最近大半个月都在搞ardupilot的东东，我的测试机是一台250的穿越机，Pixhawk 2.4.8的飞控（比较耐炸，机器刚到那天，测试时，由于GPS有问题，从大概6楼掉下来，四个桨叶的螺丝全掉了，桨叶也掉了两个，把所有东西找回来重新安装上，还是可以飞：））。
开始了我的ArduPilot之旅。。。。
我用的是一台MAC来做编译,使用eclipse开发环境，ArduPilot官网有使用MAC进行源码下载和编译教程，地址为：http://ardupilot.org/dev/docs/building-px4-with-make-on-mac.html
按步就班就可以了，只是这个命令时，下载好慢啊。。好像是从国外站点直接下载的。我下了两天。。
git submodule update --init --recursive过程中，我遇到好些问题：
1、git源码时，像modules文件夹里的nuttx等全是空的，必需要用上面的命令下载。我尝试过直接到对应的github上下载zip包，解压放里面，编译通不过。大概提示是文件夹已经存在。
2、下载这些模块时，网络慢，经常会断，但是早上下载的话，会快些。。
make命令提示：
CubardeMacBook-Air:arducopter cubar$ make
ArduPilot Building
==================
The following web page has detailed information on building the code
http://dev.ardupilot.org/wiki/building-the-code/
Before building a target you need to be in the target vehicle type directory
e.g. ArduPlane, ArduCopter, APMrover2, AntennaTracker
Most targets support a "-upload" extension to upload the firmware
to a connected board. e.g. "make px4-v2-upload"
Some targets support a "-debug" extension to enable a debug build
(with debug symbols, and without optimisation)
Note that the px4 builds are NOT parallel safe, NO -j flag
Targets
-------
px4-v1 - the PX4v1 board
px4-v2 - the Pixhawk
px4-v3 - the Pixhawk with 2M flash
px4-v4 - the XRacer
pxf - the Beagle Bone Black (BBB) + PXF cape combination
navio - the RaspberryPi + NavIO cape combination
linux - a generic Linux build
vrbrain - the VRBrain boards
sitl - the SITL Software In The Loop simulation
bbbmini - the Beagle Bone Black mini
bebop - the Parrot Bebop
raspilot - the RaspberryPi + pilot cape combination
erleboard - the ErleBoard legacy design
minlure - the drone lure for MinnowBoard and others
qflight - qualcomm flight board
erlebrain2 - the Erle-Brain 2 board
bhat - the RaspberryPi + BH HAT combination
pxfmini - the RaspberryPi Zero + PXFmini cape combination
navio2 - the RaspberryPi + NavIO2 cape combination
CubardeMacBook-Air:arducopter cubar$
编译成功的提示：
Pruning ROMFS files.
ROMFS: romfs.img
OBJ: romfs.o
CC: romfs.o.c
CC: romfs.o.c
LINK: /Users/cubar/src/ardupilot/modules/PX4Firmware/Build/px4fmu-v2_APM.build/firmware.elf
BIN: /Users/cubar/src/ardupilot/modules/PX4Firmware/Build/px4fmu-v2_APM.build/firmware.bin
%% Generating /Users/cubar/src/ardupilot/modules/PX4Firmware/Build/px4fmu-v2_APM.build/firmware.px4
%% Copying /Users/cubar/src/ardupilot/modules/PX4Firmware/Images/px4fmu-v2_APM.px4
text data bss dec hex filename
1025164 2840 57224 1085228108f2c /Users/cubar/src/ardupilot/modules/PX4Firmware/Build/px4fmu-v2_APM.build/firmware.elf
PX4 ArduCopter Firmware is in ArduCopter-v2.px4
CubardeMacBook-Air:arducopter cubar$
问题来了，MAC下好像只有QGroundControl，没有MP。QC有点蛋疼的是不能越界修改参数，也不能查看日志（只能下载，下载后是一个bin文件，暂时没找到MAC下查看bin文件的软件，有个File Spy，能看到日志内容，但是不支持换行。。），因此，编译好后用U盘复制到WIN下面烧到PIX里。接下来就是各项校准。最后试飞。。。成功。。。