{"id":2884,"date":"2025-10-19T14:36:57","date_gmt":"2025-10-19T06:36:57","guid":{"rendered":"http:\/\/www.nufeichuiyun.com\/?p=2884"},"modified":"2025-10-19T15:02:48","modified_gmt":"2025-10-19T07:02:48","slug":"win11%e4%b8%8b%e4%bd%bf%e7%94%a8wsl2%e7%bc%96%e8%af%91apm%e9%a3%9e%e6%8e%a7%e5%9b%ba%e4%bb%b6","status":"publish","type":"post","link":"http:\/\/www.nufeichuiyun.com\/?p=2884","title":{"rendered":"Win11\u4e0b\u4f7f\u7528WSL2\u7f16\u8bd1APM\u98de\u63a7\u56fa\u4ef6"},"content":{"rendered":"\n

\u672c\u6587\u4e3a\u300a\u65e0\u4eba\u673a\u98de\u63a7\u56fa\u4ef6\u5f00\u53d1\u6559\u7a0b\u300b\u7cfb\u5217\u89c6\u9891\u7684\u8f85\u52a9\u8d44\u6599\uff0c\u5df2\u7ecf\u5728\u201c\u7f51\u6613\u4e91\u8bfe\u5802\u201d\u4e0a\u53d1\u5e03\uff1a\u89c6\u9891\u94fe\u63a5<\/a>\u3002\u65e0\u4eba\u673a\u8c03\u8bd5\uff0c\u98de\u63a7\u786c\u4ef6\u5b9a\u5236\u3001\u56fa\u4ef6\u4fee\u6539\uff0c\u65e5\u5fd7\u5206\u6790\uff0c\u8bf7QQ\u8054\u7cfb\uff1a3500985284<\/strong><\/p>\n\n\n\n

\u3000APM\u5b98\u65b9\u6559\u7a0b\u94fe\u63a5\uff1ahttps:\/\/ardupilot.org\/dev\/docs\/building-setup-windows11.html#building-setup-windows11<\/a><\/strong><\/p>\n\n\n\n

\u3000\u4e4b\u524d\uff0c\u6211\u4eec\u5728windows\u4e0b\u4e3b\u8981\u4f7f\u7528cygwin64\u7f16\u8bd1APM\u98de\u63a7\u56fa\u4ef6\uff0c\u4f46\u662f\u968f\u7740\u6280\u672f\u7684\u8fdb\u6b65\uff0cAPM\u5b98\u65b9\u66f4\u52a0\u63a8\u8350Win11\u4e0b\u4f7f\u7528WSL2\uff08Windows Subsystem for Linux\uff0c\u5373windows\u4e0b\u7684Linux\u5b50\u7cfb\u7edf\uff09\u6765\u7f16\u8bd1\uff0c\u4e0b\u9762\u6839\u636eAPM\u5b98\u65b9\u6559\u7a0b\u8fdb\u4e00\u6b65\u7ec6\u5316\u8bb2\u89e3\u5982\u4f55\u5efa\u7acb\u7f16\u8bd1\u73af\u5883\u548c\u4eff\u771f\u73af\u5883\u3002<\/p>\n\n\n\n

\u3000\u672c\u8d28\u4e0a\uff0c\u4f7f\u7528WSL2\u65f6\uff0c\u5c31\u662f\u5728\u4f7f\u7528\u4e00\u4e2a\u8f7b\u91cf\u5316\u7684\u3001\u4e0ewindows\u96c6\u6210\u5ea6\u5f88\u597d\u7684Linux\u865a\u62df\u673a\uff08\u8fd9\u4e2a\u865a\u62df\u673a\u4e00\u822c\u6211\u4eec\u90fd\u662f\u5b89\u88c5\u7684Ubuntu\uff09\uff0c\u56e0\u6b64\u76f8\u5bf9\u4e8eCygwin64\uff0c\u5176\u7f16\u8bd1\u901f\u5ea6\u5f80\u5f80\u5feb\u5f88\u591a\uff08\u7ecf\u6d4b\u8bd5\uff0c\u76f4\u63a5\u5728\u7535\u8111\u4e0a\u5b89\u88c5Ubuntu\u6765\u7f16\u8bd1\u98de\u63a7\u56fa\u4ef6\u901f\u5ea6\u6700\u5feb\uff0cWSL2\u4e0b\u7f16\u8bd1\u901f\u5ea6\u4e00\u822c\u4ecb\u4e8eCygwin64\u4e0e\u539f\u751fUbuntu\u4e4b\u95f4\uff09\u3002<\/p>\n\n\n\n

\u4e00\u3001\u542f\u7528WSL2\u5e76\u5b89\u88c5Ubuntu22.04<\/h2>\n\n\n\n

1\u3001\u542f\u7528WSL2<\/strong><\/p>\n\n\n\n

\u7f51\u4e0a\u6709\u5f88\u591aWSL2\u7684\u6559\u7a0b\uff0c\u4f46\u662f\u5b9e\u9645\u4e0a\u968f\u7740\u5fae\u8f6f\u7684\u4e0d\u65ad\u4f18\u5316\uff0c\u6700\u65b0\u7248\u7684Win11<\/strong>\u4ec5\u9700\u8981\u5982\u4e0b\u547d\u4ee4\u5373\u53ef\u5b8c\u6210WSL2\u7684\u5b89\u88c5\uff1a<\/p>\n\n\n\n

\u5728win11\u4e0b\u6253\u5f00\u547d\u4ee4\u884c\uff08\u53c8\u53eb\u201c\u7ec8\u7aef\u201d\uff09\uff0c\u8f93\u5165\u5982\u4e0b\u547d\u4ee4\uff1a<\/p>\n\n\n\n

wsl --install<\/code><\/pre>\n\n\n\n
\u5b89\u88c5\u5b8c\u6210\u540e\u8f93\u51fa\u5982\u4e0b\uff08\u6ce8\u610f\u5b89\u88c5\u5b8c\u6210\u540e\u6309\u7167\u63d0\u793a\u91cd\u542f\u7535\u8111\uff09\uff1a<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u6839\u636e\u63d0\u793a\uff0c\u91cd\u542f\u7535\u8111\u540e\u751f\u6548\u3002<\/strong><\/p>\n\n\n\n
2\u3001\u5b89\u88c5Ubuntu22.04\u5b50\u7cfb\u7edf<\/strong><\/p>\n\n\n\n
\u3000a\u3001\u5728\u5f00\u59cb\u83dc\u5355\u641c\u7d22\u201cMicrosoft Store\u201d\u5e76\u6253\u5f00\u5b83\uff1b<\/p>\n\n\n\n
\u3000b\u3001\u5728\u201cMicrosoft Store\u201d\u9876\u90e8\u641c\u7d22\u680f\u641c\u7d22\u201cUbuntu-22.04\u201d\uff1b<\/p>\n\n\n\n
\u3000c\u3001\u9009\u62e9\u201cUbuntu 22.04.5 LTS\u201d\uff0c\u8fdb\u53bb\u540e\u5355\u51fb\u201c\u5b89\u88c5\u201d\u6309\u94ae\u5373\u53ef\u5b8c\u6210\u5b89\u88c5\uff08\u6839\u636e\u7f51\u901f\uff0c\u5b89\u88c5\u8017\u65f6\u57282\u5206\u949f~\u65e0\u7a77\u5927\u4e4b\u95f4\uff09\u3002<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u3000\uff44\u3001\u5b89\u88c5\u5b8c\u6210\u540e\uff0c\u76f4\u63a5\u5728\u201cMicrosoft Store\u201d\u4e2d\u70b9\u51fb\u201c\u6253\u5f00\u201d\u6309\u94ae\uff0c\u6216\u8005\u5728\u5f00\u59cb\u83dc\u5355\u641c\u7d22\u201cUbuntu 22.04.5 LTS\u201d\u5e76\u5355\u51fb\u6253\u5f00\u5b83\u540e\u663e\u793a\u4e00\u4e2a\u547d\u4ee4\u884c\u7a97\u53e3\u5373\u4e3aUbuntu 22.04.5\u7684\u547d\u4ee4\u884c\u7a97\u53e3\uff0c\u6b64\u65f6\u5728\u8fd9\u4e2a\u7a97\u53e3\u5185\u6267\u884c\u547d\u4ee4\uff0c\u5b9e\u9645\u4e0a\u5c31\u662f\u5728\u4e00\u4e2aUbuntu\u4e0a\u6267\u884c\u547d\u4ee4\uff0c\u975e\u5e38\u65b9\u4fbf\u3002<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u3000e\u3001\u9996\u6b21\u6253\u5f00\u65f6\uff0c\u4f1a\u63d0\u793a\u8f93\u5165\u7528\u6237\u540d\uff0c\u8f93\u5165\u4e00\u4e2a\u81ea\u5b9a\u4e49\u7684\u7528\u6237\u540d\u5373\u53ef\uff08\u4f18\u5148\u7528\u82f1\u6587\uff09\uff0c\u7136\u540e\u662f\u8bbe\u7f6e\u5bc6\u7801\uff0c\u4e4b\u540e\u5c31\u5f7b\u5e95\u5b89\u88c5\u5b8c\u6210\u3002<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u4e8c\u3001\u5efa\u7acbAPM\uff08Ardupilot\uff09\u7f16\u8bd1\u73af\u5883<\/h2>\n\n\n\n
\u3000\u7531\u4e8e\u5b9e\u9645\u4e0a\u5df2\u7ecf\u662fUbuntu22.04\u64cd\u4f5c\u7cfb\u7edf\uff0c\u56e0\u6b64\u5efa\u7acbAPM\u56fa\u4ef6\u7f16\u8bd1\u73af\u5883\u7684\u65b9\u6cd5\u8ddf\u300a\u8bfe\u65f619 – \u5728Ubuntu\u7cfb\u7edf\u4e0b\u5efa\u7acb\u98de\u63a7\u56fa\u4ef6\u7f16\u8bd1\u73af\u5883\u300b\u662f\u4e00\u6837\u7684\uff0c\u94fe\u63a5\uff1ahttp:\/\/www.nufeichuiyun.com\/?p=2269<\/a><\/p>\n\n\n\n
\u3000\u7531\u4e8e\u6ca1\u6709\u56fe\u5f62\u754c\u9762\uff0c\u5176\u4e2d\u7684\u201c\u4e00\u3001\u5c06 Ubuntu\u6362\u6210\u56fd\u5185\u6e90\u201d\u65b9\u6cd5\u4e0d\u540c\uff0c\u5728WSL2\u4e2dUbuntu\u7684\u7ec8\u7aef\u4e2d\u8f93\u5165\u5982\u4e0b\u547d\u4ee4\u5373\u53ef\uff08\u6ce8\u610f\u8fd9\u4e2a\u547d\u4ee4\u662f\u5355\u884c\u7684\uff0c\u867d\u7136\u7531\u4e8e\u5c4f\u5e55\u5bbd\u5ea6\u4f60\u770b\u5230\u7684\u662f\u591a\u884c<\/strong>\uff09\uff1a<\/p>\n\n\n\n
sudo sed -i.bak 's|http:\/\/[^ ]*ubuntu.com|https:\/\/mirrors.tuna.tsinghua.edu.cn|g; s|https:\/\/security.ubuntu.com|https:\/\/mirrors.tuna.tsinghua.edu.cn|g' \/etc\/apt\/sources.list && sudo apt update<\/code><\/pre>\n\n\n\n
\u4e09\u3001WSL2\u4e0ewin11\u4e4b\u95f4\u6587\u4ef6\u8bbf\u95ee<\/h2>\n\n\n\n
\u5728Win11\u7684\u201c\u6b64\u7535\u8111\u201d\u7684\u5730\u5740\u680f\u8f93\u5165\u5982\u4e0b\u5730\u5740\uff0c\u7136\u540e\u201c\u56de\u8f66\u201d\uff0c\u53ef\u4ee5\u76f4\u8fbeUbuntu\u5b50\u7cfb\u7edf\u4e2d\u7684ardupilot\u6587\u4ef6\u5939\uff0c\u975e\u5e38\u65b9\u4fbf\u3002<\/p>\n\n\n\n
\\\\wsl.localhost\\Ubuntu-22.04\\home\\nfcy\\ardupilot<\/code><\/pre>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u56db\u3001\u4f7f\u7528VScode\u7f16\u8f91WSL2\u4e2d\u7684\u98de\u63a7\u6e90\u4ee3\u7801<\/h2>\n\n\n\n
\u3000\u5927\u5bb6\u9996\u5148\u9700\u8981\u660e\u767d\u4e00\u4e2a\u672c\u8d28\u95ee\u9898\uff1a\u6e90\u4ee3\u7801\u53ea\u662f\u4e00\u5806txt\u6587\u4ef6\uff0c\u6211\u4eec\u201c\u5199\u7a0b\u5e8f\u3001\u6539\u4ee3\u7801\u201d\u672c\u8d28\u4e0a\u662f\u5728\u6539\u4e00\u5806txt\u6587\u4ef6\u4e2d\u7684\u6587\u672c\u5185\u5bb9\u3002\u56e0\u6b64\uff0c\u4f7f\u7528WSL2+Vscode\u7f16\u8f91\u3001\u7f16\u8bd1\u98de\u63a7\u6e90\u4ee3\u7801\u65f6\u7684\u6b65\u9aa4\u5982\u4e0b\uff1a<\/p>\n\n\n\n
1\u3001\u5728Win11\u4e0b\u5b89\u88c5VScode\uff1b<\/p>\n\n\n\n
2\u3001\u5728VScode\u4e2d\u5b89\u88c5\u201cWSL\u201d\u63d2\u4ef6\uff1b<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
3\u3001\u5355\u51fbVScode\u5de6\u4e0b\u89d2\u7684\u201cWSL: Ubuntu-22.04\u201d\uff0c\u7136\u540e\u9009\u62e9\u9876\u90e8\u5f39\u51fa\u7684\u9009\u62e9\u5217\u8868\u4e2d\u7684\u201cConnect to WSL\u201d\uff1b<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
4\u3001\u6309\u7167\u4e0b\u56fe\u6240\u793a\u6253\u5f00Ubuntu\u4e0b\u7684\u6587\u4ef6\u5939\uff0c\u5373\u53ef\u5f00\u59cb\u7f16\u8f91\u4ee3\u7801<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
5\u3001\u53ef\u4ee5\u5355\u72ec\u6253\u5f00\u4e00\u4e2a\u72ec\u7acb\u7684Ubuntu\u7ec8\u7aef\uff0c\u5207\u6362\u5230ardupilot\u76ee\u5f55\u8fdb\u884c\u7f16\u8bd1\uff1b\u4e5f\u53ef\u4ee5\u5728VScode\u4e2d\u6253\u5f00\u5185\u5d4c\u7684\u7ec8\u7aef\uff0c\u7136\u540e\u8fdb\u884c\u7f16\u8bd1\u3002\u8fd9\u4e24\u79cd\u65b9\u6cd5\u672c\u8d28\u4e0a\u90fd\u662f\u8c03\u7528\u4e86Ubuntu\u5b50\u7cfb\u7edf\u7684\u7ec8\u7aef\uff0c\u56e0\u6b64\u5176\u6548\u679c\u662f\u4e00\u6837\u7684\u3002<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
6\u3001\u7f16\u8bd1\u65b9\u6cd5\u4e0e\u547d\u4ee4\u4e0e\u4f7f\u7528Cygwin64\u7f16\u8bd1\u6216\u8005\u5728\u539f\u751fUbuntu\u4e0b\u7f16\u8bd1\u662f\u4e00\u6a21\u4e00\u6837\u7684\uff1a<\/p>\n\n\n\n
# \u8fdb\u5165\u98de\u63a7\u6e90\u4ee3\u7801\u7684\u6700\u9876\u5c42\u76ee\u5f55\ncd ardupilot\n\n# \u5207\u6362\u5230\u4e00\u4e2a\u7a33\u5b9a\u7248\uff08\u4ee5\u591a\u65cb\u7ffc4.6.2\u4e3a\u4f8b\uff09\ngit checkout -b MyCopter-4.6.2 Copter-4.6.2\n\n# \u66f4\u65b0\u5b50\u6a21\u5757\uff08\u6ce8\u610f\uff0c\u4e00\u5b9a\u8981\u66f4\u65b0\u5b50\u6a21\u5757\uff09\ngit submodule update --init --recursive\n\n# \u6ce8\u610f\uff0c\u4e00\u5b9a\u8981\u66f4\u65b0\u5b50\u6a21\u5757\n# \u6ce8\u610f\uff0c\u4e00\u5b9a\u8981\u66f4\u65b0\u5b50\u6a21\u5757\n\n# \u6307\u5b9a\u98de\u63a7\u786c\u4ef6\u578b\u53f7\uff08\u4ee5Pixhawk2.4.8\u4e3a\u4f8b\uff09\n# \u8fd9\u4e00\u6b65\u80cc\u540e\u7684\u903b\u8f91\u8bf7\u770b\u672c\u6559\u7a0b\u7684\u8bfe\u65f63\n.\/waf configure --board fmuv3\n\n# \u7f16\u8bd1\u98de\u63a7\u56fa\u4ef6\uff08\u591a\u65cb\u7ffc\u56fa\u4ef6\uff09\n# \u8fd9\u4e00\u6b65\u80cc\u540e\u7684\u903b\u8f91\u8bf7\u770b\u672c\u6559\u7a0b\u7684\u8bfe\u65f63\n.\/waf copter<\/code><\/pre>\n\n\n\n
\u4e94\u3001\u5728WSL2\u4e0b\u8fdb\u884c\u4eff\u771f\u6d4b\u8bd5<\/h2>\n\n\n\n
\u3000\u540c\u7406\uff0c\u5728WSL2\u4e0b\u4eff\u771f\u7684\u547d\u4ee4\u4e0e\u4f7f\u7528Cygwin64\u6216\u8005\u539f\u751fUbuntu\u4e5f\u662f\u4e00\u6a21\u4e00\u6837\u7684\uff1a<\/p>\n\n\n\n
# \u8fdb\u5165\u4eff\u771f\u811a\u672c\u6240\u5728\u76ee\u5f55\ncd Tools\/autotest\n\n# \u8fd0\u884c\u4eff\u771f\u811a\u672c\uff08-v ArduCopter\u8868\u793a\u4eff\u771f\u7684\u662f\u591a\u65cb\u7ffc\u56fa\u4ef6\uff09\nsim_vehicle.py -v ArduCopter<\/code><\/pre>\n\n\n\n
\u3000\u5728\u9ed8\u8ba4\u8bbe\u7f6e\u4e0b\uff0c\u5728Win11\u4e0b\u6253\u5f00MissionPlanner\uff0c\u5730\u9762\u7ad9\u4f1a\u81ea\u52a8\u8fde\u63a5Ubuntu\u4e2d\u6b63\u5728\u8fd0\u884c\u7684\u4eff\u771f\u7a0b\u5e8f\uff0c\u8fd9\u4e00\u6b65\u771f\u662f\u51fa\u4e4e\u610f\u6599\u7684\u65b9\u4fbf\u3002<\/p>\n\n\n\n
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\"\"<\/figure>\n","protected":false},"excerpt":{"rendered":"
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