How to implement "Program Instrumentation" with llvm on a real drone?

[Lqs66]

As far as I know, to compile ardupilot to a flight controller you need to use a cross compiler, but ardupilot uses 'gcc-arm-none-eabi' by default. I would like to know how this article uses llvm to implement the instrumentation for arm architecture ardupilot?

[J1nwenWang]

To instrument ArduPilot using LLVM, Clang should be substituted for GCC as the compiler prior to compilation. For guidance on altering the compiler and platform target, please consult the files ARI/ardupilot/source_me_sitl_bc_step_zero.txt and ARI/ardupilot/wscript.