Build

If you utilize the
Qualcomm ESC board
(UART-based), then please follow their instructions
here. If you apply normal PWM-based ESCs boards, and so you may keep to follow the instructions on this page.

The commands below build the targets for the Linux and the DSP side. Both executables communicate via
muORB.

        
          cd
          Firmware make atlflight_eagle_default
        
      

To load the SW on the device, connect via USB cable and brand sure the device is booted. Run this in a new concluding window:

        adb vanquish
        
      

Go back to previous terminal and upload:

        make atlflight_eagle_default upload
        
      

Annotation that this will likewise copy (and overwrite) the two config files
mainapp.config
and
px4.config
to the device. Those files are stored nether /usr/share/information/adsp/px4.config and /home/linaro/mainapp.config respectively if you want to edit the startup scripts directly on your vehicle.

The mixer currently needs to be copied manually:

        adb push ROMFS/px4fmu_common/mixers/quad_x.master.mix  /usr/share/information/adsp
        
      

Run

Run the DSP debug monitor:

        
          ${HEXAGON_SDK_ROOT}/tools/debug/mini-dm/Linux_Debug/mini-dm
        
      

Note: alternatively, especially on Mac, you can also use
nano-dm.

Go back to ADB shell and run px4:

        
          cd
          /domicile/linaro ./px4
          -s
          mainapp.config
        
      

Notation that the px4 will cease every bit presently as you disconnect the USB cable (or if y’all ssh session is asunder). To wing, you should make the px4 auto-start after kicking.

Autostart

To run the px4 as presently as the Snapdragon has booted, you can add together the startup to
rc.local:

Either edit the file
/etc/rc.local
straight on the Snapdragon:

        adb shell vim /etc/rc.local
        
      

Or copy the file to your computer, edit it locally, and copy information technology back:

        adb pull /etc/rc.local gedit rc.local adb push rc.local /etc/rc.local
        
      

For the auto-start, add the following line before
exit 0:

        (cd
          /habitation/linaro && ./px4
          -southward
          mainapp.config > mainapp.log)
          get out
          0
        
      

Make sure that the
rc.local
is executable:

        adb shell chmod +ten /etc/rc.local
        
      

Then reboot the Snapdragon:

        adb reboot
        
      

Compiling in a Graphical IDE

The PX4 system supports Qt Creator, Eclipse and Sublime Text. Qt Creator is the near user-friendly variant and hence the only officially supported IDE. Unless an expert in Eclipse or Sublime, their apply is discouraged. Hardcore users can observe an
Eclipse project
and a
Sublime project
in the source tree.

Qt Creator Functionality

Qt creator offers clickable symbols, automobile-completion of the complete codebase and edifice and flashing firmware.

Qt Creator on Linux

Earlier starting Qt Creator, the
projection file
needs to be created:

        
          cd
          ~/src/Firmware mkdir ../Firmware-build
          cd
          ../Firmware-build cmake ../Firmware -G
          "CodeBlocks - Unix Makefiles"
        
      

Then load the CMakeLists.txt in the root firmware folder via
File > Open File or Project
(Select the CMakeLists.txt file).

After loading, the
play
button can be configured to run the projection past selecting ‘custom executable’ in the run target configuration and entering ‘make’ as executable and ‘upload’ as argument.

Qt Creator on Windows

Windows has not been tested for PX4 development with Qt Creator.

Qt Creator on Mac Os

Before starting Qt Creator, the
project file
needs to be created:

        
          cd
          ~/src/Firmware mkdir -p build/creator
          cd
          build/creator cmake ../.. -G
          "CodeBlocks - Unix Makefiles"
        
      

That’s it! Start
Qt Creator, then consummate the steps in the video below to set up the project to build.

PX4 Brand Build Targets

The previous sections showed how y’all can call
make
to build a number of different targets, outset simulators, use IDEs etc. This section shows how
make
options are synthetic and how to find the available choices.

The total syntax to call
make
with a detail configuration and initialization file is:

        brand [VENDOR_][MODEL][_VARIANT] [VIEWER_MODEL_DEBUGGER_WORLD]
        
      

VENDOR_MODEL_VARIANT: (as well known equally
CONFIGURATION_TARGET)

• VENDOR:
  The manufacturer of the lath:
  px4,
  aerotenna,
  airmind,
  atlflight,
  auav,
  beaglebone,
  intel,
  nxp, etc. The vendor proper name for Pixhawk series boards is
  px4.
• MODEL:
  The
  board model
  “model”:
  sitl,
  fmu-v2,
  fmu-v3,
  fmu-v4,
  fmu-v5,
  navio2, etc.
• VARIANT:
  Indicates detail configurations: e.yard.
  rtps,
  lpe, which contain components that are not nowadays in the
  default
  configuration. Most ordinarily this is
  default, and may exist omitted.

Y’all tin can get a list of
all
available
CONFIGURATION_TARGET
options using the command below:

          
            make list_config_targets
          
        

VIEWER_MODEL_DEBUGGER_WORLD:

• VIEWER:
  This is the simulator (“viewer”) to launch and connect:
  gazebo,
  jmavsim

• MODEL:
  The
  vehicle
  model to use (east.one thousand.
  iris
  (default),
  rover,
  tailsitter, etc), which will be loaded by the simulator. The environment variable
  PX4_SIM_MODEL
  will be set to the selected model, which is then used in the
  startup script
  to select appropriate parameters.
• DEBUGGER:
  Debugger to use:
  none
  (default),
  ide,
  gdb,
  lldb,
  ddd,
  valgrind,
  callgrind. For more than information see
  Simulation Debugging.
• WORLD:
  (Gazebo but). Set a the globe (PX4/sitl_gazebo/worlds) that is loaded. Default is
  empty.world. For more information see
  Gazebo > Loading a Specific World.

You tin get a list of
all
bachelor
VIEWER_MODEL_DEBUGGER_WORLD
options using the command beneath:

          
            make px4_sitl list_vmd_make_targets
          
        

Notes:

• Most of the values in the
  CONFIGURATION_TARGET
  and
  VIEWER_MODEL_DEBUGGER
  have defaults, and are hence optional. For example,
  gazebo
  is equivalent to
  gazebo_iris
  or
  gazebo_iris_none.
• Y’all can use three underscores if you want to specify a default value between ii other settings. For example,
  gazebo___gdb
  is equivalent to
  gazebo_iris_gdb.
• You tin utilise a
  none
  value for
  VIEWER_MODEL_DEBUGGER
  to outset PX4 and wait for a simulator. For example start PX4 using
  brand px4_sitl_default none
  and jMAVSim using
  ./Tools/jmavsim_run.sh -l.

The
VENDOR_MODEL_VARIANT
options map to particular
cmake
configuration files in the PX4 source tree under the
/boards
directory. Specifically
VENDOR_MODEL_VARIANT
maps to a configuration file
boards/VENDOR/MODEL/VARIANT.cmake
(east.g.
px4_fmu-v5_default
corresponds to
boards/px4/fmu-v5/default.cmake).

Additional make targets are discussed in the following sections (listing is not exhaustive):

Binary Size Profiling

The
bloaty_compare_master
build target allows y’all to get a improve agreement of the affect of changes on code size. When it is used, the toolchain downloads the latest successful master build of a particular firmware and compares it to the local build (using the
bloaty
size profiler for binaries).

This tin aid analyse changes that (may) cause
px4_fmu-v2_default
to hit the 1MB flash limit.

Bloaty
must be in your path and institute at
cmake
configure time. The PX4
docker files
install
bloaty
as shown:

        git clone --recursive https://github.com/google/bloaty.git /tmp/bloaty \     && cd /tmp/bloaty && cmake -GNinja . && ninja bloaty && cp bloaty /usr/local/bin/ \     && rm -rf /tmp/*
        
      

The example below shows how you might encounter the impact of removing the
mpu9250
driver from
px4_fmu-v2_default. First it locally sets up a build without the driver:

        
          % git diff diff --git a/boards/px4/fmu-v2/default.cmake b/boards/px4/fmu-v2/default.cmake alphabetize 40d7778..2ce7972 100644 --- a/boards/px4/fmu-v2/default.cmake +++ b/boards/px4/fmu-v2/default.cmake @@ -36,7 +36,7 @@ px4_add_board(                 imu/l3gd20                 imu/lsm303d                 imu/mpu6000 -               imu/mpu9250 +
          #imu/mpu9250
          #iridiumsbd
          #irlock
          #magnetometer # all available magnetometer drivers
        
      

Then utilise the make target, specifying the target build to compare (px4_fmu-v2_default
in this example):

        % brand px4_fmu-v2_default bloaty_compare_master ... ... ...      VM SIZE                                                                                        FILE SIZE  --------------                                                                                  --------------   [DEL]     -52 MPU9250::check_null_data(unsigned int*, unsigned char)                               -52  [DEL]   [DEL]     -52 MPU9250::test_error()                                                                -52  [DEL]   [DEL]     -52 MPU9250_gyro::MPU9250_gyro(MPU9250*, char const*)                                    -52  [DEL]   [DEL]     -56 mpu9250::info(MPU9250_BUS)                                                           -56  [DEL]   [DEL]     -56 mpu9250::regdump(MPU9250_BUS)                                                        -56  [DEL] ...                                        -336  [DEL]   [DEL]    -344 MPU9250_mag::_measure(ak8963_regs)                                                  -344  [DEL]   [DEL]    -684 MPU9250::MPU9250(device::Device*, device::Device*, char const*, char const*, cha    -684  [DEL]   [DEL]    -684 MPU9250::init()                                                                     -684  [DEL]   [DEL]   -g MPU9250::measure()                                                                 -1000  [DEL]  -41.iii%   -1011 [43 Others]                                                                        -1011 -41.iii%   -ane.0% -1.05Ki [Unmapped]                                                                       +24.2Ki  +0.2%   -1.0% -ten.3Ki TOTAL                                                                            +14.9Ki  +0.1%
        
      

This shows that removing
mpu9250
from
px4_fmu-v2_default
would save 10.3 kB of flash. Information technology as well shows the sizes of dissimilar pieces of the
mpu9250
commuter.

Firmware Version & Git Tags

The
PX4 Firmware Version
and
Custom Firmware Version
are published using the MAVLink
AUTOPILOT_VERSION
bulletin, and displayed in the
QGroundControl
Setup > Summary
airframe panel:

These are extracted at build time from the active
git tag
for your repo tree. The git tag should be formatted as
<PX4-version>-<vendor-version>
(e.g. the tag in the image to a higher place was set to
v1.8.1-2.22.i).

If you use a dissimilar git tag format, versions data may not be displayed properly.

Troubleshooting

Full general Build Errors

Many build problems are caused by either mismatching submodules or an incompletely cleaned-up build surroundings. Updating the submodules and doing a
distclean
tin can fix these kinds of errors:

        git submodule update --recursive make distclean
        
      

Flash overflowed by 30 bytes

The
region 'flash' overflowed by XXXX bytes
error indicates that the firmware is too large for the target hardware platform. This is common for
make px4_fmu-v2_default
builds, where the flash size is limited to 1MB.

If you’re edifice the
vanilla
master branch, the most probable cause is using an unsupported version of GCC. In this example, install the version specified in the
Programmer Toolchain
instructions.

If edifice your own branch, it is possibly you lot have increased the firmware size over the 1MB limit. In this case you will need to remove any drivers/modules that yous don’t need from the build.

macOS: Too many open fileserror

MacOS allows a default maximum of 256 open files in all running processes. The PX4 build organization opens a big number of files, so yous may exceed this number.

The build toolchain will then report
Too many open files
for many files, every bit shown below:

        /usr/local/Cellar/gcc-arm-none-eabi/20171218/bin/../lib/gcc/arm-none-eabi/7.2.1/../../../../arm-none-eabi/bin/ld: cannot find NuttX/nuttx/fs/libfs.a: Too many open files
        
      

The solution is to increment the maximum allowed number of open files (e.thousand. to 300). Yous can do this in the macOS
Final
for each session:

• Run this script
  Tools/mac_set_ulimit.sh, or
• Enter this command:

              
                ulimit
                -S -n 300
              
            

macOS Catalina: Problem running cmake

Every bit of macOS Catalina 10.15.1 there may be problems when trying to build the simulator with
cmake. If you have build problems on this platform so try run the post-obit control in your terminal:

        xcode-select --install sudo ln
          -southward
          /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/* /usr/local/include/