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Hamish Willee
2026-05-22 08:52:27 +10:00
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docs/en/dev_setup/dev_env_windows_native.md
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@@ -127,12 +127,14 @@ git -C PX4-Autopilot config core.autocrlf false
### Install the Toolchain ### Install the Toolchain
The recommended way to install the toolchain is to use the `windows.ps1` setup script:
::: tip ::: tip
Re-running the script is safe — it skips packages that are already installed. You only need to install the toolchain once: for day to day work you follow the instructions in the [Build PX4 SITL](#build-px4-sitl) section.
But if you decide to, re-running the script is safe as it skips packages that are already installed.
::: :::
The recommended way to install the toolchain is to use the `windows.ps1` setup script:
1. Open _Windows PowerShell_ **as an Administrator** 1. Open _Windows PowerShell_ **as an Administrator**
(Press **Start**, type _PowerShell_, right-click _Windows PowerShell_, choose **Run as administrator**). (Press **Start**, type _PowerShell_, right-click _Windows PowerShell_, choose **Run as administrator**).
@@ -208,8 +210,7 @@ Pick the subsection that matches the toolchain you installed (see [Choosing the
### MSVC Build ### MSVC Build
Open the _x64 Native Tools Command Prompt for VS 2022_ (see the [shell table](#choosing-a-shell) above) — the MSVC compiler is only on `PATH` inside a Visual Studio developer shell. To build with MVSC:
If you prefer to keep working in _PowerShell_, you can source the developer environment into an existing window with `vcvars64.bat` instead (see [`cl.exe` Not Found](#cl-exe-not-found-msvc) below).
1. Open the _x64 Native Tools Command Prompt for VS 2022_ (**Start** menu > _Visual Studio 2022_ > _Visual Studio Tools_ > VC > **x64 Native Tools Command Prompt for VS 2022**.) 1. Open the _x64 Native Tools Command Prompt for VS 2022_ (**Start** menu > _Visual Studio 2022_ > _Visual Studio Tools_ > VC > **x64 Native Tools Command Prompt for VS 2022**.)
2. Navigate to the repository root (`PX4-Autopilot`) 2. Navigate to the repository root (`PX4-Autopilot`)
@@ -233,18 +234,26 @@ Subsequent rebuilds in the same shell are incremental and finish in seconds.
The PX4 Makefile picks the Ninja generator when `ninja` is on `PATH` and lets CMake auto-detect `cl.exe` from the developer shell — no `-DCMAKE_TOOLCHAIN_FILE` flag is needed. The PX4 Makefile picks the Ninja generator when `ninja` is on `PATH` and lets CMake auto-detect `cl.exe` from the developer shell — no `-DCMAKE_TOOLCHAIN_FILE` flag is needed.
::: :::
::: tip
If you prefer to keep working in _PowerShell_, you can source the developer environment into an existing window with `vcvars64.bat` instead (see [`cl.exe` Not Found](#cl-exe-not-found-msvc) below).
:::
### MinGW-w64 Build ### MinGW-w64 Build
Open a regular _PowerShell_ window (see the [shell table](#choosing-a-shell) above — _not_ the Visual Studio developer shell, and not _MSYS2 MinGW64 Shell_). To build with MinGW:
After the setup script finishes with `-Toolchain MinGW`, `C:\msys64\mingw64\bin` is on your user `PATH`, so plain _PowerShell_ can drive the MinGW toolchain through the wrapper `.cmd` shims the toolchain file generates:
```sh 1. Open a _PowerShell_ window (_not_ the Visual Studio developer shell, and not _MSYS2 MinGW64 Shell_).
cd PX4-Autopilot
$env:CMAKE_ARGS = "-DCMAKE_TOOLCHAIN_FILE=Toolchain-mingw-w64-x86_64"
make px4_sitl_default
```
If you ran the setup script in a different window than the one you build from, **close and reopen** the build shell so it picks up the updated user `PATH`. After the setup script finishes with `-Toolchain MinGW`, `C:\msys64\mingw64\bin` is on your user `PATH`, so plain _PowerShell_ can drive the MinGW toolchain through the wrapper `.cmd` shims.
If you ran the setup script in a different window than the one you build from, **close and reopen** the build shell so it picks up the updated user `PATH`.
2. Enter the following commands:
```sh
cd PX4-Autopilot
$env:CMAKE_ARGS = "-DCMAKE_TOOLCHAIN_FILE=Toolchain-mingw-w64-x86_64"
make px4_sitl_default
```
The MinGW build statically links `libgcc`, `libstdc++`, and `winpthread`, so the resulting `px4.exe` has no MSYS2 runtime dependency. The MinGW build statically links `libgcc`, `libstdc++`, and `winpthread`, so the resulting `px4.exe` has no MSYS2 runtime dependency.
@@ -254,13 +263,14 @@ A successful first build takes 5–15 minutes depending on the machine and ends
[2/2] Linking CXX executable bin\px4.exe [2/2] Linking CXX executable bin\px4.exe
``` ```
The output is `build\px4_sitl_default\bin\px4.exe` plus the per-command client executables (`build\px4_sitl_default\bin\px4-commander.exe`, etc.).
Subsequent rebuilds in the same shell are incremental and finish in seconds. Subsequent rebuilds in the same shell are incremental and finish in seconds.
::: info ### Generated Executables
You only need to run `Tools\setup\windows.ps1` and pick the developer shell **once** per machine.
For day-to-day work, just open the developer shell, `cd PX4-Autopilot`, and run `make px4_sitl_default` (or any other make target) — there is no need to re-elevate or re-run the setup script. PX4 SIH SITL executables are generated in `build\px4_sitl_default\bin\`.
::: This includes the binary for PX4 itself, `px4.exe`, along with the client executables for each of the commands (`px4-commander.exe`, etc.).
For other builds check the appropriate board-specific subfolder of `build\`
## Run SIH on Native Windows ## Run SIH on Native Windows
@@ -273,10 +283,17 @@ make px4_sitl_default sihsim_quadx
``` ```
Other airframes are exposed as sibling targets. Other airframes are exposed as sibling targets.
All SIH variants share the same Windows code path — physics run inside `px4.exe` and no Linux-only helper process is required — so anything that builds also launches natively.
For the full list of supported vehicles and the corresponding make targets / `PX4_SIM_MODEL` values, see the [SIH Simulation > Supported Vehicle Types](../sim_sih/index.md#supported-vehicle-types) table. For the full list of supported vehicles and the corresponding make targets / `PX4_SIM_MODEL` values, see the [SIH Simulation > Supported Vehicle Types](../sim_sih/index.md#supported-vehicle-types) table.
A healthy first run prints the PX4 ASCII banner, then progresses through `INFO [px4] Startup script returned successfully`, opens the `pxh>` prompt, and starts emitting periodic `INFO [mavlink] partner IP: 127.0.0.1` lines once a ground station connects.
The repeating MAVLink _partner IP_ messages are the normal heartbeat exchange — they are not errors.
Logs land in `log\<YYYY-MM-DD>\<HH_MM_SS>.ulg` **relative to the working directory** of the `px4.exe` process — if you launched it from the repository root, look for the `log\` folder at the repository root; if you used the multi-instance helper below, each instance writes into its own `build\px4_sitl_default\instance_<N>\log\` tree.
To clean build artifacts, run `make clean` (per-board CMake clean) or `make distclean` (wipe the entire `build\` directory and reset submodules) from the repository root; deleting the `build\px4_sitl_default\` directory by hand has the same effect as the latter for a single board.
Per-instance log/parameter directories under `build\px4_sitl_default\instance_<N>\` are not touched by `make clean` — remove them manually when they grow stale.
### Running PX4 Directly (after making)
If you would rather invoke `px4.exe` directly (e.g. from a shortcut, a debugger, or a script that does not have `make` on `PATH`), set the environment variable yourself. If you would rather invoke `px4.exe` directly (e.g. from a shortcut, a debugger, or a script that does not have `make` on `PATH`), set the environment variable yourself.
You can do this from either _PowerShell_ or _CMD_ — both are shown below; pick whichever shell you already have open. You can do this from either _PowerShell_ or _CMD_ — both are shown below; pick whichever shell you already have open.
The relative paths assume your current directory is the `PX4-Autopilot` repository root (the same directory you ran `make px4_sitl_default` from); adjust them if you launch from elsewhere. The relative paths assume your current directory is the `PX4-Autopilot` repository root (the same directory you ran `make px4_sitl_default` from); adjust them if you launch from elsewhere.
@@ -310,12 +327,7 @@ Pass `-d` (daemon mode) before the rootfs path to suppress the `pxh>` prompt —
The Windows console does not provide tab completion, history navigation with arrow keys, or ANSI line editing — those features rely on Unix terminal APIs that are not available in the native Windows shell loop. The Windows console does not provide tab completion, history navigation with arrow keys, or ANSI line editing — those features rely on Unix terminal APIs that are not available in the native Windows shell loop.
::: :::
A healthy first run prints the PX4 ASCII banner, then progresses through `INFO [px4] Startup script returned successfully`, opens the `pxh>` prompt, and starts emitting periodic `INFO [mavlink] partner IP: 127.0.0.1` lines once a ground station connects. ### Multiple Instances
The repeating MAVLink _partner IP_ messages are the normal heartbeat exchange — they are not errors.
Logs land in `log\<YYYY-MM-DD>\<HH_MM_SS>.ulg` **relative to the working directory** of the `px4.exe` process — if you launched it from the repository root, look for the `log\` folder at the repository root; if you used the multi-instance helper below, each instance writes into its own `build\px4_sitl_default\instance_<N>\log\` tree.
To clean build artefacts, run `make clean` (per-board CMake clean) or `make distclean` (wipe the entire `build\` directory and reset submodules) from the repository root; deleting the `build\px4_sitl_default\` directory by hand has the same effect as the latter for a single board.
Per-instance log/parameter directories under `build\px4_sitl_default\instance_<N>\` are not touched by `make clean` — remove them manually when they grow stale.
To launch multiple instances (e.g. for multi-vehicle testing), use the bundled PowerShell helper, which mirrors `Tools/simulation/sitl_multiple_run.sh`. To launch multiple instances (e.g. for multi-vehicle testing), use the bundled PowerShell helper, which mirrors `Tools/simulation/sitl_multiple_run.sh`.
Run it from the `PX4-Autopilot` repository root so the relative `.\Tools\simulation\` path resolves: Run it from the `PX4-Autopilot` repository root so the relative `.\Tools\simulation\` path resolves: