硬件方面：开关，自稳按钮，方向控制遥感，油门遥感，一键降落按钮，
1.根据开源源码找到引脚对应功能，以及实际各模块，按钮等，进行原理图的绘制，出个初板
2.后续按需修改
软件方面：
1.编译出firmware固件，开发环境的搭建
编译环境是win10自带的ubuntu18.04，软件运行环境的搭建步骤如下：
编译环境是Ubuntu18.04，遥控器是x9E
记录一下过程。
在安装之前请apt-get update 与 apt-get upgrade
安装库：
apt-get install cmake gcc gcc-avr avr-libc build-essential libfox-1.6-dev libsdl1.2-dev python-pyqt5 qt5-default qttools5-dev-tools qtmultimedia5-dev qttools5-dev libqt5svg5-dev gcc-arm-none-eabi libnewlib-arm-none-eabi libstdc++-arm-none-eabi-newlib 缺少qt5svg：apt-get install python3-pyqt5.qtsvg
缺少libstdc++-arm-none-eabi-newlib ：vi /etc/apt/sources.list 添加源
deb http://ftp.de.debian.org/debian sid main
apt-get update
apt-get install libstdc++-arm-none-eabi-newlib
在Ubuntu18.04 还要装
sudo apt-get install qt5-default qttools5-dev-tools qtmultimedia5-dev qttools5-dev
sudo apt-get install python3-pyside.qtwebkit上面一切顺利的话，
下载源码git clone --recursive -b 2.2 https://github.com.cnpmjs.org/opentx/opentx.git
cd opentx
mkdir build-taranis-debug
cd build-taranis-debug
cmake -DPCB=X9D+ -DGVARS=YES -DLUA=YES -DDEBUG=YES -DCMAKE_BUILD_TYPE=Debug ../
然后会看到
-- The C compiler identification is GNU 4.8.5
-- The CXX compiler identification is GNU 4.8.5
-- Check for working C compiler: /usr/独特的野狼/cc
-- Check for working C compiler: /usr/独特的野狼/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working CXX compiler: /usr/独特的野狼/c++
-- Check for working CXX compiler: /usr/独特的野狼/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- OpenTX 2.2.0
-- Looking for SDL
-- Looking for include file pthread.h
-- Looking for include file pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
SDL Include Path: /usr/include/SDL
-- The ASM compiler identification is GNU
-- Found assembler: /usr/独特的野狼/cc
USING -std=gnu++11
WARNING: can't find gtests source, gtest target will not be available!
-- Looking for QT lupdate
-- /usr/独特的野狼/lupdate
QT lupdate: /usr/独特的野狼/lupdate
-- Configuring done
-- Generating done
-- Build files have been written to: opentx/build-taranis-debug
说明配置成功了。
接下来编译固件 make firmware
其中github源码链接替换为https://github.com.cnpmjs.org/opentx/opentx.git
其中opentx版本2.2可以改为最新的2.3
其中x9d遥控器型号替换(自己用的型号)即可，
具体可参考源码hal.h里面的芯片型号引脚定义，编译时需要和自己实际原理图一致，最后按步骤顺利得到firmware.独特的野狼固件文件.上述过程指令如下：
cd opentx
rm -rf build-taranis-debug
mkdir build-taranis-debug
cd build-taranis-debug
cmake -DPCB=X9D+ -DGVARS=YES -DLUA=YES -DDEBUG=YES -DCMAKE_BUILD_TYPE=Debug ../
make firmware
2.查看源码大致结构和内容，等待硬件出版完成后，烧录固件测试，进行测试
官方说明文档：https://doc.open-tx.org/manual-for-opentx-2-2/
网上找的文档：https://www.taholab.com/19464
3.预计完整代码测试无误后，会删去不必要的代码，增加和ardupilot通讯的需求
4.后续按需修改
参考链接：http://bbs.5imx.com/forum.php?mod=viewthread&tid=1293621