Last updated
Last updated
This topic explains how to construct and extend the development environment used for the no-longer-supported .
The following features are known to work (version 2.0):
Building and running SITL with jMAVSim with significantly better performance than a VM (it generates a native windows binary px4.exe).
Building and uploading NuttX builds (e.g.: px4_fmu-v2 and px4_fmu-v4)
Style check with astyle (supports the command: make format
)
Command line auto completion
Non-invasive installer! The installer does NOT affect your system and global path (it only modifies the selected installation directory e.g. **C:\PX4** and uses a temporary local path).
The installer supports updating to a new version keeping your personal changes inside the toolchain folder
Omissions:
Simulation: Gazebo and ROS are not supported.
Only NuttX and JMAVSim/SITL builds are supported.
(Also use to report issues).
You can also install the environment using shell scripts in the Github project.
Clone the repository https://github.com/PX4/windows-toolchain to the location you want to install the toolchain. Default location and naming is achieved by opening the Git Bash
and executing:
If you want to install all components navigate to the freshly cloned folder and double click on the script install-all-components.bat
located in the folder toolchain
. If you only need certain components and want to safe Internet traffic and or disk space you can navigate to the different component folders like e.g. toolchain\cygwin64
and click on the install-XXX.bat scripts to only fetch something specific.
This section describes how to setup the Cygwin toolchain manually yourself while pointing to the corresponding scripts from the script based installation repo. The result should be the same as using the scripts or MSI installer.
:::note The toolchain gets maintained and hence these instructions might not cover every detail of all the future changes. :::
Create the folders: **C:\PX4**, **C:\PX4\toolchain** and **C:\PX4\home**
Run the downloaded setup file
In the wizard choose to install into the folder: **C:\PX4\toolchain\cygwin64**
Select to install the default Cygwin base and the newest available version of the following additional packages:
Category:Packagename
Devel:cmake (3.3.2 gives no deprecated warnings, 3.6.2 works but has the warnings)
Devel:gcc-g++
Devel:gdb
Devel:git
Devel:make
Devel:ninja
Devel:patch
Editors:xxd
Editors:nano (unless you're the vim pro)
Python:python2
Python:python2-pip
Python:python2-numpy
Python:python2-jinja2
Python:python2-pyyaml
Python:python2-cerberus
Archive:unzip
Utils:astyle
Shells:bash-completion
Web:wget
:::note Do not select as many packages as possible which are not on this list, there are some which conflict and break the builds. :::
Add necessary python packages to your setup by opening the Cygwin toolchain console (double clicking run-console.bat) and executing
Install the JDK:
Because sadly there is no portable archive containing the binaries directly you have to install it.
Find the binaries and move/copy them to C:\PX4\toolchain\jdk.
You can uninstall the Kit from your Windows system again, we only needed the binaries for the toolchain.
:::tip Make sure you don't have an additional folder layer from the folder which is inside the downloaded archive. :::
Download, build and add genromfs to the path:
Clone the source code to the folder C:\PX4\toolchain\genromfs\genromfs-src with
Compile it with:
Make sure you have installed.
Continue with .
Download the Cygwin installer file from the
:::note That's what does. :::
Write up or copy the batch scripts and .
The reason to start all the development tools through the prepared batch script is they preconfigure the starting program to use the local, portable Cygwin environment inside the toolchain's folder. This is done by always first calling the script and the desired application like the console after that.
The script locally sets environmental variables for the workspace root directory PX4_DIR
, all binary locations PATH
, and the home directory of the unix environment HOME
.
:::note That's what does. :::
Download the as zip archive of the binaries for Windows and unpack the content to the folder C:\PX4\toolchain\gcc-arm
.
:::note This is what the toolchain does in: . :::
Download Java 14 from or .
:::note This is what the toolchain does in: . :::
Download as zip archive of the binaries for Windows and unpack the content to the folder C:\PX4\toolchain\apache-ant
.
:::note This is what the toolchain does in: . :::
Make sure all the binary folders of all the installed components are correctly listed in the PATH
variable configured by .