Building in Ubuntu | Betaflight官方教程打不开挂梯子。在2023年betaflight腾飞而cleanflight已经结束更新但是用cleanflight的原因是因为他最后版本支持stm32f103系列。不用betaflight因为手头还没有f405和f411只有一个不支持的f407和f401所以。。接下来开始步骤不要选择预发布版本选择最高版本。我们使用betaflight版本为10.10时间2026年3月3日需要使用4.5以上版本。这里选择4.5maintenance版本。betaflight/betaflight: Open Source Flight Controller Firmware下载地面站cleanflight和betaflight在github上自行搜索betaflight configurator10.10.0。Releases · betaflight/betaflight-configurator先讲解编译betaflight的方法在讲解cleanflight的方法。cleanflight使用的stm32f103c8t6板子选择src/main/target/NAZE。下载交叉编译器betaflight一样版本不同打开make/tool.mk文件可以看到这个便是交叉编译器的网址在浏览器打开会直接下载工具。上面的ARM_SDK_URL_BASE已经失效了使用下面绿色横线的那个下载版本要和ARM_SDK_URL_BASE一致。Downloads | GNU Arm Embedded Toolchain Downloads – Arm Developer这里展示的交叉编译环境是虚拟机Ubuntu将下载的交叉编译工具解压到/opt文件夹下并在~/.bashrc文件添加交叉编译工具的路径。这里的yourcross-tools就是你下载文件的名称。sudo tar -xvf yourcross-tools.tar.bz2 -C /opt使用vim ~/.bashrc打开文件并添加下面的内容要修改# cleanflight_gcc for NAZE export PATH${PATH}:/opt/your-crosstools/bin # cleanflight_gcc for NAZE betaflight部分固件版本一定要注意现在讲些的是4,4以上版本。4,4以下如clean flight编译方法。2023年的betaflight还是支持f103的但是要和适配版本的地面站配合使用。config获取和编译目标这个获取包含了很多厂商的配置4.4后配置大改官方说法从 4.5.0 版本开始config.h 取代了现已弃用的统一目标配置。这释放了一些闪存空间并确保默认设置在编译时被固化。这之所以成为可能是因为引入了云构建服务。标准默认目标在可能的情况下仍然可用但它们需要从备份中恢复所有配置。如果你连的上github使用命令make configs即可获取到config。你会发现目录src/config/configs下多了许多boards你可以挑选使用编译方法是make 配上board名字比如这里的speedybeef405v5打开终端使用make SPEEDYBEEF405V5即可。连不上GitHub去下载zip放入这个目录即可路径还要是src/config/configs。新建board后续补充。https://github.com/betaflight/config这个下载master就行。cleanflight部分编译目标飞控cleanflight的依旧是target下面就能找到src/target。make TARGETNAZE make TARGETNAZE clean编译默认的发现FLASH溢出问题。通过去除部分功能减少体积编译成功会在obj下生成hex文件其中_.hex有元数据签名块会加大hex体积用.hex即可。修改target.h文件/* * This file is part of Cleanflight. * * Cleanflight is free software. You can redistribute * this software and/or modify this software under the terms of the * GNU General Public License as published by the Free Software * Foundation, either version 3 of the License, or (at your option) * any later version. * * Cleanflight is distributed in the hope that it * will be useful, but WITHOUT ANY WARRANTY; without even the implied * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. * See the GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this software. * * If not, see http://www.gnu.org/licenses/. */ #pragma once #define USE_TELEMETRY_IBUS #define USE_TARGET_CONFIG #define TARGET_VALIDATECONFIG #define USE_HARDWARE_REVISION_DETECTION #define TARGET_BUS_INIT #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC #define LED0_PIN PB3 #define LED1_PIN PB4 #define USE_BEEPER #define BEEPER_PIN PA12 #if defined(AFROMINI) #define BEEPER_INVERTED #define TARGET_BOARD_IDENTIFIER AFMN #elif defined(BEEBRAIN) #define BRUSHED_MOTORS #undef USE_SERVOS #define TARGET_BOARD_IDENTIFIER BEBR #define USE_TARGET_CONFIG #define DEFAULT_FEATURES FEATURE_MOTOR_STOP #else #define TARGET_BOARD_IDENTIFIER AFNA // Beeper configuration is handled in config.c, since it is dependent on hardware revision #endif //#define BARO_XCLR_PIN PC13 //#define BARO_EOC_PIN PC14 #define INVERTER_PIN_UART2 PB2 // PB2 (BOOT1) abused as inverter select GPIO #define USE_RX_MSP #define USE_EXTI #define MAG_INT_EXTI PC14 #define USE_GYRO_EXTI #define GYRO_1_EXTI_PIN PC13 #define MMA8451_INT_PIN PA5 #define USE_MPU_DATA_READY_SIGNAL #define USE_MAG_DATA_READY_SIGNAL #define USE_SPI #define USE_SPI_DEVICE_2 #define NAZE_SPI_INSTANCE SPI2 #define NAZE_SPI_CS_PIN PB12 // We either have this 16mbit flash chip on SPI or the MPU6500 acc/gyro depending on board revision: #define FLASH_CS_PIN NAZE_SPI_CS_PIN #define FLASH_SPI_INSTANCE NAZE_SPI_INSTANCE #define GYRO_1_CS_PIN NAZE_SPI_CS_PIN #define GYRO_1_SPI_INSTANCE NAZE_SPI_INSTANCE #define USE_FLASHFS #define USE_FLASH_M25P16 #define USE_GYRO // #define USE_GYRO_MPU3050 #define USE_GYRO_MPU6050 // #define USE_GYRO_MPU6500 // #define USE_GYRO_SPI_MPU6500 #define GYRO_1_ALIGN CW0_DEG #define USE_ACC //#define USE_ACC_ADXL345 //#define USE_ACC_BMA280 //#define USE_ACC_MMA8452 #define USE_ACC_MPU6050 // #define USE_ACC_MPU6500 // #define USE_ACC_SPI_MPU6500 //#define ACC_ADXL345_ALIGN CW270_DEG //#define ACC_MMA8452_ALIGN CW90_DEG //#define ACC_BMA280_ALIGN CW0_DEG // Barometer dropped to make flash space //#define USE_BARO //#define USE_BARO_MS5611 // needed for Flip32 board //#define USE_BARO_BMP280 // Compass dropped to make flash space //#define USE_MAG //#define USE_MAG_HMC5883 //#define MAG_HMC5883_ALIGN CW180_DEG // Rangefinder dropped to make flash space //#define USE_RANGEFINDER //#define USE_RANGEFINDER_HCSR04 //#define RANGEFINDER_HCSR04_TRIGGER_PIN PB0 //#define RANGEFINDER_HCSR04_ECHO_PIN PB1 //#define RANGEFINDER_HCSR04_TRIGGER_PIN_PWM PB8 //#define RANGEFINDER_HCSR04_ECHO_PIN_PWM PB9 #define USE_UART1 #define USE_UART2 /* only 2 uarts available on the NAZE, add ifdef here if present on other boards */ //#define USE_UART3 // #define USE_SOFTSERIAL1 // #define USE_SOFTSERIAL2 #define SERIAL_PORT_COUNT 4 #define SOFTSERIAL1_RX_PIN PA6 // PWM 5 #define SOFTSERIAL1_TX_PIN PA7 // PWM 6 #define SOFTSERIAL2_RX_PIN PB0 // PWM 7 #define SOFTSERIAL2_TX_PIN PB1 // PWM 8 #define UART3_RX_PIN PB11 #define UART3_TX_PIN PB10 #define USE_I2C #define USE_I2C_DEVICE_2 #define I2C_DEVICE (I2CDEV_2) // #define SOFT_I2C // enable to test software i2c // #define SOFT_I2C_PB1011 // If SOFT_I2C is enabled above, need to define pinout as well (I2C1 PB67, I2C2 PB1011) // #define SOFT_I2C_PB67 #define USE_ADC #define CURRENT_METER_ADC_PIN PB1 #define VBAT_ADC_PIN PA4 #define RSSI_ADC_PIN PA1 #define EXTERNAL1_ADC_PIN PA5 #define DEFAULT_RX_FEATURE FEATURE_RX_PPM // IO - assuming all IOs on 48pin package #define TARGET_IO_PORTA 0xffff #define TARGET_IO_PORTB 0xffff #define TARGET_IO_PORTC ( BIT(13) | BIT(14) | BIT(15) ) #define USABLE_TIMER_CHANNEL_COUNT 14 #define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) )通过注释USE_XX减少体积这里去掉了软串口和不要的MPU6050实际上什么功能都可以不要毕竟目的只是尝试使用。下载程序hex二进制文件得到可以用stm32CubeProgramer或者其他方法烧录这边用stlink下载当然可以串口和jlink下载。地面站查看用ch340连接PA9和PA10串口引脚电平3.3v连接电脑并查看端口点击连接便会有以下界面进阶使用以后更新。。