build(windows): harden native SITL toolchains

Add compiler-specific CMake helpers and use them across Windows-sensitive targets so MSVC and MinGW can share the native SITL build without leaking unsupported flags between compilers.

Signed-off-by: Nuno Marques <n.marques21@hotmail.com>

.github/workflows/compile_windows.yml

@@ -90,7 +90,11 @@ jobs:
         shell: pwsh
         run: |
           python -m pip install --upgrade pip
-          python -m pip install jinja2 pyyaml toml numpy packaging jsonschema future empy pyros-genmsg
+          # empy pinned <4: PX4's msg/uxrce_dds/flight_tasks/zenoh generators
+          # use the empy 3.x Interpreter(...options={em.RAW_OPT: True,
+          # em.BUFFERED_OPT: True}) API removed in empy 4.x. Matches the pin
+          # in Tools/setup/requirements.txt and Tools/setup/windows.ps1.
+          python -m pip install jinja2 pyyaml toml numpy packaging jsonschema future "empy>=3.3,<4" pyros-genmsg kconfiglib
 
       - name: Install Ninja (MSVC)
         if: matrix.toolchain == 'MSVC'

.vscode/cmake-kits.json

@@ -1,5 +1,5 @@
 [
-	{
+  {
-		"name": "PX4 detect"
+    "name": "PX4 detect"
-	}
+  }
 ]

CMakeLists.txt

@@ -318,7 +318,12 @@ endif()
 
 set(package-contact "px4users@googlegroups.com")
 
-set(CMAKE_CXX_STANDARD 17)
+if(MSVC)
+	set(CMAKE_CXX_STANDARD 20)
+else()
+	set(CMAKE_CXX_STANDARD 17)
+endif()
+
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)

boards/beaglebone/blue/cmake/init.cmake

@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-add_compile_options(-Wno-cast-align)
+px4_add_compile_options_for_compiler(GNU_LIKE -Wno-cast-align)
 
 include(ExternalProject)
 ExternalProject_Add(librobotcontrol

boards/modalai/voxl2/src/CMakeLists.txt

@@ -81,7 +81,9 @@ if("${PX4_PLATFORM}" STREQUAL "qurt")
 
 	add_library(mavlink_common_headers INTERFACE)
 	add_dependencies(mavlink_common_headers mavlink_common_generate)
-	target_compile_options(mavlink_common_headers INTERFACE -Wno-address-of-packed-member -Wno-cast-align)
+	px4_target_compile_options_for_compiler(mavlink_common_headers INTERFACE
+		GNU_LIKE -Wno-address-of-packed-member -Wno-cast-align
+	)
 	target_include_directories(mavlink_common_headers INTERFACE
 		${MAVLINK_LIBRARY_DIR}
 		${MAVLINK_LIBRARY_DIR}/common

cmake/kconfig.cmake

@@ -356,7 +356,7 @@ if(EXISTS ${BOARD_DEFCONFIG})
 
 	if(CONSTRAINED_FLASH)
 		set(px4_constrained_flash_build "1" CACHE INTERNAL "constrained flash build" FORCE)
-		add_definitions(-DCONSTRAINED_FLASH)
+		add_definitions(-DCONSTRAINED_FLASH=1)
 	endif()
 
 	if(NO_HELP)
@@ -378,7 +378,7 @@ if(EXISTS ${BOARD_DEFCONFIG})
 
 	if(CRYPTO)
 		set(PX4_CRYPTO "1" CACHE INTERNAL "PX4 crypto implementation" FORCE)
-		add_definitions(-DPX4_CRYPTO)
+		add_definitions(-DPX4_CRYPTO=1)
 	endif()
 
 	if(LINKER_PREFIX)

cmake/px4_add_common_flags.cmake

@@ -40,6 +40,159 @@
 #	Usage:
 #		px4_add_common_flags()
 #
+
+function(px4_msvc_compile_options_from_gnu out_var)
+	set(msvc_flags)
+
+	# Keep GNU-like warning names as the common policy vocabulary and translate
+	# the MSVC equivalents here when the mapping is exact enough to be useful.
+	foreach(flag IN LISTS ARGN)
+		if("${flag}" STREQUAL "-Werror")
+			list(APPEND msvc_flags /WX)
+		elseif("${flag}" STREQUAL "-Wno-error")
+			list(APPEND msvc_flags /WX-)
+		elseif("${flag}" STREQUAL "-Wall" OR "${flag}" STREQUAL "-Wextra")
+			list(APPEND msvc_flags /W4)
+		elseif("${flag}" STREQUAL "-Wno-array-bounds")
+			list(APPEND msvc_flags /wd4789)
+		elseif("${flag}" STREQUAL "-Wno-deprecated-copy")
+			list(APPEND msvc_flags /wd5267)
+		elseif("${flag}" STREQUAL "-Wno-deprecated-declarations")
+			list(APPEND msvc_flags /wd4996)
+		elseif("${flag}" STREQUAL "-Wno-empty-body")
+			list(APPEND msvc_flags /wd4390)
+		elseif("${flag}" STREQUAL "-Wno-implicit-function-declaration")
+			list(APPEND msvc_flags /wd4013)
+		elseif("${flag}" STREQUAL "-Wno-implicit-fallthrough")
+			list(APPEND msvc_flags /wd5262)
+		elseif("${flag}" STREQUAL "-Wno-incompatible-pointer-types")
+			list(APPEND msvc_flags /wd4133)
+		elseif("${flag}" STREQUAL "-Wno-maybe-uninitialized" OR "${flag}" STREQUAL "-Wno-uninitialized")
+			list(APPEND msvc_flags /wd4701 /wd4703)
+		elseif("${flag}" STREQUAL "-Wno-overloaded-virtual")
+			list(APPEND msvc_flags /wd4263 /wd4264)
+		elseif("${flag}" STREQUAL "-Wno-shadow")
+			list(APPEND msvc_flags /wd4456 /wd4457 /wd4458 /wd4459)
+		elseif("${flag}" STREQUAL "-Wno-sign-compare")
+			list(APPEND msvc_flags /wd4018 /wd4389)
+		elseif("${flag}" STREQUAL "-Wno-strict-prototypes")
+			list(APPEND msvc_flags /wd4255)
+		elseif("${flag}" STREQUAL "-Wno-switch")
+			list(APPEND msvc_flags /wd4061 /wd4062)
+		elseif("${flag}" STREQUAL "-Wno-type-limits")
+			list(APPEND msvc_flags /wd4296)
+		elseif("${flag}" STREQUAL "-Wno-unknown-pragmas")
+			list(APPEND msvc_flags /wd4068)
+		elseif("${flag}" STREQUAL "-Wno-unused")
+			list(APPEND msvc_flags /wd4100 /wd4101 /wd4189 /wd4505)
+		elseif("${flag}" STREQUAL "-Wno-unused-but-set-parameter")
+			list(APPEND msvc_flags /wd4100)
+		elseif("${flag}" STREQUAL "-Wno-unused-but-set-variable")
+			list(APPEND msvc_flags /wd4189)
+		elseif("${flag}" STREQUAL "-Wno-unused-function")
+			list(APPEND msvc_flags /wd4505)
+		elseif("${flag}" STREQUAL "-Wno-unused-parameter")
+			list(APPEND msvc_flags /wd4100)
+		elseif("${flag}" STREQUAL "-Wno-unused-variable")
+			list(APPEND msvc_flags /wd4101 /wd4189)
+		elseif("${flag}" STREQUAL "-Wno-write-strings")
+			list(APPEND msvc_flags /wd4090)
+		endif()
+	endforeach()
+
+	if(msvc_flags)
+		list(REMOVE_DUPLICATES msvc_flags)
+	endif()
+
+	set(${out_var} ${msvc_flags} PARENT_SCOPE)
+endfunction()
+
+function(px4_add_compile_options_for_compiler)
+	cmake_parse_arguments(arg "" "" "GNU_LIKE;MSVC" ${ARGN})
+	set(is_gnu_like_compiler FALSE)
+
+	if((CMAKE_C_COMPILER_ID MATCHES "GNU|Clang|AppleClang") OR (CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang|AppleClang"))
+		set(is_gnu_like_compiler TRUE)
+	endif()
+
+	if(MSVC)
+		if(arg_MSVC)
+			add_compile_options(${arg_MSVC})
+		else()
+			px4_msvc_compile_options_from_gnu(msvc_flags ${arg_GNU_LIKE})
+
+			if(msvc_flags)
+				add_compile_options(${msvc_flags})
+			endif()
+		endif()
+	elseif(is_gnu_like_compiler AND arg_GNU_LIKE)
+		add_compile_options(${arg_GNU_LIKE})
+	endif()
+endfunction()
+
+function(px4_add_c_compile_options_for_compiler)
+	cmake_parse_arguments(arg "" "" "GNU_LIKE;MSVC" ${ARGN})
+
+	if(MSVC)
+		if(arg_MSVC)
+			set(msvc_flags ${arg_MSVC})
+		else()
+			px4_msvc_compile_options_from_gnu(msvc_flags ${arg_GNU_LIKE})
+		endif()
+
+		foreach(flag ${msvc_flags})
+			add_compile_options($<$<COMPILE_LANGUAGE:C>:${flag}>)
+		endforeach()
+	elseif(arg_GNU_LIKE AND (CMAKE_C_COMPILER_ID MATCHES "GNU|Clang|AppleClang"))
+		foreach(flag ${arg_GNU_LIKE})
+			add_compile_options($<$<COMPILE_LANGUAGE:C>:${flag}>)
+		endforeach()
+	endif()
+endfunction()
+
+function(px4_target_compile_options_for_compiler target scope)
+	cmake_parse_arguments(arg "" "" "GNU_LIKE;MSVC" ${ARGN})
+	set(is_gnu_like_compiler FALSE)
+
+	if((CMAKE_C_COMPILER_ID MATCHES "GNU|Clang|AppleClang") OR (CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang|AppleClang"))
+		set(is_gnu_like_compiler TRUE)
+	endif()
+
+	if(MSVC)
+		if(arg_MSVC)
+			target_compile_options(${target} ${scope} ${arg_MSVC})
+		else()
+			px4_msvc_compile_options_from_gnu(msvc_flags ${arg_GNU_LIKE})
+
+			if(msvc_flags)
+				target_compile_options(${target} ${scope} ${msvc_flags})
+			endif()
+		endif()
+	elseif(is_gnu_like_compiler AND arg_GNU_LIKE)
+		target_compile_options(${target} ${scope} ${arg_GNU_LIKE})
+	endif()
+endfunction()
+
+function(px4_target_c_compile_options_for_compiler target scope)
+	cmake_parse_arguments(arg "" "" "GNU_LIKE;MSVC" ${ARGN})
+
+	if(MSVC)
+		if(arg_MSVC)
+			set(msvc_flags ${arg_MSVC})
+		else()
+			px4_msvc_compile_options_from_gnu(msvc_flags ${arg_GNU_LIKE})
+		endif()
+
+		foreach(flag ${msvc_flags})
+			target_compile_options(${target} ${scope} $<$<COMPILE_LANGUAGE:C>:${flag}>)
+		endforeach()
+	elseif(arg_GNU_LIKE AND (CMAKE_C_COMPILER_ID MATCHES "GNU|Clang|AppleClang"))
+		foreach(flag ${arg_GNU_LIKE})
+			target_compile_options(${target} ${scope} $<$<COMPILE_LANGUAGE:C>:${flag}>)
+		endforeach()
+	endif()
+endfunction()
+
 function(px4_add_common_flags)
 
 	if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "MSVC")
@@ -49,6 +202,7 @@ function(px4_add_common_flags)
 			/EHsc
 			/bigobj
 			/permissive-
+			/Zc:preprocessor
 			/utf-8
 			/FIvisibility.h
 			/W3

cmake/px4_add_module.cmake

@@ -91,6 +91,22 @@ function(px4_add_module)
 		REQUIRED MODULE MAIN
 		ARGN ${ARGN})
 
+	set(MODULE_COMPILE_FLAGS ${COMPILE_FLAGS})
+
+	if(MSVC AND MODULE_COMPILE_FLAGS)
+		set(MODULE_COMPILE_FLAGS_FILTERED)
+		px4_msvc_compile_options_from_gnu(MODULE_COMPILE_FLAGS_MSVC ${MODULE_COMPILE_FLAGS})
+
+		foreach(flag IN LISTS MODULE_COMPILE_FLAGS)
+			if(NOT flag MATCHES "^-W")
+				list(APPEND MODULE_COMPILE_FLAGS_FILTERED "${flag}")
+			endif()
+		endforeach()
+
+		list(APPEND MODULE_COMPILE_FLAGS_FILTERED ${MODULE_COMPILE_FLAGS_MSVC})
+		set(MODULE_COMPILE_FLAGS ${MODULE_COMPILE_FLAGS_FILTERED})
+	endif()
+
 	if(UNITY_BUILD AND (${PX4_PLATFORM} STREQUAL "nuttx"))
 		# build standalone test library to catch compilation errors and provide sane output
 		add_library(${MODULE}_original STATIC EXCLUDE_FROM_ALL ${SRCS})
@@ -117,8 +133,8 @@ function(px4_add_module)
 		target_include_directories(${MODULE} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
 		add_dependencies(${MODULE} ${MODULE}_original) # build standalone module first to get clean compile errors
 
-		if(COMPILE_FLAGS)
+		if(MODULE_COMPILE_FLAGS)
-			target_compile_options(${MODULE}_original PRIVATE ${COMPILE_FLAGS})
+			target_compile_options(${MODULE}_original PRIVATE ${MODULE_COMPILE_FLAGS})
 		endif()
 
 		if(DEPENDS)
@@ -229,8 +245,8 @@ function(px4_add_module)
 		message(FATAL_ERROR "MAIN required")
 	endif()
 
-	if(COMPILE_FLAGS)
+	if(MODULE_COMPILE_FLAGS)
-		target_compile_options(${MODULE} PRIVATE ${COMPILE_FLAGS})
+		target_compile_options(${MODULE} PRIVATE ${MODULE_COMPILE_FLAGS})
 	endif()
 
 	if (KERNEL)

cmake/px4_git.cmake

@@ -64,24 +64,48 @@ function(px4_add_git_submodule)
 
 	set(REL_PATH)
 
-	if(IS_ABSOLUTE ${PATH})
+	if(IS_ABSOLUTE "${PATH}")
+		set(ABS_PATH ${PATH})
 		file(RELATIVE_PATH REL_PATH ${PX4_SOURCE_DIR} ${PATH})
 	else()
-		file(RELATIVE_PATH REL_PATH ${PX4_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/${PATH})
+		get_filename_component(ABS_PATH "${CMAKE_CURRENT_SOURCE_DIR}/${PATH}" ABSOLUTE)
+		file(RELATIVE_PATH REL_PATH ${PX4_SOURCE_DIR} ${ABS_PATH})
 	endif()
 
-	execute_process(
+	set(GIT_SUBMODULE_DEPS ${PX4_SOURCE_DIR}/.gitmodules ${ABS_PATH}/.git)
-		COMMAND Tools/check_submodules.sh ${REL_PATH}
-		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-		)
 
-	string(REPLACE "/" "_" NAME ${PATH})
+	if(CMAKE_GENERATOR STREQUAL "MinGW Makefiles")
-	string(REPLACE "." "_" NAME ${NAME})
+		set(GIT_SUBMODULE_DEPS)
+	endif()
+
+	if(CMAKE_HOST_WIN32)
+		if(NOT EXISTS "${ABS_PATH}/.git")
+			execute_process(
+				COMMAND git submodule sync --recursive -- ${REL_PATH}
+				WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+				)
+			execute_process(
+				COMMAND git submodule update --init --recursive -- ${REL_PATH}
+				WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+				)
+		endif()
+
+		set(CHECK_SUBMODULE_COMMAND ${CMAKE_COMMAND} -E true)
+	else()
+		execute_process(
+			COMMAND Tools/check_submodules.sh ${REL_PATH}
+			WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+			)
+
+		set(CHECK_SUBMODULE_COMMAND Tools/check_submodules.sh ${REL_PATH})
+	endif()
+
+	string(MAKE_C_IDENTIFIER "${REL_PATH}" NAME)
 
 	add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/git_init_${NAME}.stamp
-		COMMAND Tools/check_submodules.sh ${REL_PATH}
+		COMMAND ${CHECK_SUBMODULE_COMMAND}
 		COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/git_init_${NAME}.stamp
-		DEPENDS ${PX4_SOURCE_DIR}/.gitmodules ${PATH}/.git
+		DEPENDS ${GIT_SUBMODULE_DEPS}
 		COMMENT "git submodule ${REL_PATH}"
 		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 		USES_TERMINAL

msg/CMakeLists.txt

@@ -430,7 +430,11 @@ add_custom_command(
 	)
 
 add_library(uorb_msgs ${uorb_headers} ${msg_out_path}/uORBTopics.hpp ${uorb_sources} ${msg_source_out_path}/uORBTopics.cpp ${uorb_message_fields_cpp_file})
-target_link_libraries(uorb_msgs PRIVATE m)
+
+if(NOT MSVC)
+	target_link_libraries(uorb_msgs PRIVATE m)
+endif()
+
 add_dependencies(uorb_msgs prebuild_targets uorb_headers)
 
 if(CONFIG_LIB_CDRSTREAM)

msg/px4_msgs_old/CMakeLists.txt

@@ -6,6 +6,8 @@ list(INSERT CMAKE_MODULE_PATH 0 "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 	add_compile_options(-Wall -Wextra)
+elseif(MSVC)
+	add_compile_options(/W4)
 endif()
 
 find_package(ament_cmake REQUIRED)

msg/translation_node/CMakeLists.txt

@@ -3,6 +3,8 @@ project(translation_node)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic -Wno-unused-parameter -Werror)
+elseif(MSVC)
+  add_compile_options(/W4 /WX /wd4100)
 endif()
 
 # find dependencies
@@ -69,7 +71,11 @@ if(BUILD_TESTING)
           ${TEST_SRC}
   )
   target_include_directories(${PROJECT_NAME}_unit_tests PRIVATE ${CMAKE_CURRENT_LIST_DIR})
-  target_compile_options(${PROJECT_NAME}_unit_tests PRIVATE -Wno-error=sign-compare) # There is a warning from gtest internal
+  if(MSVC)
+    target_compile_options(${PROJECT_NAME}_unit_tests PRIVATE /WX- /wd4018 /wd4389) # There is a warning from gtest internal
+  else()
+    target_compile_options(${PROJECT_NAME}_unit_tests PRIVATE -Wno-error=sign-compare) # There is a warning from gtest internal
+  endif()
   target_link_libraries(${PROJECT_NAME}_unit_tests ${PROJECT_NAME}_lib)
   rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
   target_link_libraries(${PROJECT_NAME}_unit_tests "${cpp_typesupport_target}")

platforms/common/work_queue/CMakeLists.txt

@@ -51,7 +51,9 @@ if(NOT "${PX4_PLATFORM}" MATCHES "nuttx")
 		work_thread.c
 	)
 	target_compile_definitions(work_queue PRIVATE MODULE_NAME="work_queue")
-	target_compile_options(work_queue PRIVATE -Wno-cast-align) # TODO: fix and enable
+	px4_target_compile_options_for_compiler(work_queue PRIVATE
+		GNU_LIKE -Wno-cast-align
+	)
 	add_dependencies(work_queue prebuild_targets)
 
 endif()

platforms/posix/CMakeLists.txt

@@ -72,9 +72,10 @@ if (BUILD_TESTING)
 			${_px4_posix_math_libraries}
 			parameters
 	)
-	target_compile_options(mavlink_fuzz_tests
+	px4_target_compile_options_for_compiler(mavlink_fuzz_tests
 		PRIVATE
-			# There warnings come from within fuzztest
+			GNU_LIKE
+			# These warnings come from within fuzztest
 			-Wno-float-equal
 			-Wno-sign-compare
 			-Wno-shadow

platforms/posix/cmake/Toolchain-mingw-w64-x86_64.cmake

@@ -20,16 +20,66 @@ set(CMAKE_SYSTEM_PROCESSOR x86_64)
 
 set(TOOLCHAIN_PREFIX x86_64-w64-mingw32)
 
-find_program(MINGW_C_COMPILER NAMES ${TOOLCHAIN_PREFIX}-gcc-posix ${TOOLCHAIN_PREFIX}-gcc)
+set(MINGW_SEARCH_PATHS)
-find_program(MINGW_CXX_COMPILER NAMES ${TOOLCHAIN_PREFIX}-g++-posix ${TOOLCHAIN_PREFIX}-g++)
-find_program(MINGW_RC_COMPILER NAMES ${TOOLCHAIN_PREFIX}-windres)
-find_program(MINGW_AR          NAMES ${TOOLCHAIN_PREFIX}-ar)
-find_program(MINGW_RANLIB      NAMES ${TOOLCHAIN_PREFIX}-ranlib)
 
-if(NOT MINGW_C_COMPILER OR NOT MINGW_CXX_COMPILER)
+if(CMAKE_HOST_WIN32)
-	message(FATAL_ERROR
+	list(APPEND MINGW_SEARCH_PATHS
-		"MinGW-w64 (${TOOLCHAIN_PREFIX}) not found. "
+		"$ENV{MINGW_PREFIX}/bin"
-		"Install with: apt-get install mingw-w64 g++-mingw-w64-x86-64-posix gcc-mingw-w64-x86-64-posix")
+		"C:/msys64/mingw64/bin")
+endif()
+
+find_program(MINGW_REAL_C_COMPILER NAMES ${TOOLCHAIN_PREFIX}-gcc-posix ${TOOLCHAIN_PREFIX}-gcc HINTS ${MINGW_SEARCH_PATHS})
+find_program(MINGW_REAL_CXX_COMPILER NAMES ${TOOLCHAIN_PREFIX}-g++-posix ${TOOLCHAIN_PREFIX}-g++ HINTS ${MINGW_SEARCH_PATHS})
+find_program(MINGW_REAL_RC_COMPILER NAMES ${TOOLCHAIN_PREFIX}-windres HINTS ${MINGW_SEARCH_PATHS})
+find_program(MINGW_AR NAMES ${TOOLCHAIN_PREFIX}-ar HINTS ${MINGW_SEARCH_PATHS})
+find_program(MINGW_RANLIB NAMES ${TOOLCHAIN_PREFIX}-ranlib HINTS ${MINGW_SEARCH_PATHS})
+
+if(NOT MINGW_REAL_C_COMPILER OR NOT MINGW_REAL_CXX_COMPILER)
+	if(CMAKE_HOST_WIN32)
+		message(FATAL_ERROR
+			"MinGW-w64 (${TOOLCHAIN_PREFIX}) not found. "
+			"Install the MSYS2 mingw-w64-x86_64 toolchain and add the MinGW bin directory "
+			"(for example C:/msys64/mingw64/bin) to PATH.")
+	else()
+		message(FATAL_ERROR
+			"MinGW-w64 (${TOOLCHAIN_PREFIX}) not found. "
+			"Install with: apt-get install mingw-w64 g++-mingw-w64-x86-64-posix gcc-mingw-w64-x86-64-posix")
+	endif()
+endif()
+
+get_filename_component(MINGW_BIN_DIR "${MINGW_REAL_C_COMPILER}" DIRECTORY)
+
+if(CMAKE_HOST_WIN32)
+	# The GCC driver is enough to locate cc1/ld, but child tools still need
+	# the MinGW DLLs from the same bin directory.
+	set(ENV{PATH} "${MINGW_BIN_DIR};$ENV{PATH}")
+
+	set(MINGW_WRAPPER_DIR "${CMAKE_BINARY_DIR}/mingw_toolchain")
+	set(MINGW_WRAPPER_PATH "${MINGW_BIN_DIR};%SystemRoot%/system32;%SystemRoot%;%SystemRoot%/System32/Wbem")
+	file(MAKE_DIRECTORY "${MINGW_WRAPPER_DIR}")
+	file(WRITE "${MINGW_WRAPPER_DIR}/gcc.cmd"
+		"@echo off\r\n"
+		"set \"PATH=${MINGW_WRAPPER_PATH}\"\r\n"
+		"\"${MINGW_REAL_C_COMPILER}\" %*\r\n"
+		"exit /b %ERRORLEVEL%\r\n")
+	file(WRITE "${MINGW_WRAPPER_DIR}/gxx.cmd"
+		"@echo off\r\n"
+		"set \"PATH=${MINGW_WRAPPER_PATH}\"\r\n"
+		"\"${MINGW_REAL_CXX_COMPILER}\" %*\r\n"
+		"exit /b %ERRORLEVEL%\r\n")
+	file(WRITE "${MINGW_WRAPPER_DIR}/windres.cmd"
+		"@echo off\r\n"
+		"set \"PATH=${MINGW_WRAPPER_PATH}\"\r\n"
+		"\"${MINGW_REAL_RC_COMPILER}\" %*\r\n"
+		"exit /b %ERRORLEVEL%\r\n")
+
+	set(MINGW_C_COMPILER "${MINGW_WRAPPER_DIR}/gcc.cmd")
+	set(MINGW_CXX_COMPILER "${MINGW_WRAPPER_DIR}/gxx.cmd")
+	set(MINGW_RC_COMPILER "${MINGW_WRAPPER_DIR}/windres.cmd")
+else()
+	set(MINGW_C_COMPILER "${MINGW_REAL_C_COMPILER}")
+	set(MINGW_CXX_COMPILER "${MINGW_REAL_CXX_COMPILER}")
+	set(MINGW_RC_COMPILER "${MINGW_REAL_RC_COMPILER}")
 endif()
 
 set(CMAKE_C_COMPILER   ${MINGW_C_COMPILER})
@@ -43,7 +93,14 @@ set(CMAKE_RANLIB       ${MINGW_RANLIB})
 # PACKAGE uses BOTH so find_package() can locate packages installed by
 # nested ExternalProject builds (microcdr under the PX4 build tree) as
 # well as packages living in the MinGW sysroot.
-set(CMAKE_FIND_ROOT_PATH /usr/${TOOLCHAIN_PREFIX})
+if(CMAKE_HOST_WIN32)
+	get_filename_component(MINGW_PREFIX "${MINGW_BIN_DIR}" DIRECTORY)
+	set(CMAKE_FIND_ROOT_PATH
+		"${MINGW_PREFIX}"
+		"${MINGW_PREFIX}/${TOOLCHAIN_PREFIX}")
+else()
+	set(CMAKE_FIND_ROOT_PATH /usr/${TOOLCHAIN_PREFIX})
+endif()
 set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
 set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
 set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
@@ -58,6 +115,20 @@ get_filename_component(_px4_windows_shim_dir
 	"${CMAKE_CURRENT_LIST_DIR}/../include/windows_shim" ABSOLUTE)
 include_directories(BEFORE SYSTEM "${_px4_windows_shim_dir}")
 
+# Vendored upstream code (Micro-XRCE-DDS-Client, CycloneDDS, libvnc) writes
+# `#include <Windows.h>`. MinGW only ships the lowercase header, so on
+# case-sensitive hosts (Linux, macOS) we need an uppercase alias. On
+# case-insensitive hosts (Windows itself) the alias must NOT exist on the
+# include path: a shim `Windows.h` would match `#include <windows.h>` first
+# and `#pragma once`-recurse to itself, hiding the real header. Generate
+# the alias under the build tree only when we actually need it.
+if(NOT CMAKE_HOST_SYSTEM_NAME STREQUAL "Windows")
+	set(_px4_windows_case_alias_dir ${CMAKE_BINARY_DIR}/windows_case_alias)
+	file(WRITE ${_px4_windows_case_alias_dir}/Windows.h
+		"#pragma once\n#include <windows.h>\n")
+	include_directories(BEFORE SYSTEM ${_px4_windows_case_alias_dir})
+endif()
+
 # Target Windows 10 (1803+) so AF_UNIX is available in WinSock2.
 add_compile_definitions(
 	_WIN32_WINNT=0x0A00       # Windows 10

platforms/posix/cmake/px4_impl_os.cmake

@@ -211,13 +211,17 @@ function(px4_posix_generate_symlinks)
 		if (MAIN)
 			set(ln_name "${PREFIX}${MAIN}")
 			if(WIN32 OR MINGW)
-				# Windows symlinks require admin; copy the exe instead so that
+				set(alias_executable "${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/${ln_name}.exe")
-				# px4-<module>.exe can be invoked the same way as on POSIX.
+
+				# Windows symlinks require extra privileges. Hard links keep the
+				# px4-<module>.exe entry points without duplicating the MSVC exe.
 				add_custom_command(TARGET ${TARGET}
 					POST_BUILD
-					COMMAND ${CMAKE_COMMAND} -E copy
+					COMMAND ${CMAKE_COMMAND} -E remove -f
+						${alias_executable}
+					COMMAND ${CMAKE_COMMAND} -E create_hardlink
 						$<TARGET_FILE:${TARGET}>
-						${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/${ln_name}.exe
+						${alias_executable}
 				)
 			else()
 				add_custom_command(TARGET ${TARGET}
@@ -245,7 +249,7 @@ function(px4_os_add_flags)
 	add_definitions(-D__PX4_POSIX)
 
 	if(MSVC)
-		add_definitions(-Dnoreturn_function=__declspec\(noreturn\))
+		add_definitions(-Dnoreturn_function=)
 	else()
 		add_definitions(-Dnoreturn_function=__attribute__\(\(noreturn\)\))
 	endif()

platforms/posix/cmake/windows.cmake

@@ -38,6 +38,9 @@
 
 set(PX4_POSIX_WINDOWS_ROOT "${PX4_SOURCE_DIR}/platforms/posix/src/px4/windows")
 set(PX4_POSIX_WINDOWS_PRIVATE_INCLUDE_DIR "${PX4_POSIX_WINDOWS_ROOT}/include")
+set(PX4_POSIX_WINDOWS_DYNAMIC_MODULE_HOST_EXPORTS
+	px4_log_modulename
+)
 
 function(px4_posix_windows_append_sources out_var)
 	list(APPEND ${out_var}
@@ -109,6 +112,20 @@ function(px4_posix_windows_configure_target target_name)
 	if(MSVC)
 		set_target_properties(${target_name} PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
 		target_compile_options(${target_name} PRIVATE /bigobj)
+
+		# Reproducible builds: zero out the PE COFF TimeDateStamp and the debug
+		# directory timestamp so byte-identical sources produce a byte-identical
+		# px4.exe. Without /Brepro every link embeds time(NULL), making CI
+		# artifact diffing and supply-chain hashing meaningless.
+		target_compile_options(${target_name} PRIVATE /Brepro)
+		target_link_options(${target_name} PRIVATE /Brepro)
+
+		# WINDOWS_EXPORT_ALL_SYMBOLS only scans objects owned directly by
+		# px4.exe. Dynamic .px4mod modules also need host APIs that come from
+		# PX4 static libraries, so export those entry points explicitly.
+		foreach(host_export IN LISTS PX4_POSIX_WINDOWS_DYNAMIC_MODULE_HOST_EXPORTS)
+			target_link_options(${target_name} PRIVATE "/EXPORT:${host_export}")
+		endforeach()
 	else()
 		# Force an import library (`libpx4.dll.a`) to be generated alongside
 		# px4.exe so DYNAMIC `.px4mod` modules can link against it.
@@ -149,6 +166,7 @@ function(px4_posix_windows_link_libraries target_name)
 			iphlpapi
 			dbghelp
 			psapi
+			winmm    # timeBeginPeriod / timeEndPeriod for 1 ms timer resolution
 	)
 
 	if(NOT MSVC)

platforms/posix/src/px4/common/CMakeLists.txt

@@ -51,7 +51,9 @@ add_library(px4_layer
 	SerialImpl.cpp
 )
 target_compile_definitions(px4_layer PRIVATE MODULE_NAME="px4")
-target_compile_options(px4_layer PRIVATE -Wno-cast-align) # TODO: fix and enable
+px4_target_compile_options_for_compiler(px4_layer PRIVATE
+	GNU_LIKE -Wno-cast-align # TODO: fix and enable
+)
 target_link_libraries(px4_layer PRIVATE work_queue px4_work_queue)
 target_link_libraries(px4_layer PRIVATE px4_daemon drivers_board)
 

platforms/ros2/CMakeLists.txt

@@ -46,9 +46,10 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${CMAKE_BINARY_DIR}/bin)
 # 	src/px4/common/main.cpp
 # )
 
-add_compile_options(
+px4_add_compile_options_for_compiler(
-	-Wno-error
+	GNU_LIKE
-	-Wno-float-equal # msg generated equality operator
+		-Wno-error
+		-Wno-float-equal # msg generated equality operator
 )
 
 include_directories(${PX4_BINARY_DIR})

platforms/ros2/src/px4/common/CMakeLists.txt

@@ -37,4 +37,6 @@ add_library(px4_layer STATIC
 	${PX4_SOURCE_DIR}/platforms/common/module_base.cpp
 )
 target_compile_definitions(px4_layer PRIVATE MODULE_NAME="px4")
-target_compile_options(px4_layer PRIVATE -Wno-cast-align) # TODO: fix and enable
+px4_target_compile_options_for_compiler(px4_layer PRIVATE
+	GNU_LIKE -Wno-cast-align # TODO: fix and enable
+)

src/drivers/cyphal/CMakeLists.txt

@@ -143,4 +143,6 @@ px4_add_module(
 	)
 
 # libcanard 3.0 introduces this warning, for now no intention to fix it thus we ignore this warning
-set_source_files_properties(${LIBCANARD_DIR}/libcanard/canard.c PROPERTIES COMPILE_FLAGS -Wno-cast-align)
+if(NOT MSVC)
+	set_source_files_properties(${LIBCANARD_DIR}/libcanard/canard.c PROPERTIES COMPILE_FLAGS -Wno-cast-align)
+endif()

src/drivers/ins/ilabs/libilabs/CMakeLists.txt

@@ -38,9 +38,8 @@ set(SOURCES
 )
 
 add_library(${LIBRARY_NAME} ${SOURCES})
-target_compile_options(${LIBRARY_NAME}
+px4_target_compile_options_for_compiler(${LIBRARY_NAME} PRIVATE
-	PRIVATE
+	GNU_LIKE -Wno-unused-function
-		-Wno-unused-function
 )
 
 target_include_directories(${LIBRARY_NAME} PUBLIC

src/drivers/ins/microstrain/CMakeLists.txt

@@ -42,6 +42,17 @@ set(BUILD_EXAMPLES "OFF" CACHE BOOL "" FORCE)
 set(BUILD_TESTING "OFF" CACHE BOOL "" FORCE)
 add_subdirectory(mip_sdk)
 
+# The mip target lives in a vendored submodule; apply PX4's compiler-specific
+# warning suppressions from the parent so the submodule tree stays clean.
+if(TARGET mip)
+	px4_target_compile_options_for_compiler(mip PRIVATE
+		GNU_LIKE
+			-Wno-shadow
+			-Wno-strict-prototypes
+			-Wno-incompatible-pointer-types
+	)
+endif()
+
 px4_add_module(
 	MODULE drivers__ins__microstrain
 	MAIN microstrain

src/drivers/ins/sbgecom/CMakeLists.txt

@@ -51,16 +51,16 @@ add_dependencies(sbgECom prebuild_targets)
 # If you add a flag here, it should address a warning emitted by vendor
 # code only. Warnings triggered in PX4-authored code must be fixed at
 # the source, not silenced here.
-target_compile_options(sbgECom
+px4_target_compile_options_for_compiler(sbgECom PRIVATE
-        PRIVATE
+	GNU_LIKE
-        -Wno-format
+		-Wno-format
-        -Wno-format-security
+		-Wno-format-security
-        -Wno-bad-function-cast
+		-Wno-bad-function-cast
-        -Wno-double-promotion
+		-Wno-double-promotion
-        -Wno-type-limits
+		-Wno-type-limits
-        -Wno-maybe-uninitialized
+		-Wno-maybe-uninitialized
-        -Wno-float-equal
+		-Wno-float-equal
-        -Wno-logical-op
+		-Wno-logical-op
 )
 
 # -Wno-typedef-redefinition is Clang-only. GCC rejects unrecognized

src/drivers/ins/vectornav/libvnc/CMakeLists.txt

@@ -56,17 +56,25 @@ add_library(libvnc ${SOURCES})
 add_dependencies(libvnc prebuild_targets)
 target_compile_options(libvnc
         PRIVATE
-                -Wno-double-promotion
+                $<$<C_COMPILER_ID:MSVC>:/wd4018>
-                -Wno-pointer-sign
+                $<$<C_COMPILER_ID:MSVC>:/wd4061>
-                -Wno-cast-align
+                $<$<C_COMPILER_ID:MSVC>:/wd4062>
-                -Wno-unused-but-set-parameter
+                $<$<C_COMPILER_ID:MSVC>:/wd4100>
-                -Wno-sign-compare
+                $<$<C_COMPILER_ID:MSVC>:/wd4101>
-                -Wno-bad-function-cast
+                $<$<C_COMPILER_ID:MSVC>:/wd4189>
-                -Wno-empty-body
+                $<$<C_COMPILER_ID:MSVC>:/wd4389>
-                -Wno-switch
+                $<$<C_COMPILER_ID:MSVC>:/wd4390>
-                -Wno-unused-variable
+                $<$<NOT:$<C_COMPILER_ID:MSVC>>:-Wno-double-promotion>
-                -Wno-format
+                $<$<NOT:$<C_COMPILER_ID:MSVC>>:-Wno-pointer-sign>
-                -Wno-format-security
+                $<$<NOT:$<C_COMPILER_ID:MSVC>>:-Wno-cast-align>
+                $<$<NOT:$<C_COMPILER_ID:MSVC>>:-Wno-unused-but-set-parameter>
+                $<$<NOT:$<C_COMPILER_ID:MSVC>>:-Wno-sign-compare>
+                $<$<NOT:$<C_COMPILER_ID:MSVC>>:-Wno-bad-function-cast>
+                $<$<NOT:$<C_COMPILER_ID:MSVC>>:-Wno-empty-body>
+                $<$<NOT:$<C_COMPILER_ID:MSVC>>:-Wno-switch>
+                $<$<NOT:$<C_COMPILER_ID:MSVC>>:-Wno-unused-variable>
+                $<$<NOT:$<C_COMPILER_ID:MSVC>>:-Wno-format>
+                $<$<NOT:$<C_COMPILER_ID:MSVC>>:-Wno-format-security>
 )
 
 if("${PX4_PLATFORM}" MATCHES "nuttx")

src/drivers/osd/msp_osd/MessageDisplay/CMakeLists.txt

@@ -31,12 +31,14 @@
 #
 ############################################################################
 
-add_compile_options(-Wno-stringop-truncation) # full message intentional string truncation
-
 px4_add_library(message_display
 	MessageDisplay.cpp
 	MessageDisplay.hpp
 )
 
+px4_target_compile_options_for_compiler(message_display PRIVATE
+	GNU_LIKE -Wno-stringop-truncation # full message intentional string truncation
+)
+
 # unit testing
 px4_add_unit_gtest(SRC MessageDisplayTest.cpp LINKLIBS message_display)

src/drivers/uavcan/CMakeLists.txt

@@ -86,10 +86,11 @@ add_definitions(
 	-DUAVCAN_PLATFORM=${UAVCAN_PLATFORM}
 )
 
-add_compile_options(
+px4_add_compile_options_for_compiler(
-	-Wno-cast-align # TODO: fix and enable
+	GNU_LIKE
-	-Wno-deprecated-copy # TODO: fix
+		-Wno-cast-align # TODO: fix and enable
-	-Wno-address-of-packed-member
+		-Wno-deprecated-copy # TODO: fix
+		-Wno-address-of-packed-member
 )
 set(CMAKE_WARN_DEPRECATED OFF CACHE BOOL "" FORCE) # silence libuavcan deprecation warning for now (TODO: fix and remove)
 add_subdirectory(${LIBDRONECAN_DIR} libdronecan EXCLUDE_FROM_ALL)

src/drivers/uavcan/uavcan_drivers/kinetis/driver/CMakeLists.txt

@@ -2,7 +2,7 @@ include_directories(
     ./include
     )
 
-add_compile_options(-Wno-unused-variable)
+px4_add_compile_options_for_compiler(GNU_LIKE -Wno-unused-variable)
 add_library(uavcan_kinetis_driver STATIC
     ./src/uc_kinetis_flexcan.cpp
     ./src/uc_kinetis_clock.cpp

src/drivers/uavcan/uavcan_drivers/socketcan/driver/CMakeLists.txt

@@ -2,7 +2,7 @@ include_directories(
     ./include
     )
 
-add_compile_options(-Wno-unused-variable)
+px4_add_compile_options_for_compiler(GNU_LIKE -Wno-unused-variable)
 add_library(uavcan_socketcan_driver STATIC
     src/socketcan.cpp
     src/thread.cpp

src/lib/cdrstream/CMakeLists.txt

@@ -36,11 +36,17 @@ if(CONFIG_LIB_CDRSTREAM)
 
 	# CycloneDDS CDR serializer
 	include(${CMAKE_CURRENT_LIST_DIR}/cyclonedds/src/core/cdr/CMakeLists.txt)
-	target_compile_options(cdr PUBLIC
+	target_compile_options(cdr PUBLIC -DNDEBUG)
-			       -Wno-cast-align
+	px4_target_compile_options_for_compiler(cdr PUBLIC
-			       -Wno-double-promotion
+		GNU_LIKE
-			       $<$<COMPILE_LANGUAGE:C>:-Wno-implicit-function-declaration -Wno-nested-externs>
+			-Wno-cast-align
-			       -DNDEBUG)
+			-Wno-double-promotion
+	)
+	px4_target_c_compile_options_for_compiler(cdr PUBLIC
+		GNU_LIKE
+			-Wno-implicit-function-declaration
+			-Wno-nested-externs
+	)
 	px4_add_git_submodule(TARGET git_cyclonedds PATH "cyclonedds")
 	px4_add_git_submodule(TARGET git_rosidl PATH "rosidl")
 	add_dependencies(cdr git_cyclonedds git_rosidl uorb_headers parameters px4_platform)

src/lib/collision_prevention/CMakeLists.txt

@@ -36,7 +36,9 @@ px4_add_library(CollisionPrevention
 	ObstacleMath.cpp
 )
 set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/collisionprevention_params.yaml)
-target_compile_options(CollisionPrevention PRIVATE -Wno-cast-align) # TODO: fix and enable
+px4_target_compile_options_for_compiler(CollisionPrevention PRIVATE
+	GNU_LIKE -Wno-cast-align # TODO: fix and enable
+)
 target_include_directories(CollisionPrevention PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 target_link_libraries(CollisionPrevention PRIVATE mathlib)
 

src/lib/controllib/controllib_test/CMakeLists.txt

@@ -31,11 +31,19 @@
 #
 ############################################################################
 
+set(controllib_test_compile_flags)
+
+if(NOT MSVC)
+	list(APPEND controllib_test_compile_flags
+		-Wno-double-promotion # TODO: fix in Matrix library Vector::pow()
+	)
+endif()
+
 px4_add_module(
 	MODULE lib__controllib__controllib_test
 	MAIN controllib_test
 	COMPILE_FLAGS
-		-Wno-double-promotion # TODO: fix in Matrix library Vector::pow()
+		${controllib_test_compile_flags}
 	SRCS
 		controllib_test_main.cpp
 	MODULE_CONFIG

src/lib/crypto/CMakeLists.txt

@@ -48,7 +48,9 @@ target_include_directories(monocypher
 )
 
 # There is a one shadow warning in monocypher 3.1.2, ignore it
-target_compile_options(monocypher PRIVATE -Wno-shadow)
+px4_target_compile_options_for_compiler(monocypher PRIVATE
+	GNU_LIKE -Wno-shadow
+)
 
 
 
@@ -97,7 +99,9 @@ target_link_libraries(libtomcrypt
 
 # Fix for erroneous warning on some compilers:
 # "der_encode_asn1_identifier.c:39:18: error: comparison is always false due to limited range of data type"
-target_compile_options(libtomcrypt PRIVATE -Wno-type-limits)
+px4_target_compile_options_for_compiler(libtomcrypt PRIVATE
+	GNU_LIKE -Wno-type-limits
+)
 
 # Re-define memory allocation macros if we are building for
 # memory protected build in nuttx. All allocations happen in

src/lib/events/CMakeLists.txt

@@ -42,6 +42,14 @@ foreach(f ${all_px4_src_files})
 	list(APPEND all_px4_src_files_relative "${relative_path}")
 endforeach(f)
 
+# The relative list still blows past Windows' 8191-char cmd.exe line limit
+# (~50 KB worth of paths). Write it to a response file and pass it through
+# argparse's @file expansion so the python invocation stays a few hundred
+# bytes regardless of source count.
+set(events_srcs_response ${CMAKE_CURRENT_BINARY_DIR}/px4_event_srcs.rsp)
+string(REPLACE ";" "\n" _events_srcs_lines "${all_px4_src_files_relative}")
+file(WRITE ${events_srcs_response} "${_events_srcs_lines}\n")
+
 set(generated_events_dir ${PX4_BINARY_DIR}/events)
 set(generated_events_px4_file ${generated_events_dir}/px4.json)
 set(generated_events_common_enums_file ${generated_events_dir}/common_with_enums.json)
@@ -49,7 +57,7 @@ add_custom_command(OUTPUT ${generated_events_px4_file}
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_events_dir}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_events.py
 		--base-path ${PX4_SOURCE_DIR}/src
-		--src-path ${all_px4_src_files_relative}
+		--src-path @${events_srcs_response}
 		--json ${generated_events_px4_file} #--verbose
 	DEPENDS
 		${all_px4_src_files}

src/lib/led/CMakeLists.txt

@@ -33,6 +33,6 @@
 
 px4_add_library(led led.cpp)
 set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/led_params.yaml)
-target_compile_options(led
+px4_target_compile_options_for_compiler(led PRIVATE
-	PRIVATE -Wno-implicit-fallthrough # TODO: fix and remove
+	GNU_LIKE -Wno-implicit-fallthrough # TODO: fix and remove
 )

src/lib/matrix/test/CMakeLists.txt

@@ -1,6 +1,7 @@
-add_compile_options(
+px4_add_compile_options_for_compiler(
-    -Wno-double-promotion
+    GNU_LIKE
-    -Wno-float-equal
+        -Wno-double-promotion
+        -Wno-float-equal
 )
 
 px4_add_unit_gtest(SRC MatrixAssignmentTest.cpp)

src/lib/parameters/CMakeLists.txt

@@ -201,11 +201,13 @@ if(NOT "${PX4_BOARD}" MATCHES "px4_io")
 	target_link_libraries(parameters PRIVATE perf tinybson px4_platform)
 
 	target_compile_definitions(parameters PRIVATE -DMODULE_NAME="parameters" -D__KERNEL__)
-	target_compile_options(parameters
+	#target_compile_options(parameters PRIVATE -DDEBUG_BUILD)
-		PRIVATE
+	px4_target_compile_options_for_compiler(parameters PRIVATE
-			#-DDEBUG_BUILD
+		GNU_LIKE
 			-Wno-cast-align		# TODO: fix and enable
 			-Wno-sign-compare	# TODO: fix and enable
+		MSVC
+			/wd4389
 	)
 else()
 	add_library(parameters STATIC EXCLUDE_FROM_ALL ${PX4_SOURCE_DIR}/platforms/common/empty.c)

src/lib/rc/CMakeLists.txt

@@ -40,9 +40,8 @@ add_library(rc
 	dsm.cpp
 	common_rc.cpp
 )
-target_compile_options(rc
+px4_target_compile_options_for_compiler(rc PRIVATE
-	PRIVATE
+	GNU_LIKE
-		#-DDEBUG_BUILD
 		-Wno-unused-result
 )
 target_link_libraries(rc PRIVATE prebuild_targets)

src/lib/rc/rc_tests/CMakeLists.txt

@@ -31,11 +31,19 @@
 #
 ############################################################################
 
+set(rc_tests_compile_flags)
+
+if(NOT MSVC)
+	list(APPEND rc_tests_compile_flags
+		-Wno-unused-result
+	)
+endif()
+
 px4_add_module(
 	MODULE lib__rc__rc_tests
 	MAIN rc_tests
 	COMPILE_FLAGS
-		-Wno-unused-result
+		${rc_tests_compile_flags}
 	SRCS
 		RCTest.cpp
 	DEPENDS

src/lib/rl_tools/CMakeLists.txt

@@ -7,9 +7,10 @@ if(CONFIG_LIB_RL_TOOLS)
 
 	target_compile_features(rl_tools INTERFACE cxx_std_17)
 
-	target_compile_options(rl_tools INTERFACE
+	px4_target_compile_options_for_compiler(rl_tools INTERFACE
-		-Wno-unused-parameter
+		GNU_LIKE
-		-Wno-unused-variable
+			-Wno-unused-parameter
-		-Wno-unused-local-typedefs
+			-Wno-unused-variable
+			-Wno-unused-local-typedefs
 	)
 endif()

src/lib/tensorflow_lite_micro/CMakeLists.txt

@@ -36,11 +36,6 @@ if(CONFIG_LIB_TFLM)
 
 	set(TFLITE_DOWNLOADS_DIR ${CMAKE_CURRENT_SOURCE_DIR}/tflite_micro/tensorflow/lite/micro/tools/make/downloads)
 
-	get_directory_property(FLAGS COMPILE_OPTIONS)
-	list(REMOVE_ITEM FLAGS "-Wcast-align")
-	set_directory_properties(PROPERTIES COMPILE_OPTIONS "${FLAGS}")
-
-
 	file(GLOB TFLITE_MICRO_SRCS
 	${CMAKE_CURRENT_SOURCE_DIR}/tflite_micro/tensorflow/lite/*.cc
 	${CMAKE_CURRENT_SOURCE_DIR}/tflite_micro/tensorflow/lite/micro/*.cc
@@ -85,9 +80,11 @@ if(CONFIG_LIB_TFLM)
 	add_dependencies(tensorflow_lite_micro git_tflite-micro)
 	target_compile_features(tensorflow_lite_micro PRIVATE cxx_std_17)
 
-	target_compile_options(tensorflow_lite_micro PUBLIC
+	px4_target_compile_options_for_compiler(tensorflow_lite_micro PUBLIC
-	-Wno-float-equal
+		GNU_LIKE
-	-Wno-shadow
+			-Wno-cast-align
+			-Wno-float-equal
+			-Wno-shadow
 	)
 
 

src/lib/tinybson/CMakeLists.txt

@@ -38,8 +38,11 @@ add_library(tinybson
 target_compile_definitions(tinybson PRIVATE -DMODULE_NAME="tinybson")
 target_compile_options(tinybson
 	PRIVATE
-		-Wno-sign-compare # TODO: fix this
 		${MAX_CUSTOM_OPT_LEVEL}
 )
+px4_target_compile_options_for_compiler(tinybson PRIVATE
+	GNU_LIKE -Wno-sign-compare
+	MSVC /wd4018 /wd4389
+)
 
 add_dependencies(tinybson prebuild_targets)

src/lib/version/CMakeLists.txt

@@ -54,7 +54,7 @@ endif()
 set(px4_git_ver_header ${CMAKE_CURRENT_BINARY_DIR}/build_git_version.h)
 add_custom_command(OUTPUT ${px4_git_ver_header}
 	COMMAND
-		${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_update_git_header.py ${px4_git_ver_header} --validate --git_tag '${PX4_GIT_TAG}'
+		${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_update_git_header.py ${px4_git_ver_header} --validate --git_tag ${PX4_GIT_TAG}
 	DEPENDS
 		${CMAKE_CURRENT_SOURCE_DIR}/px_update_git_header.py
 		${git_dir_path}/HEAD

src/lib/world_magnetic_model/CMakeLists.txt

@@ -57,5 +57,8 @@ target_compile_options(world_magnetic_model PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
 
 if(BUILD_TESTING)
 	px4_add_unit_gtest(SRC test_geo_lookup.cpp LINKLIBS world_magnetic_model)
-	target_compile_options(unit-test_geo_lookup PRIVATE ${PX4_DEBUG_OPT_LEVEL} -Wno-double-promotion)
+	target_compile_options(unit-test_geo_lookup PRIVATE ${PX4_DEBUG_OPT_LEVEL})
+	px4_target_compile_options_for_compiler(unit-test_geo_lookup PRIVATE
+		GNU_LIKE -Wno-double-promotion
+	)
 endif()

src/modules/dataman/CMakeLists.txt

@@ -30,11 +30,18 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
+set(dataman_compile_flags)
+
+if(NOT MSVC)
+	list(APPEND dataman_compile_flags -Wno-cast-align) # TODO: fix and enable
+endif()
+
 px4_add_module(
 	MODULE modules__dataman
 	MAIN dataman
 	COMPILE_FLAGS
-		-Wno-cast-align # TODO: fix and enable
+		${dataman_compile_flags}
 	SRCS
 		dataman.cpp
 	MODULE_CONFIG

src/modules/ekf2/CMakeLists.txt

@@ -244,12 +244,19 @@ endif ()
 
 add_subdirectory(EKF)
 
+set(ekf2_compile_flags ${MAX_CUSTOM_OPT_LEVEL})
+
+if(MSVC)
+	list(APPEND ekf2_compile_flags /fp:precise)
+else()
+	list(APPEND ekf2_compile_flags -fno-associative-math)
+endif()
+
 px4_add_module(
 	MODULE modules__ekf2
 	MAIN ekf2
 	COMPILE_FLAGS
-		${MAX_CUSTOM_OPT_LEVEL}
+		${ekf2_compile_flags}
-		-fno-associative-math
 		#-DDEBUG_BUILD
 		#-O0
 	INCLUDES

src/modules/ekf2/EKF/CMakeLists.txt

@@ -161,4 +161,7 @@ target_link_libraries(ecl_EKF
 		${EKF_LIBS}
 )
 
-target_compile_options(ecl_EKF PRIVATE -fno-associative-math)
+px4_target_compile_options_for_compiler(ecl_EKF PRIVATE
+	GNU_LIKE -fno-associative-math
+	MSVC /fp:precise
+)

src/modules/flight_mode_manager/CMakeLists.txt

@@ -89,8 +89,8 @@ add_custom_target(flighttasks_generated
 	DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/FlightTasks_generated.cpp)
 add_dependencies(prebuild_targets flighttasks_generated)
 
-add_compile_options(
+px4_add_compile_options_for_compiler(
-	-Wno-cast-align
+	GNU_LIKE -Wno-cast-align
 ) # TODO: fix and enable
 
 # add subdirectory containing all tasks

src/modules/gyro_fft/CMakeLists.txt

@@ -42,10 +42,14 @@ endif()
 # CMSIS DSP contains ARM Cortex-M assembly that triggers clang warnings on 64-bit ARM.
 # This code is unused on POSIX platforms - only the C fallback implementations run.
 if(${PX4_PLATFORM} MATCHES "posix" AND ${CMAKE_HOST_SYSTEM_PROCESSOR} MATCHES "arm64|aarch64")
-	add_compile_options(-Wno-asm-operand-widths)
+	px4_add_compile_options_for_compiler(
+		GNU_LIKE -Wno-asm-operand-widths
+	)
 endif()
 
-add_compile_options($<$<COMPILE_LANGUAGE:C>:-Wno-nested-externs>)
+px4_add_c_compile_options_for_compiler(
+	GNU_LIKE -Wno-nested-externs
+)
 
 px4_add_module(
 	MODULE modules__gyro_fft

src/modules/logger/CMakeLists.txt

@@ -37,6 +37,12 @@ if(PX4_CRYPTO)
 	list(APPEND LOGGER_MODULE_PARAMS module_params_crypto.yaml)
 endif()
 
+set(logger_compile_flags ${MAX_CUSTOM_OPT_LEVEL})
+
+if(NOT MSVC)
+	list(APPEND logger_compile_flags -Wno-cast-align) # TODO: fix and enable
+endif()
+
 px4_add_module(
 	MODULE modules__logger
 	MAIN logger
@@ -46,8 +52,7 @@ px4_add_module(
 		module.yaml
 		${LOGGER_MODULE_PARAMS}
 	COMPILE_FLAGS
-		${MAX_CUSTOM_OPT_LEVEL}
+		${logger_compile_flags}
-		-Wno-cast-align # TODO: fix and enable
 	SRCS
 		logged_topics.cpp
 		logger.cpp