### Setup Environment on Linux or WSL

Source: https://github.com/ardupilot/ardupilot_wiki/blob/master/common/source/docs/common-wiki-editing-setup.rst

Execute the setup script to install necessary dependencies for building the wiki.

```bash
./Sphinxsetup.sh
```

--------------------------------

### System Configuration Output Example

Source: https://github.com/ardupilot/ardupilot_wiki/blob/master/common/source/docs/common-beagle-bone-blue.rst

An example of the expected output from the version.sh script, showing details about the bootloader, kernel, and installed packages.

```bash
git:/opt/scripts/:[1583f354594aabfaff08dee2a4aabdfe61433024]
eeprom:[A335BNLTBLA21736EL001182]
model:[TI_AM335x_BeagleBone_Blue]
dogtag:[BeagleBoard.org Debian Buster Console Image 2021-12-01]
bootloader:[microSD-(push-button)]:[/dev/mmcblk0]:[U-Boot SPL 2019.04-g923f8b8 (Oct 26 2021 - 14:46:57 +0000)]:[location: dd MBR]
bootloader:[microSD-(push-button)]:[/dev/mmcblk0]:[U-Boot 2019.04-g923f8b8]:[location: dd MBR]
bootloader:[eMMC-(default)]:[/dev/mmcblk1]:[U-Boot SPL 2019.04-g923f8b8 (Oct 26 2021 - 14:46:57 +0000)]:[location: dd MBR]
bootloader:[eMMC-(default)]:[/dev/mmcblk1]:[U-Boot 2019.04-g923f8b8]:[location: dd MBR]
UBOOT: Booted Device-Tree:[am335x-boneblue.dts]
UBOOT: Loaded Overlay:[AM335X-PRU-RPROC-4-19-TI-00A0.kernel]
UBOOT: Loaded Overlay:[BB-ADC-00A0.kernel]
kernel:[4.19.94-ti-r68]
device-tree-override:[dtb=am335x-boneblue.dts]
/boot/uEnv.txt Settings:
uboot_overlay_options:[enable_uboot_overlays=1]
uboot_overlay_options:[uboot_overlay_pru=AM335X-PRU-UIO-00A0.dtbo]
uboot_overlay_options:[enable_uboot_cape_universal=1]
pkg check: to individually upgrade run: [sudo apt install --only-upgrade <pkg>]
pkg:[bb-cape-overlays]:[4.14.20210821.0-0~buster+20210821]
pkg:[bb-customizations]:[1.20211201.1-0~buster+20211201]
pkg:[bb-usb-gadgets]:[1.20211012.0-0~buster+20211012]
pkg:[bb-wl18xx-firmware]:[20210922.2-0~buster+20211007]
pkg:[kmod]:[26-1]
WARNING:pkg:[librobotcontrol]:[NOT_INSTALLED]
pkg:[firmware-ti-connectivity]:[20190717-2rcnee1~buster+20200305]
groups:[debian : debian adm kmem dialout cdrom floppy audio dip video plugdev users systemd-journal input bluetooth netdev gpio admin tisdk weston-launch cloud9ide]
cmdline:[console=ttyS0,115200n8 bone_capemgr.uboot_capemgr_enabled=1 root=/dev/mmcblk0p1 ro rootfstype=ext4 rootwait coherent_pool=1M net.ifnames=0 lpj=1990656 rng_core.default_quality=100 quiet]
dmesg | grep remote
[   26.835790] remoteproc remoteproc0: wkup_m3 is available
[   26.901553] remoteproc remoteproc0: powering up wkup_m3
[   26.901586] remoteproc remoteproc0: Booting fw image am335x-pm-firmware.elf, size 217148
[   26.901840] remoteproc remoteproc0: remote processor wkup_m3 is now up
[   28.464026] remoteproc remoteproc1: 4a334000.pru is available
[   28.480195] remoteproc remoteproc2: 4a338000.pru is available
dmesg | grep pru
[   28.464026] remoteproc remoteproc1: 4a334000.pru is available
[   28.464212] pru-rproc 4a334000.pru: PRU rproc node pru@4a334000 probed successfully
[   28.480195] remoteproc remoteproc2: 4a338000.pru is available
[   28.480412] pru-rproc 4a338000.pru: PRU rproc node pru@4a338000 probed successfully
dmesg | grep pinctrl-single
[    0.975434] pinctrl-single 44e10800.pinmux: 142 pins, size 568
dmesg | grep gpio-of-helper
END
```

--------------------------------

### Run DroneKit Example

Source: https://github.com/ardupilot/ardupilot_wiki/blob/master/common/source/docs/common-erle-brain-linux-autopilot.rst

Commands to clone the DroneKit examples, start MAVProxy, and execute a demo script.

```bash
# fetch the code
$ git clone https://github.com/ArduPilot/droneapi-python.git

$ cd droneapi-python/example

# Start MAVProxy (install if not present)
$ mavproxy.py --master=udp:192.168.7.2:6000

MANUAL> module load droneapi.module.api 
DroneAPI loaded 
MANUAL>
```

```bash
MANUAL> api start small_demo.py
Mode: VehicleMode:MANUAL
Location: Location:lat=21.2938874,lon=-157.8501416,alt=0.189999997616,is_relative=None
```

--------------------------------

### Start JetPack Installation

Source: https://github.com/ardupilot/ardupilot_wiki/blob/master/antennatracker/source/docs/companion-computer-nvidia-tx2.md

Execute the downloaded JetPack installer script to begin the installation process on the host machine. This will launch the graphical installer.

```bash
./JetPack-L4T-3.3-linux-x64_b39.run
```

--------------------------------

### Build MAVProxy Windows Installer

Source: https://github.com/ardupilot/ardupilot_wiki/blob/master/ardupilot/source/docs/development/mavdevenvwindows.md

Creates a one-click Windows installer for MAVProxy. Requires Inno Setup to be installed.

```bash
MAVProxyWinBuild.bat
```

--------------------------------

### Run MAVProxy with DroneKit Example

Source: https://github.com/ardupilot/ardupilot_wiki/blob/master/ardupilot/source/docs/intel-edison.md

Starts MAVProxy, connecting to the flight controller via /dev/ttyMFD1 at 57600 baud, and loads the small_demo.py DroneKit example script.

```default
edison@ubilinux:~/dronekit-python/example$ mavproxy.py --master=/dev/ttyMFD1,57600 --rtscts
Logging to mav.tlog
libdc1394 error: Failed to initialize libdc1394
Failed to load module: No module named terrain
Running script /home/edison/.mavinit.scr
-> module load droneapi.module.api
DroneAPI loaded
Loaded module droneapi.module.api
MAV> Flight battery warning
AUTO> Mode AUTO
APM: Plane V3.2.0 (a9defa35)
APM: PX4v2 002E001B 3433470D 32323630
T|D0 .Received 486 parameters

AUTO> api start small_demo.py (If you see the messages below your vehicle is now happily talking to mavproxy/dronekit)
AUTO> mode is AUTO
Mode: VehicleMode:AUTO
Location: Location:lat=0.0,lon=0.0,alt=1.38999998569,is_relative=False
Attitude: Attitude:pitch=0.00390338362195,yaw=-1.69979262352,roll=-3.12372088432
Velocity: [0.0, 0.0, 0.0]
GPS: GPSInfo:fix=0,num_sat=0
Armed: False
groundspeed: 0.0
airspeed: 14.2826738358

```

--------------------------------

### Install MAVProxy from Source

Source: https://github.com/ardupilot/ardupilot_wiki/blob/master/antennatracker/source/docs/development/mavdevenvlinux.md

Installs MAVProxy using its setup script after making changes to the source code. This step is necessary for modifications to take effect.

```bash
python3 -m pip install .
```

--------------------------------

### Install libnl-dev

Source: https://github.com/ardupilot/ardupilot_wiki/blob/master/ardupilot/source/docs/odroid-wifi-access-point-for-sharing-files-via-samba.md

Install the libnl-dev package if hostapd fails to start.

```default
apt-get install libnl-dev
```

--------------------------------

### Start Vagrant Instance

Source: https://github.com/ardupilot/ardupilot_wiki/blob/master/antennatracker/source/docs/setting-up-sitl-using-vagrant.md

Initiate the virtual machine setup using Vagrant. This command downloads the base VM and configures the development environment. It may take some time on the first run.

```default
vagrant up
```

--------------------------------

### MAVProxy mavinit.scr Example

Source: https://github.com/ardupilot/ardupilot_wiki/blob/master/antennatracker/source/docs/getting_started/mavinit.md

This example demonstrates how to set up aliases and load modules within a MAVProxy startup script. Use this to define shortcuts for common commands and ensure necessary modules are loaded upon MAVProxy initialization.

```bash
# this is setting up aliases
@alias add g graph
@alias add gbatt g SYS_STATUS.current_battery

# run command on startup
module load graph
gbatt
```

--------------------------------

### Load RC Setup Module

Source: https://github.com/ardupilot/ardupilot_wiki/blob/master/antennatracker/source/docs/modules/rcsetup.md

Initializes the RC setup environment.

```bash
module load rcsetup
```

--------------------------------

### Example: Launch Copter SITL with GDB

Source: https://github.com/ardupilot/ardupilot_wiki/blob/master/antennatracker/source/docs/debugging-with-gdb-on-linux.md

This example demonstrates launching the default Copter SITL simulation using GDB with specific options.

```bash
gdb --args $HOME/ardupilot/build/sitl/bin/arducopter -S -I0 --home -35.363261,149.165230,584,353 --model + --speedup 1 --defaults $HOME/ardupilot/Tools/autotest/default_params/copter.parm
```

--------------------------------

### Configure Windows Terminal starting directory

Source: https://github.com/ardupilot/ardupilot_wiki/blob/master/antennatracker/source/docs/building-setup-windows11.md

Example configuration snippet for setting the default starting directory in Windows Terminal settings.

```default
{
    "guid": "{07b52e3e-de2c-5db4-bd2d-ba144ed6c273}",
    "hidden": false,
    "name": "Ubuntu-20.04",
    "source": "Windows.Terminal.Wsl",
    "startingDirectory" : "//wsl$/Ubuntu-20.04/home/<yourUserName>/ardupilot"
},
```

--------------------------------

### Install u-boot tools

Source: https://github.com/ardupilot/ardupilot_wiki/blob/master/antennatracker/source/docs/building-for-beaglebone-black-on-linux.md

Download and build the u-boot tools required for creating uImage files.

```bash
wget ftp://ftp.denx.de/pub/u-boot/u-boot-latest.tar.bz2
tar -xjf u-boot-latest.tar.bz2
```

```bash
cd u-boot-2013.10   (look to see what this is called, it may have changed)
```

```bash
make tools  (don't work with last revision of u-boot need a revision)
install tools/mkimage /usr/local/bin
```

--------------------------------

### Run SITL Example Sketch

Source: https://github.com/ardupilot/ardupilot_wiki/blob/master/antennatracker/source/docs/learning-ardupilot-the-example-sketches.md

Start a compiled example sketch in SITL mode. This command executes the sketch with specified parameters for simulation.

```bash
./build/sitl/examples/RCProtocolDecoder -M quad -C
```

--------------------------------

### List Waf Examples

Source: https://github.com/ardupilot/ardupilot_wiki/blob/master/antennatracker/source/docs/learning-ardupilot-the-example-sketches.md

List all examples that can be built using the `waf` build system. This command helps discover available example sketches.

```bash
cd $ARDUPILOT_HOME
./waf list | grep 'examples'
```

--------------------------------

### MAVProxy SET_POSITION_TARGET_GLOBAL_INT Examples

Source: https://github.com/ardupilot/ardupilot_wiki/blob/master/ardupilot/source/docs/mavlink-rover-commands.md

Example commands for MAVProxy/SITL to control vehicle movement and orientation. Ensure the vehicle is in GUIDED mode and armed before execution.

```text
message SET_POSITION_TARGET_GLOBAL_INT 0 0 0 3 3580 -353621474 1491651746 0 0 0 0 0 0 0 0 0
```

```text
message SET_POSITION_TARGET_GLOBAL_INT 0 0 0 3 3559 0 0 0 1 0 0 0 0 0 0 0
```

```text
message SET_POSITION_TARGET_GLOBAL_INT 0 0 0 3 2535 0 0 0 0 0 0 0 0 0 0.7854 0
```

```text
message SET_POSITION_TARGET_GLOBAL_INT 0 0 0 3 1511 0 0 0 0 0 0 0 0 0 0 0.174
```

--------------------------------

### Initialize Submodules

Source: https://github.com/ardupilot/ardupilot_wiki/blob/master/antennatracker/source/docs/building-ardupilot-with-arduino-windows.md

Navigate to the repository directory and initialize all required submodules.

```default
cd ardupilot
git submodule update --init --recursive
```

--------------------------------

### Install ArduPilot Prerequisites on Ubuntu

Source: https://github.com/ardupilot/ardupilot_wiki/blob/master/antennatracker/source/docs/building-the-code-onlinux.md

Installs all necessary dependencies for building ArduPilot on Ubuntu using the provided script. This simplifies the setup process.

```bash
ardupilot/Tools/environment_install/install-prereqs-ubuntu.sh -y
```

--------------------------------

### Prepare and Run JetPack Installer

Source: https://github.com/ardupilot/ardupilot_wiki/blob/master/antennatracker/source/docs/companion-computer-nvidia-tx1.md

Set the installer file permissions and execute the JetPack installation script on the host machine.

```bash
chmod a+x JetPack-L4T-3.1-linux-x64.run
```

```bash
./JetPack-L4T-3.1-linux-x64.run
```

--------------------------------

### Start and Manage Hostapd

Source: https://github.com/ardupilot/ardupilot_wiki/blob/master/antennatracker/source/docs/odroid-wifi-access-point-for-sharing-files-via-samba.md

Commands to test hostapd and configure the service for startup.

```bash
hostapd /etc/hostapd/hostapd.conf
```

```bash
apt-get install libnl-dev
```

```bash
DAEMON_CONF=/etc/hostapd/hostapd.conf
```