From 03de7ea327dc78ea85b5ea975662272e3301fef0 Mon Sep 17 00:00:00 2001
From: Alex Bezdieniezhnykh <zxsanny@gmail.com>
Date: Sun, 19 May 2024 23:39:59 +0300
Subject: [PATCH] add instructions on building and running on jetson/any
 embedded

---
 README.md | 36 ++++++++++++++++++++++++++++++++++--
 1 file changed, 34 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index d37eb18..78399d9 100644
--- a/README.md
+++ b/README.md
@@ -27,12 +27,44 @@ wget https://github.com/mavlink/MAVSDK/releases/download/v2.9.1/libmavsdk-dev_2.
 
 sudo dpkg -i libmavsdk-dev_2.9.1_ubuntu22.04_amd64.deb
 
+## Install MAVSDK for embedded platforms
+
+### Update cmake (need to build mavsdk)
+wget https://github.com/Kitware/CMake/releases/download/v3.29.3/cmake-3.29.3-linux-aarch64.sh 
+sudo cp cmake-3.29.3-linux-aarch64.sh /opt	
+sudo chmod +x /opt/cmake-3.29.3-linux-aarch64.sh 
+cd /opt
+sudo bash cmake-3.29.3-linux-aarch64.sh
+sudo rm cmake ccmake cpack ctest cmake-gui
+sudo ln -s /opt/cmake-3.29.3-linux-aarch64/bin/* /usr/bin
+
+### Make sure gcc9 installed and is default (Need to build mavsdk. gcc -v to check)
+sudo add-apt-repository ppa:ubuntu-toolchain-r/test
+sudo apt update
+sudo apt install gcc-9 g++-9
+sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 60 --slave /usr/bin/g++ g++ /usr/bin/g++-9
+
+### Build & Install from sources
+sudo apt-get update
+sudo apt-get install build-essential cmake git
+git clone https://github.com/mavlink/MAVSDK.git
+cd MAVSDK
+git submodule update --init --recursive
+cmake -Bbuild/default -DCMAKE_BUILD_TYPE=Release -H.
+cmake --build build/default -j8
+sudo cmake --build build/default --target install
+
+### Resolving python problems
+In case of an error "The python version is too old, expecting 3, 6, 9" during Ardupilot run,
+install 3.6 python (most probably under alias python3) and
+just change 1 line in ardupilot/modules/waf/waf-light from ... python -> python3
+
 ## Build autopilot application
-cd src && qmake && make
+cd src && cmake . && make
 
 ## Launch similator in the ArduPilot directory
 ./Tools/autotest/sim_vehicle.py --map --console -v ArduCopter
 
 ## Launch example application in the new terminal window after waiting simulator (around 1 min) to be ready
-qmake && make && ./autopilot mission.json 
+cmake . && make && ./autopilot mission.json