# Custom joystick axis functions for BlueROV2 Heavy **URL:** \ **Category:** Blue Robotics Software\ **Created:** [May 14, 2019, 3:53pm UTC](https://discuss.bluerobotics.com/t/custom-joystick-axis-functions-for-bluerov2-heavy/5055 "2019-05-14T15:53:55Z")\ **Posts on this page:** 1\ **Showing post:** 10
**Author:** ![patrickelectric](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/patrickelectric/32/2162_2.png) [@patrickelectric](https://discuss.bluerobotics.com/u/patrickelectric)\ **Post date:** [May 21, 2019, 10:53am UTC](https://discuss.bluerobotics.com/t/custom-joystick-axis-functions-for-bluerov2-heavy/5055/10 "2019-05-21T10:53:38Z")
Hi Travis, Mac or Ubuntu should be fine, for windows you should use the [WSL instructions](http://ardupilot.org/dev/docs/building-setup-windows10.html). The correct branch for development should be [ArduSub-Stable](https://github.com/ArduPilot/ardupilot/tree/ArduSub-stable), please rebase your changes over it if they are not rebased. Since ArduSub uses an old compiler version, the instructions of ardusub official website are not valid anymore, we are working to update it soon, but if you install ARM gcc 4.9.2 it should be fine. I did a small tutorial in a previous post, probably this can also help you: > [@Difficulties Compiling](https://discuss.bluerobotics.com/t/difficulties-compiling/5017/14): > > Hi Christopher, I’m sorry to inform you, but I was able to replicate your issue and we are going to update our documentation about it. You can check the issue status here: I did a test here with a docker image of ubuntu 18.04 that in theory is similar with your WSL version. Install necessary tools apt update apt install build-essential cmake gcc-multilib genromfs git make python python-dev python-empy python-future python-matplotlib python-numpy python-opencv python-pip python-pyparsing… --- _[View the full topic](https://discuss.bluerobotics.com/t/custom-joystick-axis-functions-for-bluerov2-heavy/5055)._