自定义固件
随着ArduPilot软件通过社区贡献和开发努力不断演变,它正在迅速扩展,增加了许多新的功能。 然而,并非所有用户都需要每个功能. 根据其具体要求和应用,用户可能倾向于将某些采用一种功能排除在软件之外。
为解决这一需要,我们制定了自定义固件构建器,在自定义. ardupilot.org. 这一过程有助于缩小固件大小,更容易装配到具有有限闪存的飞行控制单元(FCU)中. 这也使我们的测试者受益,使他们可以测试特定的特性,而无需由于空间限制而更新其飞行控制器.
可以找到自定义固件构建器的源代码在这里。
提交构建请求
为提交建设请求,遵循这些步骤:
单击"加一个建筑" button located at the top right corner of the homepage.
Choose the vehicle, version, and board,in that order, for which you want to build the firmware.
Select the features you wish to include in the firmware
- The default features for the board/vehicle will automatically be selected
- Some features depend on other features so when a feature is selected, all its dependencies will be automatically selected but if the feature is later deselected, the dependencies are not automatically deselected
- It is possible to select a set of features that will not fit on a board which will cause the build will fail.
Click the 'Generate' button. You will be redirected to the homepage, and a build log for the request you just submitted will appear.
Once the build is complete the build artifact will be downloaded automatically, You can also download it manually by clicking the 'Download' button next to your build request in the build list table. The button will be enabled only after a successful build.
Extract the downloaded build artifact. The extracted files will include the .apj firmware file along with other files
Use your GCS to install the .apj file onto your autopilot. If using Mission Planner, open the Install Firmware and click then "Load custom firmware" link
Versions
Latest
This is the current development branch of ArduPilot. It includes new features, enhancements, clean-ups, etc. but has not been through a release cycle of beta testing. It has been alpha tested and thoroughly tested in ArduPilot's Continuous Integration auto-test suite. Many experienced users select this to get the latest features but it has the highest risk, in terms of potential bugs.
Beta
This is a release of the development branch used for widespread testing and feedback. While the risk of major issues is low, it is expected that minor behavioral deviations may pop up. These are normally addressed in later beta releases of a major new release before declaring the code as a stable release.
Stable
These are fully released versions of the code. There are usually several minor releases for each major release number which correct any anomalies found during the beta testing phases. These releases, have the lowest risk. It is recommended that the highest numbered major/minor release be used in a given release sequence, unless an older version is needed.
说明：
The ArduPilot project is very careful about what is merged into our "point releases". Anything that goes into one has either been evaluated as being strictly limited in what impact it can have on existing systems, or as being an important bugfix. We encourage users to upgrade to any point release which is released, as they sometimes contain very important bugfixes.
Guide to Size Impacts
Often, the custom build server is used to create firmware with features that have been removed in the standard firmware to conserve flash space, but desired by the user. If a build fails to complete due to lack of flash, the user may remove features/sensors that are not needed in order to make room for those additional items wanted. In order to facilitate those choices, the table below shows what impact a feature's removal has on flash size. Note that a removed feature in this list automatically removed all features dependent upon it.
说明：
the exact numbers of bytes will change slightly over time due to code changes, but this table should be accurate enough to make decisions on removal candidates to gain flash space.
| FEATURE | PLANE | COPTER | ROVER |
|---|---|---|---|
| AP_SCRIPTING_ENABLED | 175800 | 182160 | 171688 |
| HAL_NAVEKF3_AVAILABLE | 171392 | 171400 | 170784 |
| HAL_QUADPLANE_ENABLED | 139776 | na | na |
| HAL_ENABLE_DRONECAN_DRIVERS | 97480 | 96120 | 95936 |
| HAL_LOGGING_ENABLED | 88792 | 95704 | 86400 |
| HAL_MOUNT_ENABLED | 67268 | 67300 | 67116 |
| AP_RANGEFINDER_ENABLED | 46568 | 48056 | 46272 |
| HAL_GYROFFT_ENABLED | 42396 | 42308 | 41772 |
| OSD_ENABLED | 40992 | 40568 | 40472 |
| AP_RCPROTOCOL_ENABLED | 35888 | 35888 | 35904 |
| AP_FILESYSTEM_ROMFS_ENABLED | 32920 | 32912 | 32912 |
| HAL_MSP_ENABLED | 31848 | 31808 | 31816 |
| AP_BOOTLOADER_FLASHING_ENABLED | 31648 | 31648 | 31640 |
| AP_OPTICALFLOW_ENABLED | 29232 | 33816 | 29216 |
| HAL_EXTERNAL_AHRS_ENABLED | 29120 | 29112 | 29008 |
| HAL_ADSB_ENABLED | 25760 | 25800 | 19112 |
| AP_AIRSPEED_ENABLED | 25440 | 22984 | 23468 |
| AP_CAMERA_ENABLED | 25192 | 25192 | 25192 |
| AP_FRSKY_TELEM_ENABLED | 24504 | 24288 | 24376 |
| AP_FRSKY_SPORT_TELEM_ENABLED | 22088 | 21952 | 22040 |
| AP_FRSKY_SPORT_PASSTHROUGH_ENABLED | 18376 | 18240 | 18328 |
| HAL_WITH_MSP_DISPLAYPORT | 18328 | 18248 | 18240 |
| AP_FENCE_ENABLED | 17488 | 50360 | 44748 |
| HAL_SOLO_GIMBAL_ENABLED | 17432 | 17192 | 17424 |
| HAL_EFI_ENABLED | 14724 | 14816 | 14784 |
| COMPASS_CAL_ENABLED | 14624 | 14592 | 14600 |
| EK3_FEATURE_OPTFLOW_FUSION | 12824 | 12816 | 12832 |
| AP_GPS_UBLOX_ENABLED | 12504 | 12368 | 12440 |
| AP_RCPROTOCOL_CRSF_ENABLED | 11648 | 11640 | 11648 |
| AP_BARO_PROBE_EXTERNAL_I2C_BUSES | 11296 | 11296 | 11296 |
| OSD_PARAM_ENABLED | 11116 | 11596 | 8152 |
| HAL_VISUALODOM_ENABLED | 10616 | 10520 | 10648 |
| AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED | 10328 | 10344 | 10224 |
| HAL_CRSF_TELEM_ENABLED | 9680 | 9680 | 9680 |
| AP_RPM_ENABLED | 9616 | 5504 | 5648 |
| HAL_MOUNT_XACTI_ENABLED | 8984 | 8968 | 8976 |
| AP_VIDEOTX_ENABLED | 8956 | 9036 | 9060 |
| HAL_PICCOLO_CAN_ENABLE | 8920 | 8920 | 8920 |
| AP_BEACON_ENABLED | 8840 | 14424 | 14440 |
| AP_RCPROTOCOL_SRXL2_ENABLED | 8592 | 8584 | 8584 |
| HAL_GENERATOR_ENABLED | 8424 | 8544 | 8416 |
| HAL_ADSB_SAGETECH_MXS_ENABLED | 8376 | 8376 | 8592 |
| HAL_INS_TEMPERATURE_CAL_ENABLE | 7952 | 8040 | 8000 |
| AC_PRECLAND_ENABLED | 7832 | 10144 | 8968 |
| HAL_SOARING_ENABLED | 7656 | na | na |
| HAL_PROXIMITY_ENABLED | 7272 | 26824 | 25472 |
| HAL_MOUNT_TOPOTEK_ENABLED | 7092 | 7092 | 7092 |
| AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED | 6368 | 9824 | 5128 |
| AP_GPS_NMEA_ENABLED | 6176 | 6176 | 6184 |
| HAL_MOUNT_SIYI_ENABLED | 6000 | 5992 | 5992 |
| HAL_LANDING_DEEPSTALL_ENABLED | 5712 | 120 | 120 |
| AP_CAMERA_RUNCAM_ENABLED | 5616 | 5600 | 5592 |
| AP_OPTICALFLOW_PIXART_ENABLED | 5536 | 5536 | 5536 |
| AP_SERVO_TELEM_ENABLED | 5520 | 4864 | 5344 |
| GPS_MOVING_BASELINE | 5096 | 5040 | 5088 |
| AP_NOTIFY_TONEALARM_ENABLED | 4992 | 4984 | 4984 |
| EK3_FEATURE_DRAG_FUSION | 4984 | 4984 | 4984 |
| AP_GPS_SBF_ENABLED | 4904 | 4904 | 4904 |
| AP_EXTERNAL_AHRS_VECTORNAV_ENABLED | 4824 | 4816 | 4832 |
| HAL_MOUNT_VIEWPRO_ENABLED | 4812 | 4812 | 4804 |
| AP_GPS_SBP_ENABLED | 4792 | 4864 | 4880 |
| AP_MAVLINK_FTP_ENABLED | 4656 | 4648 | 4648 |
| AP_CRASHDUMP_ENABLED | 4652 | 4636 | 4644 |
| AP_ICENGINE_ENABLED | 4600 | 144 | 144 |
| HAL_SPEKTRUM_TELEM_ENABLED | 4576 | 4576 | 4576 |
| AP_RELAY_ENABLED | 4464 | 4376 | 4528 |
| AP_SERIALMANAGER_REGISTER_ENABLED | 4376 | 4448 | 4456 |
| AP_PROXIMITY_DRONECAN_ENABLED | 4248 | 2024 | 2024 |
| HAL_DISPLAY_ENABLED | 4176 | 4168 | 4168 |
| AP_BATTERY_SMBUS_ENABLED | 4172 | 4172 | 4172 |
| AP_RANGEFINDER_VL53L1X_ENABLED | 4160 | 4152 | 4152 |
| AP_QUICKTUNE_ENABLED | 4136 | na | na |
| AP_TUNING_ENABLED | 4072 | na | na |
| AP_ADVANCEDFAILSAFE_ENABLED | 4032 | 472 | 472 |
| AP_CAN_SLCAN_ENABLED | 4016 | 4096 | 4032 |
| AP_RCPROTOCOL_GHST_ENABLED | 3680 | 3672 | 3672 |
| HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL | 3632 | 3496 | 3592 |
| AP_CAMERA_INFO_FROM_SCRIPT_ENABLED | 3480 | 3480 | 3480 |
| HAL_ADSB_UCP_ENABLED | 3424 | 3416 | 3416 |
| AP_FETTEC_ONEWIRE_ENABLED | 3312 | 3296 | 3248 |
| EK3_FEATURE_EXTERNAL_NAV | 3272 | 3272 | 3272 |
| AP_FILESYSTEM_PARAM_ENABLED | 3208 | 3208 | 3208 |
| AP_RANGEFINDER_VL53L0X_ENABLED | 3200 | 3200 | 3200 |
| AP_SMARTAUDIO_ENABLED | 3160 | 3144 | 3144 |
| AP_GPS_BLENDED_ENABLED | 3096 | 3096 | 3096 |
| HAL_MSP_OPTICALFLOW_ENABLED | 2944 | 2952 | 2952 |
| AP_COMPASS_DRONECAN_ENABLED | 2872 | 2872 | 2872 |
| HAL_MSP_RANGEFINDER_ENABLED | 2856 | 2864 | 2864 |
| AP_DRONECAN_SERIAL_ENABLED | 2800 | 2800 | 2800 |
| AP_DRONECAN_HOBBYWING_ESC_SUPPORT | 2792 | 2792 | 2792 |
| HAL_RALLY_ENABLED | 2768 | 2848 | 3016 |
| AP_COMPASS_BMM350_ENABLED | 2656 | 2656 | 2656 |
| AP_FOLLOW_ENABLED | 2608 | 4448 | 3928 |
| AP_FILESYSTEM_SYS_ENABLED | 2576 | 2576 | 2568 |
| MODE_AUTOLAND_ENABLED | 2488 | na | na |
| HAL_ADSB_SAGETECH_ENABLED | 2472 | 2464 | 2464 |
| AP_AIRSPEED_DRONECAN_ENABLED | 2456 | 2456 | 2456 |
| AP_COMPASS_HMC5843_ENABLED | 2456 | 2448 | 2448 |
| AP_GENERATOR_IE_2400_ENABLED | 2392 | 2392 | 2392 |
| AP_DRONECAN_SEND_GPS | 2360 | 2352 | 2352 |
| AP_EXTERNAL_AHRS_MICROSTRAIN7_ENABLED | 2336 | 2336 | 2336 |
| AP_GPS_SBP2_ENABLED | 2320 | 2376 | 2440 |
| AP_RANGEFINDER_LWI2C_ENABLED | 2320 | 2320 | 2320 |
| AP_GHST_TELEM_ENABLED | 2304 | 2304 | 2304 |
| AP_BATTERY_INA2XX_ENABLED | 2288 | 2280 | 2280 |
| HAL_MSP_SENSORS_ENABLED | 2288 | 2288 | 2288 |
| AP_AIRSPEED_MSP_ENABLED | 2272 | 2272 | 2272 |
| AP_BARO_MSP_ENABLED | 2272 | 2280 | 2280 |
| AP_COMPASS_MSP_ENABLED | 2272 | 2280 | 2280 |
| HAL_MSP_GPS_ENABLED | 2272 | 2280 | 2280 |
| AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED | 2264 | na | na |
| AP_AIRSPEED_SDP3X_ENABLED | 2256 | 2248 | 2256 |
| AP_FILESYSTEM_MISSION_ENABLED | 2200 | 2200 | 2200 |
| AP_GPS_GSOF_ENABLED | 2192 | 2184 | 2184 |
| AP_FILTER_ENABLED | 2168 | 2128 | 2136 |
| AP_GENERATOR_RICHENPOWER_ENABLED | 2168 | 2248 | 2168 |
| AP_GENERATOR_LOWEHEISER_ENABLED | 4108 | 4104 | 4124 |
| HAL_HIGH_LATENCY2_ENABLED | 2168 | 2024 | 1920 |
| AP_COMPASS_LIS3MDL_ENABLED | 2128 | 2128 | 2128 |
| AP_COMPASS_MMC3416_ENABLED | 2120 | 2112 | 2112 |
| AP_BARO_DRONECAN_ENABLED | 2080 | 2080 | 2080 |
| AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED | 2064 | 2072 | 2056 |
| AP_GPS_NMEA_UNICORE_ENABLED | 2008 | 2000 | 2000 |
| AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED | 1976 | 1976 | 1976 |
| HAL_BUTTON_ENABLED | 1960 | 1984 | 2072 |
| AP_EFI_SERIAL_MS_ENABLED | 1944 | 1936 | 1936 |
| AP_ROBOTISSERVO_ENABLED | 1936 | 1872 | 1960 |
| HAL_PARACHUTE_ENABLED | 1912 | 1824 | 616 |
| HAL_MOUNT_SERVO_ENABLED | 1880 | 1688 | 1688 |
| AP_LANDINGGEAR_ENABLED | 1824 | 1360 | na |
| AP_EFI_DRONECAN_ENABLED | 1752 | 1752 | 1752 |
| AP_VOLZ_ENABLED | 1752 | 2048 | 1840 |
| AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED | 1744 | 1736 | 1736 |
| AP_SERVORELAYEVENTS_ENABLED | 1696 | 1712 | 1712 |
| AP_EFI_CURRAWONG_ECU_ENABLED | 1680 | 1672 | 1672 |
| AP_RSSI_ENABLED | 1672 | 1728 | 1808 |
| AP_COMPASS_IST8310_ENABLED | 1656 | 1656 | 1656 |
| AP_EFI_SERIAL_HIRTH_ENABLED | 1656 | 1688 | 1648 |
| AP_AIRSPEED_MS4525_ENABLED | 1648 | 1640 | 1640 |
| AP_BARO_BMP085_ENABLED | 1648 | 1648 | 1648 |
| AP_RANGEFINDER_WASP_ENABLED | 1648 | 1640 | 1640 |
| AP_GRIPPER_ENABLED | 1644 | 2068 | 1756 |
| HAL_NMEA_OUTPUT_ENABLED | 1632 | 1688 | 1688 |
| AP_SDCARD_STORAGE_ENABLED | 1624 | 1480 | 1488 |
| AP_GPS_ERB_ENABLED | 1616 | 1480 | 1552 |
| AP_AIRSPEED_MS5525_ENABLED | 1600 | 1600 | 1584 |
| AP_BARO_DPS280_ENABLED | 1600 | 1592 | 1592 |
| AP_BARO_SPL06_ENABLED | 1600 | 1592 | 1592 |
| AP_COMPASS_BMM150_ENABLED | 1600 | 1592 | 1592 |
| AP_TRAMP_ENABLED | 1584 | 1600 | 1568 |
| AP_COMPASS_RM3100_ENABLED | 1568 | 1560 | 1560 |
| AP_TEMPERATURE_SENSOR_ENABLED | 1560 | 1560 | 1552 |
| HAL_MOUNT_GREMSY_ENABLED | 1560 | 1560 | 1560 |
| AP_AIRSPEED_AUAV_ENABLED | 1544 | 1544 | 1528 |
| AP_MOTORS_FRAME_QUAD_ENABLED | 1544 | 1376 | na |
| AP_CAMERA_MAVLINKCAMV2_ENABLED | 1512 | 1512 | 1512 |
| AP_GPS_NOVA_ENABLED | 1512 | 1512 | 1512 |
| AP_RANGEFINDER_BENEWAKE_TFMINIPLUS_ENABLED | 1472 | 1472 | 1472 |
| HAL_MOUNT_ALEXMOS_ENABLED | 1472 | 1464 | 1464 |
| AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED | 1464 | 1456 | 1456 |
| AP_COMPASS_IST8308_ENABLED | 1424 | 1416 | 1416 |
| AP_BARO_FBM320_ENABLED | 1392 | 1392 | 1392 |
| AP_KDECAN_ENABLED | 1392 | 1248 | 1264 |
| AP_SCRIPTING_SERIALDEVICE_ENABLED | 1376 | 1352 | 1336 |
| AP_RANGEFINDER_DRONECAN_ENABLED | 1360 | 1360 | 1360 |
| AP_DRONECAN_HIMARK_SERVO_SUPPORT | 1352 | 1344 | 1344 |
| AP_BARO_BMP388_ENABLED | 1320 | 1320 | 1320 |
| AP_BARO_BMP280_ENABLED | 1312 | 1304 | 1304 |
| AP_COMPASS_QMC5883L_ENABLED | 1312 | 1304 | 1304 |
| AP_MOTORS_FRAME_OCTA_ENABLED | 1312 | 1312 | na |
| AP_RPM_PIN_ENABLED | 1248 | 1552 | 1552 |
| AP_CUSTOMROTATIONS_ENABLED | 1216 | 1232 | 1216 |
| AP_OPTICALFLOW_HEREFLOW_ENABLED | 1168 | 1160 | 1160 |
| HAL_MOUNT_STORM32SERIAL_ENABLED | 1156 | 1148 | 1148 |
| AP_FRSKY_D_TELEM_ENABLED | 1144 | 1136 | 1136 |
| HAL_CRSF_TELEM_TEXT_SELECTION_ENABLED | 1120 | 1120 | 1120 |
| AC_PRECLAND_IRLOCK_ENABLED | 1112 | 1112 | 1112 |
| AP_GPS_SIRF_ENABLED | 1104 | 968 | 1048 |
| AP_BARO_LPS2XH_ENABLED | 1040 | 1040 | 1040 |
| AP_RANGEFINDER_PULSEDLIGHTLRF_ENABLED | 1024 | 1024 | 1024 |
| AP_RANGEFINDER_JRE_SERIAL_ENABLED | 1016 | 1008 | 1008 |
| HAL_ADSB_UAVIONIX_MAVLINK_ENABLED | 992 | 984 | 984 |
| AP_RPM_DRONECAN_ENABLED | 984 | 984 | 984 |
| AP_AIRSPEED_DLVR_ENABLED | 976 | 976 | 976 |
| AP_RANGEFINDER_TRI2C_ENABLED | 968 | 968 | 968 |
| HAL_PLUSCODE_ENABLE | 960 | 944 | 944 |
| AP_EXTENDED_ESC_TELEM_ENABLED | 944 | 936 | 928 |
| AP_RANGEFINDER_BLPING_ENABLED | 936 | 936 | 936 |
| AP_RANGEFINDER_NMEA_ENABLED | 936 | 928 | 880 |
| AP_MOTORS_FRAME_OCTAQUAD_ENABLED | 896 | 896 | na |
| AP_CAMERA_SOLOGIMBAL_ENABLED | 888 | 888 | 888 |
| AP_RCPROTOCOL_SRXL_ENABLED | 888 | 888 | 888 |
| AP_CAMERA_MOUNT_ENABLED | 880 | 872 | 872 |
| HAL_MOUNT_CADDX_ENABLED | 880 | 872 | 872 |
| AP_AIRSPEED_ASP5033_ENABLED | 856 | 856 | 856 |
| HAL_OSD_SIDEBAR_ENABLE | 848 | 848 | 848 |
| AP_RANGEFINDER_LIGHTWARE_SERIAL_ENABLED | 832 | 832 | 832 |
| AP_EFI_NWPWU_ENABLED | 824 | 816 | 816 |
| AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED | 824 | 824 | 824 |
| AP_RANGEFINDER_TOFSENSEF_I2C_ENABLED | 824 | 824 | 824 |
| HAL_MOUNT_STORM32MAVLINK_ENABLED | 824 | 824 | 824 |
| AP_MAVLINK_MSG_DEVICE_OP_ENABLED | 816 | 816 | 816 |
| AP_OPTICALFLOW_PX4FLOW_ENABLED | 816 | 808 | 808 |
| AP_RANGEFINDER_PWM_ENABLED | 808 | 800 | 800 |
| AP_BARO_EXTERNALAHRS_ENABLED | 792 | 792 | 800 |
| AP_RANGEFINDER_LEDDARVU8_ENABLED | 776 | 776 | 776 |
| AP_NOTIFY_NCP5623_ENABLED | 768 | 760 | 760 |
| AP_OPTICALFLOW_CXOF_ENABLED | 768 | 760 | 760 |
| AP_RANGEFINDER_RDS02UF_ENABLED | 768 | 760 | 760 |
| AP_MAVLINK_MSG_SERIAL_CONTROL_ENABLED | 760 | 760 | 760 |
| AP_CAMERA_SEND_FOV_STATUS_ENABLED | 752 | 752 | 752 |
| AP_BARO_BMP581_ENABLED | 736 | 736 | 736 |
| AP_MAVLINK_MSG_FLIGHT_INFORMATION_ENABLED | 728 | 720 | 752 |
| AP_OPTICALFLOW_UPFLOW_ENABLED | 728 | 728 | 728 |
| HAL_BARO_WIND_COMP_ENABLED | 712 | 680 | 728 |
| AP_EFI_SERIAL_LUTAN_ENABLED | 704 | 704 | 704 |
| AP_GPS_MAV_ENABLED | 704 | 704 | 704 |
| AP_MOTORS_FRAME_Y6_ENABLED | 704 | 704 | na |
| AP_RCPROTOCOL_ST24_ENABLED | 704 | 704 | 704 |
| AP_BATTERY_FUELFLOW_ENABLED | 696 | 696 | 696 |
| AP_RANGEFINDER_MAXSONARI2CXL_ENABLED | 688 | 680 | 680 |
| AP_BATTERY_FUELLEVEL_ANALOG_ENABLED | 680 | 672 | 672 |
| AP_BATTERY_SUM_ENABLED | 680 | 672 | 672 |
| AP_MOTORS_FRAME_HEXA_ENABLED | 672 | 672 | na |
| AP_RANGEFINDER_LEDDARONE_ENABLED | 672 | 672 | 672 |
| AP_RANGEFINDER_USD1_SERIAL_ENABLED | 640 | 640 | 640 |
| AP_RCPROTOCOL_SUMD_ENABLED | 616 | 608 | 608 |
| HAL_TORQEEDO_ENABLED | 608 | 608 | 7992 |
| AP_CAMERA_SERVO_ENABLED | 600 | 600 | 600 |
| AP_RCPROTOCOL_SBUS_ENABLED | 592 | 584 | 592 |
| AP_COMPASS_EXTERNALAHRS_ENABLED | 584 | 584 | 600 |
| AP_SBUSOUTPUT_ENABLED | 560 | 472 | 544 |
| AP_OPTICALFLOW_MAV_ENABLED | 552 | 544 | 544 |
| AP_CAN_LOGGING_ENABLED | 544 | 416 | 488 |
| COMPASS_LEARN_ENABLED | 512 | 504 | 504 |
| AP_RANGEFINDER_HC_SR04_ENABLED | 504 | 504 | 504 |
| AP_BATTERY_WATT_MAX_ENABLED | 496 | na | na |
| AP_OAPATHPLANNER_ENABLED | 488 | 19016 | 16768 |
| AP_RANGEFINDER_ANALOG_ENABLED | 488 | 480 | 480 |
| AP_RANGEFINDER_MAVLINK_ENABLED | 488 | 488 | 488 |
| AP_GENERATOR_IE_650_800_ENABLED | 472 | 464 | 464 |
| AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED | 456 | 448 | 448 |
| AP_RANGEFINDER_TERARANGER_SERIAL_ENABLED | 448 | 448 | 448 |
| AP_RANGEFINDER_NOOPLOOP_ENABLED | 440 | 432 | 432 |
| AP_RCPROTOCOL_IBUS_ENABLED | 440 | 432 | 432 |
| AP_AVOIDANCE_ENABLED | 432 | 15680 | 13232 |
| AP_BATTERY_FUELLEVEL_PWM_ENABLED | 392 | 392 | 392 |
| AP_BATTERY_SYNTHETIC_CURRENT_ENABLED | 392 | 392 | 392 |
| AP_RANGEFINDER_LANBAO_ENABLED | 392 | 384 | 384 |
| AP_RANGEFINDER_GYUS42V2_ENABLED | 384 | 384 | 384 |
| AP_MAVLINK_MSG_RELAY_STATUS_ENABLED | 376 | 376 | 376 |
| AP_RCPROTOCOL_MAVLINK_RADIO_ENABLED | 376 | 368 | 368 |
| AP_MAVLINK_MAV_CMD_SET_HAGL_ENABLED | 360 | na | na |
| AP_CAMERA_MAVLINK_ENABLED | 352 | 344 | 344 |
| AP_RANGEFINDER_LUA_ENABLED | 352 | 352 | 352 |
| AP_RANGEFINDER_MAXBOTIX_SERIAL_ENABLED | 352 | 344 | 344 |
| AP_MOTORS_FRAME_DODECAHEXA_ENABLED | 344 | 344 | na |
| AC_PRECLAND_COMPANION_ENABLED | 320 | 312 | 312 |
| AP_EFI_MAV_ENABLED | 312 | 312 | 312 |
| AP_CAMERA_RELAY_ENABLED | 304 | 296 | 296 |
| AP_MOTORS_FRAME_DECA_ENABLED | 296 | 296 | na |
| HAL_SPRAYER_ENABLED | 280 | 1224 | 1016 |
| AP_FILESYSTEM_FORMAT_ENABLED | 272 | 272 | 272 |
| AP_RANGEFINDER_BENEWAKE_CAN_ENABLED | 272 | 264 | 264 |
| AP_NOTIFY_NEOPIXEL_ENABLED | 264 | 264 | 264 |
| AP_INERTIALSENSOR_KILL_IMU_ENABLED | 256 | 240 | 240 |
| AP_MAVLINK_SERVO_RELAY_ENABLED | 256 | 248 | 248 |
| AP_RANGEFINDER_TOFSENSEP_CAN_ENABLED | 256 | 256 | 256 |
| AP_AIRSPEED_ANALOG_ENABLED | 248 | 248 | 248 |
| AP_NOTIFY_PROFILED_ENABLED | 224 | 216 | 216 |
| AP_MAVLINK_MSG_RC_CHANNELS_RAW_ENABLED | 216 | 208 | 208 |
| AP_RANGEFINDER_USD1_CAN_ENABLED | 216 | 208 | 208 |
| AP_RCPROTOCOL_PPMSUM_ENABLED | 216 | 208 | 208 |
| AP_CAMERA_SEND_THERMAL_RANGE_ENABLED | 176 | 176 | 176 |
| AP_RPM_HARMONICNOTCH_ENABLED | 176 | 176 | 176 |
| AP_RANGEFINDER_BENEWAKE_TF02_ENABLED | 144 | 144 | 144 |
| AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED | 136 | 136 | 136 |
| AP_RANGEFINDER_BENEWAKE_TF03_ENABLED | 136 | 136 | 136 |
| AP_RANGEFINDER_BENEWAKE_TFMINI_ENABLED | 136 | 136 | 136 |
| AP_RPM_GENERATOR_ENABLED | 136 | 128 | 128 |
| AP_RPM_EFI_ENABLED | 128 | 128 | 128 |
| AP_RPM_ESC_TELEM_ENABLED | 128 | 120 | 120 |
| AP_NOTIFY_MAVLINK_PLAY_TUNE_SUPPORT_ENABLED | 96 | 88 | 88 |
| AP_PROXIMITY_RANGEFINDER_ENABLED | 80 | 792 | 792 |
| AP_WINCH_ENABLED | 64 | 5060 | 64 |
| AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED | 40 | 2096 | 32 |
| AP_AIS_ENABLED | 24 | 1048 | 7404 |
| AP_PROXIMITY_CYGBOT_ENABLED | na | 936 | 936 |
| AP_PROXIMITY_MR72_ENABLED | na | na | na |
| AP_SERIALMANAGER_IMUOUT_ENABLED | na | na | na |
| AP_TEMPCALIBRATION_ENABLED | na | 1328 | na |
| AP_WINCH_DAIWA_ENABLED | na | 2452 | na |
| AP_WINCH_PWM_ENABLED | na | 560 | na |
| HAL_HOTT_TELEM_ENABLED | na | na | na |
| HAL_MOUNT_XFROBOT_ENABLED | na | na | na |
| MODE_BRAKE_ENABLED | na | 688 | na |
| MODE_FLIP_ENABLED | na | 1296 | na |
| MODE_FLOWHOLD_ENABLED | na | 4616 | na |
| MODE_FOLLOW_ENABLED | na | 2296 | 1488 |
| MODE_GUIDED_NOGPS_ENABLED | na | 240 | na |
| MODE_SPORT_ENABLED | na | na | na |
| MODE_SYSTEMID_ENABLED | na | 4208 | na |
| MODE_TURTLE_ENABLED | na | 1896 | na |
| MODE_ZIGZAG_ENABLED | na | 4784 | na |
| AP_COPTER_AHRS_AUTO_TRIM_ENABLED | na | 472 | na |
| AP_DRONECAN_VOLZ_FEEDBACK_ENABLED | na | na | na |
| AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED | na | 2968 | na |
| AP_PROXIMITY_LIGHTWARE_SF40C_ENABLED | na | 1816 | 1816 |
| AP_PROXIMITY_LIGHTWARE_SF45B_ENABLED | na | 1760 | 1760 |
| AP_PROXIMITY_RPLIDARA2_ENABLED | na | 1504 | 1504 |
| AP_PROXIMITY_TERARANGERTOWEREVO_ENABLED | na | 992 | 992 |
| AP_PROXIMITY_TERARANGERTOWER_ENABLED | na | 656 | 656 |
| AP_PROXIMITY_MAV_ENABLED | na | 1800 | 1800 |
| AP_AIRSPEED_NMEA_ENABLED | na | na | 888 |
Build Server Versions
Before deploying new features to the main instance of the application, we test them on a dedicated testing instance. This testing environment is accessible at custom-beta.ardupilot.org. Feel free to use the beta features and provide your valuable feedback to help us improve the application.
[copywiki destination="copter,plane,rover,planner,blimp,sub"]
【本页后半部分仍为英文原文摘录，补译中。】
译自 ArduPilot Copter「ArduPilot Custom Firmware Builder」· 查看原文 · CC BY-SA 3.0
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