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编译ardupilot时问题记录_the python version is too old, expecting (3, 6, 9)

作者：知新_RL | 2024-08-22 04:19:23

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the python version is too old, expecting (3, 6, 9)

task in 'objs/AC_AttitudeControl' failed

 问题描述：

运行 ./waf configure --board Pixhawk1时出现下面的报错：

  1. ubuntu@ubuntu-Dell-G15-5510:~/ardupilot$ ./waf configure --board Pixhawk1
  2. Setting top to                           : /home/ubuntu/ardupilot 
  3. Setting out to                           : /home/ubuntu/ardupilot/build 
  4. Autoconfiguration                        : enabled 
  5. Checking for program 'python'            : /usr/bin/python3 
  6. Checking for python version >= 3.6.9     : 3.6.9 
  7. Setting board to                         : Pixhawk1 
  8. Using toolchain                          : arm-none-eabi 
  9. Checking for 'g++' (C++ compiler)        : /usr/bin/g++-10 
  10. Checking for 'gcc' (C compiler)          : /usr/bin/gcc-10 
  11. Checking for c flags '-MMD'              : yes 
  12. Checking for cxx flags '-MMD'            : yes 
  13. CXX Compiler                             : g++ 10.3.0 
  14. Checking for program 'make'              : /usr/bin/make 
  15. Checking for program 'arm-none-eabi-objcopy' : /opt/gcc-arm-none-eabi-10-2020-q4-major/bin/arm-none-eabi-objcopy 
  16. Including /home/ubuntu/ardupilot/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat
  17. Removing AP_BATTERY_SMBUS_SOLO_ENABLED
  18. Removing BOARD_CHECK_F427_USE_1M
  19. Setup for MCU STM32F427xx
  20. Writing hwdef setup in /home/ubuntu/ardupilot/build/Pixhawk1/hwdef.h
  21. Writing DMA map
  22. Setting up as normal
  23. Generating ldscript.ld
  24. No default parameter file found
  25. Checking for env.py
  26. env set ENABLE_DFU_BOOT=0
  27. env set WITH_FATFS=1
  28. env set PROCESS_STACK=0x1C00
  29. env set MAIN_STACK=0x600
  30. env set IOMCU_FW=0
  31. env set PERIPH_FW=0
  32. env set HAL_NUM_CAN_IFACES=2
  33. env set HAL_CANFD_SUPPORTED=0
  34. env set BOARD_FLASH_SIZE=2048
  35. env set EXT_FLASH_SIZE_MB=0
  36. env set INT_FLASH_PRIMARY=False
  37. env set ENABLE_CRASHDUMP=True
  38. env set APP_RAM_START=None
  39. env set CPU_FLAGS=['-mcpu=cortex-m4', '-mfpu=fpv4-sp-d16', '-mfloat-abi=hard', '-DARM_MATH_CM4', '-u_printf_float']
  40. env set CORTEX=cortex-m4
  41. env set APJ_BOARD_ID=9
  42. env set APJ_BOARD_TYPE=STM32F427xx
  43. env set USBID=0x1209/0x5741
  44. env set FLASH_RESERVE_START_KB=16
  45. env set EXT_FLASH_RESERVE_START_KB=0
  46. env set FLASH_TOTAL=2080768
  47. env set HAS_EXTERNAL_FLASH_SECTIONS=0
  48. env set CHIBIOS_BUILD_FLAGS=USE_FATFS=yes CHIBIOS_STARTUP_MK=os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk CHIBIOS_PLATFORM_MK=os/hal/ports/STM32/STM32F4xx/platform.mk MCU=cortex-m4 ENV_UDEFS=-DCHPRINTF_USE_FLOAT=1
  49. Enabling ChibiOS asserts                     : no 
  50. Disabling Watchdog                           : no 
  51. Enabling malloc guard                        : no 
  52. Enabling ChibiOS thread statistics           : no 
  53. Enabling -Werror                             : no 
  54. Checking for intelhex module:                : OK 
  55. Enabled OpenDroneID                          : no 
  56. Enabled firmware ID checking                 : no 
  57. GPS Debug Logging                            : no 
  58. Enabled custom controller                    : no 
  59. Checking for HAVE_CMATH_ISFINITE             : no 
  60. Checking for HAVE_CMATH_ISINF                : no 
  61. Checking for HAVE_CMATH_ISNAN                : no 
  62. Checking for NEED_CMATH_ISFINITE_STD_NAMESPACE : no 
  63. Checking for NEED_CMATH_ISINF_STD_NAMESPACE    : no 
  64. Checking for NEED_CMATH_ISNAN_STD_NAMESPACE    : no 
  65. Checking for header endian.h                   : not found 
  66. Checking for header byteswap.h                 : not found 
  67. Checking for HAVE_MEMRCHR                      : no 
  68. Configured VSCode Intellisense:                : no 
  69. DC_DSDL compiler                               : /home/ubuntu/ardupilot/modules/DroneCAN/dronecan_dsdlc/dronecan_dsdlc.py 
  70. Source is git repository                       : yes 
  71. Update submodules                              : yes 
  72. Checking for program 'git'                     : /usr/bin/git 
  73. Gtest                                          : STM32 boards currently don't support compiling gtest 
  74. Checking for program 'arm-none-eabi-size'      : /opt/gcc-arm-none-eabi-10-2020-q4-major/bin/arm-none-eabi-size 
  75. Benchmarks                                     : disabled 
  76. Unit tests                                     : disabled 
  77. Scripting                                      : maybe 
  78. Scripting runtime checks                       : enabled 
  79. Debug build                                    : disabled 
  80. Coverage build                                 : disabled 
  81. Force 32-bit build                             : disabled 
  82. Checking for program 'rsync'                   : /usr/bin/rsync 
  83. 'configure' finished successfully (0.284s)
  84. ubuntu@ubuntu-Dell-G15-5510:~/ardupilot$ ./waf copter
  85. Waf: Entering directory `/home/ubuntu/ardupilot/build/Pixhawk1'
  86. Checking for env.py
  87. env added ENABLE_DFU_BOOT=0
  88. env added WITH_FATFS=1
  89. env added PROCESS_STACK=0x1C00
  90. env added MAIN_STACK=0x600
  91. env added IOMCU_FW=0
  92. env added PERIPH_FW=0
  93. env added HAL_NUM_CAN_IFACES=2
  94. env added HAL_CANFD_SUPPORTED=0
  95. env added BOARD_FLASH_SIZE=2048
  96. env added EXT_FLASH_SIZE_MB=0
  97. env added INT_FLASH_PRIMARY=False
  98. env added ENABLE_CRASHDUMP=True
  99. env appended APP_RAM_START=None
  100. env appended CPU_FLAGS=['-mcpu=cortex-m4', '-mfpu=fpv4-sp-d16', '-mfloat-abi=hard', '-DARM_MATH_CM4', '-u_printf_float']
  101. env added CORTEX=cortex-m4
  102. env added APJ_BOARD_ID=9
  103. env added APJ_BOARD_TYPE=STM32F427xx
  104. env added USBID=0x1209/0x5741
  105. env added FLASH_RESERVE_START_KB=16
  106. env added EXT_FLASH_RESERVE_START_KB=0
  107. env added FLASH_TOTAL=2080768
  108. env added HAS_EXTERNAL_FLASH_SECTIONS=0
  109. env added CHIBIOS_BUILD_FLAGS=USE_FATFS=yes CHIBIOS_STARTUP_MK=os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk CHIBIOS_PLATFORM_MK=os/hal/ports/STM32/STM32F4xx/platform.mk MCU=cortex-m4 ENV_UDEFS=-DCHPRINTF_USE_FLOAT=1
  110. Embedding file bootloader.bin:/home/ubuntu/ardupilot/Tools/bootloaders/Pixhawk1_bl.bin
  111. Embedding file hwdef.dat:/home/ubuntu/ardupilot/build/Pixhawk1/hw.dat
  112. Embedding file io_firmware.bin:Tools/IO_Firmware/iofirmware_lowpolh.bin
  113. Embedding file io_firmware_dshot.bin:Tools/IO_Firmware/iofirmware_dshot_lowpolh.bin
  114. [ 3/11] Creating build/Pixhawk1/hwdef.h
  115. [ 4/11] Creating build/Pixhawk1/modules/ChibiOS/include_dirs
  116. [ 5/11] Compiling libraries/AP_Scripting/generator/src/main.c
  117. [ 6/11] Processing modules/mavlink/message_definitions/v1.0/all.xml
  118. [ 7/11] Processing dronecangen: modules/DroneCAN/DSDL/.github modules/DroneCAN/DSDL/ardupilot modules/DroneCAN/DSDL/com modules/DroneCAN/DSDL/cuav modules/DroneCAN/DSDL/dronecan modules/DroneCAN/DSDL/mppt modules/DroneCAN/DSDL/tests modules/DroneCAN/DSDL/uavcan
  119. [ 8/11] Creating build/Pixhawk1/ap_version.h
  120. [ 9/11] Creating build/Pixhawk1/chibios_flags.h
  121. Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/all.xml.
  122. Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/all.xml
  123. Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/ardupilotmega.xml.
  124. Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/ardupilotmega.xml
  125. Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/ASLUAV.xml.
  126. Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/ASLUAV.xml
  127. Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/common.xml.
  128. Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/common.xml
  129. Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/development.xml.
  130. Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/development.xml
  131. Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/icarous.xml.
  132. Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/icarous.xml
  133. Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/minimal.xml.
  134. Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/minimal.xml
  135. Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/python_array_test.xml.
  136. Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/python_array_test.xml
  137. Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/standard.xml.
  138. Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/standard.xml
  139. Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/test.xml.
  140. Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/test.xml
  141. Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/ualberta.xml.
  142. Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/ualberta.xml
  143. Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/uAvionix.xml.
  144. Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/uAvionix.xml
  145. Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/loweheiser.xml.
  146. Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/loweheiser.xml
  147. Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/storm32.xml.
  148. Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/storm32.xml
  149. Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/AVSSUAS.xml.
  150. Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/AVSSUAS.xml
  151. Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/cubepilot.xml.
  152. Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/cubepilot.xml
  153. Validation skipped for /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/csAirLink.xml.
  154. Parsing /home/ubuntu/ardupilot/modules/mavlink/message_definitions/v1.0/csAirLink.xml
  155. Merged enum MAV_CMD
  156. Merged enum MAV_CMD
  157. Merged enum MAV_CMD
  158. Merged enum MAV_CMD
  159. Merged enum MAV_CMD
  160. Found 337 MAVLink message types in 17 XML files
  161. Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/all
  162. Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/ardupilotmega
  163. Including /home/ubuntu/ardupilot/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat
  164. Removing AP_BATTERY_SMBUS_SOLO_ENABLED
  165. Removing BOARD_CHECK_F427_USE_1M
  166. Setup for MCU STM32F427xx
  167. Writing hwdef setup in /home/ubuntu/ardupilot/build/Pixhawk1/hwdef.h
  168. Writing DMA map
  169. Setting up as normal
  170. No change in hwdef.h
  171. Generating ldscript.ld
  172. No default parameter file found
  173.  
  174. Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/ASLUAV
  175. [10/11] Linking build/Pixhawk1/modules/ChibiOS/libch.a
  176. [11/11] Processing /home/ubuntu/ardupilot/build/Pixhawk1/libraries/AP_Scripting/lua_generated_bindings.cpp,/home/ubuntu/ardupilot/build/Pixhawk1/libraries/AP_Scripting/lua_generated_bindings.h: libraries/AP_Scripting/generator/description/bindings.desc build/Pixhawk1/gen-bindings -> build/Pixhawk1/libraries/AP_Scripting/lua_generated_bindings.cpp build/Pixhawk1/libraries/AP_Scripting/lua_generated_bindings.h
  177. Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/common
  178. Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/development
  179. Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/icarous
  180. Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/minimal
  181. Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/python_array_test
  182. Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/standard
  183. Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/test
  184. Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/ualberta
  185. Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/uAvionix
  186. Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/loweheiser
  187. Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/storm32
  188. Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/AVSSUAS
  189. Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/cubepilot
  190. Generating C implementation in directory /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0/csAirLink
  191. Copying fixed headers for protocol 2.0 to /home/ubuntu/ardupilot/build/Pixhawk1/libraries/GCS_MAVLink/include/mavlink/v2.0
  192. expanding com.himark.servo.ServoInfo
  193. expanding com.hobbywing.esc.SetLED
  194. expanding mppt.OutputEnable
  195. expanding uavcan.protocol.file.Write
  196. expanding uavcan.equipment.actuator.ArrayCommand
  197. expanding uavcan.equipment.camera_gimbal.Mode
  198. expanding ardupilot.equipment.power.BatteryInfoAux
  199. expanding com.hobbywing.esc.GetMajorConfig
  200. expanding dronecan.protocol.CanStats
  201. expanding uavcan.protocol.GlobalTimeSync
  202. expanding uavcan.protocol.file.GetDirectoryEntryInfo
  203. expanding uavcan.equipment.air_data.AngleOfAttack
  204. expanding ardupilot.equipment.power.BatteryCells
  205. expanding com.hobbywing.esc.SetID
  206. expanding uavcan.protocol.AccessCommandShell
  207. expanding uavcan.protocol.dynamic_node_id.Allocation
  208. expanding uavcan.equipment.ice.reciprocating.CylinderStatus
  209. expanding uavcan.equipment.camera_gimbal.AngularCommand
  210. expanding ardupilot.equipment.trafficmonitor.TrafficReport
  211. expanding com.hobbywing.esc.SetDirection
  212. expanding uavcan.tunnel.Call
  213. expanding uavcan.protocol.file.BeginFirmwareUpdate
  214. expanding uavcan.equipment.ice.FuelTankStatus
  215. expanding uavcan.equipment.hardpoint.Command
  216. expanding uavcan.equipment.camera_gimbal.Status
  217. expanding ardupilot.indication.NotifyState
  218. expanding com.hobbywing.esc.RawCommand
  219. expanding dronecan.remoteid.SecureCommand
  220. expanding uavcan.protocol.file.Read
  221. expanding uavcan.protocol.param.GetSet
  222. expanding uavcan.equipment.ahrs.MagneticFieldStrength2
  223. expanding uavcan.equipment.esc.Status
  224. expanding uavcan.equipment.air_data.StaticPressure
  225. expanding uavcan.equipment.gnss.RTCMStream
  226. expanding ardupilot.gnss.MovingBaselineData
  227. expanding com.hobbywing.esc.SetThrottleSource
  228. expanding com.hobbywing.esc.StatusMsg3
  229. expanding cuav.equipment.power.CBAT
  230. expanding dronecan.sensors.rc.RCInput
  231. expanding uavcan.tunnel.Protocol
  232. expanding uavcan.protocol.Panic
  233. expanding uavcan.protocol.param.Value
  234. expanding uavcan.equipment.ice.reciprocating.Status
  235. expanding uavcan.equipment.device.Temperature
  236. expanding uavcan.equipment.power.PrimaryPowerSupplyStatus
  237. expanding ardupilot.indication.Button
  238. expanding com.hobbywing.esc.SetBaud
  239. expanding com.xacti.GnssStatus
  240. expanding dronecan.remoteid.Location
  241. expanding dronecan.protocol.Stats
  242. expanding uavcan.protocol.NodeStatus
  243. expanding uavcan.protocol.CANIfaceStats
  244. expanding uavcan.protocol.debug.LogLevel
  245. expanding uavcan.protocol.file.Path
  246. expanding uavcan.protocol.dynamic_node_id.server.AppendEntries
  247. expanding uavcan.equipment.gnss.Fix
  248. expanding ardupilot.equipment.power.BatteryContinuous
  249. expanding com.xacti.GimbalControlData
  250. expanding dronecan.remoteid.OperatorID
  251. expanding uavcan.CoarseOrientation
  252. expanding uavcan.protocol.DataTypeKind
  253. expanding uavcan.protocol.GetDataTypeInfo
  254. expanding uavcan.protocol.param.Empty
  255. expanding uavcan.equipment.hardpoint.Status
  256. expanding uavcan.equipment.camera_gimbal.GEOPOICommand
  257. expanding com.himark.servo.ServoCmd
  258. expanding com.hobbywing.esc.StatusMsg2
  259. expanding com.xacti.GimbalAttitudeStatus
  260. expanding dronecan.remoteid.System
  261. expanding uavcan.navigation.GlobalNavigationSolution
  262. expanding uavcan.protocol.file.Delete
  263. expanding uavcan.protocol.enumeration.Begin
  264. expanding uavcan.equipment.air_data.Sideslip
  265. expanding uavcan.equipment.gnss.Fix2
  266. expanding ardupilot.gnss.Heading
  267. expanding com.hex.equipment.flow.Measurement
  268. expanding com.hobbywing.esc.GetMaintenanceInformation
  269. expanding dronecan.remoteid.SelfID
  270. expanding uavcan.tunnel.Broadcast
  271. expanding uavcan.protocol.debug.LogMessage
  272. expanding uavcan.protocol.file.GetInfo
  273. expanding uavcan.equipment.esc.RPMCommand
  274. expanding uavcan.equipment.gnss.Auxiliary
  275. expanding ardupilot.equipment.power.BatteryPeriodic
  276. expanding com.xacti.CopterAttStatus
  277. expanding mppt.Stream
  278. expanding uavcan.protocol.SoftwareVersion
  279. expanding uavcan.protocol.file.Error
  280. expanding uavcan.protocol.enumeration.Indication
  281. expanding uavcan.equipment.ahrs.MagneticFieldStrength
  282. expanding uavcan.equipment.air_data.IndicatedAirspeed
  283. expanding uavcan.equipment.indication.SingleLightCommand
  284. expanding ardupilot.gnss.RelPosHeading
  285. expanding com.hobbywing.esc.SetReportingFrequency
  286. expanding uavcan.tunnel.Targetted
  287. expanding uavcan.protocol.file.EntryType
  288. expanding uavcan.protocol.param.NumericValue
  289. expanding uavcan.equipment.ahrs.Solution
  290. expanding uavcan.equipment.gnss.ECEFPositionVelocity
  291. expanding uavcan.equipment.indication.BeepCommand
  292. expanding ardupilot.indication.SafetyState
  293. expanding com.hobbywing.esc.GetEscID
  294. expanding com.hobbywing.esc.SelfTest
  295. expanding dronecan.remoteid.ArmStatus
  296. expanding dronecan.sensors.hygrometer.Hygrometer
  297. expanding uavcan.protocol.HardwareVersion
  298. expanding uavcan.protocol.GetTransportStats
  299. expanding uavcan.protocol.dynamic_node_id.server.Discovery
  300. expanding uavcan.equipment.actuator.Command
  301. expanding uavcan.equipment.power.BatteryInfo
  302. expanding com.volz.servo.ActuatorStatus
  303. expanding com.hobbywing.esc.SetAngle
  304. expanding uavcan.protocol.RestartNode
  305. expanding uavcan.protocol.dynamic_node_id.server.RequestVote
  306. expanding uavcan.equipment.air_data.TrueAirspeed
  307. expanding uavcan.equipment.indication.RGB565
  308. expanding ardupilot.gnss.Status
  309. expanding com.hobbywing.esc.StatusMsg1
  310. expanding dronecan.remoteid.BasicID
  311. expanding uavcan.Timestamp
  312. expanding uavcan.protocol.GetNodeInfo
  313. expanding uavcan.protocol.dynamic_node_id.server.Entry
  314. expanding uavcan.equipment.actuator.Status
  315. expanding uavcan.equipment.air_data.StaticTemperature
  316. expanding uavcan.equipment.safety.ArmingStatus
  317. expanding uavcan.equipment.indication.LightsCommand
  318. expanding ardupilot.equipment.proximity_sensor.Proximity
  319. expanding com.xacti.GnssStatusReq
  320. expanding uavcan.tunnel.SerialConfig
  321. expanding uavcan.protocol.debug.KeyValue
  322. expanding uavcan.protocol.param.ExecuteOpcode
  323. expanding uavcan.equipment.ahrs.RawIMU
  324. expanding uavcan.equipment.esc.RawCommand
  325. expanding uavcan.equipment.air_data.RawAirData
  326. expanding uavcan.equipment.power.CircuitStatus
  327. expanding uavcan.equipment.range_sensor.Measurement
  328.  
  329. [1/114] ChibiOS: Compiling crt0_v7m.S
  330. [2/114] ChibiOS: Compiling vectors.S
  331. [3/114] ChibiOS: Compiling chcoreasm.S
  332. [4/114] ChibiOS: Compiling ff.c
  333. [5/114] ChibiOS: Compiling ffunicode.c
  334. [6/114] ChibiOS: Compiling chcore.c
  335. [7/114] ChibiOS: Compiling crt1.c
  336. [8/114] ChibiOS: Compiling bufstreams.c
  337. [9/114] ChibiOS: Compiling chprintf.c
  338. [10/114] ChibiOS: Compiling chscanf.c
  339. [11/114] ChibiOS: Compiling memstreams.c
  340. [12/114] ChibiOS: Compiling nullstreams.c
  341. [13/114] ChibiOS: Compiling osal.c
  342. [15/114] ChibiOS: Compiling hal_can_lld.c
  343. [14/114] ChibiOS: Compiling hal_adc_lld.c
  344. [16/114] ChibiOS: Compiling hal_crypto_lld.c
  345. [17/114] ChibiOS: Compiling hal_dac_lld.c
  346. [18/114] ChibiOS: Compiling stm32_dma.c
  347. [19/114] ChibiOS: Compiling stm32_exti.c
  348. [20/114] ChibiOS: Compiling hal_pal_lld.c
  349. [21/114] ChibiOS: Compiling hal_i2c_lld.c
  350. [22/114] ChibiOS: Compiling hal_mac_lld.c
  351. [23/114] ChibiOS: Compiling hal_usb_lld.c
  352. [24/114] ChibiOS: Compiling hal_wspi_lld.c
  353. [25/114] ChibiOS: Compiling hal_rtc_lld.c
  354. [26/114] ChibiOS: Compiling hal_sdc_lld.c
  355. [27/114] ChibiOS: Compiling hal_i2s_lld.c
  356. [28/114] ChibiOS: Compiling hal_spi_lld.c
  357. [30/114] ChibiOS: Compiling hal_eicu_lld.c
  358. [32/114] ChibiOS: Compiling hal_icu_lld.c
  359. [31/114] ChibiOS: Compiling hal_gpt_lld.c
  360. [29/114] ChibiOS: Compiling hal_st_lld.c
  361. [33/114] ChibiOS: Compiling hal_pwm_lld.c
  362. [34/114] ChibiOS: Compiling hal_serial_lld.c
  363. [35/114] ChibiOS: Compiling hal_uart_lld.c
  364. [36/114] ChibiOS: Compiling hal_wdg_lld.c
  365. [37/114] ChibiOS: Compiling hal_efl_lld.c
  366. [38/114] ChibiOS: Compiling hal_lld.c
  367. [39/114] ChibiOS: Compiling stm32_isr.c
  368. [40/114] ChibiOS: Compiling nvic.c
  369. [42/114] ChibiOS: Compiling hal_adc.c
  370. [45/114] ChibiOS: Compiling hal_crypto.c
  371. [44/114] ChibiOS: Compiling hal_can.c
  372. [43/114] ChibiOS: Compiling hal_buffers.c
  373. [41/114] ChibiOS: Compiling hal.c
  374. [46/114] ChibiOS: Compiling hal_dac.c
  375. [47/114] ChibiOS: Compiling hal_efl.c
  376. [48/114] ChibiOS: Compiling hal_eicu.c
  377. [49/114] ChibiOS: Compiling hal_flash.c
  378. [50/114] ChibiOS: Compiling hal_gpt.c
  379. [51/114] ChibiOS: Compiling hal_i2c.c
  380. [52/114] ChibiOS: Compiling hal_i2s.c
  381. [53/114] ChibiOS: Compiling hal_icu.c
  382. [54/114] ChibiOS: Compiling hal_mac.c
  383. [55/114] ChibiOS: Compiling hal_mmc_spi.c
  384. [56/114] ChibiOS: Compiling hal_mmcsd.c
  385. [57/114] ChibiOS: Compiling hal_pal.c
  386. [58/114] ChibiOS: Compiling hal_pwm.c
  387. [59/114] ChibiOS: Compiling hal_queues.c
  388. [60/114] ChibiOS: Compiling hal_rtc.c
  389. [61/114] ChibiOS: Compiling hal_sdc.c
  390. [62/114] ChibiOS: Compiling hal_serial.c
  391. [63/114] ChibiOS: Compiling hal_serial_usb.c
  392. [65/114] ChibiOS: Compiling hal_spi.c
  393. [64/114] ChibiOS: Compiling hal_sio.c
  394. [66/114] ChibiOS: Compiling hal_st.c
  395. [67/114] ChibiOS: Compiling hal_trng.c
  396. [68/114] ChibiOS: Compiling hal_uart.c
  397. [69/114] ChibiOS: Compiling hal_usb.c
  398. [70/114] ChibiOS: Compiling hal_wdg.c
  399. [71/114] ChibiOS: Compiling hal_wspi.c
  400. [72/114] ChibiOS: Compiling chdelegates.c
  401. [73/114] ChibiOS: Compiling chfactory.c
  402. [74/114] ChibiOS: Compiling chmboxes.c
  403. [75/114] ChibiOS: Compiling chmemcore.c
  404. [76/114] ChibiOS: Compiling chmemheaps.c
  405. [77/114] ChibiOS: Compiling chmempools.c
  406. [78/114] ChibiOS: Compiling chobjcaches.c
  407. [79/114] ChibiOS: Compiling chpipes.c
  408. [80/114] ChibiOS: Compiling chcond.c
  409. [81/114] ChibiOS: Compiling chdebug.c
  410. [82/114] ChibiOS: Compiling chdynamic.c
  411. [83/114] ChibiOS: Compiling chevents.c
  412. [84/114] ChibiOS: Compiling chinstances.c
  413. [85/114] ChibiOS: Compiling chmsg.c
  414. [86/114] ChibiOS: Compiling chmtx.c
  415. [87/114] ChibiOS: Compiling chregistry.c
  416. [88/114] ChibiOS: Compiling chrfcu.c
  417. [90/114] ChibiOS: Compiling chsem.c
  418. [89/114] ChibiOS: Compiling chschd.c
  419. [91/114] ChibiOS: Compiling chstats.c
  420. [93/114] ChibiOS: Compiling chthreads.c
  421. [92/114] ChibiOS: Compiling chsys.c
  422. [94/114] ChibiOS: Compiling chtm.c
  423. [95/114] ChibiOS: Compiling chtrace.c
  424. [96/114] ChibiOS: Compiling chvt.c
  425. [97/114] ChibiOS: Compiling fatfs_diskio.c
  426. [98/114] ChibiOS: Compiling fatfs_syscall.c
  427. [99/114] ChibiOS: Compiling syscalls.c
  428. [100/114] ChibiOS: Compiling stubs.c
  429. [101/114] ChibiOS: Compiling board.c
  430. [102/114] ChibiOS: Compiling usbcfg.c
  431. [103/114] ChibiOS: Compiling usbcfg_dualcdc.c
  432. [104/114] ChibiOS: Compiling usbcfg_common.c
  433. [105/114] ChibiOS: Compiling flash.c
  434. [106/114] ChibiOS: Compiling malloc.c
  435. [107/114] ChibiOS: Compiling hrt.c
  436. [109/114] ChibiOS: Compiling bouncebuffer.c
  437. [108/114] ChibiOS: Compiling stm32_util.c
  438. [110/114] ChibiOS: Compiling watchdog.c
  439. [111/114] ChibiOS: Compiling ch.cpp
  440. [112/114] ChibiOS: Compiling CrashCatcher_armv7m.S
  441. [113/114] ChibiOS: Compiling CrashCatcher.c
  442. [114/114] ChibiOS: Compiling crashdump.c
  443.  
  444. ChibiOS: Done!
  445.  
  446. CrashCatcher: Done!
  447.  
  448. arm-none-eabi-ar: creating modules/ChibiOS/libch.a
  449. arm-none-eabi-ar: creating modules/ChibiOS/libcc.a
  450.  
  451. [  12/1092] Compiling libraries/AC_AttitudeControl/ControlMonitor.cpp
  452. [  13/1092] Compiling libraries/AC_AttitudeControl/AC_AttitudeControl_Multi_6DoF.cpp
  453. [  14/1092] Compiling libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
  454. [  15/1092] Compiling libraries/AC_AttitudeControl/AC_CommandModel.cpp
  455. [  16/1092] Compiling libraries/AC_AttitudeControl/AC_AttitudeControl_TS.cpp
  456. [  17/1092] Compiling libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
  457. [  18/1092] Compiling libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp
  458. [  19/1092] Compiling libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
  459. [  20/1092] Compiling libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
  460. [  21/1092] Compiling libraries/AC_AutoTune/AC_AutoTune_FreqResp.cpp
  461. [  22/1092] Compiling libraries/AC_Autorotation/AC_Autorotation.cpp
  462. [  23/1092] Compiling libraries/AC_Avoidance/AP_OAVisGraph.cpp
  463. [  24/1092] Compiling libraries/AC_Avoidance/AP_OAPathPlanner.cpp
  464. [  25/1092] Compiling libraries/AC_Avoidance/AP_OADijkstra.cpp
  465. [  26/1092] Compiling libraries/AC_Avoidance/AC_Avoidance_Logging.cpp
  466. [  27/1092] Compiling libraries/AC_InputManager/AC_InputManager_Heli.cpp
  467. g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
  468. g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
  469. compilation terminated.
  470.  
  471. g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
  472. g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
  473. compilation terminated.
  474.  
  475. g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
  476. g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
  477. compilation terminated.
  478.  
  479. g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
  480. g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
  481. compilation terminated.
  482.  
  483. g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
  484. g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
  485. compilation terminated.
  486.  
  487. g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
  488. g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
  489. compilation terminated.
  490.  
  491. g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
  492. g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
  493. compilation terminated.
  494.  
  495. g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
  496. g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
  497. compilation terminated.
  498.  
  499. g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
  500. g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
  501. compilation terminated.
  502.  
  503. g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
  504. g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
  505. compilation terminated.
  506.  
  507. g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
  508. g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
  509. compilation terminated.
  510.  
  511. g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
  512. g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
  513. compilation terminated.
  514.  
  515. g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
  516. g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
  517. compilation terminated.
  518.  
  519. g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
  520. g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
  521. compilation terminated.
  522.  
  523. g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
  524. g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
  525. compilation terminated.
  526.  
  527. g++-10: warning: ‘-mcpu=’ is deprecated; use ‘-mtune=’ or ‘-march=’ instead
  528. g++-10: fatal error: cannot read spec file ‘nano.specs’: 没有那个文件或目录
  529. compilation terminated.
  530.  
  531. Waf: Leaving directory `/home/ubuntu/ardupilot/build/Pixhawk1'
  532. Build failed
  533.  -> task in 'objs/AC_AttitudeControl' failed (exit status 1): 
  534. 	{task 139622748409080: cxx ControlMonitor.cpp -> ControlMonitor.cpp.0.o}
  535.  (run with -v to display more information)
  536.  -> task in 'objs/AC_AttitudeControl' failed (exit status 1): 
  537. 	{task 139622748408408: cxx AC_AttitudeControl_Heli.cpp -> AC_AttitudeControl_Heli.cpp.0.o}
  538.  (run with -v to display more information)
  539.  -> task in 'objs/AC_AttitudeControl' failed (exit status 1): 
  540. 	{task 139622748408968: cxx AC_CommandModel.cpp -> AC_CommandModel.cpp.0.o}
  541.  (run with -v to display more information)
  542.  -> task in 'objs/AC_AttitudeControl' failed (exit status 1): 
  543. 	{task 139622748408632: cxx AC_AttitudeControl_Multi_6DoF.cpp -> AC_AttitudeControl_Multi_6DoF.cpp.0.o}
  544.  (run with -v to display more information)
  545.  -> task in 'objs/AC_AttitudeControl' failed (exit status 1): 
  546. 	{task 139622748408520: cxx AC_AttitudeControl_Multi.cpp -> AC_AttitudeControl_Multi.cpp.0.o}
  547.  (run with -v to display more information)
  548.  -> task in 'objs/AC_AutoTune' failed (exit status 1): 
  549. 	{task 139622746429704: cxx AC_AutoTune_Multi.cpp -> AC_AutoTune_Multi.cpp.0.o}
  550.  (run with -v to display more information)
  551.  -> task in 'objs/AC_AttitudeControl' failed (exit status 1): 
  552. 	{task 139622748408856: cxx AC_AttitudeControl_TS.cpp -> AC_AttitudeControl_TS.cpp.0.o}
  553.  (run with -v to display more information)
  554.  -> task in 'objs/AC_AttitudeControl' failed (exit status 1): 
  555. 	{task 139622748408744: cxx AC_AttitudeControl_Sub.cpp -> AC_AttitudeControl_Sub.cpp.0.o}
  556.  (run with -v to display more information)
  557.  -> task in 'objs/AC_AutoTune' failed (exit status 1): 
  558. 	{task 139622746429592: cxx AC_AutoTune_Heli.cpp -> AC_AutoTune_Heli.cpp.0.o}
  559.  (run with -v to display more information)
  560.  -> task in 'objs/AC_AutoTune' failed (exit status 1): 
  561. 	{task 139622746429480: cxx AC_AutoTune_FreqResp.cpp -> AC_AutoTune_FreqResp.cpp.0.o}
  562.  (run with -v to display more information)
  563.  -> task in 'objs/AC_Avoidance' failed (exit status 1): 
  564. 	{task 139622877655672: cxx AP_OAVisGraph.cpp -> AP_OAVisGraph.cpp.0.o}
  565.  (run with -v to display more information)
  566.  -> task in 'objs/AC_Avoidance' failed (exit status 1): 
  567. 	{task 139622877655448: cxx AP_OADijkstra.cpp -> AP_OADijkstra.cpp.0.o}
  568.  (run with -v to display more information)
  569.  -> task in 'objs/AC_Avoidance' failed (exit status 1): 
  570. 	{task 139622877655336: cxx AC_Avoidance_Logging.cpp -> AC_Avoidance_Logging.cpp.0.o}
  571.  (run with -v to display more information)
  572.  -> task in 'objs/AC_InputManager' failed (exit status 1): 
  573. 	{task 139622745305496: cxx AC_InputManager_Heli.cpp -> AC_InputManager_Heli.cpp.0.o}
  574.  (run with -v to display more information)
  575.  -> task in 'objs/AC_Autorotation' failed (exit status 1): 
  576. 	{task 139622745307288: cxx AC_Autorotation.cpp -> AC_Autorotation.cpp.0.o}
  577.  (run with -v to display more information)
  578.  -> task in 'objs/AC_Avoidance' failed (exit status 1): 
  579. 	{task 139622877655560: cxx AP_OAPathPlanner.cpp -> AP_OAPathPlanner.cpp.0.o}
  580.  (run with -v to display more information)

解决方案：

在ardupilot的论坛ArduPilot Discourse（需要科学上网）上我找到和我一样的问题描述

下面概述一下具体解决的办法：

首先在ardupilot根目录下执行：

./waf clean

上面这个命令会删除编译文件，清理空间

然后修改waf使用的gcc和g++路径：

  1. export CC=/usr/lib/ccache/arm-none-eabi-gcc
  2. export CXX=/usr/lib/ccache/arm-none-eabi-g++

在前面安装依赖项的时候，arm-none-eabi-gcc和arm-none-eabi-g++就已经被安装了，但是在有些ubuntu系统上，waf在工作的时候可能会使用系统默认的gcc和g++，而这就是上面报错出现的原因

额外说明：

如果编译过程中有这个错误

ChibiOS build requires g++ version 10.2.1 or later, found 6.3.1

上面的错误也是g++版本不对导致的，正确的g++版本应该是arm-none-eabi-g++，解决方案和上面写的一样

参考资料：

Ardupilot开发环境搭建教程Ardupilot开发环境搭建（Ubuntu18.04，20190407） - 知乎 (zhihu.com)

Ardupilot论坛ArduPilot Discourse

linux上更改默认gcc/g++linux上升级gcc/g++ | 魔のkyo的BLOG (kyo86.com)

The python version is too old, expecting (3, 6, 9)

问题描述：

报错记录：

  1. ubuntu@ubuntu-Dell-G15-5510:~/ardupilot/ArduCopter$ sim_vehicle.py -w
  2. SIM_VEHICLE: Start
  3. SIM_VEHICLE: Killing tasks
  4. SIM_VEHICLE: Starting up at SITL location
  5. SIM_VEHICLE: WAF build
  6. SIM_VEHICLE: Configure waf
  7. SIM_VEHICLE: "/home/ubuntu/ardupilot/modules/waf/waf-light" "configure" "--board" "sitl"
  8. Setting top to                           : /home/ubuntu/ardupilot 
  9. Setting out to                           : /home/ubuntu/ardupilot/build 
  10. Autoconfiguration                        : enabled 
  11. Checking for program 'python'            : /usr/bin/python 
  12. Checking for python version >= 3.6.9     : 2.7.17 
  13. The python version is too old, expecting (3, 6, 9)
  14. (complete log in /home/ubuntu/ardupilot/build/config.log)
  15. SIM_VEHICLE: (Configure waf) exited with code 256
  16. SIM_VEHICLE: Killing tasks

 我的系统中python2和python3都有装，python2就叫python，python3叫python3，这里显然是找错了位置

解决方案：

解决这样的问题可以将python这个环境变量指向python3的安装位置，也可以修改waf-light文件来设置引用哪一个python

  1. cd ~/ardupilot/modules/waf
  2. gedit waf-light

 将第一行的

#!/usr/bin/env python

 改为

#!/usr/bin/env python3

参考资料：

Error while running sim_vehicle.py

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