qgroundcontrol在LINUX下的编译与调试

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Compile and run qgroundcontrol 
for Linux Ubuntu .

在LINUX UBUNTU下面编译和运行qgroundcontrol。

Perquisites:

Open a terminal
and check the followings:----测试环境，看看是什么LINUX版本。

# ubuntu version

cat
/etc/lsb-release

DISTRIB_ID=Ubuntu

DISTRIB_RELEASE=13.04

DISTRIB_CODENAME=raring

DISTRIB_DESCRIPTION="Ubuntu 13.04"

# compiler (gcc and g++) versions (should be 4.7.X or greater)---查看编译器版本。

g++
--version

g++ (Ubuntu/Linaro 4.7.3-1ubuntu1) 4.7.3
gcc --version

gcc (Ubuntu/Linaro
4.7.3-1ubuntu1) 4.7.3

#install following
packages (qt,regex,sdl,osg,osgearth,osg phonon...I hope they are all)安装相关依赖项。

sudo
apt-get update

sudo
apt-get install build-essential

sudo
apt-get install libopenscenegraph-dev

sudo
apt-get install regexxer

sudo
apt-get install libsdl1.2-dev

sudo
apt-get install flite-dev

sudo
apt-get install libosgViewer

sudo
apt-get install libosgearth-dev

sudo
apt-get install libphonon(4)   # try with 4 or without

sudo
apt-get install phonon-backend-gstreamer

sudo
apt-get install qt4-default-------这里是缺省安装QT4。但是现在的qgroundcontrol的编译可能要更高版本的QT环境了。

sudo
apt-get install libqt4-dev (optional)

#(I
don't know if this is mandatory, I just have it in history)

sudo
apt-get install  libglade2.0-cil-dev 

sudo
apt-get install  git

Repos:

# get the sources
for mavlink from git, and build it-----安装MAVLINK数据链路通信协议。

git
clone https://github.com/mavlink/mavlink

cd mavlink

 git submodule update --init --recursive 

mkdir
build

cd 
build

cmake
..   #<----------------------------correction from qmake ..

make
configure   

make

sudo
make install

# if you get any
errors (repo changes always), in building mavlink crap,

just
forget it and, https://github.com/downloads/mavlink/mavlink/mavlink-1.0.9.deb

and install it
with package manager. Right click, open with 'package|system|* whatever installer'

then continue
with the procedure...

#get the sources
for qgroundcontrol, and build ir

git
clone git://github.com/mavlink/qgroundcontrol.git

cd qgroundcontrol

git clone http://github.com/LorenzMeier/qupgrade/

qmake
qgroundcontrol.pro

make

# If you get linker
errors as: Geometry::set*Array and View::checkErrors type
of..

#apply
the attached patch. PATCH.TXT obsolette

#apply
this patch: patch2.txt

#
fixes for linkage errors and FlightModes current PWM value

#Read here how
to apply a patch file to a tree (Linux): howto-patch

#then continue

make
clean && make

# it should
build without errors

# copy the qml/
resources folder where the qgroundcontrol binary was made

cp -r qml /release

cd release

#
start qground control application

./qgroundcontol

#select APM.
Now let's connect the USB cable from PC to the 3DR arducopter 2.5/6

#open
another terminal, and clean the kernel message log

sudo
dmesg -c  # clean the log

#
insert the usb cable from the PC to the APM 2.5(6). (for telemetry connection radio 3DR scroll a bit down)

sudo
dmesg -c    #
check (visually in the output) the device tty* which
was installed... ttyACM0

[30856.087388]
usb 3-2: new full-speed USB device number 3 using xhci_hcd
[30856.160058] usb 3-2: New USB device found, idVendor=2341, idProduct=0010
[30856.160066] usb 3-2: New USB device strings: Mfr=1, Product=2, SerialNumber=220
[30856.160072] usb 3-2: Product: Arduino Mega 2560
[30856.160076] usb 3-2: Manufacturer: Arduino (www.arduino.cc)
[30856.160081] usb 3-2: SerialNumber: 64036363039351715080
[30856.160398] usb 3-2: ep 0x82 - rounding interval to 1024 microframes, ep desc says 2040 microframes
[30856.162093] cdc_acm 3-2:1.0: ttyACM0:
USB ACM device

Go
on the right top corner of the QGrouncControl and select ttyACM0 and
the speed 115200

Click:  Connect.





Using
3DR Telemetry Radio module 915 MHz

The mavlink build manually, above did not do it's
magic, so on top of it, I installed the Debian binary package.

Download @ https://github.com/mavlink/mavlink/downloads the: mavlink-1.0.9.deb

in to your ~/Downloads folder. Open a file browser, 
right-click it and Open it

with Ubuntu Software Centre (or Debian installer).
Install. Ignore all the messages

about the stability of the package. After install
it might say INSTALL again. Just exit the

Installer, if you have seen the progress bar going
to the end.

Close the connection to APM. Unplug the USB.Close
the qgroundcontrol application.

Power the APM from a USB power  or from the battery
(don't forget the safety procedures).

Make sure the radio (s) TX/RX are plugged, RX on
APM, ant TX on the USB.

Look here for details: http://code.google.com/p/ardupilot-mega/wiki/3DRadio

Check the dmesg when you plug the USB radio module.
On my computer it assigns it to ttyUSB0 device.

Start qgroundcontrol. Change the device by clicking
on the [ttyACM0] (previous your device) square

(right-top corner) to ttyUSB0 (new
dmesg detected device), and Bit rate to 57600. Press CONNECT.





#The patch has been updated to add current PWM feature to flight modes page:  (Nov/23/2013)





-re-edited
on Nov 22 (added the radio 3DR mavlink guideline)

-re-edited
on Nov 23 (added current PWM on flight modes page to tune up the PWM's)

Ubuntu 14-04 86_64 x86_64 GNU/Linux

Qgc source code is the same as the one in Ubuntu 13.XX.

required packages for compiling.

sudo apt-get install libsdl-dev

sudo apt-get install phonon-backend-gstreamer

sudo apt-get install libphonon4qt5-dev

sudo apt-get install flite-dev

sudo apt-get install libprotoc-dev libosgearth-dev

qmake ./qgroundcontrol.pro

make