Where to get the code

Navio2 is supported in the main ArduPilot repository.

How to build

ArduPilot binary for Navio2 can be built using two ways:

1) Directly on your Raspberry Pi. Simpler, but slower. Build takes approximately 15 minutes.

2) Using a cross-compiler (on Linux PC or virtual machine). This is much faster, but requires one-time setup.

If you'd like to build on Raspberry Pi or use Waf build system (either on Raspberry Pi or Linux PC) skip the next step.

Cross-compiler setup on Linux (optional)

Recommended compiler is the one that is provided by Raspberry Pi Foundation. Download and extract it somewhere, for example in /opt/:

sudo git clone --depth 1 https://github.com/raspberrypi/tools.git /opt/tools

If you're using 32-bit distro add the following to your PATH:

export PATH=/opt/tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian/bin:$PATH

For 64-bit distro add this to your PATH

export PATH=/opt/tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian-x64/bin:$PATH

If you would like to add the compiler to the PATH permanently edit /etc/environment.

Building ArduPilot using make-based build system

Deprecated. Please use waf to build the project.

Building ArduPilot using Waf build system

These steps are the same both for compiling ArduPilot directly on Raspberry Pi and cross-compiling.

Download the ArduPilot code and update submodules:

git clone https://github.com/ArduPilot/ardupilot.git
cd ardupilot
git submodule update --init

Checkout to a specific tag in order not to fly off master. git tag to get a list of tags

For example, to build a copter binary:

git checkout ArduCopter-stable
git checkout ArduCopter-beta

Note that Waf should always be called from the ardupilot's root directory.

To keep access to Waf convenient, use the following alias from the root ardupilot directory:

alias waf="$PWD/modules/waf/waf-light"

Differently from the make-based build, with Waf there's a configure step to choose the board to be used:

waf configure --board=navio2

Now you can build arducopter. For a copter use the following command:

waf copter

In the end of compilation binaries with the name like arducopter-quad will be placed in ardupilot/build/navio2/bin/ directory.

If you're using cross-compiler transfer the binary to your Raspberry Pi:

rsync -avz ardupilot/build/navio2/bin/arducopter-quad pi@

Where is an IP address of your Raspberry Pi with Navio2.

For further information read ardupilot WAF Build.

Instructions how to run ArduPilot on Raspberry Pi and to connect GCS to it are available in Installation and running section.