QGroundControl@Jetson Orin Nano for L4T36.4.0/JP6.1

1. 源由

最近还是越来越有QGC最新版本在Jetson Orin Nano for L4T36.4.0/JP6.1上的需求。

打算再折腾一次，最后的结局与前面的类似，视频这块始终存在问题，可能与代码hard coded有关系。

2. 准备

略，详细请参考以下文档：

【1】Ardupilot开源无人机之Geek SDK进展2024-2025
【2】Linux 36.3@Jetson Orin Nano之系统安装
【3】Linux 36.2@Jetson Orin Nano之基础环境构建

2.1 扩大虚拟内存

$ sudo dd if=/dev/zero of=/swapfile bs=1M count=16384
$ sudo chmod 600 /swapfile
$ sudo mkswap /swapfile
$ sudo swapon /swapfile

参考：Linux swap 配置与虚拟内存

2.2 升级cmake版本

$ sudo apt-get remove --purge cmake
$ wget https://github.com/Kitware/CMake/releases/download/v3.31.5/cmake-3.31.5.tar.gz
$ tar -zxvf cmake-3.31.5.tar.gz
$ cd cmake-3.31.5
$ ./bootstrap
$ make
$ sudo make install
$ cmake --version

2.3 QT编译安装

鉴于QT二进制在线版本始终存在网络下载异常问题，本次直接下载源码进行编译安装。

$ wget https://qt.mirror.constant.com/archive/qt/6.8/6.8.2/single/qt-everywhere-src-6.8.2.tar.xz
$ tar -xvf qt-everywhere-src-6.8.2.tar.xz
$ cd qt-everywhere-src-6.8.2
$ mkdir -p build
$ cd build
$ ../configure -xcb -opensource -confirm-license
$ cmake --build . --parallel 6
$ sudo cmake --install .

参考：QGroundControl@Jetson Orin Nano - 从代码编译安装

• https://doc.qt.io/qt-6/build-sources.html
• https://doc.qt.io/qt-6/linux-building.html

3. QGC编译安装

$ git clone --recursive git@github.com:mavlink/qgroundcontrol.git
$ git clone --recursive https://github.com/mavlink/qgroundcontrol.git
$ cd qgroundcontrol
$ git submodule init
$ git submodule update --recursive
$ sudo bash ./tools/setup/install-dependencies-debian.sh
$ cmake -DQt6_DIR=/usr/local/Qt-6.8.2/lib/cmake/Qt6/ -B build -G Ninja -DCMAKE_BUILD_TYPE=Debug
$ cmake --build build --config Debug
$ ./build/Debug/QGroundControl

参考：QGroundControl@Jetson Orin Nano - 从代码编译安装

• https://docs.qgroundcontrol.com/master/en/qgc-dev-guide/getting_started/index.html

4. 问题汇总

问题1：QNativeInterface::QX11Application接口问题

../configure 需要需要配置 ../configure -xcb -opensource -confirm-license。

$ cd qt-everywhere-src-6.8.2
$ rm -rf build
$ mkdir -p build
$ cd build
$ ../configure -xcb -opensource -confirm-license
$ cmake --build . --parallel 6
$ sudo cmake --install .

[598/1374] Building CXX object src/VideoManager/VideoReceiver/GStreamer/gstqml6gl/CMakeFiles/gstqml6gl.dir/qt6/gstqt6glutility.cc.o
FAILED: src/VideoManager/VideoReceiver/GStreamer/gstqml6gl/CMakeFiles/gstqml6gl.dir/qt6/gstqt6glutility.cc.o
/usr/bin/ccache /usr/bin/c++ -DHAVE_QT_QPA_HEADER -DHAVE_QT_WAYLAND -DHAVE_QT_X11 -DQGC_APP_NAME=\"QGroundControl\" -DQGC_APP_VERSION_STR=\"latest-378-gd185cea71\" -DQGC_DAILY_BUILD -DQGC_ORG_DOMAIN=\"org.qgroundcontrol\" -DQGC_ORG_NAME=\"QGroundControl.org\" -DQGC_SETTINGS_VERSION=9 -DQGC_UNITTEST_BUILD -DQGC_VIEWER3D -DQT_CORE_LIB -DQT_DISABLE_DEPRECATED_UP_TO=0x060800 -DQT_GUI_LIB -DQT_NETWORK_LIB -DQT_OPENGL_LIB -DQT_QMLINTEGRATION_LIB -DQT_QMLMETA_LIB -DQT_QMLMODELS_LIB -DQT_QMLWORKERSCRIPT_LIB -DQT_QML_LIB -DQT_QPA_HEADER="<QtGui/qpa/qplatformnativeinterface.h>" -DQT_QUICK_LIB -I/home/daniel/Work/qgroundcontrol/build/src/VideoManager/VideoReceiver/GStreamer/gstqml6gl -I/home/daniel/Work/qgroundcontrol/src/VideoManager/VideoReceiver/GStreamer/gstqml6gl -I/home/daniel/Work/qgroundcontrol/build/src/VideoManager/VideoReceiver/GStreamer/gstqml6gl/gstqml6gl_autogen/include -I/home/daniel/Work/qgroundcontrol/src/VideoManager/VideoReceiver/GStreamer/gstqml6gl/qt6 -isystem /usr/include/gstreamer-1.0 -isystem /usr/include/glib-2.0 -isystem /usr/lib/aarch64-linux-gnu/glib-2.0/include -isystem /usr/include/orc-0.4 -isystem /usr/lib/aarch64-linux-gnu/gstreamer-1.0/include -isystem /usr/include/gudev-1.0 -isystem /usr/include/libdrm -isystem /usr/local/Qt-6.8.2/include/QtCore -isystem /usr/local/Qt-6.8.2/include -isystem /usr/local/Qt-6.8.2/mkspecs/linux-g++ -isystem /usr/local/Qt-6.8.2/include/QtGui -isystem /usr/local/Qt-6.8.2/include/QtGui/6.8.2 -isystem /usr/local/Qt-6.8.2/include/QtGui/6.8.2/QtGui -isystem /usr/local/Qt-6.8.2/include/QtCore/6.8.2 -isystem /usr/local/Qt-6.8.2/include/QtCore/6.8.2/QtCore -isystem /usr/local/Qt-6.8.2/include/QtQml -isystem /usr/local/Qt-6.8.2/include/QtQmlIntegration -isystem /usr/local/Qt-6.8.2/include/QtNetwork -isystem /usr/local/Qt-6.8.2/include/QtQuick -isystem /usr/local/Qt-6.8.2/include/QtQmlMeta -isystem /usr/local/Qt-6.8.2/include/QtQmlModels -isystem /usr/local/Qt-6.8.2/include/QtQmlWorkerScript -isystem /usr/local/Qt-6.8.2/include/QtOpenGL -g -std=gnu++20 -fPIC -Wno-unused-parameter -Wno-implicit-fallthrough -Wno-unused-private-field -pthread -MD -MT src/VideoManager/VideoReceiver/GStreamer/gstqml6gl/CMakeFiles/gstqml6gl.dir/qt6/gstqt6glutility.cc.o -MF src/VideoManager/VideoReceiver/GStreamer/gstqml6gl/CMakeFiles/gstqml6gl.dir/qt6/gstqt6glutility.cc.o.d -o src/VideoManager/VideoReceiver/GStreamer/gstqml6gl/CMakeFiles/gstqml6gl.dir/qt6/gstqt6glutility.cc.o -c /home/daniel/Work/qgroundcontrol/src/VideoManager/VideoReceiver/GStreamer/gstqml6gl/qt6/gstqt6glutility.cc
/home/daniel/Work/qgroundcontrol/src/VideoManager/VideoReceiver/GStreamer/gstqml6gl/qt6/gstqt6glutility.cc: In function ‘GstGLDisplay* gst_qml6_get_gl_display(gboolean)’:
/home/daniel/Work/qgroundcontrol/src/VideoManager/VideoReceiver/GStreamer/gstqml6gl/qt6/gstqt6glutility.cc:103:62: error: ‘QX11Application’ is not a member of ‘QNativeInterface’; did you mean ‘QWaylandApplication’?
  103 |     auto x11_native = app->nativeInterface<QNativeInterface::QX11Application>();
      |                                                              ^~~~~~~~~~~~~~~
      |                                                              QWaylandApplication
/home/daniel/Work/qgroundcontrol/src/VideoManager/VideoReceiver/GStreamer/gstqml6gl/qt6/gstqt6glutility.cc:103:78: error: no matching function for call to ‘QGuiApplication::nativeInterface<<expression error> >()’
  103 |     auto x11_native = app->nativeInterface<QNativeInterface::QX11Application>();
      |                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~
In file included from /usr/local/Qt-6.8.2/include/QtCore/qcoreapplication.h:17,
                 from /usr/local/Qt-6.8.2/include/QtGui/qguiapplication.h:8,
                 from /usr/local/Qt-6.8.2/include/QtGui/QGuiApplication:1,
                 from /home/daniel/Work/qgroundcontrol/src/VideoManager/VideoReceiver/GStreamer/gstqml6gl/qt6/gstqt6glutility.cc:35:
/usr/local/Qt-6.8.2/include/QtGui/qguiapplication.h:142:5: note: candidate: ‘template<class NativeInterface, class TypeInfo, class BaseType, typename std::enable_if<TypeInfo::isCompatibleWith<QGuiApplication>, bool>::type <anonymous> > NativeInterface* QGuiApplication::nativeInterface() const’
  142 |     QT_DECLARE_NATIVE_INTERFACE_ACCESSOR(QGuiApplication)
      |     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/Qt-6.8.2/include/QtGui/qguiapplication.h:142:5: note:   template argument deduction/substitution failed:
/home/daniel/Work/qgroundcontrol/src/VideoManager/VideoReceiver/GStreamer/gstqml6gl/qt6/gstqt6glutility.cc:103:78: error: template argument 1 is invalid
  103 |     auto x11_native = app->nativeInterface<QNativeInterface::QX11Application>();
      |                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~
At global scope:
cc1plus: note: unrecognized command-line option ‘-Wno-unused-private-field’ may have been intended to silence earlier diagnostics

问题2：RTP视频播放问题

• latest master “qgc.videomanager.videoreceiver.gstreamer.api: broken/invalid nal Type: 1 Slice” #12492