inav/docs/development/Building in Windows 10 or 11 with MSYS2.md

Building in Windows with MSYS2

• This environment does not require installing WSL which may not be available or would get in the way of other virtualization and/or anti-cheat softwares.
• It is also much faster to install and get set up because of its small size(~2 GB download and ~3.12 GB total after building hex file).

Setting up the environment

1. Download and install the latest MSYS2 release from https://repo.msys2.org/distrib/x86_64/

   • Scroll all the way down for an executable
   • Scroll halfway down for a self-extracting archive

2. Open an MSYS2 terminal by running C:\msys64\msys2_shell.cmd

3. In the newly opened shell, set up your work path

mkdir /c/Workspace
cd /c/Workspace

Downloading the INAV repository

• For master:

git clone https://github.com/iNavFlight/inav

• For a branch or a tag:

# "5.1.0" here can be the name of a branch or a tag 
git clone --branch 5.1.0 https://github.com/iNavFlight/inav

• If you are internet speed or space restrained, you can also use --depth 1 which won't download the whole history and --single-branch which won't download other branches:

git clone --depth 1 --single-branch --branch 5.1.0 https://github.com/iNavFlight/inav

This results in ~315 MB instead of ~476 MB download/install size

Installing dependencies

Installing other dependencies:

pacman -S git ruby make cmake gcc mingw-w64-x86_64-libwinpthread-git unzip wget

Installing xPack

1. Create xPack directory:

mkdir /c/Workspace/xpack
cd /c/Workspace/xpack

2. Get the xPack version you need for your INAV version:

cat /c/Workspace/inav/cmake/arm-none-eabi-checks.cmake | grep "set(arm_none_eabi_gcc_version" | cut -d\" -f2

3. Find the version you need from the releases page, then either:

• Download the "...-win32-x64.zip" and copy the folder inside, or
• Right click, choose "Copy link address" and paste it into the following commands:

cd /c/Workspace/xpack
# paste the link after "wget"
wget https://github.com/xpack-dev-tools/arm-none-eabi-gcc-xpack/releases/download/v10.2.1-1.1/xpack-arm-none-eabi-gcc-10.2.1-1.1-win32-x64.zip
# paste the file name after "unzip"
unzip xpack-arm-none-eabi-gcc-10.2.1-1.1-win32-x64.zip
# you can delete the zip file after as it is no longer needed
rm xpack-arm-none-eabi-gcc-10.2.1-1.1-win32-x64.zip

3. This is important, put the toolkit first before your path so that it is picked up ahead of any other versions that may be present on your system:

export PATH=/c/Workspace/xpack/xpack-arm-none-eabi-gcc-10.2.1-1.1/bin:$PATH
cd /c/Workspace/inav/build

Building the INAV firmware

1. Create the build directory:

cd /c/Workspace/inav
mkdir build

2. Go into the build directory:

cd build

3. Run cmake

cmake ..

4. Compile the firmware for your flight controller.

make MATEKF405

• The list of available targets in INAV can be found here: https://github.com/inavflight/inav/tree/master/src/main/target

• The generated hex file will be in the /c/Workspace/inav/build folder

• For the following runs, repeat steps 2 to 4

Troubleshooting

*** multiple target patterns. Stop. | Error 2

Delete everything in the build directory that contains previous runs

You can either use file explorer and delete everything inside C:\Workspace\inav\build or run:

cd /c/Workspace/inav/build
rm -rf *

-- could not find arm-none-eabi-gcc

Redo export PATH:

export PATH=/c/Workspace/xpack/xpack-arm-none-eabi-gcc-10.2.1-1.1/bin:$PATH