clang交叉编译ardupilot的问题

问：

首先，我尝试了以下命令

`CC=clang CXX=clang++ CXXFLAGS="-O0 -g --target=arm-none-eabi -I/opt/gcc-arm-none-eabi-10-2020-q4-major/bin/../lib/gcc/arm-none-eabi/10.2.1/../../../../arm-none-eabi/include/c++/10.2.1 -I/opt/gcc-arm-none-eabi-10-2020-q4-major/bin/../lib/gcc/arm-none-eabi/10.2.1/../../../../arm-none-eabi/include/c++/10.2.1/arm-none-eabi -I/opt/gcc-arm-none-eabi-10-2020-q4-major/bin/../lib/gcc/arm-none-eabi/10.2.1/../../../../arm-none-eabi/include/c++/10.2.1/backward -I/opt/gcc-arm-none-eabi-10-2020-q4-major/bin/../lib/gcc/arm-none-eabi/10.2.1/include -I/opt/gcc-arm-none-eabi-10-2020-q4-major/bin/../lib/gcc/arm-none-eabi/10.2.1/include-fixed -I/opt/gcc-arm-none-eabi-10-2020-q4-major/bin/../lib/gcc/arm-none-eabi/10.2.1/../../../../arm-none-eabi/include"  ./waf configure --board=CUAVv5 ` 

交叉编译ardupilot给出以下错误

“叮当声：致命错误：未知参数：'-mno-thumb-interwork'”

于是，我从CUAVv5_cache.py中删除了 -mno-thumb-interwork 编译选项并继续编译，再次出现以下错误：

“/opt/gcc-arm-none-eabi-10-2020-q4-major/bin/... /lib/gcc/arm-none-eabi/10.2.1/... /... /... /... /arm-none-eabi/include/c++/10.2.1/cstdio：98：11：致命错误：无成员 在全局命名空间中使用 ：：FILE;”

我进一步修改了CUAVv5_cache.py以包含“--sysroot=/opt/gcc-arm-none-eabi-10-2020-q4-major/bin/... /arm-none-eabi”以继续编译，最终出现以下错误：

“致命错误：'LSEK'的行外定义与任何定义都不匹配 “AP_Filesystem_FATFS”中的声明off_t AP_Filesystem_FATFS：：lseek（int fileno， off_t position， int whence）”

显然到目前为止交叉编译失败了，谁能告诉我如何实现交叉编译ardupilot？ 我想使用 llvm 静态分析 ardupilot。