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+## Building SITL
+
+### Compiler requirements
+
+* Modern GCC. Must be a *real* GCC, unless you're using MacOS; faking it with clang will not work. gcc13 or later is recommended.
+* Unix sockets networking. Cygwin is required on Windows (vice `winsock`).
+* Pthreads
+
+
+### Linux and FreeBSD:
+
+Almost like normal, ruby, cmake and make are also required.
+With cmake, the option "-DSITL=ON" must be specified.
+
+```
+mkdir build_SITL
+cd build_SITL
+cmake -DSITL=ON ..
+make
+```
+
+### Windows:
+
+Compile under cygwin, using the Linux instructions. Note that depending on the Cygwin packaging _du jour_ of `ruby` it _may_ also be necessary to:
+
+* Install the `rubygems` package.
+* run `gem install getoptlong`
+
+Copy cygwin1.dll into the directory, or include cygwin's /bin/ directory in the environment variable PATH.
+
+If the build fails (segfault, possibly out of memory), adding `-DCMAKE_BUILD_TYPE=MinRelSize` to the `cmake` command may help.
+
+### Build manager
+
+`ninja` may also be used (parallel builds without `-j $(nproc)`):
+
+```
+cmake -GNinja -DSITL=ON ..
+ninja
+```
+
+### Supported environments
+
+* Linux on x86_64, ia-32, Aarch64 (e.g. Rpi), RISCV64 (e.g. VisionFive2)
+* Windows on x86_64
+* FreeBSD x86_64 (at least).
+* MacOS on x86_64 and Aarch64