Customization Steps

This section assumes that the OEM has set up the build environment (building-the-code) and cloned the ArduPilot GitHub repo locally (where-to-get-the-code), to build its customized version of the firmware.

1. Create a branch with the version of firmware you wish to base the customization upon. This will usually be the current stable version. To do this for ArduPlane Stable, for example, assuming you are already in the ArduPilot directory on your PC:

   git fetch https://github.com/ArduPilot/ardupilot.git <version>
                       where <version> is the tag for the stable version for the
                       desired vehicle: ArduPlane-stable, ArduCopter-stable,
                       APMrover2-stable,etc.
   
   git checkout -b <your branch name> FETCH_HEAD
   git submodule update --init --recursive
   

2. In the libraries/AP_HAL_ChibiOS/hwdef directory, create a new subdirectory for your customized board definitions. In this example, the directory will be named OEM_CubeOrange to create a derivative for that board.

3. Create a new hwdef.dat file in this format. In this case, our ready-to-fly plane will be using a CubeOrange autopilot and only requires a single line:

   include ../CubeOrange/hwdef.dat
   

4. The firmware name can be customized by adding one line to the hwdef.dat file.

   define AP_CUSTOM_FIRMWARE_STRING "MyMagicFrame"
   

   说明：

   Custom frame type strings can be created through Lua the scripting method motors:set_frame_string("Custom frame name").

5. Now in that same directory, copy the base board's hwdef-bl.dat bootloader file, and then include a file named defaults.parm. This file will be the parameter overrides of the standard defaults to match your system's configuration. Things like output function assignments, auxiliary RC switches, flight and tuning parameters, etc.

# setup for NTF LEDs on output5
SERVO5_FUNCTION 120
NTF_LED_TYPES 256

1. You can also embed Lua scripts in the ROM of the chip that will automatically run. Since Lua is currently only run on autopilots with a lot of flash space, they are only restricted in total aggregate size to available free flash memory. Put the scripts in a sub-directory called scripts, i.e. libraries/AP_HAL_ChibiOS/hwdef/OEM_CubeOrange/scripts. Files must end in .lua.

Alternatively, you can specify the LUA applet or driver at compile by using the "--embed-<filename> command, for example:

./waf plane --embed-LTE_modem

警告：

The user may also run Lua scripts off the SD card, so care should be taken in naming the embedded script file names to not conflict with potential user file names. It is recommended that the file names of embedded Lua scripts be provided in the product documentation for the user.

1. You can also embed small pieces of documentation in the ROM of the chip that are readable when examining the @ROMFS folder via MAVFtp. These can be pictures or small informational documents. These must fit within the free flash space of the autopilot. These files can be located in sub-directories in libraries/AP_HAL_ChibiOS/hwdef/OEM_CubeOrange (e.g. libraries/AP_HAL_ChibiOS/hwdef/OEM_CubeOrange/AircraftManual).
2. Now build as normal with OEM-CubeOrange as the board name in the configuration. The default parameters, Lua scripts, and the custom firmware name will be embedded appropriately.