QGroundControl@Jetson Orin Nano - 从代码编译安装 ~ 初心不改！！！

1. 源由

有看过QGroundControl@Jetson Orin Nano - 从代码编译安装这篇的朋友嘛？

相信看过的朋友就知道为什么有这个标题了 - “初心不改！！！”

源由其实很简单，不折腾的人不知道折腾的乐趣！其实主要的原因是，笔者要带着jetson-fpv出去玩。

那显然，需要这个Jetson能够有个支持AP的地面站。MP是好，问题是C#的，不至于Jetson的板子上在装个虚拟机吧，这。。。 这。。。

注：官网给出的答复是“不支持其他嵌入式板子”。说穿了，人家就是懒得管普通用户。

• Build on Jetson Orin Nano, failed with /usr/lib/x86_64-linux-gnu #12109
• How to sucessfully build QGC on Jetson Orin Nano? #11614

2. 结论

不管“三七二十一”，首先上图，有图有真相，皆大欢喜！！！

$ git log -n 1
commit 1b8f5037a7ce913ed36bcd16f8c39399fcea0639 (HEAD -> master, origin/master, origin/HEAD)
Author: benjinne <benjinne@gmail.com>
Date:   Fri Nov 15 16:55:50 2024 -0500

    Point mavlink cmake to latest repo

3. 步骤

开源的步骤，其工程重复性是比较好的，远超过国内大部分公司的专业性，混职场的都知道所谓的“口口相传”的经验，嘿嘿。

当然，开源并非都是很高质量，但是至少火热的项目是非常好的。

需要详细步骤的，请参考以下链接内容：

1. QGroundControl 源码库 //这里是总入口
2. QGroundControl Build Guide //为了省去大家的时间，直接给出
3. Download Qt for open source use

最重要的就是所谓的QT版本问题，其实也没有那么重要，重要的是逻辑思考，人的大脑思考，分析问题，解决问题的能力才是最重要的。

3.1 基础环境

参考以下文档，安装JetPack 5.1.4 Linux35.6系统

• 《Linux 36.3@Jetson Orin Nano之系统安装》

Python Environment:
Python 3.8.10
    GStreamer:                   YES (1.16.3)
  NVIDIA CUDA:                   YES (ver 11.4, CUFFT CUBLAS FAST_MATH)
OpenCV version: 4.9.0 , CUDA support: True


Software part of jetson-stats 4.2.12 - (c) 2024, Raffaello Bonghi
Model: NVIDIA Orin Nano Developer Kit - Jetpack 5.1.4 [L4T 35.6.0]
NV Power Mode[0]: 15W
Serial Number: [XXX Show with: jetson_release -s XXX]
Hardware:
 - P-Number: p3767-0005
 - Module: NVIDIA Jetson Orin Nano (Developer kit)
Platform:
 - Distribution: Ubuntu 20.04 focal
 - Release: 5.10.216-tegra
jtop:
 - Version: 4.2.12
 - Service: Active
Libraries:
 - CUDA: 11.4.315
 - cuDNN: 8.6.0.166
 - TensorRT: 8.5.2.2
 - VPI: 2.4.8
 - OpenCV: 4.9.0 - with CUDA: YES

• Linux 35.6 + JetPack v5.1.4@python opencv安装
• Linux 36.2@Jetson Orin Nano之基础环境构建

由于软件更新等问题，请根据实际情况，调整预装的依赖软件环境：

$ sudo apt-get update
$ sudo apt-get install libsdl2-dev libgstreamer1.0-dev libglib2.0-dev libgstreamer-plugins-base1.0-dev libgeographic-dev geographiclib-tools

3.2 安装QT版本

从安装指南的角度说QT选用6.6.3版本，而实际从上述ARM QT安装工具 压根没有6.6.3版本。

• Download Qt for open source use

• 笔者看到的是 6.7.0/6.7.1/6.7.2/6.7.3/6.8.0
• 本着6.6和6.7的差异，和版本发布逻辑6.7.3是6.7.x系列最优且与6.6.x同样兼容性的版本

最终，笔者就装了6.7.3版本。

$ wget https://d13lb3tujbc8s0.cloudfront.net/onlineinstallers/qt-online-installer-linux-arm64-4.8.1.run
$ sudo ./qt-online-installer-linux-arm64-4.8.1.run

注：请在图形界面操作，不要用putty什么的，因为是一个类似windows的对话框傻瓜式 step by step安装。

3.3 下载QGC代码

$ git clone --recursive -j8 https://github.com/mavlink/qgroundcontrol.git
$ git submodule update --recursive

有git账号的，直接用git协议下，否则防火墙什么的，各种耽误浪费时间的问题。

$ git clone --recursive -j8 git@github.com:mavlink/qgroundcontrol.git
$ git submodule update --recursive

3.4 配置QGC编译

这里才是开始折腾的时候，各种问题，千奇百怪，发挥各位去伪存真的折腾以及探索的本领。

经过千难万险，拨云见雾，终于看到了曙光。这一路上充满了挑战和困难，仿佛置身于迷雾中，前方看似一片迷茫，但在不断的努力和探索中，逐渐突破了层层障碍，清晰的方向终于浮现出来。每一次的坚持和突破，都让人感到一种无形的力量在推动着自己向前，直至最终冲破迷雾，迎接属于自己的光明。

详见：第4章节 😃

$ cd qgroundcontrol
$ cmake -B build -G Ninja -DCMAKE_BUILD_TYPE=Debug

注：根据QT安装位置，需要适当调整上述cmake命令。

$ cmake -DQt6_DIR=/opt/Qt/6.7.3/gcc_arm64/lib/cmake/Qt6/ -B build -G Ninja -DCMAKE_BUILD_TYPE=Debug

3.5 编译/执行QGC

$ cmake --build build --config Debug
$ ./build/QGroundControl

注：如果之前编译的不要了，想重新做一次编译，直接删除之前的编译内容rm -rf build。

3.6 打包安装文件

$ cd build
$ cmake --install . --config Release

3.7 第一次启动&退出

$ ./build/QGroundControl
qgc.qgcapplication: Settings location "/home/daniel/.config/QGroundControl.org/QGroundControl Daily.ini" Is writable?: true
Filter rules "*Log.debug=false\nqgc.*.debug=false\nGStreamerAPILog.debug=true\nqt.qml.connections=false"
PX4ParameterMetaDataLog: Invalid max value, name: "VTQ_TELEM_IDS_1"  type: 5  max: "4294967295"  error: "Value must be within 0 and 2147483647"
PX4ParameterMetaDataLog: Invalid value for bitmask, bit: 31
PX4ParameterMetaDataLog: Invalid max value, name: "VTQ_TELEM_IDS_1"  type: 5  max: "4294967295"  error: "Value must be within 0 and 2147483647"
PX4ParameterMetaDataLog: Invalid value for bitmask, bit: 31
PX4ParameterMetaDataLog: Invalid max value, name: "VTQ_TELEM_IDS_1"  type: 5  max: "4294967295"  error: "Value must be within 0 and 2147483647"
PX4ParameterMetaDataLog: Invalid value for bitmask, bit: 31
qt.tlsbackend.ossl: Incompatible version of OpenSSL (built with OpenSSL >= 3.x, runtime version is < 3.x)
VideoReceiverLog: Stop called on empty URI
VideoReceiverLog: Stop called on empty URI
Exiting main
VideoReceiverLog: Stop called on empty URI
VideoReceiverLog: Stop called on empty URI

4. 问题

问题太多，太零散，总结在这里，方便今后查找，如果遇到其他问题，会继续补充！

4.1 代理服务器

• 现象

经常会看到以下错误或者问题：

GnuTLS recv error (-110): The TLS connection was non-properly terminated.

Failed to connect to github.com port 443: Connection timed out

CMake Error at /usr/local/share/cmake-3.31/Modules/FetchContent.cmake:1918 (message):
  Build step for ulogparser failed: 1
Call Stack (most recent call first):
  /usr/local/share/cmake-3.31/Modules/FetchContent.cmake:1609 (__FetchContent_populateSubbuild)
  /usr/local/share/cmake-3.31/Modules/FetchContent.cmake:2145:EVAL:2 (__FetchContent_doPopulation)
  /usr/local/share/cmake-3.31/Modules/FetchContent.cmake:2145 (cmake_language)
  /usr/local/share/cmake-3.31/Modules/FetchContent.cmake:2384 (__FetchContent_Populate)
  src/AnalyzeView/CMakeLists.txt:55 (FetchContent_MakeAvailable)

当然，代理服务器自己由于网络，有的时候也会有问题：//遇到网络问题就是不断尝试，忍！忍！忍！

Proxy CONNECT aborted

• 方案

感谢祖国的防火墙，使得技术工作这么有乐趣，需要不停的配置代理（而且还被定义为非法的）。不怕被安全部门盯上的朋友来这里看看《Linux服务器配置代理服务器》。

总的来说，不要搞政治相关的事情，一般不会吃牢饭。话又说回来，有劳饭吃证明有工作，比在外面找不到工作强。喜欢的朋友记得点赞！！！

4.2 cmake版本过低

• 现象

$ cmake -B build -G Ninja -DCMAKE_BUILD_TYPE=Debug
CMake Error at CMakeLists.txt:1 (cmake_minimum_required):
  CMake 3.22.1 or higher is required.  You are running version 3.16.3


-- Configuring incomplete, errors occurred!

• 方案

升级cmake版本

$ sudo apt remove cmake
$ wget https://github.com/Kitware/CMake/releases/download/v3.31.0/cmake-3.31.0.tar.gz
$ tar -xzvf cmake-3.31.0.tar.gz
$ cd cmake-3.31.0/
$ ./bootstrap && make && sudo make install

检查cmake版本

$ cmake --version
cmake version 3.31.0

CMake suite maintained and supported by Kitware (kitware.com/cmake).

4.3 QT路径异常

• 现象

$ cmake -B build -G Ninja -DCMAKE_BUILD_TYPE=Debug
-- Using CCache
CMake Error at CMakeLists.txt:157 (find_package):
  Could not find a package configuration file provided by "Qt6" with any of
  the following names:

    Qt6Config.cmake
    qt6-config.cmake

  Add the installation prefix of "Qt6" to CMAKE_PREFIX_PATH or set "Qt6_DIR"
  to a directory containing one of the above files.  If "Qt6" provides a
  separate development package or SDK, be sure it has been installed.


-- Configuring incomplete, errors occurred!

• 方案

查看下当前QT安装和配置的情况：

$ find / -name "Qt6Config.cmake" 2>/dev/null
/opt/Qt/6.7.3/android_x86_64/lib/cmake/Qt6/Qt6Config.cmake
/opt/Qt/6.7.3/android_armv7/lib/cmake/Qt6/Qt6Config.cmake
/opt/Qt/6.7.3/android_arm64_v8a/lib/cmake/Qt6/Qt6Config.cmake
/opt/Qt/6.7.3/wasm_singlethread/lib/cmake/Qt6/Qt6Config.cmake
/opt/Qt/6.7.3/wasm_multithread/lib/cmake/Qt6/Qt6Config.cmake
/opt/Qt/6.7.3/gcc_arm64/lib/cmake/Qt6/Qt6Config.cmake
/opt/Qt/6.7.3/android_x86/lib/cmake/Qt6/Qt6Config.cmake

两个方法：（笔者采用第二种）

• export CMAKE_PREFIX_PATH=/opt/Qt/6.7.3/gcc_arm64/lib/cmake/Qt6/:$CMAKE_PREFIX_PATH
• cmake -DQt6_DIR=/opt/Qt/6.7.3/gcc_arm64/lib/cmake/Qt6/ -B build -G Ninja -DCMAKE_BUILD_TYPE=Debug

4.4 kissfft.hh编译问题

• 现象

CMake Warning (dev) in build/_deps/geographiclib-src/src/CMakeLists.txt:
  Policy CMP0100 is not set: Let AUTOMOC and AUTOUIC process .hh files.  Run
  "cmake --help-policy CMP0100" for policy details.  Use the cmake_policy
  command to set the policy and suppress this warning.

  For compatibility, CMake is excluding the header file(s):

    "/home/daniel/Work/qgroundcontrol/build/_deps/geographiclib-src/src/kissfft.hh"

  from processing by AUTOMOC and AUTOUIC.  If any of the files should be
  processed, set CMP0100 to NEW.  If any of the files should not be
  processed, explicitly exclude them by setting the source file property
  SKIP_AUTOGEN:

    set_property(SOURCE file.hh PROPERTY SKIP_AUTOGEN ON)

This warning is for project developers.  Use -Wno-dev to suppress it.

• 方案

$ vi build/_deps/geographiclib-src/src/CMakeLists.txt

新增一行配置：

set_property(SOURCE kissfft.hh PROPERTY SKIP_AUTOGEN ON)

4.5 x86_64-linux-gnu路径问题

• 现象

CMake Error in src/VideoManager/VideoReceiver/GStreamer/gstqml6gl/CMakeLists.txt:
  Imported target "GStreamer::GStreamer" includes non-existent path

    "/usr/lib/x86_64-linux-gnu/glib-2.0/include"

  in its INTERFACE_INCLUDE_DIRECTORIES.  Possible reasons include:

  * The path was deleted, renamed, or moved to another location.

  * An install or uninstall procedure did not complete successfully.

  * The installation package was faulty and references files it does not
  provide.

• 方案

检查glib安装路径：

$ find /usr -name glibconfig.h
/usr/lib/aarch64-linux-gnu/glib-2.0/include/glibconfig.h

$ pkg-config --cflags glib-2.0
-I/usr/include/glib-2.0 -I/usr/lib/aarch64-linux-gnu/glib-2.0/include

$ pkg-config --libs glib-2.0
-lglib-2.0

采用欺骗编译器的方法，蒙混过关：（最终方案还需要从兼容性方面考虑）

• Build on Jetson Orin Nano, failed with /usr/lib/x86_64-linux-gnu #12109

$ sudo ln -s /usr/lib/aarch64-linux-gnu /usr/lib/x86_64-linux-gnu

4.6 LibExiv2版本问题

• 现象

Could NOT find LibExiv2: Found unsuitable version "0.27.2", but required is at least "0.28.2" (found /usr/lib/aarch64-linux-gnu/libexiv2.so)

• 方案

$ sudo apt remove libexiv2-dev

$ wget https://github.com/Exiv2/exiv2/archive/refs/tags/v0.28.3.tar.gz
$ tar -xvzf exiv2-0.28.3.tar.gz
$ cd exiv2-0.28.3
$ sudo apt install cmake g++ pkg-config libpng-dev libjpeg-dev libtiff-dev
$ mkdir build
$ cd build
$ cmake ..
$ make
$ sudo make install
$ exiv2 --version

5. 总结

虽然能够编译通过，且也能正常连接MAVLink设备，但是Video这块似乎并不正常。

• “Unable to link video sink” on Jetson Orin Nano #12135

同时，很高兴看到一些问题，确实在推进，并且得到了解决：

• QGC wont start on Multiple Windows 11 Laptops #10126
• Add Support for MAVLink2 Message Signing #8958
• Build on Jetson Orin Nano, failed with /usr/lib/x86_64-linux-gnu #12109
• Why QGC load things from D drive? #11506
• How to sucessfully build QGC on Jetson Orin Nano? #11614

6. 参考资料

看似简单的编译，要完全搞透彻，也是需要一定磨炼的！

【1】QGroundControl@Jetson Orin Nano - 从代码编译安装
【2】QGroundControl之安装调试

7. 补充内容

尽量让warning去掉，使得输出的配置看上没有问题，确保兼容性尽量靠近设计人员的思路。

$ cmake -DQt6_DIR=/opt/Qt/6.7.3/gcc_arm64/lib/cmake/Qt6/ -B build -G Ninja -DCMAKE_BUILD_TYPE=Debug
-- Found Git: /usr/bin/git (found version "2.25.1")
-- QGC_GIT_BRANCH="master"
-- QGC_GIT_HASH="1b8f5037a"
-- QGC_APP_VERSION_STR="latest-60-g1b8f5037a"
-- QGC_APP_VERSION="v4.3.0"
-- QGC_APP_DATE="2023-11-20T18:46:48-08:00"
-- QGC_APP_VERSION_VALID="0"
-- QGC_APP_VERSION="4.3.0" ; QGC_APP_VERSION_MAJOR="4" ; QGC_APP_VERSION_MINOR="3" ; QGC_APP_VERSION_PATCH="0"
-- The C compiler identification is GNU 9.4.0
-- The CXX compiler identification is GNU 9.4.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CCache
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
-- Check if compiler accepts -pthread
-- Check if compiler accepts -pthread - yes
-- Found Threads: TRUE
-- Performing Test HAVE_STDATOMIC
-- Performing Test HAVE_STDATOMIC - Success
-- Found WrapAtomic: TRUE
-- Found OpenGL: /usr/lib/aarch64-linux-gnu/libOpenGL.so
-- Found WrapOpenGL: TRUE
-- Found XKB: /usr/lib/aarch64-linux-gnu/libxkbcommon.so (found suitable version "0.10.0", minimum required is "0.5.0")
-- Found WrapVulkanHeaders: /usr/include
-- Found Wayland_Client: /usr/lib/aarch64-linux-gnu/libwayland-client.so (found version "1.18.0")
-- Found Wayland_Server: /usr/lib/aarch64-linux-gnu/libwayland-server.so (found version "1.18.0")
-- Found Wayland_Cursor: /usr/lib/aarch64-linux-gnu/libwayland-cursor.so (found version "1.18.0")
-- Found Wayland_Egl: /usr/lib/aarch64-linux-gnu/libwayland-egl.so (found version "18.1.0")
-- Found Wayland: /usr/lib/aarch64-linux-gnu/libwayland-client.so;/usr/lib/aarch64-linux-gnu/libwayland-server.so;/usr/lib/aarch64-linux-gnu/libwayland-cursor.so;/usr/lib/aarch64-linux-gnu/libwayland-egl.so (found suitable version "1.18.0", minimum required is "1.15")
-- Found WaylandScanner: /usr/bin/wayland-scanner
-- Found LibExiv2: /usr/local/lib/libexiv2.so (found suitable version "0.28.3", minimum required is "0.28.2")
-- Checking for module 'speech-dispatcher'
--   Found speech-dispatcher, version 0.9.1
-- Performing Test HAVE_FLITE
-- Performing Test HAVE_FLITE - Success
-- Found Flite: /usr/lib/aarch64-linux-gnu/libflite.so
-- Found GeographicLib: /usr/local/lib (Required is at least version "2.3")
-- Found GeographicLib
-- GeographicLib_LIBRARIES="/usr/local/lib/libGeographicLib.so" ; GeographicLib_INCLUDE_DIRS="/usr/local/include" ; GeographicLib_LIBRARY_DIRS="/usr/local/lib"
-- Joystick_targets="Joystick_resources_2;Joystickplugin_init"
-- Found SDL2: /usr/local/lib/libSDL2.so (found suitable version "2.30.9", minimum required is "2.30.0")
-- Found SDL2main: /usr/local/lib/libSDL2main.a (found version "2.30.9")
-- Found JoystickSDL 2.30.9
-- Not enabling format target (clang-format not found)
-- Found ZLIB: /usr/local/lib/libz.a (found suitable version "1.3.1", minimum required is "1.3")
-- Found ZLIB 1.3.1
-- Found Shapelib: /usr/local/include (found suitable version "1.6.1", minimum required is "1.6.0")
-- Found Shapelib 1.6.1
-- UTMSP: Dummy is Initialized
-- QGC_ENABLE_GST_VIDEOSTREAMING="ON"
-- GSTREAMER_PREFIX="/usr"
-- GSTREAMER_LIB_PATH="/usr/lib/x86_64-linux-gnu"
-- Found GLIB2: /usr/lib/aarch64-linux-gnu/libglib-2.0.so
-- Checking for module 'gobject-2.0'
--   Found gobject-2.0, version 2.64.6
-- PKG_CONFIG_PATH /usr/lib/x86_64-linux-gnu/pkgconfig:/usr/lib/x86_64-linux-gnu/gstreamer-1.0/pkgconfig:
-- PKG_CONFIG_LIBDIR
-- PKG_CONFIG_EXECUTABLE="/usr/bin/pkg-config" ; PKG_CONFIG_ARGN=""
-- Checking for module 'gstreamer-1.0'
--   Found gstreamer-1.0, version 1.16.3
-- GStreamer_VERSION="1.16.3"
-- GST_VERSION_MAJOR="1" ; GST_VERSION_MINOR="16" ; GST_VERSION_PATCH="3"
-- GST_PLUGINS_VERSION="1.16.3"
-- Checking for module 'gstreamer-1.0'
--   Found gstreamer-1.0, version 1.16.3
-- Checking for module 'gstreamer-base-1.0'
--   Found gstreamer-base-1.0, version 1.16.3
-- Checking for module 'gstreamer-video-1.0'
--   Found gstreamer-video-1.0, version 1.16.3
-- Checking for module 'gstreamer-gl-1.0'
--   Found gstreamer-gl-1.0, version 1.16.3
-- Checking for module 'gstreamer-allocators-1.0'
--   Found gstreamer-allocators-1.0, version 1.16.3
-- Checking for module 'libdrm'
--   Found libdrm, version 2.4.107
-- Checking for module 'gstreamer-app-1.0'
--   Found gstreamer-app-1.0, version 1.16.3
-- Checking for module 'gstreamer-audio-1.0'
--   Found gstreamer-audio-1.0, version 1.16.3
-- Checking for module 'gstreamer-codecparsers-1.0'
--   Found gstreamer-codecparsers-1.0, version 1.16.3
-- Checking for module 'gstreamer-controller-1.0'
--   Found gstreamer-controller-1.0, version 1.16.3
-- Checking for module 'gstreamer-fft-1.0'
--   Found gstreamer-fft-1.0, version 1.16.3
-- Checking for module 'gstreamer-gl-prototypes-1.0'
--   No package 'gstreamer-gl-prototypes-1.0' found
-- Checking for module 'gstreamer-gl-wayland-1.0'
--   No package 'gstreamer-gl-wayland-1.0' found
-- Checking for module 'gstreamer-gl-x11-1.0'
--   No package 'gstreamer-gl-x11-1.0' found
-- Checking for module 'gstreamer-mpegts-1.0'
--   Found gstreamer-mpegts-1.0, version 1.16.3
-- Checking for module 'gstreamer-net-1.0'
--   Found gstreamer-net-1.0, version 1.16.3
-- Checking for module 'gstreamer-pbutils-1.0'
--   Found gstreamer-pbutils-1.0, version 1.16.3
-- Checking for module 'gstreamer-photography-1.0'
--   No package 'gstreamer-photography-1.0' found
-- Checking for module 'gstreamer-riff-1.0'
--   Found gstreamer-riff-1.0, version 1.16.3
-- Checking for module 'gstreamer-rtp-1.0'
--   Found gstreamer-rtp-1.0, version 1.16.3
-- Checking for module 'gstreamer-sdp-1.0'
--   Found gstreamer-sdp-1.0, version 1.16.3
-- Checking for module 'gstreamer-rtsp-1.0'
--   Found gstreamer-rtsp-1.0, version 1.16.3
-- Checking for module 'gstreamer-tag-1.0'
--   Found gstreamer-tag-1.0, version 1.16.3
-- Checking for module 'gstreamer-va-1.0'
--   No package 'gstreamer-va-1.0' found
-- Found GStreamer: TRUE  found components: Allocators App Audio Codecparsers Controller Fft Mpegts Net Pbutils Riff Rtp Rtsp Sdp Tag missing components: GlEGL GlPrototypes GlWayland GlX11 Photography Va
-- GSTREAMER_PLUGIN_PATH="/usr/lib/x86_64-linux-gnu/gstreamer-1.0"
-- plugin="gstcoreelements"
-- plugin="gstisomp4"
-- plugin="gstlibav"
-- plugin="gstmatroska"
-- plugin="gstopengl"
-- plugin="gstplayback"
-- plugin="gstrtp"
-- plugin="gstrtpmanager"
-- plugin="gstrtsp"
-- plugin="gsttcp"
-- plugin="gstudp"
-- plugin="gstx264"
-- plugin="gstapp"
-- plugin="gstvaapi"
-- QGC_GST_QT6_PLUGIN_PATH="/home/daniel/Work/qgroundcontrol/src/VideoManager/VideoReceiver/GStreamer/gstqml6gl/qt6"
-- QGC_ENABLE_QT_VIDEOSTREAMING="OFF"
-- Viewer3D is Initialized
-- Install prefix:            /home/daniel/Work/qgroundcontrol/build/AppDir/usr
-- ------------------------------------------------------------------
-- CMake Generator:           Ninja
-- CMAKE_BUILD_TYPE:          Debug
-- Compiler info:             GNU (/usr/bin/c++) ; version: 9.4.0
-- CMAKE_CXX_STANDARD:        17
--  --- Compiler flags ---
-- General:
-- Extra:
-- Debug:                     -g
-- Release:                   -O3 -DNDEBUG
-- RelWithDebInfo:            -O2 -g -DNDEBUG
-- MinSizeRel:                -Os -DNDEBUG
--  --- Linker flags ---
-- General:
-- Debug:
-- Release:
-- RelWithDebInfo:
-- MinSizeRel:
--
-- CMake Version:             3.31.0
-- CMake Prefix:
-- CMake Host System Name:    Linux
-- CMake Host System Version: 5.10.216-tegra
-- CMake System Name:         Linux
-- CMake System Version:      5.10.216-tegra
-- CMake Source Dir:          /home/daniel/Work/qgroundcontrol
-- CMake Toolchain File:
-- App Name:                  QGroundControl
-- Org Name:                  QGroundControl.org
-- App Domain:                org.qgroundcontrol
-- App Version:               latest-60-g1b8f5037a
-- Stable Build:              NO
-- Building Tests:            YES
-- Debug QML:                 NO
-- No Serial Links:           NO
-- Disable APM MAVLink:       NO
-- Build Dependencies:        NO
qmldir file not found at "/home/daniel/Work/qgroundcontrol/build/qml/QGroundControl"
-- Configuring done (38.2s)
-- Generating done (2.8s)
-- Build files have been written to: /home/daniel/Work/qgroundcontrol/build

7.1 SDL2版本

• 现象

-- Could NOT find SDL2: Found unsuitable version "2.0.10", but required is at least "2.30.0" (found /usr/lib/aarch64-linux-gnu/libSDL2.so)
-- Checking for module 'sdl2>=2.30.0'
--   Requested 'sdl2 >= 2.30.0' but version of sdl2 is 2.0.10

• 方案

$ sudo apt remove libsdl2-2.0-0 libsdl2-dev
$ wget https://github.com/libsdl-org/SDL/releases/download/release-2.30.9/SDL2-2.30.9.tar.gz
$ tar xvf SDL2-2.30.9.tar.gz
$ cd SDL2-2.30.9
$ cmake -S . -B build
$ cmake --build build
$ cmake --install build
$ sudo cmake --install build
$ sudo ldconfig

7.2 ZLIB版本

• 现象

-- Could NOT find ZLIB: Found unsuitable version "1.2.11", but required is at least "1.3" (found /usr/lib/aarch64-linux-gnu/libz.a, )
-- Checking for module 'ZLIB>=1.3'
--   No package 'ZLIB' found

• 方案

$ sudo apt remove zlib1g zlib1g-dev
$ wget https://zlib.net/zlib-1.3.1.tar.gz
$ tar xvf zlib-1.3.1.tar.gz
$ cd zlib-1.3.1
$ ./configure
$ make
$ sudo make install
$ sudo reboot

7.3 Shapelib 版本

• 现象

-- Could NOT find Shapelib (missing: Shapelib_INCLUDE_DIR Shapelib_LIBRARY) (Required is at least version "1.6.0")

• 方案

$ wget https://github.com/OSGeo/shapelib/releases/download/v1.6.1/shapelib-1.6.1.tar.gz
$ tar xvf shapelib-1.6.1.tar.gz
$ cd shapelib-1.6.1
$ ./configure
$ make
$ sudo make install
$ sudo ldconfig

7.4 GeographicLib 版本

• 现象

-- Could NOT find GeographicLib (missing: GeographicLib_LIBRARY_DIRS GeographicLib_LIBRARIES GeographicLib_INCLUDE_DIRS) (Required is at least version "2.3")
-- Checking for module 'GeographicLib>=2.3'
--   No package 'GeographicLib' found

• 方案

$ wget https://github.com/geographiclib/geographiclib/archive/refs/tags/v2.4.tar.gz geographiclib-2.4.tar.gz
$ cd geographiclib-2.4
$ mkdir build
$ cd build
$ cmake ..
$ make
$ sudo make install
$ sudo ldconfig

7.5 gstreamer1.0-plugins问题

• 现象

-- GST_PLUGINS_VERSION="1.16.3"
-- Checking for module 'gstreamer-gl-prototypes-1.0'
--   No package 'gstreamer-gl-prototypes-1.0' found
-- Checking for module 'gstreamer-gl-wayland-1.0'
--   No package 'gstreamer-gl-wayland-1.0' found
-- Checking for module 'gstreamer-gl-x11-1.0'
--   No package 'gstreamer-gl-x11-1.0' found
-- Checking for module 'gstreamer-photography-1.0'
--   No package 'gstreamer-photography-1.0' found
-- Checking for module 'gstreamer-va-1.0'
--   No package 'gstreamer-va-1.0' found

• 方案

$ sudo apt install gstreamer1.0-plugins-base 
$ sudo apt install gstreamer1.0-plugins-good 
$ sudo apt install gstreamer1.0-plugins-bad 
$ sudo apt install gstreamer1.0-plugins-ugly
$ sudo apt install gstreamer1.0-gl
$ sudo apt install gstreamer1.0-vaapi
$ sudo apt install gstreamer1.0-x

7.6 "GStreamer installation is missing a plug-in"问题

• 现象

$ ./build/QGroundControl
qgc.qgcapplication: Settings location "/home/daniel/.config/QGroundControl.org/QGroundControl Daily.ini" Is writable?: true
Filter rules "*Log.debug=false\nqgc.*.debug=false\nGStreamerAPILog.debug=true\nqt.qml.connections=false"
PX4ParameterMetaDataLog: Invalid max value, name: "VTQ_TELEM_IDS_1"  type: 5  max: "4294967295"  error: "Value must be within 0 and 2147483647"
PX4ParameterMetaDataLog: Invalid value for bitmask, bit: 31
PX4ParameterMetaDataLog: Invalid max value, name: "VTQ_TELEM_IDS_1"  type: 5  max: "4294967295"  error: "Value must be within 0 and 2147483647"
PX4ParameterMetaDataLog: Invalid value for bitmask, bit: 31
PX4ParameterMetaDataLog: Invalid max value, name: "VTQ_TELEM_IDS_1"  type: 5  max: "4294967295"  error: "Value must be within 0 and 2147483647"
PX4ParameterMetaDataLog: Invalid value for bitmask, bit: 31
VideoReceiverLog: GStreamer error: Your GStreamer installation is missing a plug-in.
Adding target QHostAddress("127.0.0.1") 52824
VideoReceiverLog: GStreamer error: Your GStreamer installation is missing a plug-in.
VideoReceiverLog: GStreamer error: Your GStreamer installation is missing a plug-in.
VideoReceiverLog: GStreamer error: Your GStreamer installation is missing a plug-in.
VideoReceiverLog: GStreamer error: Your GStreamer installation is missing a plug-in.
VideoReceiverLog: GStreamer error: Your GStreamer installation is missing a plug-in.
VideoReceiverLog: GStreamer error: Your GStreamer installation is missing a plug-in.
VideoReceiverLog: GStreamer error: Your GStreamer installation is missing a plug-in.
^CVideoReceiverLog: Stop called on empty URI
Exiting main
VideoReceiverLog: Stop called on empty URI

• 方案

$ sudo apt remove gstreamer1.0-vaapi

7.7 "Unable to link video sink"问题

• 现象

$ ./build/QGroundControl --logging:VideoAllLog,GStreamerLog,GStreamerAPILog
qgc.qgcapplication: Settings location "/home/daniel/.config/QGroundControl.org/QGroundControl Daily.ini" Is writable?: true
Filter rules "*Log.debug=false\nqgc.*.debug=false\nVideoAllLog.debug=true\nGStreamerLog.debug=true\nGStreamerAPILog.debug=true\nVideoManagerLog.debug=true\nVideoReceiverLog.debug=true\nGStreamerLog.debug=true\nGStreamerAPILog.debug=true\nqt.qml.connections=false"
PX4ParameterMetaDataLog: Invalid max value, name: "VTQ_TELEM_IDS_1"  type: 5  max: "4294967295"  error: "Value must be within 0 and 2147483647"
PX4ParameterMetaDataLog: Invalid value for bitmask, bit: 31
VideoReceiverLog: Starting "udp265://0.0.0.0:5600" , buffer -1
VideoReceiverLog: Started "udp265://0.0.0.0:5600"
PX4ParameterMetaDataLog: Invalid max value, name: "VTQ_TELEM_IDS_1"  type: 5  max: "4294967295"  error: "Value must be within 0 and 2147483647"
PX4ParameterMetaDataLog: Invalid value for bitmask, bit: 31
PX4ParameterMetaDataLog: Invalid max value, name: "VTQ_TELEM_IDS_1"  type: 5  max: "4294967295"  error: "Value must be within 0 and 2147483647"
PX4ParameterMetaDataLog: Invalid value for bitmask, bit: 31
VideoReceiverLog: Streaming started "udp265://0.0.0.0:5600"
Adding target QHostAddress("127.0.0.1") 52824
VideoReceiverLog: Starting decoding "udp265://0.0.0.0:5600"
VideoReceiverLog: Decoding started "udp265://0.0.0.0:5600"
VideoReceiverLog: _onNewDecoderPad "udp265://0.0.0.0:5600"
VideoReceiverLog: Unable to link video sink
VideoReceiverLog: _addVideoSink() failed
Opening in BLOCKING MODE
NvMMLiteOpen : Block : BlockType = 279
NvMMLiteBlockCreate : Block : BlockType = 279

• 方案

TBD. - “Unable to link video sink” on Jetson Orin Nano #12135

8. For Jetpack 6.2 L4T 36.4.3

daniel@daniel-nvidia:~/Work/qgroundcontrol$ git log -n 1
commit 5f5c764a35563ec4b1ba95947e0be07ee548c376 (HEAD -> master, origin/master, origin/HEAD)
Author: Don Gagne <don@thegagnes.com>
Date:   Mon Feb 3 08:57:20 2025 -0800

    Add Svg module to link libraries so that it will get copied to bundle

8.1 cmake version issue

略，详见：4.2 cmake版本过低

8.2 QGC version issue

安装QT6.8.2版本

$ cmake -B build -G Ninja -DCMAKE_BUILD_TYPE=Debug
-- QGC_GIT_BRANCH="master"
-- QGC_GIT_HASH="5f5c764a3"
-- QGC_APP_VERSION_STR="latest-314-g5f5c764a3"
-- QGC_APP_VERSION="v4.3.0"
-- QGC_APP_DATE="2023-11-20T18:46:48-08:00"
-- QGC_APP_VERSION="4.3.0" ; QGC_APP_VERSION_MAJOR="4" ; QGC_APP_VERSION_MINOR="3" ; QGC_APP_VERSION_PATCH="0"
CMake Error at CMakeLists.txt:153 (MESSAGE):
  Minimum supported Qt version: 6.8.1.

      Installed version: 5.15.3



-- Configuring incomplete, errors occurred!