Ardupilot编译过程中出现这个错误，哪位大佬指点下帮忙解.....

wwt921954000

wuwentao@wuwentao:~/Firmware/ardupilot/ardupilot$ ./waf copter
Waf: Entering directory `/home/wuwentao/Firmware/ardupilot/ardupilot/build/skyviper-v2450'
Embedding file io_firmware.bin:Tools/IO_Firmware/fmuv2_IO.bin
Checking for env.py
env added DEFAULT_PARAMETERS=Tools/Frame_params/SkyViper-2450GPS/defaults.parm
env added MAIN_STACK=0x400
env added APJ_BOARD_TYPE=STM32F427xx
env added APJ_BOARD_ID=9
env added BUILD_ABIN=True
env added FLASH_RESERVE_START_KB=16
env added CHIBIOS_BUILD_FLAGS=USE_FATFS=no MCU=cortex-m4 ENV_UDEFS=-DCHPRINTF_USE_FLOAT=1 CHIBIOS_PLATFORM_MK=os/hal/ports/STM32/STM32F4xx/platform.mk CHIBIOS_STARTUP_MK=os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk
env appended CPU_FLAGS=['-mcpu=cortex-m4', '-mfpu=fpv4-sp-d16', '-mfloat-abi=hard', '-u_printf_float']
env added IOMCU_FW=0
env added PROCESS_STACK=0x2000
[  8/525] Compiling libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp
[  9/525] Compiling libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
[ 10/525] Compiling libraries/AC_AttitudeControl/ControlMonitor.cpp
[ 11/525] Compiling libraries/AC_AttitudeControl/AC_PosControl_Sub.cpp
In file included from ../../libraries/AP_Radio/AP_Radio.h:23:0,
                 from ../../libraries/AP_BoardConfig/AP_BoardConfig.h:29,
                 from ../../libraries/AP_InternalError/AP_InternalError.h:25,
                 from ../../libraries/AP_Common/Bitmask.h:24,
                 from ../../libraries/SRV_Channel/SRV_Channel.h:19,
                 from ../../libraries/AP_Motors/AP_Motors_Class.h:6,
                 from ../../libraries/AP_Motors/AP_Motors.h:3,
                 from ../../libraries/AC_AttitudeControl/AC_AttitudeControl.h:10,
                 from ../../libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h:6,
                 from ../../libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp:1:
../../libraries/GCS_MAVLink/GCS.h:720:9: error: 'Bitmask' does not name a type
         Bitmask<MSG_LAST> ap_message_ids;
         ^~~~~~~
compilation terminated due to -Wfatal-errors.

In file included from ../../libraries/AP_Radio/AP_Radio.h:23:0,
                 from ../../libraries/AP_BoardConfig/AP_BoardConfig.h:29,
                 from ../../libraries/AP_InternalError/AP_InternalError.h:25,
                 from ../../libraries/AP_Common/Bitmask.h:24,
                 from ../../libraries/SRV_Channel/SRV_Channel.h:19,
                 from ../../libraries/AP_Motors/AP_Motors_Class.h:6,
                 from ../../libraries/AP_Motors/AP_Motors.h:3,
                 from ../../libraries/AC_AttitudeControl/AC_AttitudeControl.h:10,
                 from ../../libraries/AC_AttitudeControl/ControlMonitor.cpp:1:
../../libraries/GCS_MAVLink/GCS.h:720:9: error: 'Bitmask' does not name a type
         Bitmask<MSG_LAST> ap_message_ids;
         ^~~~~~~
compilation terminated due to -Wfatal-errors.

In file included from ../../libraries/AP_Radio/AP_Radio.h:23:0,
                 from ../../libraries/AP_BoardConfig/AP_BoardConfig.h:29,
                 from ../../libraries/AP_InternalError/AP_InternalError.h:25,
                 from ../../libraries/AP_Common/Bitmask.h:24,
                 from ../../libraries/SRV_Channel/SRV_Channel.h:19,
                 from ../../libraries/AP_Motors/AP_Motors_Class.h:6,
                 from ../../libraries/AP_Motors/AP_Motors.h:3,
                 from ../../libraries/AP_Logger/AP_Logger.h:15,
                 from ../../libraries/AC_PID/AC_PID.h:10,
                 from ../../libraries/AC_AttitudeControl/AC_PosControl.h:7,
                 from ../../libraries/AC_AttitudeControl/AC_PosControl_Sub.h:3,
                 from ../../libraries/AC_AttitudeControl/AC_PosControl_Sub.cpp:1:
../../libraries/GCS_MAVLink/GCS.h:720:9: error: 'Bitmask' does not name a type
         Bitmask<MSG_LAST> ap_message_ids;
         ^~~~~~~
compilation terminated due to -Wfatal-errors.

In file included from ../../libraries/AP_Radio/AP_Radio.h:23:0,
                 from ../../libraries/AP_BoardConfig/AP_BoardConfig.h:29,
                 from ../../libraries/AP_InternalError/AP_InternalError.h:25,
                 from ../../libraries/AP_Common/Bitmask.h:24,
                 from ../../libraries/SRV_Channel/SRV_Channel.h:19,
                 from ../../libraries/AP_Motors/AP_Motors_Class.h:6,
                 from ../../libraries/AP_Motors/AP_Motors.h:3,
                 from ../../libraries/AC_AttitudeControl/AC_AttitudeControl.h:10,
                 from ../../libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.h:6,
                 from ../../libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp:1:
../../libraries/GCS_MAVLink/GCS.h:720:9: error: 'Bitmask' does not name a type
         Bitmask<MSG_LAST> ap_message_ids;
         ^~~~~~~
compilation terminated due to -Wfatal-errors.

Waf: Leaving directory `/home/wuwentao/Firmware/ardupilot/ardupilot/build/skyviper-v2450'
Build failed
-> task in 'objs/AC_AttitudeControl' failed (exit status 1):
    {task 140476657077016: cxx AC_AttitudeControl_Heli.cpp -> AC_AttitudeControl_Heli.cpp.0.o}
(run with -v to display more information)
-> task in 'objs/AC_AttitudeControl' failed (exit status 1):
    {task 140476657077496: cxx ControlMonitor.cpp -> ControlMonitor.cpp.0.o}
(run with -v to display more information)
-> task in 'objs/AC_AttitudeControl' failed (exit status 1):
    {task 140476657077376: cxx AC_PosControl_Sub.cpp -> AC_PosControl_Sub.cpp.0.o}
(run with -v to display more information)
-> task in 'objs/AC_AttitudeControl' failed (exit status 1):
    {task 140476657077256: cxx AC_AttitudeControl_Sub.cpp -> AC_AttitudeControl_Sub.cpp.0.o}

BrightSoul

如果之前编译成功，检查文件
如果是初次搭建编译环境，请按照教程重新走一边
注意编译器版本

风帆

看起来是编译到11个文件，AC_PosControl_Sub.cpp这个文件的时候出错了，检查一下这个文件里面有没有啥错误呢~ 提供一个思路哈

风帆

../../libraries/GCS_MAVLink/GCS.h:720:9: error: 'Bitmask' does not name a type 再看看这个文件的，GCS.h 的720行第9列

amov_msq

这几天 我有空出一个Ardupilot的教程