# Betaflight

## 韌體編譯

### 0. 前置條件

作業系統為Ubuntu或Windows WSL

### 1. 構建 Betaflight 開發環境

Betaflight 是一個開源的飛控韌體，主要用於無人機和遙控飛行器。以下是構建 Betaflight 開發環境的步驟：

### 2. 複製Betaflight Github儲存庫

1. 開啟終端。
2. 執行以下命令以複製 Betaflight 儲存庫：

   ```bash
   git clone --recursive https://github.com/betaflight/betaflight.git
   ```
3. 進入代碼庫目錄：

   ```bash
   cd betaflight
   ```
4. 安裝必要工具：`sudo apt install curl`
5. 安裝 GCC 工具鏈：

   <pre class="language-bash"><code class="lang-bash"><strong>make arm_sdk_install
   </strong></code></pre>

### 3. 編譯 Betaflight 韌體

1. 執行以下命令進行代碼編譯：

   ```bash
   make <Board Name, Ex: MATEKF405AIO>
   ```

   *將* Board Name*替換為飛控板的具體名稱。*
2. 編譯成功後會出現以下訊息

   <figure><img src="/files/2tfC8sRervaEnh2ZmthK" alt=""><figcaption></figcaption></figure>
3. 編譯的韌體位置在betaflight/obj底下的hex檔案

   <figure><img src="/files/2HHtX63Qhvh8fILDWvc7" alt=""><figcaption></figcaption></figure>

## 韌體燒錄

1. 飛控版開啟DFU模式，USB 連接到電腦。

   <figure><img src="/files/52dufBIBeC05iZkX2ox2" alt=""><figcaption></figcaption></figure>

2. 使用 Betaflight Configurator 燒錄編譯好的韌體。

   <figure><img src="/files/c4GyT1cmjvRk2aCHpksc" alt=""><figcaption></figcaption></figure>

3. Betaflight韌體位置(hex檔案)

   <figure><img src="/files/YLaSMNVdSKimk34WCh2K" alt=""><figcaption></figcaption></figure>

4. 開始燒錄Betaflight韌體

   <figure><img src="/files/KJUMImF0psJ4HXe09O76" alt=""><figcaption></figcaption></figure>

5. 燒錄中

   <figure><img src="/files/o1nhY1aemnNlNaQA69bl" alt=""><figcaption></figcaption></figure>

6. 燒錄完成

   <figure><img src="/files/iMzcW2PBW4B9qjM9rhFd" alt=""><figcaption></figcaption></figure>

***

## 自定義韌體編譯

**如何編譯自定義的飛控板**

1. 複製已經存在的飛控板定義，重新命名資料夾，EX:KAKUTEF4V2\_ICM42688P

   <figure><img src="/files/IfzuIwFoDnThzwChq6KR" alt=""><figcaption></figcaption></figure>

2. 修改config.h

   <figure><img src="/files/KSOqs7Lfq3EcBLKKWMEv" alt=""><figcaption></figcaption></figure>

3. 開啟終端，切換到betaflight資料夾，編譯新飛控板的韌體:&#x20;

   `make KAKUTEF4V2_ICM42688P`

4. 編譯完的韌體將位於`betaflight/V4.5.0/betaflight/obj/`資料夾中

   <figure><img src="/files/1xqIpVdoaqg8wBdEfWsJ" alt=""><figcaption></figcaption></figure>


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