# 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:


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 (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


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: