Instructions
Building Ardupilot Firmware
# 1. Clone repo and initialize dependencies
git clone https://github.com/ArduPilot/ardupilot.git
cd ardupilot
# 2. Switching to a Stable Release
# syntax: git checkout -b <your-branch-name> <release-tag>
git checkout -b v4.6.3 Copter-4.6.3
git submodule init
git submodule update --recursive
# Note: You may need to update submodules each time you switch between releases.
./Tools/gittools/submodule-sync.sh
# 3. To build the YARIV6X bootloader
./waf configure --board YARIV6X --bootloader
./waf bootloader
# 4. Configure and build the firmware for YARIV6X
./waf configure --board YARIV6X
./waf clean
./waf copter
After building, the generated firmware files can be found at build/yariv6x/.
Note: Ensure the board definition files are included in your source tree or merged via PR: https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_HAL_ChibiOS/hwdef/YARIV6X
Building PX4 Autopilot Firmware
# 1. Clone repo and initialize dependencies
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
# 2. Switching to a Stable Release
# syntax: git checkout -b <your-branch-name> <release-tag>
git checkout -b v1.16.0 v1.16.0
bash ./Tools/setup/ubuntu.sh
git submodule update --recursive
# Note: You may need to update submodules each time you switch between releases.
make distclean
# 3. To build the YARIV6X bootloader
make yari_fmu-v6x_bootloader
# 4. Configure and build the firmware for YARIV6X
make yari_fmu-v6x
After building, the generated firmware files can be found at build/yari_fmuv6x_default/.
Note: Ensure the board definition files are included in your source tree or merged via PR: https://github.com/PX4/PX4-Autopilot/tree/main/boards/yari/fmuv6x