Following these steps exactly worked for me:
https://github.com/jwise/HoRNDIS/issues/42#issuecomment-150522963

On Saturday, October 24, 2015 at 5:55:06 PM UTC-4, Heath Raftery wrote:
>
> On Sunday, October 25, 2015 at 6:34:18 AM UTC+11, Heath Raftery wrote:
>>
>> On Wednesday, October 21, 2015 at 2:17:44 AM UTC+11, RobertCNelson wrote:
>>>
>>>
>>> http://nyus.joshuawise.com/HoRNDIS-rel8pre1.pkg 
>>>
>>>
>> Anyone get this version to work? There's certainly progress since the 
>> kext now happily loads. But nothing happens when I plug the Beaglebone in. 
>> In particular, nothing appears in System Preferences -> Network, and 
>> there's no response from 192.168.7.2. Is there another step to turn 
>> "tethering" on in the Beaglebone?
>>
>> Answering my own question: there's nothing more to do, except upgrade to 
> 10.11.1. Then it all just works! 
>

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