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updated instructions for Linux build and PX4 firmware
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sytelus committed Jul 1, 2017
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21 changes: 21 additions & 0 deletions docs/cmake.md
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# Installing cmake

If you don't have cmake version 3.5 (for example, 3.2.2 is the default on Ubuntu 14) you can run the following:

````
mkdir ~/cmake-3.5.1
cd ~/cmake-3.5.1
wget https://cmake.org/files/v3.5/cmake-3.5.1-Linux-x86_64.sh
````

Now you have to run this command by itself (it is interactive)
````
sh cmake-3.5.1-Linux-x86_64.sh --prefix ~/cmake-3.5.1
````

Answer 'n' to the question about creating another cmake-3.5.1-Linux-x86_64 folder and then
````
sudo update-alternatives --install /usr/bin/cmake cmake ~/cmake-3.5.1/bin/cmake 60
````

Now type `cmake --version` to make sure your cmake version is 3.5.1.
84 changes: 22 additions & 62 deletions docs/linux_build.md
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# Linux Build

These are the instructions to build AirSim on a Linux machine.
Note: you can also do this from [BashOnWindows](https://msdn.microsoft.com/en-us/commandline/wsl/install_guide)
but make sure you are `not` using a `Visual Studio Command Prompt` because we don't want cmake to accidentally find VC++ and try and use that.
These are the instructions to build AirSim on **Ubuntu 16.04 LTS**. Theoratically you can build on other distros and versions as well but we haven't tested it (and
mostly likely there are extra steps).

We need to use `clang compiler` because Unreal engine requires that.
## Install Linux Pre-requisites
### cmake
First you will need at least [cmake version 3.5](https://cmake.org/install/). If you are using Ubuntu 16.04 LTS, you likely already have it. You can check this by command `cmake --version`.
If you don't have it then follow [these instructions](cmake.md).

First you will need the usual build essentials, this will get you 'make' amongst other things:
### Clang compiler
Unreal engine requires clang compiler 3.9 or higher. To install it use following commands. For other flavors of Linux and more info, please see [http://apt.llvm.org/](http://apt.llvm.org/).
````
sudo apt-get install build-essential
````

## cmake

First you will need at least [cmake version 3.5](https://cmake.org/install/).
If you don't have cmake version 3.5 (for example, 3.2.2 is the default on Ubuntu 14) you can run the following:

````
mkdir ~/cmake-3.5.1
cd ~/cmake-3.5.1
wget https://cmake.org/files/v3.5/cmake-3.5.1-Linux-x86_64.sh
````
Now you have to run this command by itself (it is interactive)
````
sh cmake-3.5.1-Linux-x86_64.sh --prefix ~/cmake-3.5.1
````
Answer 'n' to the question about creating another cmake-3.5.1-Linux-x86_64 folder.
Then
````
sudo update-alternatives --install /usr/bin/cmake cmake ~/cmake-3.5.1/bin/cmake 60
````

Now type `cmake --version` to make sure your cmake version is 3.5.1.

Next you need a version of [CLang compiler](http://releases.llvm.org/3.9.0/tools/clang/docs/ReleaseNotes.html) that supports `-std=c++14`. Version 3.9 or newer should work. To install it you first need the archive signature:
````
wget -O - http://apt.llvm.org/llvm-snapshot.gpg.key|sudo apt-key add -
````

If you are using Ubuntu 16.04 (Xenial) then you can simply do this:
````
sudo apt-add-repository "deb http://apt.llvm.org/xenial/ llvm-toolchain-xenial-3.9 main"
sudo apt-get update
sudo apt-get install clang-3.9 clang++-3.9 clang-3.9-doc libclang-common-3.9-dev libclang-3.9-dev libclang1-3.9 libclang1-3.9-dbg libllvm-3.9-ocaml-dev libllvm3.9 libllvm3.9-dbg lldb-3.9 llvm-3.9 llvm-3.9-dev llvm-3.9-doc llvm-3.9-examples llvm-3.9-runtime clang-format-3.9 python-clang-3.9 libfuzzer-3.9-dev
````

For other flavors of Linux, you can get more instructions from [http://apt.llvm.org/](http://apt.llvm.org/).

Then run the following:

````
sudo apt-get update
sudo apt-get install clang-3.9 clang++-3.9
````

Note: On Ubuntu 16.04 you may be missing libjsoncpp0 which is no longer available in the package manager, you can [download the relevant dpkg here](http://packages.ubuntu.com/trusty/amd64/libjsoncpp0/download) and install with `sudo dpkg -i libjsoncpp0_0.6.0~*.deb`.

More detailed instructions are available here: [http://apt.llvm.org/](http://apt.llvm.org/).
Now make clang-3.9 your default version of clang with this command:

Then set v3.9 as default,
````
sudo update-alternatives --install /usr/bin/clang clang /usr/bin/clang-3.9 60 --slave /usr/bin/clang++ clang++ /usr/bin/clang++-3.9
````
Next you will need the latest version of libc++ library from llvm. You can get that by running the following script which
you will find in the `cmake` folder that is included in your AirSim repo:

### libc++ library
Navigate to AirSim/cmake folder and run
````
getlibcxx.sh
bash getlibcxx.sh
````
This will clone the llvm-source and
build it in an llvm-build folder, then it will install the built libraries. This ensures you have the right version
of llvm for your platform.

Now you can run the build.sh at the root level of the AirSim repo:
## Building AirSim
Navigate to AirSim folder and type,

````
./build.sh
bash build.sh
````
This will create a `build_debug` folder containing the build output and the cmake generated make files.

## Reset build

If for any reason you need to re-run cmake to regenerate new make files just deete the `build_debug` folder.
## Clean (or reset) the build
To clean the build, just delete the `build_debug` folder.

## Running Unreal on Linux

Now you are ready to follow these instructions to get [Unreal working on Linux](https://wiki.unrealengine.com/Building_On_Linux#Clang) but note that everywhere
you see Clang3.5 in the Unreal documentation replace that with clang3.9.

## BashOnWindows
You can also compile from [BashOnWindows](https://msdn.microsoft.com/en-us/commandline/wsl/install_guide)
but make sure you are `not` using a `Visual Studio Command Prompt` because we don't want cmake to accidentally find VC++ and try and use that!
4 changes: 2 additions & 2 deletions docs/prereq.md
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Expand Up @@ -23,8 +23,8 @@ You can also fly without flight controller hardware. See [alternative to RC](si
## Setup steps
1. Make sure your RC receiver is bound with its RC transmitter. Connect the RC trasmitter to the flight controller's RC port.
2. Download [QGroundControl](http://qgroundcontrol.com/), launch it and connect your flight controller to the USB port.
3. Install the PX4 firmware v1.6.0 from [github](https://github.com/PX4/Firmware/releases/tag/v1.6.0rc1).
See this [initial firmware setup video](https://dev.px4.io/starting-initial-config.html) that shows up to install new firmware.
3. Install the PX4 firmware v1.5.5 from [github](https://github.com/PX4/Firmware/releases/tag/v1.5.5).
See this [initial firmware setup video](https://dev.px4.io/starting-initial-config.html) that shows up to install new firmware. Note that later releases of PX4 has [issue](https://github.com/PX4/Firmware/issues/7516) where vehicle doesn't takeoff after arming.
4. In QGroundControl, configure your Pixhawk for HIL simulation by selecting the HIL Quadrocopter X airframe. After PX4 reboots, check that "HIL Quadrocopter X" is indeed selected. You might also want to use QGroundControl to calibrate your RC and set up Flight Mode switch among other things (see below) so everything is green.

See [Walkthrough Demo Video](https://youtu.be/HNWdYrtw3f0) and [Unreal AirSim Setup Video](https://youtu.be/1oY8Qu5maQQ) that shows you all the setup steps in this document.
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