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Merge pull request #2736 from mavlink/pr-docs-faq-and-link
Docs: fixup removed files, add notes about mavsdk_server to FAQ, fix links
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‎docs/en/cpp/guide/build_dockcross.md‎

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# Cross-compilation with Dockcross and Android Builds
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This guide explains how to build MAVSDK using dockcross for cross-compilation and how to build for Android.
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## Building with Dockcross
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[Dockcross](https://github.com/dockcross/dockcross) is a cross-compiling toolchain that can be used to build MAVSDK for various platforms.
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### Requirements
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- Docker installed and running
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- Git
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### Getting Started with Dockcross
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1. Clone the MAVSDK repository:
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```bash
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git clone https://github.com/mavlink/MAVSDK.git
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cd MAVSDK
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git submodule update --init --recursive
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```
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2. Pull and run the appropriate dockcross image for your target platform
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3. Use the generated dockcross script to run your build commands
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### Example: Cross-compiling for ARM
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```bash
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# Get the dockcross script for ARM
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docker run --rm dockcross/linux-armv7 > ./dockcross-linux-armv7
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chmod +x ./dockcross-linux-armv7
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# Use the script to run cmake and build
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./dockcross-linux-armv7 bash -c 'cmake -DCMAKE_BUILD_TYPE=Release -Bbuild -S. && cmake --build build'
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```
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## Building for Android
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### Requirements
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- Android NDK
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- CMake
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- Git
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- Java Development Kit (JDK)
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### Setup Android NDK
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1. Download and install [Android Studio](https://developer.android.com/studio)
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2. Install the NDK and CMake through Android Studio's SDK Manager:
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- Open Android Studio
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- Go to Tools -> SDK Manager
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- Select SDK Tools tab
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- Check "NDK (Side by side)" and "CMake"
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- Click Apply to download and install
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### Building
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1. Clone the repository:
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```bash
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git clone https://github.com/mavlink/MAVSDK.git
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cd MAVSDK
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git submodule update --init --recursive
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```
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2. Set up environment variables:
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```bash
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export ANDROID_NDK_HOME=/path/to/android/ndk
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export ANDROID_CMAKE=/path/to/android/cmake
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```
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3. Configure and build for your target Android architecture:
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```bash
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cmake \
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-DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK_HOME/build/cmake/android.toolchain.cmake \
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-DANDROID_ABI=arm64-v8a \
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-DANDROID_PLATFORM=android-28 \
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-DCMAKE_BUILD_TYPE=Release \
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-Bbuild/android \
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-S.
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cmake --build build/android
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```
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### Android Build Options
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- `ANDROID_ABI`: Specify the target architecture
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- `armeabi-v7a`: ARMv7 devices
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- `arm64-v8a`: ARMv8 64-bit devices
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- `x86`: x86 devices
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- `x86_64`: x86 64-bit devices
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- `ANDROID_PLATFORM`: Minimum Android API level
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- Example: `android-28` for Android 9.0 (Pie)
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### Additional Build Flags
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The same build flags available for regular builds can be used:
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- `BUILD_SHARED_LIBS`: Set to `ON` for shared libraries (.so)
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- `SUPERBUILD`: Set to `OFF` to use system dependencies
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- `BUILD_MAVSDK_SERVER`: Set to `ON` to build mavsdk_server
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- `BUILD_WITHOUT_CURL`: Set to `ON` to build without CURL support
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## Troubleshooting
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### Git Submodules Out of Date
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If you encounter build issues, try updating the submodules:
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```bash
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git submodule update --recursive
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rm -rf build
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```
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### Android NDK Version Issues
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If you encounter issues with the NDK version:
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1. Make sure you're using a compatible NDK version
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2. Update your Android Studio and NDK to the latest stable versions
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3. Verify that `ANDROID_NDK_HOME` points to the correct NDK version

‎docs/en/cpp/guide/build_linux.md‎

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# Building MAVSDK on Linux
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This guide explains how to build MAVSDK from source on Linux systems.
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## Requirements
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The build requirements are git, cmake, and a C++ compiler (GCC or Clang), and python.
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### Ubuntu
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```bash
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sudo apt-get update
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sudo apt-get install build-essential cmake git python3 python3-pip
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```
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### Fedora
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```bash
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sudo dnf update
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sudo dnf groupinstall "Development Tools" "Development Libraries"
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sudo dnf install cmake git
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```
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## Getting the Source
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Download the source using git:
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```bash
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git clone https://github.com/mavlink/MAVSDK.git
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cd MAVSDK
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git submodule update --init --recursive
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```
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## Building the MAVSDK library on Linux
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### Debug Build
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For development, use the debug build:
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```bash
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cmake -DCMAKE_BUILD_TYPE=Debug -Bbuild -S.
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cmake --build build -j8
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```
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### Release Build
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For production use, build with optimizations enabled:
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```bash
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cmake -DCMAKE_BUILD_TYPE=Release -Bbuild -S.
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cmake --build build -j8
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```
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## Installation
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### System-wide Installation
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To install system-wide in `/usr/local`:
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```bash
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sudo cmake --build build --target install
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sudo ldconfig # Update linker cache
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```
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### Local Installation
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To install to a custom location, e.g. `install`
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```bash
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cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=install -Bbuild -S.
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cmake --build build --target install
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```
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## Build mavsdk_server binary on Linux
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Language wrappers for MAVSDK other than C++ connect to the MAVSDK C++ core using gRPC. This gRPC server around the MAVSDK C++ library is called mavsdk_server (in the past it was referred to as the backend).
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For more information about the architecture, also see [how the auto-generation works](../contributing/autogen.md).
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In order to include the mavsdk_server in the build, add `-DBUILD_MAVSDK_SERVER=ON`:
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```bash
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cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -Bbuild -S.
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cmake --build build -j8
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```
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## Build Options
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During the configure step you can set various flags using `-DFLAG=Value`:
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- `CMAKE_BUILD_TYPE`: Choose between `Debug`, `Release`, or `RelWithDebInfo` (optimizations and debug symbols)
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- `CMAKE_INSTALL_PREFIX`: Specify directory to install library artifacts
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- `BUILD_SHARED_LIBS`: Set to `ON` for dynamic libraries (.so), `OFF` for static libraries (.a)
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- `SUPERBUILD`: Set to `OFF` to use system dependencies instead of third party dependencies (see [Building without Superbuild](#building-without-superbuild))
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- `CMAKE_PREFIX_PATH`: Set path where dependencies can be found if `SUPERBUILD` is `OFF`
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- `BUILD_MAVSDK_SERVER`: Set to `ON` to build mavsdk_server
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- `BUILD_WITHOUT_CURL`: Set to `ON` to build without CURL support
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- `ASAN`: Set to `ON` to enable address sanitizer
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- `UBSAN`: Set to `ON` to enable undefined behavior sanitizer
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- `LSAN`: Set to `ON` to enable leak sanitizer
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- `WERROR`: Set to `ON` to treat warnings as errors
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### MAVLink Configuration
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MAVSDK supports configuring the MAVLink dialect and repository:
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- `MAVLINK_DIALECT`: MAVLink dialect to use (default: `ardupilotmega`)
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- `MAVLINK_XML_PATH`: Path to local MAVLink XML definition files. If not set, definitions are fetched automatically.
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- `MAVLINK_URL`: URL for the MAVLink repository (default: `https://github.com/mavlink/mavlink`)
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- `MAVLINK_HASH`: Git commit hash to use from the MAVLink repository
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> **Note:** You can also load custom MAVLink message definitions at runtime using the [MavlinkDirect](../api_reference/classmavsdk_1_1_mavlink_direct.md) plugin, without needing to rebuild MAVSDK.
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Examples:
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```bash
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# Build with development dialect
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cmake -DCMAKE_BUILD_TYPE=Debug -DMAVLINK_DIALECT=development -Bbuild -S.
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# Use a custom MAVLink repository fork
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cmake -DCMAKE_BUILD_TYPE=Debug \
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-DMAVLINK_URL=https://github.com/yourfork/mavlink \
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-DMAVLINK_HASH=abc123def456 \
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-Bbuild -S.
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# Use local MAVLink XML files
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cmake -DCMAKE_BUILD_TYPE=Debug \
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-DMAVLINK_XML_PATH=/path/to/mavlink/message_definitions/v1.0 \
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-Bbuild -S.
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```
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## Building without Superbuild
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By default, MAVSDK uses a "superbuild" that automatically downloads and builds all required dependencies. If you prefer to provide dependencies yourself (e.g., from system packages or custom builds), you can disable this with `SUPERBUILD=OFF`.
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A script is provided that demonstrates how to build all dependencies and MAVSDK:
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```bash
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./tools/build-with-system-deps.sh
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```
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This script:
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1. Clones and builds the required dependencies (MAVLink, libevents, PicoSHA2, libmav) into a local `deps/` directory
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2. Installs them to `deps-install/`
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3. Builds MAVSDK with `SUPERBUILD=OFF` using these dependencies
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Prerequisites (install before running the script):
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```bash
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sudo apt install build-essential cmake git python3 python3-pip \
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liblzma-dev libtinyxml2-dev libjsoncpp-dev \
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libcurl4-openssl-dev libssl-dev
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```
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## Troubleshooting
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### Git Submodules Out of Date
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If you encounter build issues, try updating the submodules:
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```bash
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git submodule update --recursive
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```
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### Undefined References
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If you get undefined reference errors after installation, update the linker cache:
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```bash
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sudo ldconfig
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```
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And try a clean build by wiping the build directory:
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```bash
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rm -r build
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```

‎docs/en/cpp/guide/build_macos.md‎

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# Building MAVSDK on macOS
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This guide explains how to build MAVSDK from source on macOS systems.
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## Requirements
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The build requirements are:
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- XCode Command Line Tools
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- CMake
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- Git
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### Install Build Tools
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First install XCode Command line tools:
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```bash
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xcode-select --install
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```
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Then install [Homebrew](https://brew.sh/) and use it to install CMake:
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```bash
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/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
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brew install cmake
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```
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## Getting the Source
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Download the source using git:
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```bash
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git clone https://github.com/mavlink/MAVSDK.git
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cd MAVSDK
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git submodule update --init --recursive
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```
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## Building the MAVSDK library on macOS
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### Debug Build
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For development, use the debug build:
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```bash
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cmake -DCMAKE_BUILD_TYPE=Debug -Bbuild -S.
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cmake --build build -j8
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```
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### Release Build
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For production use, build with optimizations enabled:
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```bash
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cmake -DCMAKE_BUILD_TYPE=Release -Bbuild -S.
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cmake --build build -j8
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```
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## Installation
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### System-wide Installation
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To install system-wide in `/usr/local`:
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```bash
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sudo cmake --build build --target install
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```
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### Local Installation
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To install to a local folder, e.g. `install`:
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```bash
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cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=install -Bbuild -S.
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cmake --build build --target install
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```
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## Build for iOS {#build_cpp_iOS}
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To build for real iOS devices on macOS:
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```bash
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cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_TOOLCHAIN_FILE=tools/ios.toolchain.cmake -DPLATFORM=OS -Bbuild/ios -S.
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cmake --build build/ios
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```
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Build for the iOS simulator on macOS:
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```bash
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cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_TOOLCHAIN_FILE=tools/ios.toolchain.cmake -DPLATFORM=SIMULATOR64 -Bbuild/ios_simulator -S.
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```
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## Build Options
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During the configure step you can set various flags using `-DFLAG=Value`:
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- `CMAKE_BUILD_TYPE`: Choose between `Debug` and `Release` build
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- `CMAKE_INSTALL_PREFIX`: Specify directory to install library artifacts
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- `BUILD_SHARED_LIBS`: Set to `ON` for dynamic libraries (.dylib), `OFF` for static libraries (.a)
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- `SUPERBUILD`: Set to `OFF` to use system dependencies instead of third party dependencies
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- `CMAKE_PREFIX_PATH`: Set path where dependencies can be found if `SUPERBUILD` is `OFF`
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- `BUILD_MAVSDK_SERVER`: Set to `ON` to build mavsdk_server
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- `BUILD_WITHOUT_CURL`: Set to `ON` to build without CURL support
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- `ASAN`: Set to `ON` to enable address sanitizer
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- `UBSAN`: Set to `ON` to enable undefined behavior sanitizer
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- `LSAN`: Set to `ON` to enable leak sanitizer
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- `WERROR`: Set to `ON` to treat warnings as errors
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## Troubleshooting
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### Git Submodules Out of Date
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If you encounter build issues, try updating the submodules:
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```bash
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git submodule update --recursive
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```

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