国内github网速，那是慢的没法说，克隆个PX4源码要半天，然后更新子模块，那不得需要一夜的时间，有时早上一来，刷刷的提示更新失败，那也得继续更新啊，几天都不一定能搞定。介于以上，好在我们国内也有git服务器，接下来我们可以把px4的源码fork到国内的码云上，然后打开**.gitmodules**文件，把其中需要clone的子模块全部fork到码云上，当然url地址也要修改成码云上的地址，工作量还是挺大的，不过我已经帮大家做好了，
直接clone如下仓库 ，仓库目前的版本支持**PX4 v1.10.0及以下 **当然我也会随着官网的更新而持续更新。
git clone https://gitee.com/bingobinlw/Firmware.git
然后更新子模块
git submodule update --init --recursive
如果出错的话，需要删除空白文件夹，再次更新子模块
make distclean
git submodule update --init --recursive
以上步骤就可以了，亲测有效，大概10多分钟就搞定了。
下面是我修改过的***.gitmodules***文件内容，供参考
[submodule "mavlink/include/mavlink/v2.0"]
path = mavlink/include/mavlink/v2.0
url = https://gitee.com/bingobinlw/c_library_v2.git
branch = master
[submodule "src/drivers/uavcan/libuavcan"]
path = src/drivers/uavcan/libuavcan
url = https://gitee.com/bingobinlw/uavcan.git
branch = px4
[submodule "Tools/jMAVSim"]
path = Tools/jMAVSim
url = https://gitee.com/bingobinlw/jMAVSim.git
branch = master
[submodule "Tools/sitl_gazebo"]
path = Tools/sitl_gazebo
url = https://gitee.com/bingobinlw/sitl_gazebo.git
branch = master
[submodule "src/lib/matrix"]
path = src/lib/matrix
url = https://gitee.com/bingobinlw/Matrix.git
branch = master
[submodule "src/lib/ecl"]
path = src/lib/ecl
url = https://gitee.com/bingobinlw/ecl.git
branch = master
[submodule "boards/atlflight/cmake_hexagon"]
path = boards/atlflight/cmake_hexagon
url = https://gitee.com/bingobinlw/cmake_hexagon.git
branch = px4
[submodule "src/drivers/gps/devices"]
path = src/drivers/gps/devices
url = https://gitee.com/bingobinlw/GpsDrivers.git
branch = master
[submodule "src/modules/micrortps_bridge/micro-CDR"]
path = src/modules/micrortps_bridge/micro-CDR
url =https://gitee.com/bingobinlw/micro-CDR.git
branch = px4
[submodule "platforms/nuttx/NuttX/nuttx"]
path = platforms/nuttx/NuttX/nuttx
url = https://gitee.com/bingobinlw/NuttX.git
branch = px4_firmware_nuttx-8.2
[submodule "platforms/nuttx/NuttX/apps"]
path = platforms/nuttx/NuttX/apps
url = https://gitee.com/bingobinlw/NuttX-apps.git
branch = px4_firmware_nuttx-8.2
[submodule "cmake/configs/uavcan_board_ident"]
path = cmake/configs/uavcan_board_ident
url = https://gitee.com/bingobinlw/uavcan_board_ident.git
branch = master
[submodule "platforms/qurt/dspal"]
path = platforms/qurt/dspal
url = https://gitee.com/bingobinlw/dspal.git
如有任何问题，请到阿木实验室提问