inav/docs/development/Building SITL.md

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