Thank you for your reply.
I tried compiling a couple of things, but I could not make anything that can be used with Pi 0 W.
I could create a file using waf, but I want 'ArduPlane.elf', but the file 'arduplane' is. This is the same thing as I previously posted the URL. File capacity also differs greatly.
Here, a file 'ArduPlane.elf' could be created, but APM also starts up. You can also set the parameters I want. However, the servo motor does not respond at all and the LED of PXFmini also keeps its color blue and yellow lit. This can not be used as APM.
I refer to erle's homepage, but I will not go as I want.
I would like to tell you if there is any other way.
Also, if possible, I would like erle to update debian.