Setting up the Build Environment (Linux/Ubuntu)

This article shows how to setup your build environment on Linux/Ubuntu machines.

Setup on Ubuntu

Run the script:

Tools/scripts/ -y

Also follow the MAVProxy’s install instructions if you plan to use the simulator.

Reload the path (log-out and log-in to make permanent):

. ~/.profile

Now you should be able to build with waf as described in

Setup for other Distributions

To build for a Pixhawk2/Pixhawk target on Linux you need the following tools and git repositories:

  • The gcc-arm cross-compiler from here
  • gnu make, gawk and associated standard Linux build tools
  • On a 64 bit system you will also need to have installed libc6-i386.

Also, it’s worth mentioning here that you want to ensure that the modemmanager package is not installed and the modem-manager process is not running.


You need to make your user a member of the dialout group:

sudo usermod -a -G dialout $USER

You will need to log out and then log back in for the group change to take effect.


You need the specific gcc-arm cross-compiler linked above. You need to unpack it:

tar -xjvf gcc-arm-none-eabi-4_9-2015q3-20150921-linux.tar.bz2

and then add the bin directory from the tarball to your $PATH by editing the $HOME/.bashrc file and adding a line like this to the end:

export PATH=$PATH:/home/your_username/bin/gcc-arm-none-eabi-4_9-2015q3/bin

Now you should be able to build with waf as described in

ccache for faster builds

Installing ccache will speed up your builds a lot. Once you install it (for example with “sudo apt-get install ccache”) you should link the compiler into /usr/lib/ccache like this:

cd /usr/lib/ccache
sudo ln -s /usr/bin/ccache arm-none-eabi-g++
sudo ln -s /usr/bin/ccache arm-none-eabi-gcc

Then add /usr/lib/ccache to the front of your $PATH


If there have been updates to some git submodules you may need to do a full clean build. To do that use:

make px4-clean

that will remove the PX4NuttX archives so you can do a build from scratch