Build System Guide

THAP Engine uses the waf build system, inherited from its ArduPilot roots but optimized for the THAP ecosystem.

Prerequisites

• Python 3.x: Ensure python is in your PATH.
• GCC ARM Toolchain: arm-none-eabi-gcc version 10.x or higher is recommended.

Basic Build Commands

To build for a specific pillar:

# Configure for AT32 Rover
./waf configure --board THAP_AT32_ROVER

# Build Rover firmware
./waf rover

# Build and upload via USB DFU
./waf rover --upload

Cleaning the Build

./waf clean
./waf distclean

Adding New Boards

Board definitions are located in libraries/AP_HAL_ChibiOS/hwdef/. To add a new board, create a new folder and a hwdef.dat file.