PX4 Firmware Build

Building Firmware

Environment Setup

git clone -b the_roc https://github.com/gajena/Firmware
cd Firmware
make posix jmavsim # sanity check for all dependencies

Building and Uploading for Autopilot Hardware

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

Note In the example below the first part of the build target px4fmu-v4 is the autopilot hardware version and default is the configuration name (in this case the "default" configuration). All PX4 build targets follow this logic).

For example, to build for Pixracer you would use the following command:

cd Firmware
make px4fmu-v4_default

The following list shows the build commands for common boards:

• Pixhawk 4: make px4fmu-v5_default
• Pixracer: make px4fmu-v4_default
• Pixhawk 3 Pro: make px4fmu-v4pro_default
• Pixhawk Mini: make px4fmu-v3_default
• Pixhawk 2: make px4fmu-v3_default
• mRo Pixhawk: make px4fmu-v3_default (supports 2MB Flash)
• HKPilot32: make px4fmu-v2_default
• Pixfalcon: make px4fmu-v2_default
• Dropix: make px4fmu-v2_default
• MindPX/MindRacer: make mindpx-v2_default
• mRo X-2.1: make auav-x21_default
• Crazyflie 2.0: make crazyflie_default
• Intel® Aero Ready to Fly Drone: make aerofc-v1_default
• Pixhawk 1: make px4fmu-v2_default

  Warning You must use a supported version of GCC to build this board (e.g. 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 flash limit.

• Pixhawk 1 with 2 MB flash: make px4fmu-v3_default

Uploading Firmware (Flashing the board)

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

make px4fmu-v4_default upload

A successful run will end with this output:

Erase  : [====================] 100.0%
Program: [====================] 100.0%
Verify : [====================] 100.0%
Rebooting.

[100%] Built target upload

For more deatails: click here!