{"id":834,"date":"2020-05-14T17:29:09","date_gmt":"2020-05-14T09:29:09","guid":{"rendered":"http:\/\/www.nufeichuiyun.com\/?p=834"},"modified":"2024-09-02T12:06:35","modified_gmt":"2024-09-02T04:06:35","slug":"%e5%b0%86apm%e5%9b%ba%e4%bb%b6%e7%a7%bb%e6%a4%8d%e5%88%b0%e8%87%aa%e5%88%b6%e7%a1%ac%e4%bb%b6","status":"publish","type":"post","link":"http:\/\/www.nufeichuiyun.com\/?p=834","title":{"rendered":"\u5c06APM\u56fa\u4ef6\u79fb\u690d\u5230\u81ea\u5236\u786c\u4ef6"},"content":{"rendered":"\n<p class=\"has-white-color has-cool-to-warm-spectrum-gradient-background has-text-color has-background\"><strong>\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\u7ebf<\/strong>&nbsp;<strong>\uff0c \u94fe\u63a5\uff1a<a href=\"https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&amp;shareId=1448054983\" target=\"_blank\" rel=\"noreferrer noopener\">\u70b9\u6211<\/a><\/strong><\/p>\n\n\n\n<p class=\"has-vivid-red-color has-very-light-gray-background-color has-text-color has-background\"><strong>\u65e0\u4eba\u673a\u8c03\u8bd5\u3001\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<hr class=\"wp-block-separator has-css-opacity is-style-wide\"\/>\n\n\n\n<p>\u3000\u672c\u8282\u8bfe\u8bb2\u8ff0\u5982\u4f55\u5c06APM\u56fa\u4ef6\u79fb\u690d\u5230\u81ea\u5236\u786c\u4ef6\u4e0a\u9762\u3002\u4ece4.0\u7248\u672c\u4e4b\u540e\uff0c\u53d7\u76ca\u4e8e\u8f6f\u4ef6\u6846\u67b6\u7684\u5927\u5e45\u4f18\u5316\uff0cAPM\u56fa\u4ef6\u5728\u4e0d\u540c\u786c\u4ef6\u95f4\u79fb\u690d\u53d8\u5f97\u975e\u5e38\u7b80\u5355\uff0c\u56e0\u6b64\u672c\u8282\u8bfe\u6bd4\u60f3\u8c61\u4e2d\u7684\u8981\u7b80\u5355\u8bb8\u591a\u3002<\/p>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\">\u3000\u8fd9\u8282\u8bfe\u6211\u4eec\u5c06\u4ee5\u201c\u6012\u98de\u5782\u4e91-\u9e4f\u5fc3-\u901a\u7528\u578b\u98de\u63a7\u201d\u4e3a\u4f8b\u6765\u7ed9\u5927\u5bb6\u8bb2\u8ff0\u5177\u4f53\u64cd\u4f5c\uff0c\u6b64\u98de\u63a7\u7684\u539f\u7406\u56fe\u3001\u89c4\u683c\u4e66\u3001\u4f7f\u7528\u8bf4\u660e\u7b49\u8d44\u6599\u4e0b\u8f7d\u94fe\u63a5\uff1a<a href=\"https:\/\/gitee.com\/junzixing\/Hardware\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/gitee.com\/junzixing\/Hardware<\/a>\u3000<strong>\u6012\u98de\u5782\u4e91\u201c\u9e4f\u5fc3\u201d\u901a\u7528\u578b\u98de\u63a7\u6dd8\u5b9d\u94fe\u63a5\uff1a<a href=\"https:\/\/item.taobao.com\/item.htm?spm=a230r.1.14.1.2e5565aak2mDm9&amp;id=628690434894&amp;ns=1&amp;abbucket=19#detail\" target=\"_blank\" rel=\"noreferrer noopener\">\u70b9\u6211<\/a><\/strong><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e00\u3001\u7f16\u5199\u786c\u4ef6\u63cf\u8ff0\u6587\u4ef6<\/h2>\n\n\n\n<p>\u3000\u5728\u201cardupilot\\libraries\\AP_HAL_ChibiOS\\hwdef\u201d\u6587\u4ef6\u5939\u4e0b\u9762\u5b9a\u4e49\u4e00\u4e2a\u540d\u79f0\u4e3a\u4f60\u81ea\u5df1\u98de\u63a7\u786c\u4ef6\u540d\u5b57\u7684\u6587\u4ef6\u5939\uff0c\u53c2\u8003\u6b64\u6587\u4ef6\u5939\u4e0b\u5176\u4ed6\u4e0e\u4f60\u7684\u786c\u4ef6\u6700\u63a5\u8fd1\u7684\u786c\u4ef6\u7684\u5199\u6cd5\uff0c\u4fee\u6539\u51fa\u9002\u5408\u4f60\u7684\u786c\u4ef6\u7684\u786c\u4ef6\u63cf\u8ff0\u6587\u4ef6\u3002<\/p>\n\n\n\n<p>\u3000\u4ee5\u201c\u9e4f\u5fc3\u201d\u98de\u63a7\u4e3a\u4f8b\uff0c\u5728\u6211\u7684\u4ee3\u7801\u5e93\u4e2d\uff08<a rel=\"noreferrer noopener\" href=\"https:\/\/github.com\/nufeichuiyun\/ardupilot\" target=\"_blank\">\u94fe\u63a5<\/a>\uff09\uff0c\u5207\u6362\u5230\u201cNFCY-Copter-4.0.5\u201d\u8fd9\u4e2a\u5206\u652f\u540e\uff0c\u4f60\u4f1a\u5728\u201cardupilot\\libraries\\AP_HAL_ChibiOS\\hwdef\u201d\u76ee\u5f55\u4e2d\u53d1\u73b0\u201cNFCYv5\u201d\u6587\u4ef6\u5939\uff0c\u8fd9\u5c31\u662f\u201c\u9e4f\u5fc3\u201d\u98de\u63a7\u5bf9\u5e94\u7684\u786c\u4ef6\u63cf\u8ff0\u6587\u4ef6\u3002\u6587\u4ef6\u5939\u4e2d\u6709\u4e09\u4e2a\u6587\u4ef6\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>hwdef-bl.dat<\/strong>\uff1a\u8fd9\u4e2a\u5b9a\u4e49\u7684\u662fBootLoader\u7a0b\u5e8f\u5bf9\u5e94\u7684\u786c\u4ef6\u63cf\u8ff0\uff0c\u7531\u4e8eBootLoader\u53ea\u7528\u5230\u4e86\u5f88\u5c11\u4e00\u90e8\u5206\u786c\u4ef6\u5916\u8bbe\uff0c\u56e0\u6b64\u6b64\u6587\u4ef6\u5185\u5bb9\u660e\u663e\u6bd4\u201chwdef.dat\u201d\u5c11\uff1b<\/li>\n\n\n\n<li><strong>hwdef.dat<\/strong>\uff1a\u8fd9\u4e2a\u5b9a\u4e49\u7684\u662f\u98de\u63a7\u7a0b\u5e8f\u5bf9\u5e94\u7684\u786c\u4ef6\u63cf\u8ff0\uff0c\u5176\u4e2d\u5305\u542b\u4e86STM32\u65f6\u949f\u914d\u7f6e\uff0c\u4e32\u53e3\u3001SPI\u3001IIC\u3001CAN\u7b49\u63a5\u53e3\u914d\u7f6e\uff0cIMU\u82af\u7247\u578b\u53f7\u63cf\u8ff0\uff0cPWM\u4ee5\u53ca\u5b9a\u65f6\u5668\u914d\u7f6e\u7b49\u7b49\u5173\u952e\u4fe1\u606f\u3002\u5177\u4f53\u5185\u5bb9\u89c1\u89c6\u9891\u6559\u7a0b\uff08<a rel=\"noreferrer noopener\" href=\"https:\/\/study.163.com\/course\/introduction\/1209568864.htm\" target=\"_blank\">\u94fe\u63a5<\/a>\uff09<\/li>\n\n\n\n<li><strong>defaults.parm<\/strong>\uff1a\u8fd9\u4e2a\u6587\u4ef6\u5b9a\u4e49\u4e86\u9488\u5bf9\u6b64\u7535\u8def\u677f\u7684\u9ed8\u8ba4\u53c2\u6570\u3002\u6bd4\u5982\u9ed8\u8ba4\u4e0d\u4f7f\u7528\u4e32\u53e3\u7684\u6d41\u63a7\u5236\u3001\u7535\u6e90\u7535\u538b\u68c0\u6d4b\u7684\u6bd4\u4f8b\u7cfb\u6570\u7b49\u3002<strong>\u6ce8\u610f\uff0c\u6b64\u6587\u4ef6\u4e0d\u662f\u5fc5\u987b\u7684\uff0c\u5982\u679c\u4f60\u6ca1\u6709\u54ea\u4e9b\u53c2\u6570\u662f\u7279\u6709\u7684\uff0c\u53ef\u4ee5\u6ca1\u6709\u8fd9\u4e2a\u6587\u4ef6\u3002<\/strong><\/li>\n<\/ul>\n\n\n\n<p class=\"has-vivid-red-color has-very-light-gray-background-color has-text-color has-background\"><strong>\u3000\u6ce8\u610f\uff0c\u4e0a\u8ff0\u4e09\u4e2a\u6587\u4ef6\u7684\u6587\u4ef6\u540d\u662f\u56fa\u5b9a\u7684\uff08hwdef-bl.dat\u3001hwdef.dat\u3001defaults.parm\uff09\uff0c\u4e0d\u80fd\u6539\u4e3a\u5176\u4ed6\u7684\u540d\u5b57\u3002<\/strong><\/p>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\">\u3000<strong>\u7279\u522b\u6ce8\u610f\uff1a\u4eceCopter-4.0.4\u7248\u672c\u5f00\u59cb\uff0cAPM\u5bf9\u786c\u4ef6\u5b9a\u4e49\u6587\u4ef6\uff08hwdef\uff09\u7684\u90e8\u5206\u683c\u5f0f\u8fdb\u884c\u4e86\u4fee\u6539\uff0c\u56e0\u6b64Copter-4.0.4\u3001Coper-4.0.5\u7248\u672c\u4e0eCopter4.0.3\u7684\u786c\u4ef6\u5b9a\u4e49\u6587\u4ef6\u5185\u5bb9\u7565\u6709\u4e0d\u540c\uff0c\u5efa\u8bae\u5728Copter-4.0.5\u7248\u672c\u57fa\u7840\u4e0a\u4fee\u6539\u81ea\u5df1\u7684\u56fa\u4ef6\u3002<\/strong><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u3001\u7f16\u8bd1BootLoader<\/h2>\n\n\n\n<pre class=\"wp-block-code\"><code>\/\/ \u7b2c\u4e00\u6b65\uff0c\u6e05\u7406\u4e4b\u524d\u7684\u7f16\u8bd1\u4e2d\u95f4\u6587\u4ef6\uff0c\u4e00\u5b9a\u8981\u6e05\u7406\u4e00\u4e0b\uff0c\u80fd\u907f\u514d\u5f88\u591a\u5947\u602a\u7684\u95ee\u9898\n.\/waf distclean\n\n\/\/ \u7b2c\u4e8c\u6b65\uff0c\u8bbe\u7f6e\u7f16\u8bd1\u76ee\u6807\u4e3a\u9488\u5bf9\u4f60\u7684\u786c\u4ef6\u7684BootLoader\n.\/waf configure --board YourBoard --bootloader\n\/\/ \u6ce8\u610f\uff0c\u8fd9\u91cc\u7684\u201cYourBoard\u201d\u5c31\u662f\u4e0a\u9762\u6b65\u9aa4\u4e2d\u4f60\u81ea\u5df1\u65b0\u5efa\u7684\u6587\u4ef6\u5939\u7684\u540d\u5b57\uff0c\u5bf9\u4e8e\u201c\u9e4f\u5fc3\u201d\u98de\u63a7\uff0c\u5c31\u662f\u201cNFCYv5\u201d\n.\/waf configure --board NFCYv5 --bootloader\n\n\/\/ \u7b2c\u4e09\u6b65\uff0c\u7f16\u8bd1BootLoader\n.\/waf bootloader<\/code><\/pre>\n\n\n\n<p>\u3000\u7f16\u8bd1\u751f\u6210\u7684BootLoader\u6587\u4ef6\u4e3a\u201cardupilot\\build\\YourBoard\\bin\\AP_Bootloader.bin\u201d\u3002<\/p>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\"><strong>\u3000\u8bf7\u5927\u5bb6\u6ce8\u610f\u4e00\u4e0b\u51e0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\">\u30001\u3001\u56fa\u5b9a\u7ffc\u3001\u591a\u65cb\u7ffc\u3001\u65e0\u4eba\u8f66\u7b49\u4f7f\u7528\u7684\u662f\u540c\u4e00\u4e2aBootLoader\uff0c\u5c31\u50cf\u4e00\u53f0\u7535\u8111\u4f7f\u7528\u4e00\u4e2aBIOS\uff08\u7c7b\u6bd4BootLoader\uff09\uff0c\u4f46\u662f\u65e2\u53ef\u4ee5\u88c5windows\uff08\u7c7b\u6bd4\u591a\u65cb\u7ffc\u56fa\u4ef6\uff09\uff0c\u53c8\u53ef\u4ee5\u88c5Linux\uff08\u7c7b\u6bd4\u56fa\u5b9a\u7ffc\u56fa\u4ef6\uff09\u4e00\u6837\u3002\u56e0\u6b64\u5373\u4f7f\u4f60\u7f16\u8bd1\u7684\u662f\u56fa\u5b9a\u7ffc\u56fa\u4ef6\uff0c\u4e5f\u8bf7\u5c3d\u91cf\u5728Copter-4.0.7\u7248\u672c\u57fa\u7840\u4e0a\u7f16\u8bd1BootLoader\uff0c\u6bd5\u7adf\u8fd9\u662f\u7ecf\u8fc7\u6211\u4eec\u9a8c\u8bc1\u8fc7\u7684\uff1b<\/p>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\">\u30002\u3001BootLoader\u7684\u529f\u80fd\u4e0d\u50cf\u98de\u63a7\u56fa\u4ef6\u4e00\u6837\u8fdb\u5316\u5f88\u5feb\uff0c\u5b83\u57fa\u672c\u4e0a\u51e0\u5e74\u5185\u4e5f\u4e0d\u4f1a\u6539\u4e00\u884c\u7a0b\u5e8f\uff0c\u56e0\u6b64\u4e0d\u5fc5\u5728Copter-4.1.x\u4e0a\u6b7b\u78d5BootLoader\uff0c\u7528Copter-4.0.7\u7248\u672c\u7684\u5373\u53ef\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e09\u3001\u5237BootLoader<\/h2>\n\n\n\n<p>\u3000BootLoader\u7f16\u8bd1\u5b8c\u6210\u540e\uff0c\u5c31\u53ef\u4ee5\u901a\u8fc7ST-link\u3001Jlink\u3001STM32\u4e13\u7528\u70e7\u5199\u5668\u7b49\u5de5\u5177\u5c06BootLoader\u70e7\u5199\u5230\u98de\u63a7\u91cc\u4e86\uff08\u5177\u4f53\u65b9\u6cd5\u4e0e\u4e0b\u9762\u7b2c\u516d\u6b65\u7684\u65b9\u6cd5\u7c7b\u4f3c\uff09\u3002\u53ea\u8981BootLoader\u70e7\u5199\u6210\u529f\uff0c\u5373\u4f7f\u98de\u63a7\u4e2d\u8fd8\u6ca1\u6709\u70e7\u5199\u8fc7\u98de\u63a7\u56fa\u4ef6\uff0c\u5c31\u5df2\u7ecf\u53ef\u4ee5\u76f4\u63a5\u4f7f\u7528MissionPlanner\u901a\u8fc7USB\u70e7\u5199\u98de\u63a7\u56fa\u4ef6\u4e86\uff0c<strong>\u4e0d\u8fc7\u9700\u8981\u9075\u5faa\u5982\u4e0b\u6b65\u9aa4<\/strong>\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u5148\u4e0d\u8981\u901a\u8fc7USB\u8fde\u63a5\u98de\u63a7\uff1b<\/li>\n\n\n\n<li>\u6253\u5f00MissionPlanner\uff0c\u521d\u59cb\u8bbe\u7f6e -&gt; \u5b89\u88c5\u56fa\u4ef6 -&gt; \u52a0\u8f7d\u81ea\u5b9a\u4e49\u56fa\u4ef6 -&gt; \u9009\u62e9\u524d\u9762\u7f16\u8bd1\u7684\u98de\u63a7\u56fa\u4ef6\u201cxxxx.apj\u201d -&gt; \u7b49\u5f855\u79d2\u540e\u5f39\u7a97\u201c\u8bf7\u62d4\u4e0b\u63a7\u5236\u677f\uff0c\u70b9\u51fbOK\u540e\u518d\u63d2\u5165\u201d -&gt; \u70b9\u51fb\u201cOK\u201d -&gt; \u7acb\u5373\u901a\u8fc7USB\u8fde\u63a5\u98de\u63a7\uff0c\u7136\u540e\u4f60\u5c31\u4f1a\u53d1\u73b0\u5f00\u59cb\u64e6\u9664\u98de\u63a7\uff0c\u7136\u540e\u5f00\u59cb\u70e7\u5199\u3002\uff08<strong>\u6ce8\u610f\u8fd9\u4e00\u6b65\u7684\u7cbe\u9ad3\u5728\u4e8e\uff1a\u5148\u70b9\u51fb\u201c\u8bf7\u62d4\u4e0b\u63a7\u5236\u677f\uff0c\u70b9\u51fbOK\u540e\u518d\u63d2\u5165\u201d\u5c0f\u7a97\u53e3\u4e2d\u7684\u201cOK\u201d\u6309\u94ae\uff0c\u518d\u63d2\u5165USB<\/strong>\uff09<\/li>\n<\/ol>\n\n\n\n<h2 class=\"wp-block-heading\">\u56db\u3001\u4e3a\u7f16\u8bd1\u542bBootLoader\u7684\u56fa\u4ef6\u505a\u51c6\u5907<\/h2>\n\n\n\n<p>\u3000\u7b2c\u4e09\u6b65\u4e2d\u5148\u5237BootLoader\uff0c\u7136\u540e\u901a\u8fc7MissionPlanner\u52a0\u8f7d\u81ea\u5b9a\u4e49\u56fa\u4ef6\u7684\u65b9\u6cd5\u56fa\u7136\u4e0d\u9519\uff0c\u4f46\u662f\u4e0d\u5982\u7528\u70e7\u5199\u5668\u4e00\u6b21\u6027\u5730\u5c06BootLoader\u548c\u98de\u63a7\u56fa\u4ef6\u4e00\u8d77\u70e7\u5199\u5230\u98de\u63a7\u4e2d\u65b9\u4fbf\uff0c\u4e3a\u6b64\uff0c\u6211\u4eec\u9700\u8981\u5148\u8fdb\u884c\u5982\u4e0b\u6b65\u9aa4\uff1a<\/p>\n\n\n\n<p>\u30001\u3001\u6309\u7167\u672c\u6587\u7b2c\u4e8c\u6bb5\u7684\u65b9\u6cd5\u751f\u6210\u9488\u5bf9\u4f60\u7684\u786c\u4ef6\u7684BootLoader\uff0c<strong>\u5c06\u5176\u590d\u5236\u5230\u201cardupilot\/Tools\/bootloaders\u201d\u6587\u4ef6\u5939\u4e0b\u9762\uff0c\u5e76\u91cd\u547d\u540d\u4e3a\u201cYourBoard_bl.bin\u201d<\/strong>\uff0c\u4ee5\u201c\u9e4f\u5fc3\u201d\u98de\u63a7\u4e3a\u4f8b\uff0c\u91cd\u547d\u540d\u4e3a\u201cNFCYv5_bl.bin\u201d\uff1b<\/p>\n\n\n\n<p class=\"has-vivid-red-color has-luminous-vivid-amber-background-color has-text-color has-background\"><strong>\u6ce8\u610f\uff0c\u4f60\u5728\u524d\u9762\u5c06\u4f60\u7684\u786c\u4ef6\u547d\u540d\u4e3a\u4ec0\u4e48\uff0c\u6b64\u5904\u5c31\u91cd\u547d\u540d\u4e3a\u201c\u8be5\u786c\u4ef6\u540d_bl.bin\u201d\uff0c\u6ce8\u610f\u662f\u201c\u786c\u4ef6\u540d\u201d\u540e\u9762\u52a0\u201c_bl.bin\u201d\uff0c\u4e0d\u662f\u201c.bin\u201d\u3002<\/strong><\/p>\n\n\n\n<p>\u30002\u3001\u5b89\u88c5\u201cintelhex\u201dpython\u5305\uff1b<strong>\u6ce8\u610f\uff0c\u5982\u679c\u4f60\u662f2021\u5e743\u67083\u65e5\u4e4b\u540e\u4f7f\u7528\u7b2c\u4e00\u8282\u8bfe\u4e2d\u6211\u4fee\u6539\u540e\u7684\u811a\u672c\u6587\u4ef6\u5efa\u7acb\u7684\u7f16\u8bd1\u73af\u5883\uff0c\u8fd9\u4e00\u6b65\u4e0d\u9700\u8981\u505a\uff0c\u56e0\u4e3a\u90a3\u4e2a\u811a\u672c\u5df2\u7ecf\u5e2e\u4f60\u6309\u7167\u597d\u4e86\u201cintelhex\u201dpython\u5305\u3002<\/strong><\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>pip2 install intelhex\npip3 install intelhex<\/code><\/pre>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e94\u3001\u7f16\u8bd1\u98de\u63a7\u56fa\u4ef6<\/h2>\n\n\n\n<p class=\"has-vivid-red-color has-text-color has-link-color has-medium-font-size wp-elements-40652844446844744db46d167b4a47ce\"><strong>2024\u5e749\u67082\u65e5\u66f4\u65b0\uff0c\u6ce8\u610f\uff0c\u6700\u65b0\u7248\u7684\u98de\u63a7\u56fa\u4ef6\u8981\u6c42Tools\/bootloaders\u6587\u4ef6\u5939\u4e0b\u5fc5\u987b\u5df2\u7ecf\u6709\u5bf9\u5e94\u98de\u63a7\u786c\u4ef6\u7684BootLoader\u6587\u4ef6\uff0c\u5426\u5219\u5728\u7f16\u8bd1\u98de\u63a7\u56fa\u4ef6\u65f6\u6307\u5b9a\u76ee\u6807\u786c\u4ef6\u65f6\u4f1a\u62a5\u9519\u3002<\/strong><\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\/\/ \u7b2c\u4e00\u6b65\uff0c\u6e05\u7406\u4e4b\u524d\u7684\u7f16\u8bd1\u4e2d\u95f4\u6587\u4ef6\uff0c\u4e00\u5b9a\u8981\u6e05\u7406\u4e00\u4e0b\uff0c\u80fd\u907f\u514d\u5f88\u591a\u5947\u602a\u7684\u95ee\u9898\n.\/waf distclean\n\n\/\/ \u7b2c\u4e8c\u6b65\uff0c\u8bbe\u7f6e\u7f16\u8bd1\u76ee\u6807\u4e3a\u9488\u5bf9\u4f60\u7684\u786c\u4ef6\u7684\u98de\u63a7\u56fa\u4ef6\n.\/waf configure --board YourBoard\n\n\/\/ \u7b2c\u4e09\u6b65\uff0c\u7f16\u8bd1\u98de\u63a7\u56fa\u4ef6\uff08\u6b64\u5904\u4ee5\u7f16\u8bd1\u591a\u65cb\u7ffc\u56fa\u4ef6\u4e3a\u4f8b\uff09\uff0c\u65b9\u6cd5\u53c2\u8003\u672c\u8bfe\u7a0b\u8bfe\u65f63\u3001\u8bfe\u65f64\n.\/waf copter<\/code><\/pre>\n\n\n\n<p>\u3000\u4ee5\u591a\u65cb\u7ffc\u4e3a\u4f8b\uff0c\u7f16\u8bd1\u5b8c\u6210\u540e\u5728\u201cardupilot\\build\\YourBoard\\bin\u201d\u6587\u4ef6\u5939\u4e0b\u6709\u201carducopter_with_bl.hex\u201d\u6587\u4ef6\uff0c\u5373\u4e3a\u5305\u542b\u4e86BootLoader\u7684\u98de\u63a7\u56fa\u4ef6\u3002\u800c\u6b64\u6587\u4ef6\u5939\u4e0b\u7684\u201carducopter.apj\u201d\u6587\u4ef6\u5373\u4e3a\u5355\u7eaf\u7684\u4e0d\u542bBootLoader\u7684\u98de\u63a7\u56fa\u4ef6\uff0c\u4f7f\u7528MissionPlanner\u52a0\u8f7d\u81ea\u5b9a\u4e49\u56fa\u4ef6\u65f6\u7528\u7684\u5c31\u662f\u8fd9\u4e2a\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u516d\u3001\u540c\u65f6\u5237BootLoader\u548c\u56fa\u4ef6<\/h2>\n\n\n\n<p>\u3000\u9700\u8981\u5c06hex\u6587\u4ef6\u5237\u7684STM32\u5355\u7247\u673a\u4e2d\uff0c\u6211\u4f7f\u7528\u7684\u662f\u201c\u6b63\u70b9\u539f\u5b50Mini-Pro\u8131\u673a\u4e0b\u8f7d\u5668\u201d\uff0c\u6dd8\u5b9d\u94fe\u63a5\uff1a<a rel=\"noreferrer noopener\" href=\"https:\/\/detail.tmall.com\/item.htm?spm=a230r.1.14.1.1f9b7216kv1ji4&amp;id=609533422061&amp;ns=1&amp;abbucket=19\" target=\"_blank\">\u94fe\u63a5<\/a>\u3002\u4f7f\u7528\u5e38\u7528\u7684Jlink\u3001ST-Link\u4e5f\u53ef\u4ee5\u70e7\u5199\uff0c\u5177\u4f53\u65b9\u6cd5\u4e0e\u4e4b\u7c7b\u4f3c\uff0c\u8bf7\u5927\u5bb6\u81ea\u884c\u63a2\u7d22\uff0c\u641c\u7d22\u5173\u952e\u5b57\u201cST-Link \u70e7\u5199 bin\u6587\u4ef6\u201d\u5373\u53ef\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e03\u3001\u4f7f\u7528MissionPlanner\u5237\u56fa\u4ef6<\/h2>\n\n\n\n<p>\u3000\u4e8b\u5b9e\u4e0a\uff0c\u53ea\u8981\u6211\u4eec\u5c06BootLoader\u5237\u5230\u98de\u63a7\u91cc\u4e4b\u540e\uff08\u4e0d\u7ba1\u662f\u5355\u72ec\u5237\u7684BootLoader\u8fd8\u662f\u5237\u7684BootLoader\u4e0e\u56fa\u4ef6\u4e00\u4f53\u7684\u6587\u4ef6\u90fd\u4e00\u6837\uff09\uff0c\u5c31\u53ef\u4ee5\u4f7f\u7528MissionPlanner\u7ed9\u98de\u63a7\u5237\u56fa\u4ef6\u4e86\uff0c\u5177\u4f53\u65b9\u6cd5\u8bf7\u53c2\u8003\u5982\u4e0b\u94fe\u63a5\u7684\u7b2c\u4e09\u90e8\u5206\uff1a<a href=\"http:\/\/www.nufeichuiyun.com\/?p=246\" target=\"_blank\" rel=\"noreferrer noopener\">http:\/\/www.nufeichuiyun.com\/?p=246<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading has-vivid-red-color has-text-color\">\u516b\u3001\u7591\u96be\u89e3\u7b54<\/h2>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>1\u3001\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u7f16\u8bd1\u98de\u63a7\u56fa\u4ef6\u65f6\u53ef\u4ee5\u6b63\u5e38\u7f16\u8bd1\uff0c\u4f46\u662f\u7f16\u8bd1BootLoader\u65f6\u62a5\u9519\u201cPermission denied\u201d<\/strong><\/h4>\n\n\n\n<p>\u3000\u4ece\u7a0b\u5e8f\u8f93\u51fa\u6765\u770b\uff0c\u51fa\u9519\u524d\u8c03\u7528\u7684\u662f\u201cpython3 ${SRCROOT}&#8230;\u201d\uff0c\u4f46\u662f\u63d0\u793a\u7684\u5374\u662f\u201c\/cygdrive\/c\/Users\/xingz\/AppData\/Local\/Microsoft\/WindowsApps\/python3: Permission denied\u201d\uff0c\u7a0b\u5e8f\u8c03\u7528\u8def\u5f84\u8dd1\u51fa\u4e86cygwin64\u73af\u5883\uff0c\u76f4\u63a5\u53bb\u8c03\u7528windows\u4e0b\u9762\u7684python3\u4e86\uff0c\u7136\u540e\u975e\u5e38\u5c34\u5c2c\u5730\u88abwindows\u62d2\u7edd\u4e86\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1006\" height=\"793\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/10\/image-1.png\" alt=\"\" class=\"wp-image-1060\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/10\/image-1.png 1006w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/10\/image-1-300x236.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2020\/10\/image-1-768x605.png 768w\" sizes=\"auto, (max-width: 1006px) 100vw, 1006px\" \/><\/figure>\n\n\n\n<p>\u3000\u5b9e\u65f6\u4e0a\uff0c\u6211\u4eec\u5728cygwin64\u73af\u5883\u5185\u90e8\u5df2\u7ecf\u5b89\u88c5\u4e86python3\uff0c\u4f46\u662f\u540d\u5b57\u4e0d\u662fpython3\uff0c\u800c\u662fpython3.6\uff0c\u4ece\u800c\u7a0b\u5e8f\u8c03\u7528python3\u65f6\u6ca1\u6709\u627e\u5230\u8fd9\u4e2a\u7a0b\u5e8f\uff0c\u5c31\u8fdb\u4e00\u6b65\u53bbwindows\u91cc\u627e\uff0c\u7136\u540e\u88abwindows\u62d2\u7edd\u4e86\u3002\u8fd9\u4e2a\u4e5f\u5f88\u597d\u89e3\u51b3\uff0c\u5728cygwin64\u4e2d\u521b\u5efapython3.6\u7684\u94fe\u63a5\u6587\u4ef6\u5373\u53ef\uff08\u7c7b\u4f3c\u4e8ewindows\u4e0b\u7684\u5feb\u6377\u65b9\u5f0f\uff0c\u4f46\u6709\u6709\u6240\u533a\u522b\uff09\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\/\/ \u4f7f\u7528cd\u547d\u4ee4\u8fdb\u5165\u5230cygwin64\/bin\u6587\u4ef6\u5939\u4e0b\uff0c\u6211\u4eec\u5b89\u88c5\u5728cygwin64\u73af\u5883\u5185\u7684python3.x\u5c31\u5728\u8fd9\u91cc\u9762\ncd \/cygdrive\/c\/cygwin64\/bin\/\n\n\/\/ \u4e3apython3.6\u6587\u4ef6\u521b\u5efa\u540d\u79f0\u4e3apython3\u7684\u94fe\u63a5\u6587\u4ef6\uff0c\u5982\u679c\u4f60\u7684\u8fd9\u4e2a\u8def\u5f84\u4e0b\u9762\u6ca1\u6709python3.6\uff0c\u4f46\u662f\u6709python3.7\u6587\u4ef6\uff0c\u90a3\u4e48\u5c31\u5c06\u4e0b\u9762\u76843.6\u6362\u4e3a3.7\nln python3.6 python3<\/code><\/pre>\n\n\n\n<p>\u3000\u91cd\u65b0\u542f\u52a8cygwin64\uff0c\u5e94\u8be5\u5c31\u53ef\u4ee5\u7f16\u8bd1\u4e86\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>2\u3001\u5bf9\u4e8e\u5c0f\u5bb9\u91cf\u5355\u7247\u673a \uff0c\u56fa\u4ef6\u653e\u4e0d\u4e0b\u548b\u529e\uff1f<\/strong><\/h4>\n\n\n\n<p>\u3000\u76ee\u524dAPM\u56fa\u4ef6\u529f\u80fd\u8d8a\u6765\u8d8a\u591a\uff0c\u4f53\u79ef\u81ea\u7136\u4e5f\u8d8a\u6765\u8d8a\u5927\uff0c\u5bf9\u4e8eFlash\u53ea\u67091M\u7684\u5355\u7247\u673a\u6765\u8bb2\u5df2\u7ecf\u653e\u4e0d\u4e0b\u4e86\uff0c\u4e0d\u8fc7\u6211\u4eec\u53ef\u4ee5\u901a\u8fc7\u79fb\u9664\u7528\u4e0d\u5230\u7684\u529f\u80fd\u6765\u51cf\u5c0f\u56fa\u4ef6\u4f53\u79ef\uff0c\u8bf7\u53c2\u8003\u5982\u4e0b\u94fe\u63a5\u8fdb\u884c\u64cd\u4f5c\uff1a<a href=\"http:\/\/www.nufeichuiyun.com\/?p=2461\" target=\"_blank\" rel=\"noreferrer noopener\">http:\/\/www.nufeichuiyun.com\/?p=2461<\/a><\/p>\n\n\n\n<p>\u3000\u6b64\u5916\uff0c\u8fd8\u6709\u4e00\u79cd\u65b9\u6cd5\u662f\u5728\u201chwdef.dat\u201d\u6587\u4ef6\u7ed3\u5c3e\u52a0\u5165\u5982\u4e0b\u4ee3\u7801\uff0c\u4f1a\u81ea\u52a8\u5c4f\u853d\u4e00\u4e9b\u4e0d\u5e38\u7528\u7684\u529f\u80fd\uff08\u4ec5\u9650\u4e8eCopter-4.3.x\u4ee5\u4e0a\u7684\u7248\u672c\uff09\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code># minimal drivers to reduce flash usage\ninclude ..\/include\/minimal.inc<\/code><\/pre>\n\n\n\n<p>\u3000\u4e0d\u8fc7\u5f88\u5947\u602a\u7684\u662f\u76ee\u524d\u5728\u6e90\u4ee3\u7801\u4e2d\u5e76\u6ca1\u6709\u641c\u7d22\u5230\u8fd9\u4e2a\u201cminimal.inc\u201d\u6587\u4ef6\uff0c\u4f30\u8ba1\u8fd9\u4e2a\u6587\u4ef6\u4f1a\u5728\u7f16\u8bd1\u7684\u9884\u5904\u7406\u9636\u6bb5\u81ea\u52a8\u751f\u6210\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-css-opacity is-style-wide\"\/>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"258\" height=\"283\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2019\/11\/\u516c\u4f17\u53f7.jpg\" alt=\"\" class=\"wp-image-335\"\/><\/figure>\n\n\n\n<p class=\"has-vivid-red-color has-very-light-gray-background-color has-text-color has-background\"><strong>\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\u7ebf\uff0c \u94fe\u63a5\u5982\u4e0b\uff1a<\/strong><\/p>\n\n\n\n<p class=\"has-very-light-gray-background-color has-background\"><a href=\"https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&amp;shareId=1448054983\" target=\"_blank\" rel=\"noreferrer noopener\"><strong>https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&amp;shareId=1448054983<\/strong><\/a><\/p>\n\n\n\n<p class=\"has-vivid-red-color has-very-light-gray-background-color has-text-color 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