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)
:::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:
Locate the Terminal application within the Utilities folder (Finder > Go menu > Utilities)
Select Terminal.app and right-click on it, then choose Duplicate.
Rename the duplicated Terminal app, e.g. to x86 Terminal
Now select the renamed x86 Terminal app and right-click and choose *Get Info
Check the box for Open using Rosetta, then close the window
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。
后续步骤
设置完环境后,请转至 build instructions 。
Gazebo 仿真
After installing Homebrew, run these commands in your shell to install the common tools:
Install the required Python packages
jMAVSim 仿真模拟
First run the following commands:
To install SITL simulation with 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:
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).
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