APM最新固件（20181220）

ardupilot/Makefile

1. MAKEFILE_LIST
2. WAF_BINARY= …/modules/waf/waf-light
3. WAF = python WAF_BINARY WAF_FLAGS
4. EXPLICIT_COMMANDS=‘check’ ‘check-all’ ‘clean’ ‘list_boards’
5. VEHICLES = ‘copter’ ‘plane’ ‘rover’ ‘sub’ ‘heli’
6. BOARD_LIST = WAF list_boards

sim_vehicle.py

1. WAF build //对应脚本279行
2. Configure waf
3. ''ardupilot/modules/waf/waf-light"（287行） ''configure" ‘’–board" “sitl”（289行）
4. Setting top to “/ardupilot”
5. Setting out to “/ardupilot/build”
6. Autoconfiguration “enable”
7. Setting board to “sitl”
8. /usr/bin/g++
9. /usr/bin/gcc
10. cxx flags ‘-MMD’
11. ‘/usr/bin/python’
12. ’configure’ finished successfully.
13. Building
14. “/ardupilot/modules/waf/waf-light” “build” “–target” “bin/arducopter”（305行）
15. Waf: ‘/ardupilot/build/sitl’
16. 333行“param_parse_path=ardupilot/Tools/autotest/param_metadata/param_parse.py”
17. cmd_param_build=“python …/param_parse.py --vehilce”
18. def do_build(vehicledir, opts, frame_options):
19. 如果opts=“waf”，则执行 do_build_waf(opts,frame_options )
20. ’build’ finished successfully
21. sim_vehilce: using defaults from (/ardupilot/Tools/autotest/default_params/copter.parm)
22. Run ArduCopter
23. “/ardupilot/Tools/autotest/run_in_terminal_window.sh” “ArduCopter” “/ardupilot/build/sitl/bin/arducopter”
24. “-S” “-I0” “–home” “-w” “–model” “–speedup” “–defaults” 依次对应540至547行 “/ardupilot/Tools/autotest/default_params/copter.parm” “-S” “-I0” “–home” “-w” “–model” “–speedup” “–defaults” “/ardupilot/Tools/autotest/default_params/copter.parm”

def start_mavproxy(opts,stuff)

如果在Windows下，/usr/bin/cygstart -w mavproxy.exe，否则mavproxy.py。
如果选择HTL，则“–load-module” “HIL”；
否则（“–master”,mavlink_port）,
如果stuff[“sitl-port”]，则（"–sitl", simout_port）