8.2. Build And Flash
8.2.1. Build The Firmware
We replaced the original FCU with the Pixhawk4, which is a 5th generation board. So the build command is:
$ make px4_fmu-v5_default
If you get an error message that tells you, the gcc-arm-none-eabi could not be found, make sure you have installed it (for example via the Tools/setup/ubuntu.sh convenience script). In some cases, the path is not correctly extended, so it might be necessary to copy the line similiar to
$ export PATH=/opt/gcc-arm-none-eabi-9-2020-q2-update/bin:$PATH
from ~/.profile to ~/.bashrc (or in case you use zsh to ~/.zshrc).
Attention
The version of gcc-arm-none-eabi might change, so it is necessary that you copy the line from your ~/.profile and not the one in this docs.
8.2.2. Flash The Firmware
You need to be able to reach the BlueROV’s Raspberry Pi via ssh. The most convenient way is to create a bash script.
Attention
Please update the following code block in case the BlueROV’s host or username changes.
1#!/bin/bash
2scp /PATH/TO/YOUR/PX4/FILE/px4_fmu-v5_default.px4 ubuntu@ubuntu.local:~/px4_fmu-v5_default.px4
3ssh ubuntu@ubuntu.local << EOF
4python3 ~/Firmware/Tools/px_uploader.py --port /dev/ttyACM0 ~/px4_fmu-v5_default.px4
5EOF