# Upload Ardusub code to pixhawk using waf **URL:** \ **Category:** Blue Robotics Software\ **Created:** [April 12, 2018, 2:41pm UTC](https://discuss.bluerobotics.com/t/upload-ardusub-code-to-pixhawk-using-waf/2473 "2018-04-12T14:41:42Z")\ **Posts on this page:** 20\ **Page:** 1
**Author:** ![alexis](https://avatars.discourse-cdn.com/v4/letter/a/838e76/32.png) [@alexis](https://discuss.bluerobotics.com/u/alexis)\ **Post date:** [April 12, 2018, 2:41pm UTC](https://discuss.bluerobotics.com/t/upload-ardusub-code-to-pixhawk-using-waf/2473/1 "2018-04-12T14:41:43Z")
Hello, I have recently started working with a BlueRov2 and I the reason I am writing this post is to get help uploading code to the pixhawk. After downloading the ardupilot repository, I made some modifications (just some simple methods on the joystick.cpp custom cases) and now I am trying to follow the instructions to upload the code using waf. However I have some difficulties. I first used the following line to configure the board (I think that is the px4-v2 model) and everything went well. ./waf configure --board px4-v2 -\>‘configure’ finished successfully (0.592s) Now I think I should use this one to upload it to the pixhawk: ./waf configure --board --rsync-dest In my case: ./waf configure --board px4-v2 --rsync-dest [pi@192.168.2.2](mailto:pi@192.168.2.2)…??? How should I continue? I hope my problem was correctly explained. Finally, I would also like to know why the library is switching to using waf instead of the classic cmakelists, a common known standart tool to build code. Thank you for your time, Alexis ---
**Author:** ![patrickelectric](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/patrickelectric/32/2162_2.png) [@patrickelectric](https://discuss.bluerobotics.com/u/patrickelectric)\ **Post date:** [April 12, 2018, 2:59pm UTC](https://discuss.bluerobotics.com/t/upload-ardusub-code-to-pixhawk-using-waf/2473/2 "2018-04-12T14:59:14Z")
Hi Alexis, > [@alexis](#): > > I first used the following line to configure the board (I think that is the px4-v2 model) and everything went well. > > ./waf configure --board px4-v2 > > -\>‘configure’ finished successfully (0.592s) > > Now I think I should use this one to upload it to the pixhawk: > > ./waf configure --board --rsync-dest > > In my case: > > ./waf configure --board px4-v2 --rsync-dest [pi@192.168.2.2](mailto:pi@192.168.2.2)…??? > > How should I continue? To build ardusub, you will need to configure waf to create a pixhawk v2 binary. - ./waf configure --board px4-v2 After that, it will be necessary to build ardusub and not others vehicles. - ./waf build sub --verbose Now, to upload ardusub, you’ll need to connect the pixhawk in your computer and do the upload. - ./waf --upload sub It’s not possible to update ardusub via rsync, this argument is used for Linux boards, in BlueROV2 the raspberry is used only as a companion computer and not to control the ROV itself. > [@alexis](#): > > Finally, I would also like to know why the library is switching to using waf instead of the classic cmakelists, a common known standart tool to build code. This is for historical reasons in ArduPilot project, but before waf the build system was Makefiles and not CMakeLists. ---
**Author:** ![jwalser](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/jwalser/32/2234_2.png) [@jwalser](https://discuss.bluerobotics.com/u/jwalser)\ **Post date:** [April 12, 2018, 3:37pm UTC](https://discuss.bluerobotics.com/t/upload-ardusub-code-to-pixhawk-using-waf/2473/3 "2018-04-12T15:37:08Z")
You will not be able to upload to the autopilot connected to a remote host with the build tools in the ardupilot repository alone. You will need to transfer the file to the remote host, and then run the px\_uploader.py script located in the tools directory of the arudpilot repository (transfer the script to the remote host, too). If you are using a BlueROV2, or a Raspberry Pi with our companion computer image, then an easier way might be to use the UI at [http://192.168.2.2:2770/system](http://192.168.2.2:2770/system). ---
**Author:** ![alexis](https://avatars.discourse-cdn.com/v4/letter/a/838e76/32.png) [@alexis](https://discuss.bluerobotics.com/u/alexis)\ **Post date:** [April 13, 2018, 9:14am UTC](https://discuss.bluerobotics.com/t/upload-ardusub-code-to-pixhawk-using-waf/2473/4 "2018-04-13T09:14:31Z")
Thank you for your replies. Patrick José I am no sure I did understand the line “./waf --upload sub”. Should I run this from inside the pixhawk? How can the command know where to upload the “sub”? On the other hand, It may be easier to follow Jacob instructions. I should be able to send the binaries/files created by waf via scp to the raspberry pi (we are using your companion computer image) and then use the script px\_uploader.py to upload it to the pixhawk. I will try to understand it’s usage. I will also take a look at the UI you mention. I did not know that utility. Why 2770? Is it a random number defined by BlueRobotics? Sorry for this questions which may be basic for you but I am still a student and I have difficulties finding documentation. ---
**Author:** ![patrickelectric](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/patrickelectric/32/2162_2.png) [@patrickelectric](https://discuss.bluerobotics.com/u/patrickelectric)\ **Post date:** [April 13, 2018, 1:07pm UTC](https://discuss.bluerobotics.com/t/upload-ardusub-code-to-pixhawk-using-waf/2473/5 "2018-04-13T13:07:46Z")
Hi Alexis, Sorry for not putting this in a clear way. > [@alexis](#): > > Patrick José I am no sure I did understand the line “./waf --upload sub”. Should I run this from inside the pixhawk? All commands of my previous post should be done in the root folder of your ArduPilot source code, it’s the local of waf script. The pixhawk should be connected in your computer usb. To do what Jacob said, related to [http://192.168.2.2:2770/system](http://192.168.2.2:2770/system) webpage, you will need: - Build ArduSub with `./waf build sub` - Go to the /system webpage. - Select **Choose File** , the .px4 file will be in `build/px4-v2/bin` inside ArduPilot root folder. - Click in **Upload**. After that, you will see the flash process happening. ```txt Attempting upload from file /tmp/data/ardusub.px4 Stopping mavproxy Flashing Pixhawk... Loaded firmware for 9,0, size: 909212 bytes, waiting for the bootloader... attempting reboot on /dev/ttyACM0... Found board 9,0 bootloader rev 4 on /dev/ttyACM0 ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff Erase : [====================] 100.0% Program: [====================] 100.0% Verify : [====================] 100.0% Rebooting. Waiting to restart mavproxy... Restarting mavproxy Complete! ``` ---
**Author:** ![jwalser](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/jwalser/32/2234_2.png) [@jwalser](https://discuss.bluerobotics.com/u/jwalser)\ **Post date:** [April 13, 2018, 2:55pm UTC](https://discuss.bluerobotics.com/t/upload-ardusub-code-to-pixhawk-using-waf/2473/6 "2018-04-13T14:55:28Z")
> [@alexis](#): > > Why 2770? Is it a random number defined by BlueRobotics? Yes. ---
**Author:** ![alexis](https://avatars.discourse-cdn.com/v4/letter/a/838e76/32.png) [@alexis](https://discuss.bluerobotics.com/u/alexis)\ **Post date:** [April 17, 2018, 12:31pm UTC](https://discuss.bluerobotics.com/t/upload-ardusub-code-to-pixhawk-using-waf/2473/7 "2018-04-17T12:31:40Z")
Hello Jacob and Patrick, Sorry for the late reply. Everything now is clear and working. Thank you for your assistance. Alexis ---
**Author:** ![rnr](https://avatars.discourse-cdn.com/v4/letter/r/ac91a4/32.png) [@rnr](https://discuss.bluerobotics.com/u/rnr)\ **Post date:** [September 15, 2018, 6:24am UTC](https://discuss.bluerobotics.com/t/upload-ardusub-code-to-pixhawk-using-waf/2473/8 "2018-09-15T06:24:38Z")
![image](https://us1.discourse-cdn.com/flex019/uploads/bluerobotics/original/2X/8/87882161905eb0a1ff878747fee181006cb69f43.png) Which directory should I be in to do this terminal flashing? The usual ardupilot folder is not doing the job for me. Let me check the GUI Flashing method. Thanks for the info anyway. ---
**Author:** ![reimonha](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/reimonha/32/10323_2.png) [@reimonha](https://discuss.bluerobotics.com/u/reimonha)\ **Post date:** [September 21, 2022, 10:14pm UTC](https://discuss.bluerobotics.com/t/upload-ardusub-code-to-pixhawk-using-waf/2473/9 "2022-09-21T22:14:19Z")
I have an issue @patrickelectric , you commented that all the commands that you talk about were to be executed on the root folder of the ArduPilot. For this, should I insert the SD card from the pixhawk to the computer, run the commands given, which will compile and upload the (modified) firmware on it. Later on, I can insert it on the pixhawk with the changes uploaded. Or the Arduipilot root folder can be access from the companion (raspberry)? If so, do you know about the path for it? There is a ardusub folder on the companion, but containing different information, python code, and shell scripts, looks different from the ardusub git repo. Thanks in advance. ---
**Author:** ![EliotBR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eliotbr/32/6937_2.png) [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)\ **Post date:** [September 22, 2022, 7:39am UTC](https://discuss.bluerobotics.com/t/upload-ardusub-code-to-pixhawk-using-waf/2473/10 "2022-09-22T07:39:58Z")
Hi @reimonha, welcome to the forum 🙂 You may wish to look through our [uploading ArduSub docs](https://www.ardusub.com/developers/developers.html#uploading-locally). To clarify Patrick’s points above: 1. configuring `waf` and building ArduSub should be done from the root of the `ardupilot` source code repository on your topside computer 2. for uploading firmware, - if you want you can use `waf` to upload to a Pixhawk that has a direct USB connection to your topside computer, but - it would be most common to upload via the Companion (or [BlueOS](https://discuss.bluerobotics.com/t/blueos-official-release/12024)) web interface (from a browser in your topside computer), when the Pixhawk is connected via USB to the onboard (Raspberry Pi) computer ---
**Author:** ![reimonha](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/reimonha/32/10323_2.png) [@reimonha](https://discuss.bluerobotics.com/u/reimonha)\ **Post date:** [September 22, 2022, 7:20pm UTC](https://discuss.bluerobotics.com/t/upload-ardusub-code-to-pixhawk-using-waf/2473/11 "2022-09-22T19:20:02Z")
Thanks a lot @EliotBR for your response, the process is now more clear, but I got another issue now on hands, I dont know if I should made a different post, but as it is on line with this post subject, I will keep it here. Before running the `./waf build sub`, command promt is telling me to first run `./waf configure`. For this, running alone any of this work, it opens VScode with the waf code, I see it is a python code, thus, i run it with `python ./waf` Python version: Python 3.10.6 It requires g++ compiler, I installed it from [MinGW - Minimalist GNU for Windows download | SourceForge.net](https://sourceforge.net/projects/mingw/) , it is recognized and on path. g++.exe ([MinGW.org](http://MinGW.org) GCC-6.3.0-1) 6.3.0 Copyright (C) 2016 Free Software Foundation, Inc. This is free software; see the source for copying conditions. There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. Nevertheless, when run `python ./waf configure` it print this: ```auto Setting top to : C:\Users\ramon\Documents\Stan\ROV\ArduSub\ardupilot Setting out to : C:\Users\ramon\Documents\Stan\ROV\ArduSub\ardupilot\build Autoconfiguration : enabled Setting board to : sitl Using toolchain : native Checking for 'g++' (C++ compiler) : Traceback (most recent call last): File "C:\Users\ramon\Documents\Stan\ROV\ArduSub\ardupilot\modules\waf\waflib\Scripting.py", line 158, in waf_entry_point run_commands() File "C:\Users\ramon\Documents\Stan\ROV\ArduSub\ardupilot\modules\waf\waflib\Scripting.py", line 251, in run_commands ctx = run_command(cmd_name) File "C:\Users\ramon\Documents\Stan\ROV\ArduSub\ardupilot\modules\waf\waflib\Scripting.py", line 235, in run_command ctx.execute() File "C:\Users\ramon\Documents\Stan\ROV\ArduSub\ardupilot\modules\waf\waflib\Configure.py", line 159, in execute super(ConfigurationContext, self).execute() File "C:\Users\ramon\Documents\Stan\ROV\ArduSub\ardupilot\modules\waf\waflib\Context.py", line 204, in execute self.recurse([os.path.dirname(g_module.root_path)]) File "C:\Users\ramon\Documents\Stan\ROV\ArduSub\ardupilot\modules\waf\waflib\Context.py", line 286, in recurse user_function(self) File "C:\Users\ramon\Documents\Stan\ROV\ArduSub\ardupilot\wscript", line 441, in configure cfg.get_board().configure(cfg) File "C:\Users\ramon\Documents\Stan\ROV\ArduSub\ardupilot\Tools/ardupilotwaf\boards.py", line 41, in configure File "C:\Users\ramon\Documents\Stan\ROV\ArduSub\ardupilot\modules\waf\waflib\Tools\gxx.py", line 152, in configure conf.find_gxx() File "C:\Users\ramon\Documents\Stan\ROV\ArduSub\ardupilot\modules\waf\waflib\Configure.py", line 316, in fun return f(*k, **kw) File "C:\Users\ramon\Documents\Stan\ROV\ArduSub\ardupilot\Tools/ardupilotwaf\toolchain.py", line 32, in find_gxx conf.get_cc_version(cxx, gcc=True) File "C:\Users\ramon\Documents\Stan\ROV\ArduSub\ardupilot\modules\waf\waflib\Configure.py", line 316, in fun return f(*k, **kw) File "C:\Users\ramon\Documents\Stan\ROV\ArduSub\ardupilot\modules\waf\waflib\Tools\c_config.py", line 1014, in get_cc_version out, err = conf.cmd_and_log(cmd, output=0, stdin=open('/dev/null','r'), env=env) FileNotFoundError: [Errno 2] No such file or directory: '/dev/null' ``` I ran all this from the ardupilot root folder on the topside computer. Thanks. ---
**Author:** ![EliotBR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eliotbr/32/6937_2.png) [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)\ **Post date:** [September 23, 2022, 1:04pm UTC](https://discuss.bluerobotics.com/t/upload-ardusub-code-to-pixhawk-using-waf/2473/12 "2022-09-23T13:04:18Z")
Are you following the [build instructions](https://www.ardusub.com/developers/developers.html), or something else? Configure should be run with a specified board, and the build environment should be set up beforehand. ---
**Author:** ![reimonha](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/reimonha/32/10323_2.png) [@reimonha](https://discuss.bluerobotics.com/u/reimonha)\ **Post date:** [September 26, 2022, 9:08pm UTC](https://discuss.bluerobotics.com/t/upload-ardusub-code-to-pixhawk-using-waf/2473/13 "2022-09-26T21:08:01Z")
Yes, I have follow the instruction step by step. About that problem, i already solved it, installing again the g++ and gcc compilers. Some errors have pop out but i was able to solve them, nevertheless now I am facing an issue that I dont even know what it is doing. I attach the screenshot with the issue, this comes when running the waf configure. ![image](https://us1.discourse-cdn.com/flex019/uploads/bluerobotics/original/2X/8/87cfcba739fb40498818fa41754549468743bb35.png) Everything was going good, but it tries to open a file, I see the path is no right because it is a path inside a path, that is why the argument (path) is invalid, and is understandable why it is failing, the issue is that I am not so sure how to fix that path, or in which script that command is getting executed. I am working with Windows 10, Python 3.10.7, gcc and g++ ([MinGW.org](http://MinGW.org) GCC-6.3.0-1) 6.3.0 (from my last post I change laptop). ---
**Author:** ![EliotBR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eliotbr/32/6937_2.png) [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)\ **Post date:** [September 27, 2022, 5:00am UTC](https://discuss.bluerobotics.com/t/upload-ardusub-code-to-pixhawk-using-waf/2473/14 "2022-09-27T05:00:00Z")
> [@reimonha](#): > > About that problem, i already solved it, installing again the g++ and gcc compilers. Some errors have pop out but i was able to solve them … Glad to hear it! 🙂 > [@reimonha](#): > > … I am not so sure how to fix that path, or in which script that command is getting executed. I’m also not sure why or where it’s doing that. Given the error message specifies there’s a complete log in `C:\Users\stan\Documents\ardupilot\build\config.log` can you check there to see if there’s a more complete error message, before we try digging into the internals of waf? ---
**Author:** ![reimonha](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/reimonha/32/10323_2.png) [@reimonha](https://discuss.bluerobotics.com/u/reimonha)\ **Post date:** [September 27, 2022, 5:15pm UTC](https://discuss.bluerobotics.com/t/upload-ardusub-code-to-pixhawk-using-waf/2473/15 "2022-09-27T17:15:35Z")
Yes, sorry i didn’t attach that, but even though for me that log was not of much help, hope you can understand it better. [config\_220926.txt](https://discuss.bluerobotics.com/uploads/short-url/lXv3FlfjCGJA6e8EUZyn3rhbRkK.txt) (32.9 KB) ---
**Author:** ![reimonha](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/reimonha/32/10323_2.png) [@reimonha](https://discuss.bluerobotics.com/u/reimonha)\ **Post date:** [September 28, 2022, 11:25pm UTC](https://discuss.bluerobotics.com/t/upload-ardusub-code-to-pixhawk-using-waf/2473/16 "2022-09-28T23:25:59Z")
Hi @EliotBR , a little update. I dig more into the code, i had to modify it a little but, but i was able to configure it, but now, when i run “./waf build sub” i get the next: ![image](https://us1.discourse-cdn.com/flex019/uploads/bluerobotics/original/2X/0/0f8f1cb3316bf45f7fb2c908b195383931ec66c3.png) I already try opening cmd as administrator and even using gsudo for the permissions, but no luck. Thanks. ---
**Author:** ![EliotBR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eliotbr/32/6937_2.png) [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)\ **Post date:** [September 29, 2022, 4:03am UTC](https://discuss.bluerobotics.com/t/upload-ardusub-code-to-pixhawk-using-waf/2473/17 "2022-09-29T04:03:06Z")
> [@reimonha](#): > > I dig more into the code, i had to modify it a little but, but i was able to configure it Good to hear! 🙂 > [@reimonha](#): > > but now, when i run “./waf build sub” i get the next: > > ```auto > [Errno 13] Permission denied: 'C:\\Users\\stan\\AppData\\Local\\Temp\\tmps6nsbudx' > Failed to created ap_romfs_embedded.h > > ``` Not sure what’s going on here, so I’ve asked our software team in case they have some ideas 🙂 ---
**Author:** ![EliotBR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eliotbr/32/6937_2.png) [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)\ **Post date:** [September 30, 2022, 3:29am UTC](https://discuss.bluerobotics.com/t/upload-ardusub-code-to-pixhawk-using-waf/2473/18 "2022-09-30T03:29:27Z")
> [@EliotBR](#): > > … I’ve asked our software team in case they have some ideas 🙂 Following up: > [@williangalvani](#): > > Not sure - I’d think the user should have access to their local folder. > I think most Windows users use WSL to build ArduSub. That also matches the ArduPilot docs, which [note that](https://ardupilot.org/dev/docs/building-setup-windows.html) > [@Setup for building with waf using Cygwin](#): > > Cygwin is not recommended for new developers. If you don’t want to use WSL, perhaps someone in the [general ArduPilot forum](https://discuss.ardupilot.org) has some more experience with waf on Windows with Cygwin 🙂 ---
**Author:** ![reimonha](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/reimonha/32/10323_2.png) [@reimonha](https://discuss.bluerobotics.com/u/reimonha)\ **Post date:** [September 30, 2022, 10:19pm UTC](https://discuss.bluerobotics.com/t/upload-ardusub-code-to-pixhawk-using-waf/2473/19 "2022-09-30T22:19:30Z")
Hi @EliotBR , thanks for the response, i have follow more the WSL installation, and now i am running it with it. ![image](https://us1.discourse-cdn.com/flex019/uploads/bluerobotics/original/2X/9/9568f57cad2c7b8763ac0bb92a8912856906d103.png) ![image](https://us1.discourse-cdn.com/flex019/uploads/bluerobotics/original/2X/9/9bbbc5027c6d1bd0f8e466f9eb809362f475b1c3.png) Configuration is done correctly, but now build command now breaks somewhere else: ```auto rov@GWTN156-7:/mnt/c/Users/stan/ardupilot$ sudo python3 waf build sub Setting top to : /mnt/c/Users/stan/ardupilot Setting out to : /mnt/c/Users/stan/ardupilot/build Autoconfiguration : enabled Setting board to : Pixhawk1 Using toolchain : arm-none-eabi Checking for 'g++' (C++ compiler) : /usr/bin/arm-none-eabi-g++ Checking for 'gcc' (C compiler) : /usr/bin/arm-none-eabi-gcc Checking for c flags '-MMD' : yes Checking for cxx flags '-MMD' : yes CXX Compiler : g++ 10.3.1 Checking for program 'make' : /usr/bin/make Checking for program 'arm-none-eabi-objcopy' : /usr/bin/arm-none-eabi-objcopy Including /mnt/c/Users/stan/ardupilot/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat Setup for MCU STM32F427xx Writing hwdef setup in /mnt/c/Users/stan/ardupilot/build/Pixhawk1/hwdef.h Writing DMA map Generating ldscript.ld No default parameter file found Checking for env.py env set WITH_FATFS=1 env set PROCESS_STACK=0x1C00 env set MAIN_STACK=0x600 env set IOMCU_FW=0 env set PERIPH_FW=0 env set HAL_NUM_CAN_IFACES=2 env set BOARD_FLASH_SIZE=2048 env set CPU_FLAGS=['-mcpu=cortex-m4', '-mfpu=fpv4-sp-d16', '-mfloat-abi=hard', '-DARM_MATH_CM4', '-u_printf_float'] env set CORTEX=cortex-m4 env set APJ_BOARD_ID=9 env set APJ_BOARD_TYPE=STM32F427xx env set USBID=0x1209/0x5741 env set BOOTLOADER_EMBED=1 env set FLASH_RESERVE_START_KB=16 env set FLASH_TOTAL=2080768 env set CHIBIOS_BUILD_FLAGS=USE_FATFS=yes CHIBIOS_STARTUP_MK=os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk CHIBIOS_PLATFORM_MK=os/hal/ports/STM32/STM32F4xx/platform.mk MCU=cortex-m4 ENV_UDEFS=-DCHPRINTF_USE_FLOAT=1 Enabling ChibiOS asserts : no Enabling malloc guard : no Enabling ChibiOS thread statistics : no Enabling -Werror : no Checking for intelhex module: : disabled Checking for HAVE_CMATH_ISFINITE : yes Checking for HAVE_CMATH_ISINF : yes Checking for HAVE_CMATH_ISNAN : yes Checking for NEED_CMATH_ISFINITE_STD_NAMESPACE : yes Checking for NEED_CMATH_ISINF_STD_NAMESPACE : yes Checking for NEED_CMATH_ISNAN_STD_NAMESPACE : yes Checking for header endian.h : not found Checking for header byteswap.h : not found Checking for HAVE_MEMRCHR : no Checking for program 'python' : /usr/bin/python3 Checking for python version >= 2.7.0 : 3.10.6 Checking for program 'python' : /usr/bin/python3 Checking for python version >= 2.7.0 : 3.10.6 Source is git repository : yes Update submodules : yes Checking for program 'git' : /usr/bin/git Gtest : STM32 boards currently don't support compiling gtest Checking for program 'arm-none-eabi-size' : /usr/bin/arm-none-eabi-size Benchmarks : disabled Unit tests : disabled Scripting : enabled Scripting runtime checks : enabled Debug build : disabled Coverage build : disabled Checking for program 'rsync' : /usr/bin/rsync Waf: Entering directory `/mnt/c/Users/stan/ardupilot/build/Pixhawk1' Checking for env.py env added WITH_FATFS=1 env added PROCESS_STACK=0x1C00 env added MAIN_STACK=0x600 env added IOMCU_FW=0 env added PERIPH_FW=0 env added HAL_NUM_CAN_IFACES=2 env added BOARD_FLASH_SIZE=2048 env appended CPU_FLAGS=['-mcpu=cortex-m4', '-mfpu=fpv4-sp-d16', '-mfloat-abi=hard', '-DARM_MATH_CM4', '-u_printf_float'] env added CORTEX=cortex-m4 env added APJ_BOARD_ID=9 env added APJ_BOARD_TYPE=STM32F427xx env added USBID=0x1209/0x5741 env added BOOTLOADER_EMBED=1 env added FLASH_RESERVE_START_KB=16 env added FLASH_TOTAL=2080768 env added CHIBIOS_BUILD_FLAGS=USE_FATFS=yes CHIBIOS_STARTUP_MK=os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk CHIBIOS_PLATFORM_MK=os/hal/ports/STM32/STM32F4xx/platform.mk MCU=cortex-m4 ENV_UDEFS=-DCHPRINTF_USE_FLOAT=1 Embedding file bootloader.bin:/mnt/c/Users/stan/ardupilot/Tools/bootloaders/Pixhawk1_bl.bin Embedding file hwdef.dat:/mnt/c/Users/stan/ardupilot/build/Pixhawk1/hw.dat Embedding file io_firmware.bin:Tools/IO_Firmware/iofirmware_lowpolh.bin [6/10] Processing modules/mavlink/message_definitions/v1.0/ardupilotmega.xml Waf: Leaving directory `/mnt/c/Users/stan/ardupilot/build/Pixhawk1' Build failed Traceback (most recent call last): File "/mnt/c/Users/stan/ardupilot/modules/waf/waflib/Task.py", line 348, in process ret = self.run() File "/mnt/c/Users/stan/ardupilot/Tools/ardupilotwaf/mavgen.py", line 55, in run from pymavlink.generator import mavgen File "/mnt/c/Users/stan/ardupilot/modules/mavlink/pymavlink/generator/mavgen.py", line 26, in from future import standard_library ModuleNotFoundError: No module named 'future' ``` I already try installing that module, using pip install future, pip3 install future, python3 -m pip install future, inside and outside the WSL (PowerShell and CMD), but no luck. If I open a file and import it, it is recognize, in WSL and PowerShell, and I have even run a test code where I import that module, but have no luck with the build. I see that in the Task class on “/ardupilot/Tools/ardupilotwaf/mavgen.py”, you set a PATH, an env PATH, thus i dont know if somewhere there is messing with the Python path. PD: I re-run waf configure after pip installation future. I also use waf clean to clean configuration, and re-run configure, both methods without any luck. I know this is a weird case, but thanks for the help. ---
**Author:** ![EliotBR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eliotbr/32/6937_2.png) [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)\ **Post date:** [October 3, 2022, 2:13am UTC](https://discuss.bluerobotics.com/t/upload-ardusub-code-to-pixhawk-using-waf/2473/20 "2022-10-03T02:13:21Z")
`waf` is expected to be run with `./waf `, whereas you’re using `sudo python3 waf args` (which [is likely in a different environment](https://stackoverflow.com/a/50315865), that `future` is presumably not installed into). I’d suggest you try running normally 🙂