PX4 Development Environment Setup

Quick Start

1. Clone Repository

# Clone with submodules
git clone --recurse-submodules https://github.com/zyxkv/px4_insider.git
cd px4_insider

# If already cloned without submodules, initialize them
git submodule update --init --recursive

2. Install Dependencies (Ubuntu 22.04)

# Run automatic setup
cd ~/projects/px4_insider
chmod +x scripts/setup_px4_env.sh
./scripts/setup_px4_env.sh

3. Manual Installation

# System dependencies
sudo apt update
sudo apt install -y build-essential cmake git ninja-build \
    libssl-dev python3 python3-pip wget zip unzip \
    avahi-daemon libavahi-compat-libdnssd-dev

# ARM GCC toolchain
wget https://github.com/PX4/toolchain/releases/download/v0.24/PX4-toolchain-0.24-linux-x64.deb
sudo apt install -y ./PX4-toolchain-0.24-linux-x64.deb

# Python dependencies
pip3 install --user pyserial pandas toml numpy

4. Build Firmware

cd PX4-Autopilot

# Build bootloader
make micoair_h743-v2_bootloader

# Build main firmware
make micoair_h743-v2_default

Board Configuration

MicoAir743v2 (Custom Board)

• Location: boards/micoair/h743-v2/
• Target: micoair_h743-v2_default
• Processor: STM32H743VIT6, 480MHz, 2MB Flash
• Sensors: BMI088, BMI270, SPL06, QMC5883L

File Structure

px4_insider/
├── PX4-Autopilot/              # PX4 source (v1.14.3 submodule)
│   └── boards/micoair/h743-v2/ # Board config
├── MicoAir743V2-Manual/        # Hardware manual and images
├── config/
│   └── px4_params.txt          # PX4 parameters
├── docs/
│   ├── px4_dev_setup.md
│   ├── micoair743_config_guide.md
│   └── uxrce_dds_research.md
└── scripts/
    ├── setup_px4_env.sh        # Auto setup script
    ├── start_uxrce_agent.sh
    └── setup_sensors.sh

Note: PX4-Autopilot is included as a git submodule pointing to v1.14.3. When cloning this repository, use --recurse-submodules flag or run git submodule update --init --recursive after cloning.

Troubleshooting

Compilation Errors

# Clean build
make distclean
make micoair_h743-v2_default

USB Connection Issues

# Check device
ls -la /dev/ttyACM*

# Set permissions
sudo chmod 666 /dev/ttyACM0

Toolchain Not Found

# Verify installation
arm-none-eabi-gcc --version

# Reinstall if needed
# See: https://docs.px4.io/main/en/dev_setup/building_px4.html

References

• PX4 Build Guide
• MicoAir743v2 Manual