# Mac 上的开发环境
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:
- 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
提示
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 (opens new window).
# 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
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 (opens new window) or use the AdoptOpenJDK tap:
brew tap AdoptOpenJDK/openjdk
brew install --cask adoptopenjdk15
brew install px4-sim-jmavsim
注意
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 (opens new window) :::tip 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.