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Hamish Willee
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docs/en/dev_setup/dev_env_windows_native.md
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@@ -350,20 +350,6 @@ To stop every `px4.exe` started by the helper (e.g. when several backgrounded da
.\Tools\simulation\sitl_multiple_run.ps1 -SitlNum 0
```
### Tested Configurations
What has been validated to work on native Windows today:
- Single `px4.exe` instance at any `PX4_SIM_SPEED_FACTOR` (1x and accelerated).
- Mixed speed factors across instances (when running ≤3 of them).
- MAVLink heartbeat to QGroundControl on `127.0.0.1` (autoconnect).
- The interactive `pxh>` stdin prompt and `CTRL+C` / `shutdown` graceful exit.
- `px4-*` client wrappers (`px4-commander`, `px4-listener`, `px4-shutdown`, …) from a separate _PowerShell_ window.
Known limitations (being tracked, not yet fixed):
- 5+ concurrent instances via `sitl_multiple_run.ps1`; up to 3 is the supported envelope.
## Connecting QGroundControl
If you don't already have QGroundControl, install it first via the [QGroundControl Daily Build](../dev_setup/qgc_daily_build.md) page — the steps below assume it is already running on the same host.
@@ -384,8 +370,11 @@ You can still drive any of them from a natively-built `px4.exe`: start the simul
## ROS 2 Setup on Windows Native
This section is only relevant if you want to drive PX4 SITL from [ROS 2](../ros2/user_guide.md) on the same Windows host using the OSRF Windows binary release.
If you only need SIH plus QGroundControl, you can skip this section and the next.
::: tip
Skip this section if you don't need ROS 2.
:::
This section is relevant if you want to drive PX4 SITL from [ROS 2](../ros2/user_guide.md) on the same Windows host using the OSRF Windows binary release.
::: info
ROS 2 on Windows is community-supported by OSRF — _not_ a first-class platform like Ubuntu Linux.
@@ -436,6 +425,10 @@ See the [uXRCE-DDS middleware page](../middleware/uxrce_dds.md) for the wider wo
## Building the Micro-XRCE-DDS Agent (Optional — for ROS 2 / DDS bridging)
::: tip
Skip this section if you don't need ROS 2.
:::
This section is only relevant if you want to bridge PX4 SITL to ROS 2 (or any other DDS subscriber) via the [uXRCE-DDS middleware](../middleware/uxrce_dds.md).
The agent is a separate process that PX4's `uxrce_dds_client` connects to over UDP; without it, ROS 2 nodes have no way to see PX4's uORB topics.
If you only need SIH plus QGroundControl, you can safely skip this section.
@@ -559,6 +552,20 @@ For the wider ROS 2 / DDS workflow on top of this connection (workspace layout,
- **`UAGENT_P2P_PROFILE=ON` is not supported on Windows today.** The peer-to-peer profile triggers a separate, earlier recompaction failure inside the `microxrcedds_client` ExternalProject.
PX4's SITL bridge does not use P2P, so leaving it off is safe.
## Tested Configurations
What has been validated to work on native Windows today:
- Single `px4.exe` instance at any `PX4_SIM_SPEED_FACTOR` (1x and accelerated).
- Mixed speed factors across instances (when running ≤3 of them).
- MAVLink heartbeat to QGroundControl on `127.0.0.1` (autoconnect).
- The interactive `pxh>` stdin prompt and `CTRL+C` / `shutdown` graceful exit.
- `px4-*` client wrappers (`px4-commander`, `px4-listener`, `px4-shutdown`, …) from a separate _PowerShell_ window.
Known limitations (being tracked, not yet fixed):
- 5+ concurrent instances via `sitl_multiple_run.ps1`; up to 3 is the supported envelope.
## Next Steps
Once you have finished setting up the command-line toolchain: