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Building from sources

Where to get the code

Navio2 is supported in the upstream ArduPilot repository.

How to build

ArduPilot binary 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 want to build on Raspberry Pi, 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 /opt/tools

If you use 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 Waf build system

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

Download the ArduPilot code:

git clone

Checkout to a specific tag in order not to fly off master.


Run git tag to get a list of tags

For example, to build a copter binary:

git checkout ArduCopter-stable
git checkout ArduCopter-beta

Update the submodules:

git submodule update --init --recursive

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 is a configure step to choose the board to be used:

waf configure --board=navio2

If future is not installed, then you should install it:

pip install future

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.


We suggest checking out ArduPilot docs for further details here. This is the most up-to-date reference.

If you use 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 a Navio2.

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