PX4-Autopilot/docs/uk/dev_setup/building_px4.md

# Збірка програмного забезпечення PX4

Збірку прошивки PX4 для цільових апаратних платформ та симуляції можна здійснити з вихідного коду в консолі або в IDE.

You need to build PX4 in order to use [simulators](../simulation/index.md), or if you want to modify PX4 and create a custom build.
If you just want to try out PX4 on real hardware then [load the prebuilt binaries](../config/firmware.md) using QGroundControl (there is no need to follow these instructions).

:::info
Before following these instructions you must first install the [Developer Toolchain](../dev_setup/dev_env.md) for your host operating system and target hardware.
If you have any problems after following these steps see the [Troubleshooting](#troubleshooting) section below.
:::

## Завантаження вихідного коду PX4

The PX4 source code is stored on Github in the [PX4/PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) repository.

To get the _very latest_ (`main` branch) version onto your computer, enter the following command into a terminal:

```sh
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
```

Note that you may already have done this when installing the [Developer Toolchain](../dev_setup/dev_env.md)

:::info
This is all you need to do in order to get the latest code.
If needed you can also [get the source code specific to a particular release](../contribute/git_examples.md#get-a-specific-release).
[GIT Examples](../contribute/git_examples.md) provides a lot more information working with releases and contributing to PX4.
:::

## First Build (Using a Simulator)

Спочатку ми зберемо цільову платформу симуляції з використанням консольного середовища.
Це дозволяє нам перевірити налаштування системи перед її запуском на реальному обладнанні та IDE.

Navigate into the **PX4-Autopilot** directory and start [Gazebo SITL](../sim_gazebo_gz/index.md) using the following command:

```sh
make px4_sitl gz_x500
```

This will bring up the PX4 console:

![PX4 Console](../../assets/toolchain/console_gazebo.png)

:::info
You may need to start _QGroundControl_ before proceeding, as the default PX4 configuration requires a ground control connection before takeoff.
This can be [downloaded from here](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html).
:::

The drone can be flown by typing the following command (as shown in the console above):

```sh
pxh> commander takeoff
```

The vehicle will take off and you'll see this in the Gazebo simulator UI:

![Gazebo UI with vehicle taking off](../../assets/toolchain/gazebo_takeoff.png)

The drone can be landed by typing `commander land` and the whole simulation can be stopped by doing **CTRL+C** (or by entering `shutdown`).

Симуляція польоту з управлінням з боку наземного оператора є ближчою до реального запуску дрону.
В польоті (режимі зльоту) натисніть на місце розташування на карті та пересуньте (увімкніть) повзунковий перемикач.
Це перемістить літальний засіб.

![QGroundControl GoTo](../../assets/toolchain/qgc_goto.jpg)

## Плати на основі NuttX / Pixhawk

### Збірка під NuttX

To build for NuttX- or Pixhawk- based boards, navigate into the **PX4-Autopilot** directory and then call `make` with the build target for your board.

For example, to build for [Pixhawk 4](../flight_controller/pixhawk4.md) hardware you could use the following command:

```sh
cd PX4-Autopilot
make px4_fmu-v5_default
```

:::tip
You can also build using the [px4-dev Docker container](../test_and_ci/docker.md) without installing the toolchain locally.
From the PX4-Autopilot directory:

```sh
./Tools/docker_run.sh 'make px4_fmu-v5_default'
```

:::

Успішне виконання виведе в консолі приблизно наступне в кінці:

```sh
-- Build files have been written to: /home/youruser/src/PX4-Autopilot/build/px4_fmu-v4_default
[954/954] Creating /home/youruser/src/PX4-Autopilot/build/px4_fmu-v4_default/px4_fmu-v4_default.px4
```

The first part of the build target `px4_fmu-v4` indicates the target flight controller hardware for the firmware.
The suffix, in this case `_default`, indicates a firmware _configuration_, such as supporting or omitting particular features.

:::info
The `_default` suffix is optional.
For example, `make px4_fmu-v5` and `px4_fmu-v5_default` result in the same firmware.
:::

The following list shows the build commands for the [Pixhawk standard](../flight_controller/autopilot_pixhawk_standard.md) boards:

- [Holybro Pixhawk 6X-RT (FMUv6X)](../flight_controller/pixhawk6x-rt.md): `make px4_fmu-v6xrt_default`

- [Holybro Pixhawk 6X (FMUv6X)](../flight_controller/pixhawk6x.md): `make px4_fmu-v6x_default`

- [Holybro Pixhawk 6C (FMUv6C)](../flight_controller/pixhawk6c.md): `make px4_fmu-v6c_default`

- [Holybro Pixhawk 6C Mini (FMUv6C)](../flight_controller/pixhawk6c_mini.md): `make px4_fmu-v6c_default`

- [Holybro Pix32 v6 (FMUv6C)](../flight_controller/holybro_pix32_v6.md): `make px4_fmu-v6c_default`

- [Holybro Pixhawk 5X (FMUv5X)](../flight_controller/pixhawk5x.md): `make px4_fmu-v5x_default`

- [Pixhawk 4 (FMUv5)](../flight_controller/pixhawk4.md): `make px4_fmu-v5_default`

- [Pixhawk 4 Mini (FMUv5)](../flight_controller/pixhawk4_mini.md): `make px4_fmu-v5_default`

- [CUAV V5+ (FMUv5)](../flight_controller/cuav_v5_plus.md): `make px4_fmu-v5_default`

- [CUAV V5 nano (FMUv5)](../flight_controller/cuav_v5_nano.md): `make px4_fmu-v5_default`

- [Pixracer (FMUv4)](../flight_controller/pixracer.md): `make px4_fmu-v4_default`

- [Pixhawk 3 Pro](../flight_controller/pixhawk3_pro.md): `make px4_fmu-v4pro_default`

- [Pixhawk Mini](../flight_controller/pixhawk_mini.md): `make px4_fmu-v3_default`

- [Pixhawk 2 (Cube Black) (FMUv3)](../flight_controller/pixhawk-2.md): `make px4_fmu-v3_default`

- [mRo Pixhawk (FMUv3)](../flight_controller/mro_pixhawk.md): `make px4_fmu-v3_default` (supports 2MB Flash)

- [Holybro pix32 (FMUv2)](../flight_controller/autopilot_discontinued.md): `make px4_fmu-v2_default` - Discontinued

- [Pixfalcon (FMUv2)](../flight_controller/autopilot_discontinued.md): `make px4_fmu-v2_default` - Discontinued

- [Dropix (FMUv2)](../flight_controller/autopilot_discontinued.md): `make px4_fmu-v2_default` - Discontinued

- [Pixhawk 1 (FMUv2)](../flight_controller/autopilot_discontinued.md): `make px4_fmu-v2_default` - Discontinued

  :::warning
  You **must** use a supported version of GCC to build this board (e.g. the `gcc-arm-none-eabi` package from the current Ubuntu LTS, which is the same toolchain used by CI) or remove modules from the build.
  Збірка прошивки за допомогою компілятора GCC, який не підтримується може зазнати невдачі, оскільки обсяг памʼяті, який займає PX4, близький до ліміту пам'яті плати в 1 МБ.

:::

- Pixhawk 1 with 2 MB flash: `make px4_fmu-v3_default`

Build commands for non-Pixhawk NuttX fight controllers (and for all other-boards) are provided in the documentation for the individual [flight controller boards](../flight_controller/index.md).

### Завантаження прошивки (Прошивка плати)

Append `upload` to the make commands to upload the compiled binary to the autopilot hardware via USB.
Наприклад

```sh
make px4_fmu-v4_default upload
```

Успішне виконання виведе в консолі приблизно наступне:

```sh
Erase  : [====================] 100.0%
Program: [====================] 100.0%
Verify : [====================] 100.0%
Rebooting.

[100%] Built target upload
```

:::tip
This is not supported when developing on WSL2.
See [ Windows Development Environment (WSL2-Based) > Flash a Control Board](../dev_setup/dev_env_windows_wsl.md#flash-a-flight-control-board).
:::

## Інші плати

Build commands for other boards are given the [board-specific flight controller pages](../flight_controller/index.md) (usually under a heading _Building Firmware_).

Список усіх конфігурацій й цілей можна викликати командою:

```sh
make list_config_targets
```

## Компіляція в графічному IDE

[VSCode](../dev_setup/vscode.md) is the officially supported (and recommended) IDE for PX4 development.
VSCode просто налаштувати та може використатися для компіляції PX4 як для симуляцій так і для апаратних середовищ.

## Усунення проблем

### Загальні помилки збірки

Більшість проблем при збірці спричинені залежними гілками коду які не збігаються або не до кінця очищеним середовищем збірки.
Updating the submodules and doing a `distclean` can fix these kinds of errors:

```sh
git submodule update --recursive
make distclean
```

### Прошивка переповнена на XXX байт

The `region 'flash' overflowed by XXXX bytes` error indicates that the firmware is too large for the target hardware platform.
This is common for `make px4_fmu-v2_default` builds, where the flash size is limited to 1MB.

If you're building the _vanilla_ master branch, the most likely cause is using an unsupported version of GCC.
In this case, install the `gcc-arm-none-eabi` package from the current Ubuntu LTS as described in the [Developer Toolchain](../dev_setup/dev_env.md) instructions.

If building your own branch, it is possible that you have increased the firmware size over the 1MB limit.
В цьому випадку вам доведеться видалити всі не потрібні при цій збірці модулі та драйвера.

### macOS: Помилка "надто багато відкритих файлів"

MacOS дозволяє тримати за замовчуванням відкритими не більше 256 файлів в усіх запущених процесах.
При збірці PX4 відкривається велика кількість файлів, тож може статися перевищення цього ліміту.

The build toolchain will then report `Too many open files` for many files, as shown below:

```sh
arm-none-eabi-ld: cannot find NuttX/nuttx/fs/libfs.a: Too many open files
```

Рішення полягає в збільшенні максимально дозволеної кількості відкритих файлів (наприклад, до 300).
You can do this in the macOS _Terminal_ for each session:

- Run this script [Tools/mac_set_ulimit.sh](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/mac_set_ulimit.sh), or
- Введіть наступну команду:

  ```sh
  ulimit -S -n 300
  ```

### macOS Catalina: Складнощі при використанні cmake

As of macOS Catalina 10.15.1 there may be problems when trying to build the simulator with _cmake_.
Якщо у вас виникли проблеми на цій платформі, спробуйте виконати наступну команду в терміналі:

```sh
xcode-select --install
sudo ln -s /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/* /usr/local/include/
```

### Не вдалося імпортувати пакети Python

"Failed to import" errors when running the `make px4_sitl gz_x500` command indicates that some Python packages are not installed (where expected).

```sh
Failed to import jinja2: No module named 'jinja2'
You may need to install it using:
    pip3 install --user jinja2
```

If you have already installed these dependencies this may be because there is more than one Python version on the computer (e.g. Python 2.7.16 and Python 3.8.3), and the module is not present in the version used by the build toolchain.

You should be able to fix this by installing the dependencies from the repository's requirements file:

```sh
pip3 install --user -r Tools/setup/requirements.txt
```

## Цілі збірки PX4

The previous sections showed how you can call _make_ to build a number of different targets, start simulators, use IDEs etc.
This section shows how _make_ options are constructed and how to find the available choices.

The full syntax to call _make_ with a particular configuration and initialization file is:

```sh
make [VENDOR_][MODEL][_VARIANT] [VIEWER_MODEL_DEBUGGER_WORLD]
```

**VENDOR_MODEL_VARIANT**: (also known as `CONFIGURATION_TARGET`)

- **VENDOR:** The manufacturer of the board: `px4`, `aerotenna`, `airmind`, `atlflight`, `auav`, `beaglebone`, `intel`, `nxp`, etc.
  The vendor name for Pixhawk series boards is `px4`.
- **MODEL:** The _board model_ "model": `sitl`, `fmu-v2`, `fmu-v3`, `fmu-v4`, `fmu-v5`, `navio2`, etc.
- **VARIANT:** Indicates particular configurations: e.g. `bootloader`, `cyphal`, which contain components that are not present in the `default` configuration.
  Most commonly this is `default`, and may be omitted.

:::tip
You can get a list of _all_ available `CONFIGURATION_TARGET` options using the command below:

```sh
make list_config_targets
```

:::

**VIEWER_MODEL_DEBUGGER_WORLD:**

- **VIEWER:** This is the simulator ("viewer") to launch and connect: `gz`, `gazebo`, `jmavsim`, `none` <!-- , ?airsim -->

  :::tip
  `none` can be used if you want to launch PX4 and wait for a simulator (jmavsim, Gazebo, Gazebo Classic, or some other simulator).
  For example, `make px4_sitl none_iris` launches PX4 without a simulator (but with the iris airframe).

:::

- **MODEL:** The _vehicle_ model to use (e.g. `iris` (_default_), `rover`, `tailsitter`, etc), which will be loaded by the simulator.
  The environment variable `PX4_SIM_MODEL` will be set to the selected model, which is then used in the [startup script](../simulation/index.md#startup-scripts) to select appropriate parameters.

- **DEBUGGER:** Debugger to use: `none` (_default_), `ide`, `gdb`, `lldb`, `ddd`, `valgrind`, `callgrind`.
  For more information see [Simulation Debugging](../debug/simulation_debugging.md).

- **WORLD:** (Gazebo Classic only).
  Set the world ([PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds](https://github.com/PX4/PX4-SITL_gazebo-classic/tree/main/worlds)) that is loaded.
  Default is [empty.world](https://github.com/PX4/PX4-SITL_gazebo-classic/blob/main/worlds/empty.world).
  For more information see [Gazebo Classic > Loading a Specific World](../sim_gazebo_classic/index.md#loading-a-specific-world).

:::tip
You can get a list of _all_ available `VIEWER_MODEL_DEBUGGER_WORLD` options using the command below:

```sh
make px4_sitl list_vmd_make_targets
```

:::

::: info

- Most of the values in the `CONFIGURATION_TARGET` and `VIEWER_MODEL_DEBUGGER` have defaults, and are hence optional.
  For example, `gazebo-classic` is equivalent to `gazebo-classic_iris` or `gazebo-classic_iris_none`.
- Ви можете використати три підкреслювання, якщо хочете вказати значення за замовчуванням між двома іншими налаштуваннями.
  For example, `gazebo-classic___gdb` is equivalent to `gazebo-classic_iris_gdb`.
- You can use a `none` value for `VIEWER_MODEL_DEBUGGER` to start PX4 and wait for a simulator.
  For example start PX4 using `make px4_sitl_default none` and jMAVSim using `./Tools/simulation/jmavsim/jmavsim_run.sh -l`.

:::

The `VENDOR_MODEL_VARIANT` options map to particular _px4board_ configuration files in the PX4 source tree under the [/boards](https://github.com/PX4/PX4-Autopilot/tree/main/boards) directory.
Specifically `VENDOR_MODEL_VARIANT` maps to a configuration file **boards/VENDOR/MODEL/VARIANT.px4board**
(e.g. `px4_fmu-v5_default` corresponds to [boards/px4/fmu-v5/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v5/default.px4board)).

Додаткові цілі збірки обговорюються в відповідних розділах:

- `bloaty_compare_master`: [Binary Size Profiling](../debug/binary_size_profiling.md)
- ...

## Firmware Version & Git Tags

The _PX4 Firmware Version_ and _Custom Firmware Version_ are published using the MAVLink [AUTOPILOT_VERSION](https://mavlink.io/en/messages/common.html#AUTOPILOT_VERSION) message, and displayed in the _QGroundControl_ **Setup > Summary** airframe panel:

![Firmware info](../../assets/gcs/qgc_setup_summary_airframe_firmware.jpg)

These are extracted at build time from the active _git tag_ for your repo tree.
The git tag should be formatted as `<PX4-version>-<vendor-version>` (e.g. the tag in the image above was set to `v1.8.1-2.22.1`).

:::warning
If you use a different git tag format, versions information may not be displayed properly.
:::