Building the code

The linked articles below explain how to setup your build environment on Linux/Ubuntu, MacOS or Windows and then build ArduPilot with waf.

The instructions below assume that you have already installed git, forked and cloned the ArduPilot repo.

Setting up the Build Environment

Building / Compiling

Linux / MacOSX users:

  • Linux and MacOSX users should build with waf as described in


Do not use sudo unless specified in the instructions.

Windows users:

Board specific instructions:

Mission Planner