I want to custom own ArduPilot firmware

I install emlid image (Linux navio 4.19.83-emlid-v7+). Ardupilot has been already installed. If I want to change some code or add debug message in Ardupilot firmware, Is it possible? How to compile on Raspi3+Navio2?

I found https://github.com/emlid/ardupilot.git did not updated a long time.

Go https://github.com/ArduPilot/ardupilot/blob/master/BUILD.md

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Hi Jirat,

Just wanted to add that we have a detailed guide on how to build ArduPilot from sources. You can follow it to build Ardupilot yourself.

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