MacOS 设置

MacOS 是受支持的 PX4 开发平台。 根据本文的指示构建的开发环境可以用编译：

• 基于 NuttX 的硬件 (Pixhawk等)

• jMAVSim Simulation

• Gazebo Simulation

:::details Apple M1 Macbook users! If you have an Apple M1 Macbook, make sure to run the terminal as x86 by setting up an x86 terminal:

1. Locate the Terminal application within the Utilities folder (Finder > Go menu > Utilities)

2. Select Terminal.app and right-click on it, then choose Duplicate.

3. Rename the duplicated Terminal app, e.g. to x86 Terminal

4. Now select the renamed x86 Terminal app and right-click and choose *Get Info

5. Check the box for Open using Rosetta, then close the window

6. Run the x86 Terminal` as usual, which will fully support the current PX4 toolchain :::

This setup is supported by the PX4 dev team. To build other targets you will need to use a different OS (or an unsupported development environment).

Homebrew 安装

常用工具

The installation of Homebrew is quick and easy: installation instructions.

额外工具

完成编译/仿真开发环境设置后，你可以从 Additional Tools 找到一些有用的“通用”开发工具。

brew tap PX4/px4
brew install px4-dev
# 可选，但建议安装额外的仿真模拟用工具
brew install px4-sim

后续步骤

设置完环境后，请转至 build instructions 。

brew cask install xquartz java

Gazebo 仿真

After installing Homebrew, run these commands in your shell to install the common tools:

sudo easy_install pip
sudo -H pip install pyserial empy toml numpy pandas jinja2 pyyaml

Install the required Python packages

# install required packages using pip3
python3 -m pip install --user pyserial empy toml numpy pandas jinja2 pyyaml pyros-genmsg packaging
# if this fails with a permissions error, your Python install is in a system path - use this command instead:
sudo -H python3 -m pip install --user pyserial empy toml numpy pandas jinja2 pyyaml pyros-genmsg packaging

jMAVSim 仿真模拟

First run the following commands:

brew unlink tbb
brew install tbb@2020
brew link tbb@2020

To install SITL simulation with Gazebo:

brew install --cask xquartz
brew install px4-sim-gazebo

额外工具

To use SITL simulation with jMAVSim you need to install a recent version of Java (e.g. Java 15). You can download Java 15 (or later) from Oracle or use the AdoptOpenJDK tap:

brew tap AdoptOpenJDK/openjdk
brew install --cask adoptopenjdk15

brew install px4-sim-jmavsim

jMAVSim for PX4 v1.11 and beyond we require at least JDK 15.

For earlier versions macOS users might see the error Exception in thread "main" java.lang.UnsupportedClassVersionError:. You can find the fix in the jMAVSim with SITL > Troubleshooting).

后续步骤

Once you have finished setting up the command-line toolchain:

• Install VSCode (if you prefer using an IDE to the command line).

• Install the QGroundControl Daily Build

The daily build includes development tools that are hidden in release builds. It may also provide access to new PX4 features that are not yet supported in release builds.

- Continue to the [build instructions](../dev_setup/building_px4.md).