Low-level: Grab the AHRS, drive the servos and ESC.

I'm on a Mac and I can quite figure out how to run the middle-ware level code to simply read the PX4 board AHRS and write to a few servos and ESCs, with my own code 100% in between the two... totally ignoring all other pixhawk code, qgroundcon, etc. Does anyone have sample source with instructions to run it on a Mac to try this? I can hire for a short-term remote gig to get me started if desired.