Building ArduPilot

Because building ArduPilot is a bit complicated, I’ve written a short script that uses Docker to build AP in a controlled environment.

Copy it from here, save it to a file called in the root of the ArduPilot repo, and run it with <your board>. Output files will be stored in build/<yourboard>/bin/, and you can flash them with the INAV configurator by putting your board in DFU mode and uploading the arduplane_with_bl.hex file.

Here’s the script:

#!/usr/bin/env bash

set -euox pipefail

if [ $# -ne 1 ]
    echo "No board supplied, run as ./ <board name> or ./ list"
    exit 1


cd "$(git rev-parse --show-toplevel)"

git submodule update --init --recursive

git checkout Dockerfile
echo "RUN pip install intelhex" >> Dockerfile
echo 'ENV PATH="/home/ardupilot/.local/bin:/usr/lib/ccache:/ardupilot/Tools/autotest:${PATH}"' >> Dockerfile
cat Dockerfile

docker build . -t ardupilot
git checkout Dockerfile

# We need to update the PATH with the location of the ARM EABI inside the Docker
# container, so we write a script that handles this and the actual building.
cat <<EOF >
#!/usr/bin/env bash

set -euox pipefail

export ARM_EABI=/opt/\$(ls -1 /opt/ | grep gcc-arm-none-eabi)/bin/

./waf configure --board="\$1"
./waf build

chmod +x ./

docker run --rm -it -v "$(pwd)":/ardupilot ardupilot ./ "$BOARD"


Last updated on September 07, 2021. For any questions/feedback, email me at