PX4上添加一个驱动模块需要做哪些改动呢
首先我觉得对应的cmake文件里面肯定是要加的,它这里面就有驱动和模块的列表。当然得是你make ***************编译命令对应的cmake里面加。
https://gitee.com/maxibooksiyi/PX4-Autopilot/blob/master/boards/px4/fmu-v4/default.cmake
![](https://img-blog.csdnimg.cn/20210809004246215.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NpbmF0XzE2NjQzMjIz,size_16,color_FFFFFF,t_70)
![](https://img-blog.csdnimg.cn/20210809004337299.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NpbmF0XzE2NjQzMjIz,size_16,color_FFFFFF,t_70)
《一本书看懂多旋翼无人机》P258 写驱动这里也说了,在cmake里在drivers里面添加。
![](https://img-blog.csdnimg.cn/20210809004935678.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NpbmF0XzE2NjQzMjIz,size_16,color_FFFFFF,t_70)
这里也说了在default.cmake里面添加
https://docs.px4.io/master/zh/peripherals/serial_configuration.html
![](https://img-blog.csdnimg.cn/20210809121343276.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NpbmF0XzE2NjQzMjIz,size_16,color_FFFFFF,t_70)
对应驱动模块要写cmakelists的,这个cmakelists的编写可以参考下面这两个
《一本书看懂多旋翼无人机》P258
![](https://img-blog.csdnimg.cn/20210809005144911.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NpbmF0XzE2NjQzMjIz,size_16,color_FFFFFF,t_70)
https://blog.csdn.net/sinat_16643223/article/details/119303922
![](https://img-blog.csdnimg.cn/20210809005210895.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NpbmF0XzE2NjQzMjIz,size_16,color_FFFFFF,t_70)
。
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