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Problem building Adrusub on MacOS, error with math.h and gcc

I followed the directions from Build ArduSub · GitBook but getting build errors.

I may have confused using the new compiler with the older one (as stated in debugging), but not sure how to fix it. Anyone else have this problem?

My goal is to build a custom frame to support our ROV configuration.

af: Entering directory `/Users/s-uas/ArduSub/ardupilot/build/Pixhawk4’
Embedding file sandbox.lua:libraries/AP_Scripting/scripts/sandbox.lua
Embedding file io_firmware.bin:Tools/IO_Firmware/iofirmware_lowpolh.bin
Embedding file bootloader.bin:/Users/s-uas/ArduSub/ardupilot/Tools/bootloaders/Pixhawk4_bl.bin
Checking for env.py
env added DEFAULT_PARAMETERS=/Users/s-uas/ArduSub/ardupilot/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4/defaults.parm
env added MAIN_STACK=0x400
env added APJ_BOARD_TYPE=STM32F767xx
env added OPTIMIZE=-O2
env added BOARD_FLASH_SIZE=2048
env added APJ_BOARD_ID=50
env added HAL_WITH_UAVCAN=1
env added FLASH_RESERVE_START_KB=32
env added CHIBIOS_BUILD_FLAGS=USE_FATFS=yes MCU=cortex-m4 ENV_UDEFS=-DCHPRINTF_USE_FLOAT=1 CHIBIOS_PLATFORM_MK=os/hal/ports/STM32/STM32F7xx/platform.mk CHIBIOS_STARTUP_MK=os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f7xx.mk
env added IOMCU_FW=0
env appended CPU_FLAGS=[’-mcpu=cortex-m4’, ‘-mfpu=fpv4-sp-d16’, ‘-mfloat-abi=hard’, ‘-u_printf_float’]
env added PERIPH_FW=0
env added PROCESS_STACK=0x2000
[ 14/567] Compiling libraries/AC_Avoidance/AP_OADatabase.cpp
[ 16/567] Compiling libraries/AC_Avoidance/AP_OAVisGraph.cpp
[ 27/567] Compiling libraries/AC_WPNav/AC_WPNav.cpp
[ 28/567] Compiling libraries/AC_WPNav/AC_Loiter.cpp
[ 29/567] Compiling libraries/AC_WPNav/AC_Circle.cpp
[ 30/567] Compiling libraries/AP_ADC/AP_ADC_ADS1115.cpp
[ 31/567] Compiling libraries/AP_AHRS/AP_AHRS_View.cpp
[ 32/567] Compiling libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
In file included from …/…/libraries/AP_Common/missing/cmath:3,
from …/…/libraries/AP_HAL/CAN.h:23,
from …/…/libraries/AP_HAL/HAL.h:17,
from …/…/libraries/AP_HAL/AP_HAL_Main.h:19,
from …/…/libraries/AP_HAL/AP_HAL.h:8,
from …/…/libraries/AC_Avoidance/AP_OAVisGraph.h:5,
from …/…/libraries/AC_Avoidance/AP_OAVisGraph.cpp:16:
/usr/local/Cellar/arm-none-eabi-gcc/9-2019-q4-major/gcc/arm-none-eabi/include/c++/9.2.1/cmath:83:11: error: ‘::acos’ has not been declared
83 | using ::acos;
| ^~~~
compilation terminated due to -Wfatal-errors.

In file included from …/…/libraries/AP_Common/missing/cmath:3,
from …/…/libraries/AP_HAL/CAN.h:23,
from …/…/libraries/AP_HAL/HAL.h:17,
from …/…/libraries/AP_HAL/AP_HAL_Main.h:19,
from …/…/libraries/AP_HAL/AP_HAL.h:8,
from …/…/libraries/AP_ADC/AP_ADC_ADS1115.cpp:1:
/usr/local/Cellar/arm-none-eabi-gcc/9-2019-q4-major/gcc/arm-none-eabi/include/c++/9.2.1/cmath:83:11: error: ‘::acos’ has not been declared
83 | using ::acos;
| ^~~~
compilation terminated due to -Wfatal-errors.

In file included from …/…/libraries/AP_Common/missing/cmath:3,
from …/…/libraries/AP_HAL/CAN.h:23,
from …/…/libraries/AP_HAL/HAL.h:17,
from …/…/libraries/AP_HAL/AP_HAL_Main.h:19,
from …/…/libraries/AP_HAL/AP_HAL.h:8,
from …/…/libraries/AC_Avoidance/AP_OADatabase.h:3,
from …/…/libraries/AC_Avoidance/AP_OADatabase.cpp:14:
/usr/local/Cellar/arm-none-eabi-gcc/9-2019-q4-major/gcc/arm-none-eabi/include/c++/9.2.1/cmath:83:11: error: ‘::acos’ has not been declared
83 | using ::acos;
| ^~~~
compilation terminated due to -Wfatal-errors.

In file included from …/…/libraries/AP_Common/missing/cmath:3,
from …/…/libraries/AP_HAL/CAN.h:23,
from …/…/libraries/AP_HAL/HAL.h:17,
from …/…/libraries/AP_HAL/AP_HAL_Main.h:19,
from …/…/libraries/AP_HAL/AP_HAL.h:8,
from …/…/libraries/AC_WPNav/AC_Loiter.cpp:1:
/usr/local/Cellar/arm-none-eabi-gcc/9-2019-q4-major/gcc/arm-none-eabi/include/c++/9.2.1/cmath:83:11: error: ‘::acos’ has not been declared
83 | using ::acos;
| ^~~~
compilation terminated due to -Wfatal-errors.

In file included from …/…/libraries/AP_Common/missing/cmath:3,
from …/…/libraries/AP_HAL/CAN.h:23,
from …/…/libraries/AP_HAL/HAL.h:17,
from …/…/libraries/AP_HAL/AP_HAL_Main.h:19,
from …/…/libraries/AP_HAL/AP_HAL.h:8,
from …/…/libraries/AC_WPNav/AC_Circle.cpp:1:
/usr/local/Cellar/arm-none-eabi-gcc/9-2019-q4-major/gcc/arm-none-eabi/include/c++/9.2.1/cmath:83:11: error: ‘::acos’ has not been declared
83 | using ::acos;
| ^~~~
compilation terminated due to -Wfatal-errors.

In file included from …/…/libraries/AP_Common/missing/cmath:3,
from …/…/libraries/AP_HAL/CAN.h:23,
from …/…/libraries/AP_HAL/HAL.h:17,
from …/…/libraries/AP_HAL/AP_HAL_Main.h:19,
from …/…/libraries/AP_HAL/AP_HAL.h:8,
from …/…/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp:21:
/usr/local/Cellar/arm-none-eabi-gcc/9-2019-q4-major/gcc/arm-none-eabi/include/c++/9.2.1/cmath:83:11: error: ‘::acos’ has not been declared
83 | using ::acos;
| ^~~~
compilation terminated due to -Wfatal-errors.

In file included from …/…/libraries/AP_Filesystem/AP_Filesystem_FATFS.h:7,
from …/…/libraries/AP_Filesystem/AP_Filesystem.h:33,
from …/…/libraries/AP_Terrain/AP_Terrain.h:20,
from …/…/libraries/AC_WPNav/AC_WPNav.h:10,
from …/…/libraries/AC_WPNav/AC_WPNav.cpp:2:
…/…/libraries/AP_Common/missing/fcntl.h:8: warning: “O_CLOEXEC” redefined
8 | #define O_CLOEXEC 0
|
In file included from /usr/local/Cellar/arm-none-eabi-gcc/9-2019-q4-major/gcc/arm-none-eabi/include/sys/fcntl.h:4,
from /usr/local/Cellar/arm-none-eabi-gcc/9-2019-q4-major/gcc/arm-none-eabi/include/fcntl.h:1,
from …/…/libraries/AP_Common/missing/fcntl.h:1,
from …/…/libraries/AP_Filesystem/AP_Filesystem_FATFS.h:7,
from …/…/libraries/AP_Filesystem/AP_Filesystem.h:33,
from …/…/libraries/AP_Terrain/AP_Terrain.h:20,
from …/…/libraries/AC_WPNav/AC_WPNav.h:10,
from …/…/libraries/AC_WPNav/AC_WPNav.cpp:2:
/usr/local/Cellar/arm-none-eabi-gcc/9-2019-q4-major/gcc/arm-none-eabi/include/sys/_default_fcntl.h:62: note: this is the location of the previous definition
62 | #define O_CLOEXEC _FNOINHERIT
|
In file included from …/…/libraries/AP_Common/missing/cmath:3,
from …/…/libraries/AP_HAL/CAN.h:23,
from …/…/libraries/AP_HAL/HAL.h:17,
from …/…/libraries/AP_HAL/AP_HAL_Main.h:19,
from …/…/libraries/AP_HAL/AP_HAL.h:8,
from …/…/libraries/AC_WPNav/AC_WPNav.cpp:1:
/usr/local/Cellar/arm-none-eabi-gcc/9-2019-q4-major/gcc/arm-none-eabi/include/c++/9.2.1/cmath:83:11: error: ‘::acos’ has not been declared
83 | using ::acos;
| ^~~~
compilation terminated due to -Wfatal-errors.

Waf: Leaving directory `/Users/s-uas/ArduSub/ardupilot/build/Pixhawk4’
Build failed
→ task in ‘objs/AC_Avoidance’ failed (exit status 1):
{task 4378524200: cxx AP_OAVisGraph.cpp → AP_OAVisGraph.cpp.0.o}
(run with -v to display more information)
→ task in ‘objs/AP_ADC’ failed (exit status 1):
{task 4377673432: cxx AP_ADC_ADS1115.cpp → AP_ADC_ADS1115.cpp.0.o}
(run with -v to display more information)
→ task in ‘objs/AC_Avoidance’ failed (exit status 1):
{task 4378523840: cxx AP_OADatabase.cpp → AP_OADatabase.cpp.0.o}
(run with -v to display more information)
→ task in ‘objs/AC_WPNav’ failed (exit status 1):
{task 4378604920: cxx AC_Loiter.cpp → AC_Loiter.cpp.0.o}
(run with -v to display more information)
→ task in ‘objs/AC_WPNav’ failed (exit status 1):
{task 4378604800: cxx AC_Circle.cpp → AC_Circle.cpp.0.o}
(run with -v to display more information)
→ task in ‘objs/AP_AHRS’ failed (exit status 1):
{task 4377711512: cxx AP_AHRS_NavEKF.cpp → AP_AHRS_NavEKF.cpp.0.o}
(run with -v to display more information)
→ task in ‘objs/AC_WPNav’ failed (exit status 1):
{task 4378605040: cxx AC_WPNav.cpp → AC_WPNav.cpp.0.o}
(run with -v to display more information)
S-UAS