编译支持DDS的固件

下载源码完成后

cd ~

git clone --recurse-submodules https://github.com/ardupilot/Micro-XRCE-DDS-Gen.git

cd Micro-XRCE-DDS-Gen

./gradlew assemble

echo "export PATH=\$PATH:$HOME/Micro-XRCE-DDS-Gen/scripts" >> ~/.bashrc

source ~/.bashrc

cd ~/Micro-XRCE-DDS-Gen

sudo cp -r ./share /usr/local/

sudo cp ./scripts/microxrceddsgen /usr/local/bin/

microxrceddsgen -help，执行完成后能够看到以下提示，则代表安装成功

  cd ~/ardupilot
  
  git submodule update --init --recursive
  
  ./waf clean
  
  microxrceddsgen -help
  确保会弹出上述图
  
  
  # 修复 DDS 语法报错，分别执行
sed -i 's/case PARAMETER_INTEGER:/case ParameterType::PARAMETER_INTEGER:/g' libraries/AP_DDS/AP_DDS_Client.cpp
sed -i 's/case PARAMETER_DOUBLE:/case ParameterType::PARAMETER_DOUBLE:/g' libraries/AP_DDS/AP_DDS_Client.cpp
sed -i 's/case PARAMETER_STRING:/case ParameterType::PARAMETER_STRING:/g' libraries/AP_DDS/AP_DDS_Client.cpp
sed -i 's/case PARAMETER_GROUP:/case ParameterType::PARAMETER_GROUP:/g' libraries/AP_DDS/AP_DDS_Client.cpp
sed -i 's/= PARAMETER_NOT_SET/= ParameterType::PARAMETER_NOT_SET/g' libraries/AP_DDS/AP_DDS_Client.cpp
sed -i 's/= PARAMETER_INTEGER/= ParameterType::PARAMETER_INTEGER/g' libraries/AP_DDS/AP_DDS_Client.cpp
sed -i 's/= PARAMETER_DOUBLE/= ParameterType::PARAMETER_DOUBLE/g' libraries/AP_DDS/AP_DDS_Client.cpp

./waf configure --board WFG100 --enable-dds

./waf copter