Difference between revisions of "Installation/MacOSX"

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The task of supporting Paparazzi on Apple MacOS X is ongoing as the project evolves and the more people adapt it the process will be streamlined. Presently it is known that Paparazzi will install on OSX versions 10.5.8, 10.6, 10.6.2 and 10.6.6.  
<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Installation</categorytree>
__TOC__
 
'''Update on OS X installation: Currently, arm-none-eabi-gdb on 10.6 should be broken (gcc-arm-embedded can be compiled by hand if required without python support, or installing python2.7 as a framework from a dmg might work).'''
 
'''(Feb. 1, 2014) Current OS X limitations:'''
* '''10.6.* requires some manual effort to properly install gcc-arm-embedded, email the mailing list if help required  (gcc-arm-embedded can be compiled by hand if required without python support, or installing python2.7 as a framework from a dmg might work)'''
* '''There is no cross compiler for the ARDrone2.'''


= Intro =
= Intro =
Would it not be great to also be able to run Paparazzi from your shiny Apple Mac? Well, this page explains how you can manage to do just that.
This page describes the installation of paparazzi on a MacOS X.


= Installing from source =
There are not as many MacOS X users as there are Linux users. We are always looking for more people to help with the effort of maintaining the OSX port. If you are a frequent user of OS X and understand the underpinnings we are looking for an official OSX maintainer at the moment. Let us know on gitter: https://gitter.im/paparazzi/discuss
The tools that are required to work with paparazzi on a Mac are installed from MacPorts. All of the commands are given by terminal commands, please open your terminal first.


In case you '''already have MacPorts installed''', it is advised to run the following steps before proceeding:
Presently it is known that Paparazzi will install on OSX versions 10.6.*, 10.7.*, 10.8.*, 10.9.*, 10.10.*.
<ol>
<li>check that /opt/local/bin is the first entry in your PATH, easy to check by giving the following command</li>
<pre>env</pre>
<li>Then give the following command to make sure your ports are up-to-date</li>
<pre>sudo port selfupdate && sudo port upgrade outdated</pre>
..great, you now can run the installation steps starting from step '''3''' below.
</ol>


If you don't already have MacPorts installed run the following steps:
There are a few legacy installation approaches that might work on older OS X versions but are known not to work on the current Mac OS X. They all can be found on the [[Installation/MacOSX-legacy]] page.
<ol>
<li>Install the latest XCode http://developer.apple.com/technologies/tools/xcode.html</li>
<li>Install MacPorts from http://www.macports.org/install.php</li>
<li>Edit the file <code>/opt/local/etc/macports/sources.conf</code> and above the <code>rsync://...</code> line add <code>rsync://rsync.paparazziuav.org/macports/ports/</code> It is important that this line comes before the path to the standard ports as some of the Paparazzi ports are intended to replace the standard versions. The file is write protected so it will be necessary to be root in order to edit it. The simplest way is to open a terminal window and use nano thus:
<pre>sudo nano /opt/local/etc/macports/sources.conf</pre>
<li>Now update the available ports with the command:
<pre>sudo port selfupdate</pre>
<li>If you do not have your own copy of the paparazzi source then you now need to install paparazzi:
<pre>sudo port install paparazzi</pre>
OR if you do already have your own copy of the paparazzi source and you want to keep in then the tools required by paparazzi can be installed with the command
<pre>sudo port install paparazzi-tools</pre>
</li>
<li>...Then go and have lunch, get a coffee, get some sleep. This will probably take a long time.</li>


= Installing from Source (Homebrew/Opam) =


If you want to follow the standard Paparazzi [[Git]] install then the prerequisite software can be installed by running the command <code>sudo port install paparazzi-tools</code>
Note: Macports used to conflict with homebrew. According to the homebrew website it is not the case any more as homebrew overrides the environment variables to have a pristine environment as if macports or fink were not installed on the system. It is not confirmed that opam does the same, so it probably is still a good idea to not have macports or fink installed simultanously with homebrew.


== Troubleshooting ==
# Install [http://xquartz.macosforge.org/landing/ XQuartz].
If you continually experience problems installing paparazzi or paparazzi-tools then it may be that you have some other conflicting software installed. i.e. an old version of a library in /usr.
# Add XQuartz libraries to pkg-config search path by adding the following line:
<source lang="bash">export PKG_CONFIG_PATH=/opt/X11/lib/pkgconfig</source>
to your ~/.profile, ~/.bashrc, ~/.zshrc.local or similar. Note: You have to restart your terminal for the variable to be set, or you execute the export manually in your terminal by pasting the line and pressing enter.
# Install [https://itunes.apple.com/us/app/xcode/id497799835 XCode]
# Run XCode.app once to accept the license. You can find it in your /Applications folder
# Install [http://brew.sh/ homebrew].
# Not all packages are yet part of the official homebrew repository (like ivy-c or jsbsim) this is why you might want to run the installation in two steps using the official repository and then [paparazzi homebrew tap https://github.com/paparazzi/homebrew-paparazzi].
## Install the packages included in homebrew: <source lang="bash">brew install git coreutils gnu-sed gtk+ libglade libgnomecanvas sdl libusb libusb-compat gsl opam wget dfu-util</source>
## Add paparazzi tap: <source lang="bash">brew tap paparazzi/homebrew-paparazzi</source>
## Install the remaining packages: <source lang="bash">brew install ivy-c jsbsim</source> Note: We provide these packages as a tap but the hope is to eventually include them in the official homebrew repository.
# Initialize opam <source lang="bash">opam init</source> You should allow opam to modify your .profile and .ocamlinit so that it's settings stay permanent. Also do not forget to run <source lang="bash">eval `opam config env`</source> after the initialization or restart your terminal.
# <source lang="bash">opam pin add paparazzi-dev https://github.com/paparazzi/paparazzi-portability-support.git</source>
# <source lang="bash">opam install conf-gnutls</source>
# Install [https://launchpad.net/gcc-arm-embedded GCC ARM embedded].
## Download the gcc-arm-none-eabi-version.tar.bz2 from the website.
## Extract it into your home directory: <source lang="bash">cd ~/</source><source lang="bash">tar xfvj ~/Downloads/gcc-arm-none-eabi-*.tar.bz2</source>
## Add the bin directory to your PATH environment variable by adding an export to your .profile or .bashrc or .zshrc.local or similar. <source lang="bash">echo export PATH=$(echo ~/gcc-arm-none-eabi-* | tr ' ' '\n' | sort -r | head -n 1 )/bin:\$PATH >> ~/.profile</source> Do not forget to restart your terminal or at least source the new .profile by executing <source lang="bash">. ~/.profile</source>
# Now you should be able to [[Installation#Getting_the_Source_Code|clone the paparazzi repository]] and run make, and execute ./paparazzi


One way to work around issues relating to prior MacPort installs that has been found is to clean out everything MacPorts has installed and install from scratch using the latest MacPorts
This process is tested and is working on Mac OS Yosemite 10.10.2 ( [[User:Esden|Esden]] ([[User talk:Esden|talk]]) 16:16, 16 March 2015 (PDT) )<br/>
# <code>sudo port -f uninstall installed</code>
This process is tested and is working on Mac OS Yosemite 10.10.5 ( [[User:Esden|Esden]] ([[User talk:Esden|talk]]) 14:10, 22 September 2015 (PDT) )<br/>
# <code>sudo port clean --all uninstalled</code>
This process is tested and is working on Mac OS El Capitan 10.11 ( [[User:Esden|Esden]] ([[User talk:Esden|talk]]) 16:59, 1 October 2015 (PDT) )
# <code>sudo port selfupdate</code>
# <code>sudo port -f install paparazzi-tools</code> or <code>sudo port -f install paparazzi</code>
This was in fact the process used to check that the code installed on a clean machine.


== Keeping source files for debugging ==
= Installing from Source, El Capitan, alternate (Homebrew/Opam) =
If you wish to debug code using the source install then you'll find that many of the source files for the libraries are missing.


This is because MacPorts cleans up the build artefacts and and source files after the installation is complete. This behaviour can be changed by adding the -k option to the port command.
Download [http://www.recherche.enac.fr/~jestin/soft/install_pprz_brew_highsierra.sh install_pprz_brew_highsierra.sh], and run it. It's been successful on El Capitan, and High Sierra with homebrew, and a quartz gtk.  


For example:
== Installation Troubleshooting Notes ==
sudo port -k install paparazzi-tools
This will result in all of the source and build artefact files being left on the hard disk.


Should you later wish to clean up these files you can do so with the clean command.
=== "Fatal error: exception Gtk.Error("GtkMain.init: initialization failed\nml_gtk_init: initialization failed")" ===
Try starting ./paparazzi inside of the XQuartz X11 terminal.


For example:
=== aspcud is not compiling with the error "CMAKE_OSX_DEPLOYMENT_TARGET is '10.11' but CMAKE_OSX_SYSROOT: """ ===
sudo port clean installed
[https://github.com/Homebrew/homebrew/issues/40401 It is a known bug in homebrew.] You have to install full XCode you can't just use the command line tools.


= Installation using the binary installer =
# Install the latest XCode http://developer.apple.com/technologies/tools/xcode.html
# Download the paparazzi binary installer from http://download.paparazziuav.org/darwin/
# Install paparazzi by double clicking on the downloaded file paparazzi.mpkg


=== El Capitan and High Sierra’s /usr/include ===
I was having trouble getting paparazzi to build against the native libxml2 libraries on Mac OS X v10.11 - “El Capitan.” The problem was that I was missing the header files – in fact the entire /usr/include tree was gone.


If you want to follow the standard Paparazzi [[Git]] install then the prerequisite software can be installed by downloading the paparazzi-tools binary installer from http://TODO find a place to host this file and installing the tools by doublclicking on the downloaded file paparazzi-tools.mpkg
Here's the error I was seeing during the make process:
 
<pre>
OL app_server
app_server.c:42:10: fatal error: 'libxml/xmlreader.h' file not found
#include <libxml/xmlreader.h>
        ^
1 error generated.
make[1]: *** [app_server] Error 1
make: *** [tmtc] Error 2
</pre>
 
The fix is to run '''xcode-select --install'''. Apparently you can have the developer tools installed, but not have the “command line developer tools” which include /usr/include. Unfortunately, thanks to the “rootless” feature, this Apple-sanctioned installer is pretty much the only way to get /usr/lib back.
 
If running 10.14 Mojave, you'll have to perform this step after installing the command line developer tools:
<pre>
installer -pkg /Library/Developer/CommandLineTools/Packages/macOS_SDK_headers_for_macOS_10.14.pkg -target /
</pre>
 
NOTE: Experienced this same issue with Mac OS X High Sierra as well.


=Running Paparazzi=
=Running Paparazzi=
Please see [[Installation]] for details on running Paparazzi, downloading source code from GitHub and updating software.
Paparazzi can be started in the usual way
Paparazzi can be started in the usual way
  cd ~/paparazzi
  cd ~/paparazzi
  ./paparazzi
  ./paparazzi


== Changing the GTK look and feel ==
=== Running on MacOSX without any network connexion ===
 
When running pprz on a mac with no internet connexion, you might encounter
<source lang="bash">
RUN '/Users/tom/paparazzi/sw/ground_segment/cockpit/gcs '
setsockopt() Cannot join group: Can't assign requested address
</source>
It's a known problem for the underlying Ivy bus protocol. The easiest workaround is to connect to a Wifi hotspot, the longer one is the following:
<source lang="bash">sudo route -nv add -net 224.0.0.0 -interface lo0</source>
And to return to the previous state
<source lang="bash">sudo route -v delete -inet 224.0.0.0</source>
 
=== Changing the GTK look and feel ===


Run /opt/local/bin/switch2 to select a different theme.
Run /opt/local/bin/switch2 to select a different theme.
Line 78: Line 109:
Additional themes can be downloaded from http://art.gnome.org/themes/gtk2
Additional themes can be downloaded from http://art.gnome.org/themes/gtk2


== USB Drivers for Telemetry ==
A good choice is:
<source lang="bash">switch2 /opt/local/share/themes/ClearlooksClassic/</source>
 
Another theme selector with a little bit better preview option is "gtk-chtheme"
 
=== USB Drivers for Telemetry ===


No drivers need to be installed in order to program either the STM32 based or LPC2148 based autopilot boards (ie TINY, TWOG, Booz, Lisa/L, Lisa/M) using a USB port. However telemetry between the vehicle and ground control station requires a modem. On an Apple Mac this will generally be connected to a USB port. Whatever modem is used it will be necessary to load drivers that allow Paparazzi to communicate with the modem. It is not possible to describe all possible modems and their configuration. However the most commonly used chipset for USB to serial communication is produced by FTDI. Below is described the installation of the FTDI drivers. This can be used as a guide for installing drivers for modems using other chipsets.   
No drivers need to be installed in order to program either the STM32 based or LPC2148 based autopilot boards (ie TINY, TWOG, Booz, Lisa/L, Lisa/M) using a USB port. However telemetry between the vehicle and ground control station requires a modem. On an Apple Mac this will generally be connected to a USB port. Whatever modem is used it will be necessary to load drivers that allow Paparazzi to communicate with the modem. It is not possible to describe all possible modems and their configuration. However the most commonly used chipset for USB to serial communication is produced by FTDI. Below is described the installation of the FTDI drivers. This can be used as a guide for installing drivers for modems using other chipsets.   
Line 104: Line 140:


To unload the driver use the command
To unload the driver use the command
  sudo kextunload/System/Library/Extensions/FTDIUSBSerialDriver.kext
  sudo kextunload /System/Library/Extensions/FTDIUSBSerialDriver.kext
This should not give an error. if it does then try again a few times after quitting programs that may have used the connection. If the driver still fails to unload then a reboot may be required.
This should not give an error. if it does then try again a few times after quitting programs that may have used the connection. If the driver still fails to unload then a reboot may be required.


When it comes time to connect the modem again you'll again need the driver loaded. This can be done with the complementary command
When it comes time to connect the modem again you'll again need the driver loaded. This can be done with the complementary command
  sudo kextload/System/Library/Extensions/FTDIUSBSerialDriver.kext
  sudo kextload /System/Library/Extensions/FTDIUSBSerialDriver.kext


== Workaround for Issues with errors (Device busy) when trying to program a Lisa/L ==
=== Workaround for Issues with errors (Device busy) when trying to program a Lisa/L ===
Programming the Lisa on OS X
====Programming the Lisa on OS X====


The problem:
The problem:
Line 122: Line 158:
Here is a diff between a "vanilla OS X" and one that has been modified (Essentially below was removed):
Here is a diff between a "vanilla OS X" and one that has been modified (Essentially below was removed):
  quadzilla:Contents root# diff ~/Info.plist Info.plist  
  quadzilla:Contents root# diff ~/Info.plist Info.plist  
<source lang="diff">
  1784,1805d1783
  1784,1805d1783
  < <key>FT2232C_B</key>
  < <key>FT2232C_B</key>
Line 170: Line 207:
  < <integer>1027</integer>
  < <integer>1027</integer>
  < </dict>
  < </dict>
</source>


Once you have edited the file
Once you have edited the file
Line 178: Line 216:
It is expected as Paparazzi moves to supporting more operating systems that unique product and vendor ids will be obtained thus removing the need for this step.
It is expected as Paparazzi moves to supporting more operating systems that unique product and vendor ids will be obtained thus removing the need for this step.


=Installing FlightGear=
==Installing FlightGear==
FlightGear has been packaged for use on OS X. This package can be downloaded from:
FlightGear has been packaged for use on OS X. This package can be downloaded from:
http://macflightgear.sourceforge.net/home/downloads/
http://www.flightgear.org/download/
 
There are currently two packages available. The one released March 18, 2010 (2.0.0) installs and runs properly on OS X 10.6. Follow the directions [http://macflightgear.sourceforge.net/home/documents/users-guide/ here] for installation and basic usage. Additional documentation can be found  [http://macflightgear.sourceforge.net/home/documents/ here]. The Development Snapshot from August 21, 2010 does not seem as stable (did not work properly when tried on one machine).
 


There is a patch available for crashes encountered on the splash screen, as detailed here: http://macflightgear.sourceforge.net/a-patch-that-prevents-fg-200-from-crash-on-launch-is-available
There are several packages available. Recently, FlightGear 3.0 was released. A binary for OS X is available, and seems to work properly on Maverics (OS X 10.9.2). Follow the directions [http://www.flightgear.org/download/main-program/ here] for installation. Additional documentation can be found  [http://macflightgear.sourceforge.net/home/documents/ here].


[[Image:Flightgear_launchgui_OSX_pprzoptions.png|thumb|350px|Screenshot of FlightGear launch gui in OS X with options for visualizing Paparazzi simulations]]
[[Image:Flightgear_launchgui_OSX_pprzoptions.png|thumb|350px|Screenshot of FlightGear launch gui in OS X with options for visualizing Paparazzi simulations]]
Line 191: Line 226:




* In Paparazzi Center, add to the simulator command the <tt>-fg</tt> option plus the IP address of the machine running flightgear in this case the loopback interace is used as Flightgear and Paparazzi are running on the same machine:
* In Paparazzi Center, add to the simulator command the <tt>--fg</tt> option plus the IP address of the machine running flightgear in this case the loopback interace is used as Flightgear and Paparazzi are running on the same machine:
  .../sw/simulator/launchsitl -a TJ1 -fg 127.0.0.1 -boot -norc
  .../sw/simulator/pprzsim-launch --aircraft TJ1 -t sim --boot --norc --fg_host 127.0.0.1
Note TJ1 is the name of the aircraft you must substitute this with the name of your aircraft.
Note TJ1 is the name of the aircraft you must substitute this with the name of your aircraft.
* Launch Flight Gear with the following set in the others tab under advanced settings:
* Launch Flight Gear with the following set in the others tab under advanced settings:
  --fdm=null --native-gui=socket,in,30,,5501,udp
  --fdm=null --native-gui=socket,in,30,,5501,udp


For Flight Gear visualization, version 3.0 or greater with Rembrand switched on is best. If you wish to use version 2.4 or lower, you must add the following to the firmware section of your airframe file:
<source lang="xml">
  <firmware name="fixedwing or rotorcraft">
    ...
    <define name="FG_2_4" value="1"/>
    ...
  </firmware>
</source>


[[Image:Flightgear_pprz_sim_OSX.png|thumb|right|350px|Screenshot of Flightgear visualizing the default Microjet simulation in OS X (not the default Muret, FR location)]]
[[Image:Flightgear_pprz_sim_OSX.png|thumb|right|350px|Screenshot of Flightgear visualizing the default Microjet simulation in OS X (not the default Muret, FR location)]]


If it is night in FlightGear and you wish to view the simulation in daylight, follow the instructions on the [[Simulation#Why is it night in Flight Gear, if my sim is flying during the day?|Simulation]] page.
==Simulations Using JSBSim==
[http://jsbsim.sourceforge.net/index.html JSBSim] is an open-source flight dynamics and control software library. It can provide a more realistic simulation environment over the basic built-in Paparazzi simulator. See the [[Simulation|Simulation]] page for background information and how to run a normal simulation. After this can be done in a satisfactory manner, follow the steps below to utilize the JSBSim flight dynamics model.
 
Please see [[JSBSim]] for installation instructions and [[Simulation#JSBSim]] for instructions on how to use the JSBSim FDM in simulations.


=Simulations Using JSBSim=
==Differences with the Linux version==
[http://jsbsim.sourceforge.net/index.html JSBSim] is an open-source flight dynamics and control software library. It can provide a more realistic simulation environment over the basic built-in Paparazzi simulator. See the [[Simulation|Simulation]] page for background information and how to run a normal simulation. After this can be done in a satisfactory manner, follow the steps below to utilize the JSBSim flight dynamics model.
This section is intended to document all the subtle differences between Linux and Mac OS X versions of Paparazzi.
===Change of text editor===
The default editor in Linux is gedit, but in OS X, it is open, which simply uses whatever the default program for opening .xml files is setup.
===Ivy subnet mask===
On Linux, the Ivy submask  is 127.255.255.255


Note the current steps are a work in progress. As soon as they are checked, some changes to the source will be made and steps removed.
On Mac OS X, the Ivy submask is 224.255.255.255


==How to run JSBSim simulations:==


Please see [[Simulation#JSBSim]] for instructions on how to use the JSBSim FDM in simulations, with the following changes:


* Install the JSBSim libraries onto your system. This should already be installed with <tt>paparazzi-tools</tt>, but if it isn't:
In C applications, such as tmtc/c_ivy_client_example_1.c, this should be set adaptively by something like:
  <code>$ sudo port install jsbsim</code>
It uses code from the cvs repo, so it should be the most up-to-date source.


* Compile your airframe for the jsbsim target. Launch the GCS and Server as per normal simulation. The simulation needs the <tt>-jsbsim</tt> option and the <tt>-b 224.255.255.255</tt> option, like this:
  #ifdef __APPLE__
  <code><paparazzi home directory>/sw/simulator/launchsitl  -a <aircraft_name> -jsbsim  -b 224.255.255.255 -boot -norc</code>
  printf("Mac OS, network submask: 224.255.255.255\n");
  IvyStart("224.255.255.255");
  #else
  printf("NO Mac OS, network submask: 127.255.255.255\n");
  IvyStart("127.255.255.255");
  #endif


The JSBSim simulation can be used with FlightGear visualization as described above, by adding the <tt>-fg 127.0.0.1</tt> option in addition, like this:
  <code><paparazzi home directory>/sw/simulator/launchsitl  -a <aircraft_name> -jsbsim  -b 224.255.255.255 -boot -norc -fg 127.0.0.1</code>


For information on using an optional initialization file for the simulation initial conditions and how to set the launch velocity, please see [[Simulation#Using_Optional_Parameters]].
Is there a better way to do this?


[[Category:Software]] [[Category:User_Documentation]]
[[Category:Software]] [[Category:User_Documentation]] [[Category:Installation]]

Latest revision as of 07:24, 25 February 2019

Installation
Installation
Installation/BeagleBoneBlack
Installation/FromScratch
Installation/Linux
Installation/MacOSX
Installation/Windows10

Update on OS X installation: Currently, arm-none-eabi-gdb on 10.6 should be broken (gcc-arm-embedded can be compiled by hand if required without python support, or installing python2.7 as a framework from a dmg might work).

(Feb. 1, 2014) Current OS X limitations:

  • 10.6.* requires some manual effort to properly install gcc-arm-embedded, email the mailing list if help required (gcc-arm-embedded can be compiled by hand if required without python support, or installing python2.7 as a framework from a dmg might work)
  • There is no cross compiler for the ARDrone2.

Intro

This page describes the installation of paparazzi on a MacOS X.

There are not as many MacOS X users as there are Linux users. We are always looking for more people to help with the effort of maintaining the OSX port. If you are a frequent user of OS X and understand the underpinnings we are looking for an official OSX maintainer at the moment. Let us know on gitter: https://gitter.im/paparazzi/discuss

Presently it is known that Paparazzi will install on OSX versions 10.6.*, 10.7.*, 10.8.*, 10.9.*, 10.10.*.

There are a few legacy installation approaches that might work on older OS X versions but are known not to work on the current Mac OS X. They all can be found on the Installation/MacOSX-legacy page.

Installing from Source (Homebrew/Opam)

Note: Macports used to conflict with homebrew. According to the homebrew website it is not the case any more as homebrew overrides the environment variables to have a pristine environment as if macports or fink were not installed on the system. It is not confirmed that opam does the same, so it probably is still a good idea to not have macports or fink installed simultanously with homebrew.

  1. Install XQuartz.
  2. Add XQuartz libraries to pkg-config search path by adding the following line:
export PKG_CONFIG_PATH=/opt/X11/lib/pkgconfig

to your ~/.profile, ~/.bashrc, ~/.zshrc.local or similar. Note: You have to restart your terminal for the variable to be set, or you execute the export manually in your terminal by pasting the line and pressing enter.

  1. Install XCode
  2. Run XCode.app once to accept the license. You can find it in your /Applications folder
  3. Install homebrew.
  4. Not all packages are yet part of the official homebrew repository (like ivy-c or jsbsim) this is why you might want to run the installation in two steps using the official repository and then [paparazzi homebrew tap https://github.com/paparazzi/homebrew-paparazzi].
    1. Install the packages included in homebrew: 
      brew install git coreutils gnu-sed gtk+ libglade libgnomecanvas sdl libusb libusb-compat gsl opam wget dfu-util
    2. Add paparazzi tap: 
      brew tap paparazzi/homebrew-paparazzi
    3. Install the remaining packages: 
      brew install ivy-c jsbsim
      Note: We provide these packages as a tap but the hope is to eventually include them in the official homebrew repository.
  5. Initialize opam 
    opam init
    You should allow opam to modify your .profile and .ocamlinit so that it's settings stay permanent. Also do not forget to run 
    eval `opam config env`
    after the initialization or restart your terminal.
  6. opam pin add paparazzi-dev https://github.com/paparazzi/paparazzi-portability-support.git

  7. opam install conf-gnutls
  8. Install GCC ARM embedded.
    1. Download the gcc-arm-none-eabi-version.tar.bz2 from the website.
    2. Extract it into your home directory: 
      cd ~/

      tar xfvj ~/Downloads/gcc-arm-none-eabi-*.tar.bz2
    3. Add the bin directory to your PATH environment variable by adding an export to your .profile or .bashrc or .zshrc.local or similar. 
      echo export PATH=$(echo ~/gcc-arm-none-eabi-* | tr ' ' '\n' | sort -r | head -n 1 )/bin:\$PATH >> ~/.profile
      Do not forget to restart your terminal or at least source the new .profile by executing 
      . ~/.profile
  9. Now you should be able to clone the paparazzi repository and run make, and execute ./paparazzi

This process is tested and is working on Mac OS Yosemite 10.10.2 ( Esden (talk) 16:16, 16 March 2015 (PDT) )
This process is tested and is working on Mac OS Yosemite 10.10.5 ( Esden (talk) 14:10, 22 September 2015 (PDT) )
This process is tested and is working on Mac OS El Capitan 10.11 ( Esden (talk) 16:59, 1 October 2015 (PDT) )

Installing from Source, El Capitan, alternate (Homebrew/Opam)

Download install_pprz_brew_highsierra.sh, and run it. It's been successful on El Capitan, and High Sierra with homebrew, and a quartz gtk.

Installation Troubleshooting Notes

"Fatal error: exception Gtk.Error("GtkMain.init: initialization failed\nml_gtk_init: initialization failed")"

Try starting ./paparazzi inside of the XQuartz X11 terminal.

aspcud is not compiling with the error "CMAKE_OSX_DEPLOYMENT_TARGET is '10.11' but CMAKE_OSX_SYSROOT: """

It is a known bug in homebrew. You have to install full XCode you can't just use the command line tools.


El Capitan and High Sierra’s /usr/include

I was having trouble getting paparazzi to build against the native libxml2 libraries on Mac OS X v10.11 - “El Capitan.” The problem was that I was missing the header files – in fact the entire /usr/include tree was gone.

Here's the error I was seeing during the make process: 

OL app_server
app_server.c:42:10: fatal error: 'libxml/xmlreader.h' file not found
#include <libxml/xmlreader.h>
         ^
1 error generated.
make[1]: *** [app_server] Error 1
make: *** [tmtc] Error 2

The fix is to run xcode-select --install. Apparently you can have the developer tools installed, but not have the “command line developer tools” which include /usr/include. Unfortunately, thanks to the “rootless” feature, this Apple-sanctioned installer is pretty much the only way to get /usr/lib back.

If running 10.14 Mojave, you'll have to perform this step after installing the command line developer tools: 

installer -pkg /Library/Developer/CommandLineTools/Packages/macOS_SDK_headers_for_macOS_10.14.pkg -target /

NOTE: Experienced this same issue with Mac OS X High Sierra as well.

Running Paparazzi

Please see Installation for details on running Paparazzi, downloading source code from GitHub and updating software.

Paparazzi can be started in the usual way 

cd ~/paparazzi
./paparazzi

Running on MacOSX without any network connexion

When running pprz on a mac with no internet connexion, you might encounter 

RUN '/Users/tom/paparazzi/sw/ground_segment/cockpit/gcs '
setsockopt() Cannot join group: Can't assign requested address

It's a known problem for the underlying Ivy bus protocol. The easiest workaround is to connect to a Wifi hotspot, the longer one is the following: 

sudo route -nv add -net 224.0.0.0 -interface lo0

And to return to the previous state 

sudo route -v delete -inet 224.0.0.0

Changing the GTK look and feel

Run /opt/local/bin/switch2 to select a different theme. More detailed instructions can be found at http://gtk.php.net/manual/en/html/tutorials/tutorials.installation.macosx-stepbystep.html

Additional themes can be downloaded from http://art.gnome.org/themes/gtk2

A good choice is: 

switch2 /opt/local/share/themes/ClearlooksClassic/

Another theme selector with a little bit better preview option is "gtk-chtheme"

USB Drivers for Telemetry

No drivers need to be installed in order to program either the STM32 based or LPC2148 based autopilot boards (ie TINY, TWOG, Booz, Lisa/L, Lisa/M) using a USB port. However telemetry between the vehicle and ground control station requires a modem. On an Apple Mac this will generally be connected to a USB port. Whatever modem is used it will be necessary to load drivers that allow Paparazzi to communicate with the modem. It is not possible to describe all possible modems and their configuration. However the most commonly used chipset for USB to serial communication is produced by FTDI. Below is described the installation of the FTDI drivers. This can be used as a guide for installing drivers for modems using other chipsets.


FTDI drivers can be downloaded from FTDI

The device will probably become available as something like /dev/tty.usbserial-000013FD when connected. Note that different USB ports get different addresses. When connecting to another port the same device came up as /dev/tty.usbserial-000014FA

Since Paparazzi is currently configured to use /dev/ttyUSB0 it's easiest to just create a link to the required device.

  1. Remove all USB devices from the computer and run the command ls -l /dev/*usb* /dev/*USB* hopefully this will not list anything
  2. Plug in your radio and repeat the command ls -l /dev/*usb* /dev/*USB* this should now list the serial port that the radio has been connected to. In my case I get 
        ls -l /dev/*usb* /dev/*USB*
    crw-rw-rw- 1 root wheel 11, 27 20 Jan 14:38 /dev/cu.usbserial-000013FD
    crw-rw-rw- 1 root wheel 11, 26 20 Jan 14:38 /dev/tty.usbserial-000013FD
  3. Next we need to create a symbolic link to the tty.usbserial device listed to /dev/ttyUSB0 in my case the command is sudo ln -s /dev/tty.usbserial-000013FD /dev/ttyUSB0
  4. To check that everything is correct run the first command again ls -l /dev/*usb* /dev/*USB* and you should get something like this 
        ls -l /dev/*usb* /dev/*USB*
    crw-rw-rw- 1 root wheel 11, 27 20 Jan 14:38 /dev/cu.usbserial-000013FD
    crw-rw-rw- 1 root wheel 11, 26 20 Jan 14:38 /dev/tty.usbserial-000013FD
    lrwxr-xr-x 1 root wheel 0 20 Jan 14:42 /dev/ttyUSB0 -> /dev/tty.usbserial-000013FD


Once the FTDI driver (kernel extension) is loaded it takes over for all FTDI connections. This means that it will not be possible to program the Lisa/L or Lisa/M boards while the driver is loaded.

To unload the driver use the command 

sudo kextunload /System/Library/Extensions/FTDIUSBSerialDriver.kext

This should not give an error. if it does then try again a few times after quitting programs that may have used the connection. If the driver still fails to unload then a reboot may be required.

When it comes time to connect the modem again you'll again need the driver loaded. This can be done with the complementary command 

sudo kextload /System/Library/Extensions/FTDIUSBSerialDriver.kext

Workaround for Issues with errors (Device busy) when trying to program a Lisa/L

Programming the Lisa on OS X

The problem: The "default" vendor id and product id for the ftdi device on Lisa is the same one used by all the manufacturers of clone usb-serial interfaces. This isn't an issue on Linux because of the udev rules file we use does not load the ftdi drivers for lisas programming interface. Windows and Mac OS X don't use this file so they can only use vendor id and product id. So as soon as you plug in Lisa they load USB->serial port drivers for the two ports they believe are on Lisa causing a conflict. The programming of Lisa happens through a different mechanism and does not want the programming interface of Lisa to be taken by the FTDI driver which has already been loaded. For OS X there is a hack we can do that makes it better until we can get vendor and product ids sorted out. It involves modifying the /System/Library/Extensions/FTDIUSBSerialDriver.kext/Contents/Info.plist file. We change it so only the first of the two serial interfaces is loaded. The second is not as it is the programming interface.

The File (edit with a text editor): 

/System/Library/Extensions/FTDIUSBSerialDriver.kext/Contents/Info.plist

Here is a diff between a "vanilla OS X" and one that has been modified (Essentially below was removed): 

quadzilla:Contents root# diff ~/Info.plist Info.plist 

 1784,1805d1783
 < 		<key>FT2232C_B</key>
 < 		<dict>
 < 			<key>CFBundleIdentifier</key>
 < 			<string>com.FTDI.driver.FTDIUSBSerialDriver</string>
 < 			<key>ConfigData</key>
 < 			<dict>
 < 				<key>LatencyTimer</key>
 < 				<integer>2</integer>
 < 			</dict>
 < 			<key>IOClass</key>
 < 			<string>FTDIUSBSerialDriver</string>
 < 			<key>IOProviderClass</key>
 < 			<string>IOUSBInterface</string>
 < 			<key>bConfigurationValue</key>
 < 			<integer>1</integer>
 < 			<key>bInterfaceNumber</key>
 < 			<integer>1</integer>
 < 			<key>idProduct</key>
 < 			<integer>24592</integer>
 < 			<key>idVendor</key>
 < 			<integer>1027</integer>
 < 		</dict>
 1830,1853d1807
 < 		<key>FT2232H_B</key>
 < 		<dict>
 < 			<key>CFBundleIdentifier</key>
 < 			<string>com.FTDI.driver.FTDIUSBSerialDriver</string>
 < 			<key>ConfigData</key>
 < 			<dict>
 < 				<key>LatencyTimer</key>
 < 				<integer>2</integer>
 < 			</dict>
 <  			<key>IOClass</key>
 < 			<string>FTDIUSBSerialDriver</string>
 < 			<key>IOProviderClass</key>
 < 			<string>IOUSBInterface</string>
 < 			<key>bConfigurationValue</key>
 < 			<integer>1</integer>
 < 			<key>bInterfaceNumber</key>
 < 			<integer>1</integer>
 < 			<key>bcdDevice</key>
 < 			<integer>1792</integer>
 <  			<key>idProduct</key>
 < 			<integer>24592</integer>
 < 			<key>idVendor</key>
 < 			<integer>1027</integer>
 < 		</dict>

Once you have edited the file 

- sudo kextunload /System/Library/Extensions/FTDIUSBSerialDriver.kext/
- sudo kextload /System/Library/Extensions/FTDIUSBSerialDriver.kext/

To reload the driver or you can just reboot.

It is expected as Paparazzi moves to supporting more operating systems that unique product and vendor ids will be obtained thus removing the need for this step.

Installing FlightGear

FlightGear has been packaged for use on OS X. This package can be downloaded from: http://www.flightgear.org/download/

There are several packages available. Recently, FlightGear 3.0 was released. A binary for OS X is available, and seems to work properly on Maverics (OS X 10.9.2). Follow the directions here for installation. Additional documentation can be found here.

Screenshot of FlightGear launch gui in OS X with options for visualizing Paparazzi simulations

Once FlightGear is installed, the GUI launcher can be used to set common options. By clicking on the Advanced Features arrow, one can gain access to many more options as well as an interface to specify command line options (the Others tab). This is where one can specify the flight dynamics model and network connectivity required for visualizing Paparazzi simulations as described on the Simulation page.


  • In Paparazzi Center, add to the simulator command the --fg option plus the IP address of the machine running flightgear in this case the loopback interace is used as Flightgear and Paparazzi are running on the same machine:
.../sw/simulator/pprzsim-launch --aircraft TJ1 -t sim --boot --norc --fg_host 127.0.0.1

Note TJ1 is the name of the aircraft you must substitute this with the name of your aircraft.

  • Launch Flight Gear with the following set in the others tab under advanced settings:
--fdm=null --native-gui=socket,in,30,,5501,udp

For Flight Gear visualization, version 3.0 or greater with Rembrand switched on is best. If you wish to use version 2.4 or lower, you must add the following to the firmware section of your airframe file: 

  <firmware name="fixedwing or rotorcraft">
     ...
     <define name="FG_2_4" value="1"/>
     ...
  </firmware>
Screenshot of Flightgear visualizing the default Microjet simulation in OS X (not the default Muret, FR location)

Simulations Using JSBSim

JSBSim is an open-source flight dynamics and control software library. It can provide a more realistic simulation environment over the basic built-in Paparazzi simulator. See the Simulation page for background information and how to run a normal simulation. After this can be done in a satisfactory manner, follow the steps below to utilize the JSBSim flight dynamics model.

Please see JSBSim for installation instructions and Simulation#JSBSim for instructions on how to use the JSBSim FDM in simulations.

Differences with the Linux version

This section is intended to document all the subtle differences between Linux and Mac OS X versions of Paparazzi.

Change of text editor

The default editor in Linux is gedit, but in OS X, it is open, which simply uses whatever the default program for opening .xml files is setup.

Ivy subnet mask

On Linux, the Ivy submask is 127.255.255.255

On Mac OS X, the Ivy submask is 224.255.255.255


In C applications, such as tmtc/c_ivy_client_example_1.c, this should be set adaptively by something like: 

 #ifdef __APPLE__
  printf("Mac OS, network submask: 224.255.255.255\n");
  IvyStart("224.255.255.255");
 #else
  printf("NO Mac OS, network submask: 127.255.255.255\n");
  IvyStart("127.255.255.255");
 #endif


Is there a better way to do this?

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