安装 MAVLink

本章主要说明如何安装MAVLink工具链，包括XML消息定义和用于生成MAVLINK源文件的图形用户界面/命令行工具。

如果你使用的是C编程语言和标准方言，则不需要安装或者生成源文件。 只需要获取预构建的库然后跳转到Using C Libraries。

先决条件

The requirements for using the MAVLink generator are:

• Python 3.3+
• Python future模块
• TkInter (required to use the GUI tool).
• 环境变量PYTHONPATH必须包含mavlink存储库的目录路径。

If you are creating new XML definitions you should also install lxml and libxml2 for XML validation and formatting.

Installation

To install the MAVLink tools:

1. Install Python 3.6+:
   • Windows:从Python for Windows下载。
   • Ubuntu Linux Python 3 is present on 18.04 and 20.04 by default but you will need to install the pip3 package manager: sudo apt install python3-pip
2. Install the future module:
   • Windows: pip3 install future
   • Linux: pip3 install --user future
3. (Recommended) Install modules for XML validation and formatting:
   • Linux: sudo apt install python3-lxml libxml2-utils
4. (Optional) Install TkInter
   • Windows: Installed already as part of Python for Windows
   • Linux: Enter the following terminal command: sudo apt install python3-tk
5. Clone the mavlink repo (or your fork) into a user-writable directory: git clone https://github.com/mavlink/mavlink.git --recursive
6. Set PYTHONPATH to the directory path containing your mavlink repository.
   • Windows: set PYTHONPATH=C:\path_to_root_of_cloned_mavlink_repository
   • Linux: PYTHONPATH=path_to_root_of_cloned_mavlink_repository

Now you are ready to Generate MAVLink Libraries.