Move PX4 Guide source into /docs (#24490)

* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
2026-10-19 06:03:35 +08:00 · 2025-03-13 16:08:27 +11:00
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+# PilotPi 使用 Ubuntu Server 操作系统
+
+:::warning
+Ubuntu Server on RPi 4B consumes a lot of current and generates a lot of heat.
+Design for better heat dissipation and high power consumption when using this hardware.
+:::
+
+## 开发者快速指南
+
+### 操作系统映像
+
+请从官方 <a href="https://cdimage.ubuntu.com/releases/">cdimage</a> 页面获取最新更新的操作系统。
+
+#### armhf
+
+- [Ubuntu Server 18.04.5 for RPi2](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi2.img.xz)
+- [Ubuntu Server 18.04.5 for RPi3](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi3.img.xz)
+- [Ubuntu Server 18.04.5 for RPi4](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi4.img.xz)
+- [Ubuntu Server 20.04.1 for RPi 2/3/4](https://cdimage.ubuntu.com/releases/20.04.1/release/ubuntu-20.04.2-preinstalled-server-arm64+raspi.img.xz)
+
+#### arm64
+
+- [Ubuntu Server 18.04.5 for RPi3](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-arm64+raspi3.img.xz)
+- [Ubuntu Server 18.04.5 for RPi4](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-arm64+raspi4.img.xz)
+- [Ubuntu Server 20.04.1 for RPi 3/4](https://cdimage.ubuntu.com/releases/20.04.1/release/ubuntu-20.04.2-preinstalled-server-arm64+raspi.img.xz)
+
+#### 最新操作系统
+
+Please refer to official [cdimage](https://cdimage.ubuntu.com/releases/) page for any new updates.
+
+### 首次启动
+
+When setting up RPi's WiFi for the first time we recommended using a wired Ethernet connection between your home router and RPi, and a monitor and keyboard.
+
+#### 启动前
+
+现在将 SD 卡插入您的 Pi 并首次开机。
+Please follow the official instruction [here](https://ubuntu.com/tutorials/how-to-install-ubuntu-on-your-raspberry-pi#3-wifi-or-ethernet).
+
+Now plug the SD card onto your Pi and boot for the first time.
+Make sure you have shell access to the RPi - either SSH connection over wired Ethernet, or direct accessing with keyboard and monitor.
+
+#### WiFi 区域
+
+First install required package:
+
+```sh
+sudo apt-get install crda
+```
+
+Edit the file `/etc/default/crda` to change the correct WiFi region. [Reference List](https://www.arubanetworks.com/techdocs/InstantWenger_Mobile/Advanced/Content/Instant%20User%20Guide%20-%20volumes/Country_Codes_List.htm)
+
+```sh
+sudo nano /etc/default/crda
+```
+
+让我们先设置主机名。
+
+#### 主机名和 mDNS
+
+Let's set up hostname at first.
+
+```sh
+sudo nano /etc/hostname
+```
+
+Change the hostname to whatever you like.
+Then install the package required by mDNS:
+
+```sh
+sudo apt-get update
+sudo apt-get install avahi-daemon
+```
+
+在上述操作后通过无线网络重新连回树莓派。
+
+```sh
+sudo reboot
+```
+
+您也可能想要设置 <a href="https://www.raspberrypi.org/documentation/remote-access/ssh/passwordless.md">无密码认证</a>。
+
+```sh
+ssh ubuntu@pi_hostname.local
+```
+
+#### 无密码认证(可选)
+
+You may want to setup [passwordless auth](https://www.raspberrypi.org/documentation/remote-access/ssh/passwordless.md) as well.
+
+### 配置操作系统
+
+#### config.txt
+
+The corresponding file in Ubuntu is `/boot/firmware/usercfg.txt`.
+
+```sh
+sudo nano /boot/firmware/usercfg.txt
+```
+
+将文件内容替换为：
+
+```sh
+# enable sc16is752 overlay
+dtoverlay=sc16is752-spi1
+# enable I2C-1 and set the frequency to 400KHz
+dtparam=i2c_arm=on,i2c_arm_baudrate=400000
+# enable spidev0.0
+dtparam=spi=on
+# enable RC input
+enable_uart=1
+# enable I2C-0
+dtparam=i2c_vc=on
+# switch Bluetooth to miniuart
+dtoverlay=miniuart-bt
+```
+
+#### cmdline.txt
+
+在Ubuntu Server 18.04 或更早版本，<code>nobtcmd.txt</code> 和 <code>btcmd.txt</code> 都需要修改。
+
+```sh
+sudo nano /boot/firmware/cmdline.txt
+```
+
+On Ubuntu Server 18.04 or earlier, `nobtcmd.txt` and `btcmd.txt` should both be modified.
+
+```sh
+sudo nano /boot/firmware/nobtcmd.txt
+```
+
+Find `console=/dev/ttyAMA0,115200` and remove that part to disable the login shell on serial interface.
+
+Append `isolcpus=2` after the last word.
+我们将在稍后手动在该核心运行PX4。
+
+```sh
+net.ifnames=0 dwc_otg.lpm_enable=0 console=tty1 root=LABEL=writable rootfstype=ext4 elevator=deadline rootwait fixrtc isolcpus=2
+```
+
+The above line tells the Linux kernel do not schedule any process on CPU core 2.
+我们将在稍后手动在该核心运行 PX4。
+
+检查串口：
+
+检查串口：
+
+```sh
+ls /dev/tty*
+```
+
+There should be `/dev/ttyAMA0`, `/dev/ttySC0` and `/dev/ttySC1`.
+
+检查 I2C：
+
+```sh
+ls /dev/i2c*
+```
+
+There should be `/dev/i2c-0` and `/dev/i2c-1`
+
+应该有 <code>/dev/spidev0.0</code>。
+
+```sh
+ls /dev/spidev*
+```
+
+There should be `/dev/spidev0.0`.
+
+#### rc.local
+
+In this section we will configure the auto-start script in **rc.local**.
+Note that we need to create this file, as it is not present on a fresh Ubuntu OS.
+
+```sh
+sudo nano /etc/rc.local
+```
+
+Append the content below to the file:
+
+```sh
+#!/bin/sh
+
+echo "25" > /sys/class/gpio/export
+echo "in" > /sys/class/gpio/gpio25/direction
+if [ $(cat /sys/class/gpio/gpio25/value) -eq 1 ] ; then
+        echo "Launching PX4"
+        cd /home/ubuntu/px4 ; nohup taskset -c 2 ./bin/px4 -d -s pilotpi_mc.config 2 &> 1 > /home/ubuntu/px4/px4.log &
+fi
+echo "25" > /sys/class/gpio/unexport
+
+exit 0
+```
+
+保存并退出。
+Then set the correct permissions:
+
+```sh
+sudo chmod +x /etc/rc.local
+```
+
+:::info
+Don't forget to turn off the switch when it is not needed!
+:::
+
+#### CSI 相机
+
+:::warning
+Enable CSI camera will stop anything works on I2C-0.
+:::
+
+```sh
+sudo nano /boot/firmware/usercfg.txt
+```
+
+或
+
+```sh
+start_x=1
+```
+
+### 构建代码
+
+To get the _very latest_ version onto your computer, enter the following command into a terminal:
+
+```sh
+git clone https://github.com/PX4/PX4-Autopilot.git --recursive
+```
+
+:::info
+This is all you need to do just to build the latest code.
+:::
+
+#### 配置上传
+
+然后上传：
+
+```sh
+export AUTOPILOT_HOST=192.168.X.X
+```
+
+或
+
+```sh
+export AUTOPILOT_HOST=pi_hostname.local
+```
+
+在 PX4-Autopilot 文件夹下执行：
+
+```sh
+export AUTOPILOT_USER=ubuntu
+```
+
+#### 为 armhf 目标交叉编译
+
+PX4 已配置使用多旋翼模型启动。
+
+```sh
+cd Firmware
+make scumaker_pilotpi_default
+```
+
+Then upload it with:
+
+```sh
+make scumaker_pilotpi_default upload
+```
+
+#### 备选armhf构建方法 (使用 docker)
+
+If you are compiling for the first time with docker, please refer to the [official docs](../test_and_ci/docker.md#prerequisites).
+
+如果您是首次使用 Docker 进行编译，请参考<a href="https://dev.px4.io/master/en/test_and_ci/docker.html#prerequisites">官方说明</a>。
+
+```sh
+./Tools/docker_run.sh "export AUTOPILOT_HOST=192.168.X.X; export AUTOPILOT_USER=ubuntu; export NO_NINJA_BUILD=1; make scumaker_pilotpi_default upload"
+```
+
+:::info
+mDNS is not supported within docker. 您也可以自己创建一个。
+:::
+
+:::info
+If your IDE doesn't support ninja build, `NO_NINJA_BUILD=1` option will help.
+You can compile without uploading too. Just remove `upload` target.
+:::
+
+It is also possible to just compile the code with command:
+
+```sh
+./Tools/docker_run.sh "make scumaker_pilotpi_default"
+```
+
+#### 为arm64交叉编译
+
+:::info
+This step requires `aarch64-linux-gnu` tool-chain to be installed.
+:::
+
+PX4 已配置使用多旋翼模型启动。
+
+```sh
+cd PX4-Autopilot
+make scumaker_pilotpi_arm64
+```
+
+Then upload it with:
+
+```sh
+make scumaker_pilotpi_arm64 upload
+```
+
+#### 备选 arm64 构建方法 (使用 docker)
+
+If you are compiling for the first time with docker, please refer to the [official docs](../test_and_ci/docker.md#prerequisites).
+
+Execute the command in `PX4-Autopilot` folder:
+
+```sh
+./Tools/docker_run.sh "export AUTOPILOT_HOST=192.168.X.X; export AUTOPILOT_USER=ubuntu; export NO_NINJA_BUILD=1; make scumaker_pilotpi_arm64 upload"
+```
+
+:::info
+mDNS is not supported within docker. 您也可以自己创建一个。
+:::
+
+:::info
+If your IDE doesn't support ninja build, `NO_NINJA_BUILD=1` option will help.
+You can compile without uploading too - just remove the `upload` target.
+:::
+
+It is also possible to just compile the code with command:
+
+```sh
+./Tools/docker_run.sh "make scumaker_pilotpi_arm64"
+```
+
+#### 手动运行 PX4
+
+Connect over SSH and run it with:
+
+```sh
+cd px4
+sudo taskset -c 2 ./bin/px4 -s pilotpi_mc.config
+```
+
+在执行下一步之前，先清除现有构建目录：
+
+If you encountered the similar problem executing `bin/px4` on your Pi as following:
+
+```
+bin/px4: /lib/xxxx/xxxx: version `GLIBC_2.29' not found (required by bin/px4)
+```
+
+如果您是首次使用 Docker 进行编译，请参考<a href="https://dev.px4.io/master/en/test_and_ci/docker.html#prerequisites">官方说明</a>。
+
+在 PX4-Autopilot 文件夹下执行：
+
+```sh
+rm -rf build/scumaker_pilotpi_*
+```
+
+Then go back to the corresponding chapter above.
+
+### 后期配置
+
+Please refer to the instructions [here](raspberry_pi_pilotpi_rpios.md)