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New Crowdin translations - zh-CN (#26553)
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# macOS Development Environment
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MacOS 是受支持的 PX4 开发平台。
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The following instructions set up a PX4 development environment on macOS.
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根据本文的指示构建的开发环境可以用编译：
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- 基于 NuttX 的硬件 (Pixhawk等)
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- [Gazebo Classic Simulation](../sim_gazebo_classic/index.md)
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- [Gazebo Simulation](../sim_gazebo_gz/index.md) (Gazebo Harmonic)
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It works on both Intel and Apple Silicon Macs.
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:::tip
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This setup is supported by the PX4 dev team.
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To build other targets you will need to use a [different OS](../dev_setup/dev_env.md#supported-targets) (or an [unsupported development environment](../advanced/community_supported_dev_env.md)).
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To build for [other targets](../dev_setup/dev_env.md#supported-targets) you will need to use a [different OS](../dev_setup/dev_env.md#supported-targets) or an [unsupported development environment](../advanced/community_supported_dev_env.md).
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:::
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## 一键安装脚本
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## Development Environment Setup
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<lite-youtube videoid="tMbMGiMs1cQ" title="Setting up your PX4 development environment on macOS"/>
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### 系统必备组件
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## Base Setup
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The "base" macOS setup installs the tools needed for building firmware, and includes the common tools that will be needed for installing/using the simulators.
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### Environment Setup
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:::details
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Apple Silicon MacBook users!
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If you have an Apple M1, M2 etc. MacBook, make sure to run the terminal as x86 by setting up an x86 terminal:
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1. Locate the Terminal application within the Utilities folder (**Finder > Go menu > Utilities**)
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2. Select _Terminal.app_ and right-click on it, then choose **Duplicate**.
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3. Rename the duplicated Terminal app, e.g. to _x86 Terminal_
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4. Now select the renamed _x86 Terminal_ app and right-click and choose \*_Get Info_
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5. Check the box for **Open using Rosetta**, then close the window
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6. Run the _x86 Terminal_ as usual, which will fully support the current PX4 toolchain
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:::
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First set up the environment
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1. Enable more open files by appending the following line to the `~/.zshenv` file (creating it if necessary):
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1. **Install Xcode Command Line Tools** — provides `git`, `make`, and the Apple `clang` compiler:
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```sh
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echo ulimit -S -n 2048 >> ~/.zshenv
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xcode-select --install
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```
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2. **Install Homebrew** by following the [installation instructions](https://brew.sh).
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3. **Increase the open-file limit.** The PX4 build opens many files simultaneously and the macOS default limit (256) is too low — you may see `"LD: too many open files"` errors without this.
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Add the following line to your shell startup file so it applies to every new terminal session.
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macOS defaults to **zsh** since Catalina, so add it to `~/.zshrc` (use `~/.bashrc` if you use bash):
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```sh
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echo "ulimit -S -n 2048" >> ~/.zshrc
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```
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Then **open a new terminal** (or run `source ~/.zshrc`) for the change to take effect.
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4. **Ensure Python 3 is available.** Some PX4 build scripts require `python3` and `pip3` to be in your `PATH`. The Xcode Command Line Tools include Python 3 by default.
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:::tip
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If you need to install or manage a different Python version, we recommend [pyenv](https://github.com/pyenv/pyenv), which lets you set global and per-directory Python versions.
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:::
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### Install Development Tools
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1. **Download PX4 Source Code:**
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```sh
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git clone https://github.com/PX4/PX4-Autopilot.git
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cd PX4-Autopilot
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git submodule update --init --recursive --force
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```
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2. **Install development environment libraries** from the [macos.sh](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/setup/macos.sh) helper script:
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```sh
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./Tools/setup/macos.sh --sim-tools
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```
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This installs:
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- **`px4-dev`** — ARM cross-compiler (`arm-gcc-bin@13`), `cmake`, `ninja`, `ccache`, and other build tools
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- **Python packages** from `requirements.txt`
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- **`px4-sim`** (via `--sim-tools`) — Gazebo Harmonic simulation (`gz-harmonic`) and related tools
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::: info
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If you don't do this, the build toolchain may report the error: `"LD: too many open files"`
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Omit `--sim-tools` if you only need to build for NuttX hardware and don't need simulation.
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Use `--reinstall` to force reinstallation of all Homebrew formulas (useful if something is broken).
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:::
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2. Enforce Python 3 by appending the following lines to `~/.zshenv`
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### Gazebo Simulation
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```sh
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# Point pip3 to macOS system python 3 pip
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alias pip3=/usr/bin/pip3
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```
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The `--sim-tools` flag installs the `px4-sim` Homebrew formula, which pulls in Gazebo Harmonic.
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### Common Tools
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If you skipped `--sim-tools` during initial setup and want to add simulation later:
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To setup the environment to be able to build for Pixhawk/NuttX hardware (and install the common tools for using simulators):
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```sh
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brew tap PX4/px4
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brew install px4-sim
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```
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1. Install Homebrew by following these [installation instructions](https://brew.sh).
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:::info
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Gazebo requires **XQuartz** for display on macOS.
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If you don't already have it installed:
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2. Run these commands in your shell to install the common tools:
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```sh
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brew tap PX4/px4
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brew install px4-dev
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```
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3. Install the required Python packages:
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```sh
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# install required packages using pip3
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python3 -m pip install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging kconfiglib future jsonschema
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# if this fails with a permissions error, your Python install is in a system path - use this command instead:
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sudo -H python3 -m pip install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging kconfiglib future jsonschema
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```
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## Gazebo Classic 模拟
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To setup the environment for [Gazebo Classic](../sim_gazebo_classic/index.md) simulation:
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1. Run the following commands in your shell:
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```sh
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brew unlink tbb
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sed -i.bak '/disable! date:/s/^/ /; /disable! date:/s/./#/3' $(brew --prefix)/Library/Taps/homebrew/homebrew-core/Formula/tbb@2020.rb
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brew install tbb@2020
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brew link tbb@2020
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```
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::: info
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September 2021: The commands above are a workaround to this bug: [PX4-Autopilot#17644](https://github.com/PX4/PX4-Autopilot/issues/17644).
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They can be removed once it is fixed (along with this note).
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```sh
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brew install --cask xquartz
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```
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You may need to log out and back in after installing XQuartz.
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:::
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2. To install SITL simulation with Gazebo Classic:
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### Verify Installation
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```sh
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brew install --cask temurin
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brew install --cask xquartz
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brew install px4-sim-gazebo
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```
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After installation, verify the key tools are available:
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3. Run the macOS setup script: `PX4-Autopilot/Tools/setup/macos.sh`
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The easiest way to do this is to clone the PX4 source, and then run the script from the directory, as shown:
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```sh
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# NuttX cross-compiler (from arm-gcc-bin@13)
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arm-none-eabi-gcc --version
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```sh
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git clone https://github.com/PX4/PX4-Autopilot.git --recursive
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cd PX4-Autopilot/Tools/setup
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sh macos.sh
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```
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# Build tools
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cmake --version
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ninja --version
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# Gazebo (if --sim-tools was used)
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gz sim --versions
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```
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Quick smoke test — build and run a simulation target:
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```sh
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make px4_sitl gz_x500
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```
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If everything is set up correctly, this will build PX4 SITL and launch a Gazebo simulation with the x500 quadcopter.
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## Gazebo dependencies
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@@ -120,7 +126,7 @@ Once you have finished setting up the command-line toolchain:
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- Install the [QGroundControl Daily Build](../dev_setup/qgc_daily_build.md)
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:::tip
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::: tip
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The _daily build_ includes development tools that are hidden in release builds.
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It may also provide access to new PX4 features that are not yet supported in release builds.
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@@ -29,14 +29,14 @@ There is also an incomplete section for VirtualBox at the end (we'd welcome expa
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VMWare performance is acceptable for basic usage (building Firmware) but not for running ROS or Gazebo Classic.
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1. Download [VMWare Player Freeware](https://www.vmware.com/products/workstation-player/workstation-player-evaluation.html)
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1. Download [VMWare Workstation Pro](https://www.vmware.com/products/desktop-hypervisor/workstation-and-fusion) (the free player has been discontinued)
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2. 将其安装在 Windows 系统上。
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3. Download the desired version of [Ubuntu Desktop ISO Image](https://ubuntu.com/download/desktop).
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(see [Linux Instructions Page](../dev_setup/dev_env_linux.md) for recommended Ubuntu version).
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4. Open _VMWare Player_.
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4. Open _Workstation Pro_.
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5. Enable 3D acceleration in the VM's settings: **VM > Settings > Hardware > Display > Accelerate 3D graphics**
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@@ -8,7 +8,7 @@ Qt Creator has been replaced by [VSCode](../dev_setup/vscode.md) as the official
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See [Toolchain Installation](../dev_setup/dev_env.md) for information about the environments and tools supported by the core development team.
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:::
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[Qt Creator](https://www.qt.io/download-open-source) is a popular cross-platform open-source IDE that can be used to compile and debug PX4.
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[Qt Creator](https://www.qt.io/development/download-open-source) is a popular cross-platform open-source IDE that can be used to compile and debug PX4.
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## Qt Creator Functionality
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