diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3ec097df..c12fe13f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -64,7 +64,7 @@ pkg_check_modules(GST REQUIRED gstreamer-1.0 gstreamer-app-1.0)
 add_library(ArduPilotPlugin
     SHARED
     src/ArduPilotPlugin.cc
-    src/Socket.cpp
+    src/SocketUDP.cc
     src/Util.cc
 )
 target_include_directories(ArduPilotPlugin PRIVATE
diff --git a/include/Socket.h b/include/Socket.h
deleted file mode 100644
index cae666c1..00000000
--- a/include/Socket.h
+++ /dev/null
@@ -1,73 +0,0 @@
-/*
-   Copyright (C) 2022 ardupilot.org
-
-   This program is free software: you can redistribute it and/or modify
-   it under the terms of the GNU General Public License as published by
-   the Free Software Foundation, either version 3 of the License, or
-   (at your option) any later version.
-
-   This program is distributed in the hope that it will be useful,
-   but WITHOUT ANY WARRANTY; without even the implied warranty of
-   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-   GNU General Public License for more details.
-
-   You should have received a copy of the GNU General Public License
-   along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-/*
-  simple socket handling class for systems with BSD socket API
- */
-#pragma once
-
-#include <fcntl.h>
-#include <unistd.h>
-#include <sys/ioctl.h>
-#include <sys/socket.h>
-#include <netinet/in.h>
-#include <netinet/tcp.h>
-#include <arpa/inet.h>
-#include <sys/select.h>
-
-class SocketAPM {
-public:
-  explicit SocketAPM(bool _datagram);
-  SocketAPM(bool _datagram, int _fd);
-  ~SocketAPM();
-
-  bool connect(const char *address, uint16_t port);
-  bool bind(const char *address, uint16_t port);
-  bool reuseaddress();
-  bool set_blocking(bool blocking);
-  bool set_cloexec();
-  void set_broadcast(void);
-
-  ssize_t send(const void *pkt, size_t size);
-  ssize_t sendto(const void *buf, size_t size,
-      const char *address, uint16_t port);
-  ssize_t recv(void *pkt, size_t size, uint32_t timeout_ms);
-
-  // return the IP address and port of the last received packet
-  void last_recv_address(const char *&ip_addr, uint16_t &port);
-
-  // return true if there is pending data for input
-  bool pollin(uint32_t timeout_ms);
-
-  // return true if there is room for output data
-  bool pollout(uint32_t timeout_ms);
-
-  // start listening for new tcp connections
-  bool listen(uint16_t backlog);
-
-  // accept a new connection. Only valid for TCP connections after
-  // listen has been used. A new socket is returned
-  SocketAPM *accept(uint32_t timeout_ms);
-
-private:
-  bool datagram;
-  struct sockaddr_in in_addr {};
-
-  int fd = -1;
-
-  void make_sockaddr(const char *address, uint16_t port,
-      struct sockaddr_in &sockaddr);
-};
diff --git a/include/SocketUDP.hh b/include/SocketUDP.hh
new file mode 100644
index 00000000..7024313a
--- /dev/null
+++ b/include/SocketUDP.hh
@@ -0,0 +1,75 @@
+/*
+   Copyright (C) 2024 ardupilot.org
+
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU Lesser General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU Lesser General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef SOCKETUDP_HH_
+#define SOCKETUDP_HH_
+
+#include <fcntl.h>
+#include <unistd.h>
+#ifdef _WIN32
+    #include <winsock2.h>
+    #include <Ws2tcpip.h>
+#else
+    #include <sys/ioctl.h>
+    #include <sys/socket.h>
+    #include <netinet/in.h>
+    #include <netinet/tcp.h>
+    #include <arpa/inet.h>
+    #include <sys/select.h>
+#endif
+
+/// \brief Simple UDP socket handling class.
+class SocketUDP {
+public:
+    /// \brief Constructor.
+    SocketUDP(bool reuseaddress, bool blocking);
+
+    /// \brief Destructor.
+    ~SocketUDP();
+
+    /// \brief Bind socket to address and port.
+    bool bind(const char *address, uint16_t port);
+
+    /// \brief Set reuse address option.
+    bool set_reuseaddress();
+
+    /// \brief Set blocking state.
+    bool set_blocking(bool blocking);
+
+    /// \brief Send data to address and port.
+    ssize_t sendto(const void *buf, size_t size, const char *address, uint16_t port);
+
+    /// \brief Receive data.
+    ssize_t recv(void *pkt, size_t size, uint32_t timeout_ms);
+
+    /// \brief Get last client address and port
+    void get_client_address(const char *&ip_addr, uint16_t &port);
+
+private:
+    /// \brief File descriptor.
+    struct sockaddr_in in_addr {};
+
+    /// \brief File descriptor.
+    int fd = -1;
+
+    /// \brief Poll for incoming data with timeout.
+    bool pollin(uint32_t timeout_ms);
+
+    /// \brief Make a sockaddr_in struct from address and port.
+    void make_sockaddr(const char *address, uint16_t port, struct sockaddr_in &sockaddr);
+};
+#endif  // SOCKETUDP_HH_
diff --git a/src/ArduPilotPlugin.cc b/src/ArduPilotPlugin.cc
index b2a3a25b..3ef599bf 100755
--- a/src/ArduPilotPlugin.cc
+++ b/src/ArduPilotPlugin.cc
@@ -57,7 +57,7 @@
 
 #include <sdf/sdf.hh>
 
-#include "Socket.h"
+#include "SocketUDP.hh"
 #include "Util.hh"
 
 #define DEBUG_JSON_IO 0
@@ -219,7 +219,7 @@ class gz::sim::systems::ArduPilotPluginPrivate
   public: std::mutex mutex;
 
   /// \brief Socket manager
-  public: SocketAPM sock = SocketAPM(true);
+  public: SocketUDP sock = SocketUDP(true, true);
 
   /// \brief The address for the flight dynamics model (i.e. this plugin)
   public: std::string fdm_address{"127.0.0.1"};
@@ -1253,10 +1253,6 @@ void gz::sim::systems::ArduPilotPlugin::ResetPIDs()
 /////////////////////////////////////////////////
 bool gz::sim::systems::ArduPilotPlugin::InitSockets(sdf::ElementPtr _sdf) const
 {
-    // configure port
-    this->dataPtr->sock.set_blocking(false);
-    this->dataPtr->sock.reuseaddress();
-
     // get the fdm address if provided, otherwise default to localhost
     this->dataPtr->fdm_address =
         _sdf->Get("fdm_addr", static_cast<std::string>("127.0.0.1")).first;
@@ -1407,7 +1403,7 @@ namespace
 /// \brief Get a servo packet. Templated for 16 or 32 channel packets.
 template<typename TServoPacket>
 ssize_t getServoPacket(
-  SocketAPM &_sock,
+  SocketUDP &_sock,
   const char *&_fcu_address,
   uint16_t &_fcu_port_out,
   uint32_t _waitMs,
@@ -1417,7 +1413,7 @@ ssize_t getServoPacket(
 {
     ssize_t recvSize = _sock.recv(&_pkt, sizeof(TServoPacket), _waitMs);
 
-    _sock.last_recv_address(_fcu_address, _fcu_port_out);
+    _sock.get_client_address(_fcu_address, _fcu_port_out);
 
     // drain the socket in the case we're backed up
     int counter = 0;
diff --git a/src/Socket.cpp b/src/Socket.cpp
deleted file mode 100644
index 0ef3d785..00000000
--- a/src/Socket.cpp
+++ /dev/null
@@ -1,240 +0,0 @@
-/*
-   Copyright (C) 2022 ardupilot.org
-
-   This program is free software: you can redistribute it and/or modify
-   it under the terms of the GNU General Public License as published by
-   the Free Software Foundation, either version 3 of the License, or
-   (at your option) any later version.
-
-   This program is distributed in the hope that it will be useful,
-   but WITHOUT ANY WARRANTY; without even the implied warranty of
-   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-   GNU General Public License for more details.
-
-   You should have received a copy of the GNU General Public License
-   along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-/*
-  simple socket handling class for systems with BSD socket API
- */
-
-#include "Socket.h"
-#include <string.h>
-
-/*
-  constructor
- */
-SocketAPM::SocketAPM(bool _datagram) :
-    SocketAPM(_datagram,
-              socket(AF_INET, _datagram?SOCK_DGRAM:SOCK_STREAM, 0))
-{}
-
-SocketAPM::SocketAPM(bool _datagram, int _fd) :
-    datagram(_datagram),
-    fd(_fd)
-{
-    fcntl(fd, F_SETFD, FD_CLOEXEC);
-    if (!datagram) {
-        int one = 1;
-        setsockopt(fd, IPPROTO_TCP, TCP_NODELAY, &one, sizeof(one));
-    }
-}
-
-SocketAPM::~SocketAPM()
-{
-    if (fd != -1) {
-        ::close(fd);
-        fd = -1;
-    }
-}
-
-void SocketAPM::make_sockaddr(const char *address, uint16_t port,
-    struct sockaddr_in &sockaddr)
-{
-    memset(&sockaddr, 0, sizeof(sockaddr));
-
-#ifdef HAVE_SOCK_SIN_LEN
-    sockaddr.sin_len = sizeof(sockaddr);
-#endif
-    sockaddr.sin_port = htons(port);
-    sockaddr.sin_family = AF_INET;
-    sockaddr.sin_addr.s_addr = inet_addr(address);
-}
-
-/*
-  connect the socket
- */
-bool SocketAPM::connect(const char *address, uint16_t port)
-{
-    struct sockaddr_in sockaddr;
-    make_sockaddr(address, port, sockaddr);
-
-    if (::connect(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr)) != 0) {
-        return false;
-    }
-    return true;
-}
-
-/*
-  bind the socket
- */
-bool SocketAPM::bind(const char *address, uint16_t port)
-{
-    struct sockaddr_in sockaddr;
-    make_sockaddr(address, port, sockaddr);
-
-    if (::bind(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr)) != 0) {
-        return false;
-    }
-    return true;
-}
-
-
-/*
-  set SO_REUSEADDR
- */
-bool SocketAPM::reuseaddress(void)
-{
-    int one = 1;
-    return (setsockopt(fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one)) != -1);
-}
-
-/*
-  set blocking state
- */
-bool SocketAPM::set_blocking(bool blocking)
-{
-    int fcntl_ret;
-    if (blocking) {
-        fcntl_ret = fcntl(fd, F_SETFL, fcntl(fd, F_GETFL, 0) & ~O_NONBLOCK);
-    } else {
-        fcntl_ret = fcntl(fd, F_SETFL, fcntl(fd, F_GETFL, 0) | O_NONBLOCK);
-    }
-    return fcntl_ret != -1;
-}
-
-/*
-  set cloexec state
- */
-bool SocketAPM::set_cloexec()
-{
-    return (fcntl(fd, F_SETFD, FD_CLOEXEC) != -1);
-}
-
-/*
-  send some data
- */
-ssize_t SocketAPM::send(const void *buf, size_t size)
-{
-    return ::send(fd, buf, size, 0);
-}
-
-/*
-  send some data
- */
-ssize_t SocketAPM::sendto(const void *buf, size_t size,
-    const char *address, uint16_t port)
-{
-    struct sockaddr_in sockaddr;
-    make_sockaddr(address, port, sockaddr);
-    return ::sendto(fd, buf, size, 0,
-        (struct sockaddr *)&sockaddr, sizeof(sockaddr));
-}
-
-/*
-  receive some data
- */
-ssize_t SocketAPM::recv(void *buf, size_t size, uint32_t timeout_ms)
-{
-    if (!pollin(timeout_ms)) {
-        return -1;
-    }
-    socklen_t len = sizeof(in_addr);
-    return ::recvfrom(fd, buf, size, MSG_DONTWAIT,
-        reinterpret_cast<sockaddr *>(&in_addr), &len);
-}
-
-/*
-  return the IP address and port of the last received packet
- */
-void SocketAPM::last_recv_address(const char *&ip_addr, uint16_t &port)
-{
-    ip_addr = inet_ntoa(in_addr.sin_addr);
-    port = ntohs(in_addr.sin_port);
-}
-
-void SocketAPM::set_broadcast(void)
-{
-    int one = 1;
-    setsockopt(fd, SOL_SOCKET, SO_BROADCAST,
-        reinterpret_cast<char *>(&one), sizeof(one));
-}
-
-/*
-  return true if there is pending data for input
- */
-bool SocketAPM::pollin(uint32_t timeout_ms)
-{
-    fd_set fds;
-    struct timeval tv;
-
-    FD_ZERO(&fds);
-    FD_SET(fd, &fds);
-
-    tv.tv_sec = timeout_ms / 1000;
-    tv.tv_usec = (timeout_ms % 1000) * 1000UL;
-
-    if (select(fd+1, &fds, nullptr, nullptr, &tv) != 1) {
-        return false;
-    }
-    return true;
-}
-
-
-/*
-  return true if there is room for output data
- */
-bool SocketAPM::pollout(uint32_t timeout_ms)
-{
-    fd_set fds;
-    struct timeval tv;
-
-    FD_ZERO(&fds);
-    FD_SET(fd, &fds);
-
-    tv.tv_sec = timeout_ms / 1000;
-    tv.tv_usec = (timeout_ms % 1000) * 1000UL;
-
-    if (select(fd+1, nullptr, &fds, nullptr, &tv) != 1) {
-        return false;
-    }
-    return true;
-}
-
-/* 
-   start listening for new tcp connections
- */
-bool SocketAPM::listen(uint16_t backlog)
-{
-    return ::listen(fd, static_cast<int>(backlog)) == 0;
-}
-
-/*
-  accept a new connection. Only valid for TCP connections after
-  listen has been used. A new socket is returned
-*/
-SocketAPM *SocketAPM::accept(uint32_t timeout_ms)
-{
-    if (!pollin(timeout_ms)) {
-        return nullptr;
-    }
-
-    int newfd = ::accept(fd, nullptr, nullptr);
-    if (newfd == -1) {
-        return nullptr;
-    }
-    // turn off nagle for lower latency
-    int one = 1;
-    setsockopt(newfd, IPPROTO_TCP, TCP_NODELAY, &one, sizeof(one));
-    return new SocketAPM(false, newfd);
-}
diff --git a/src/SocketUDP.cc b/src/SocketUDP.cc
new file mode 100644
index 00000000..f9aaa274
--- /dev/null
+++ b/src/SocketUDP.cc
@@ -0,0 +1,144 @@
+/*
+   Copyright (C) 2024 ardupilot.org
+
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU Lesser General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU Lesser General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+
+#include "SocketUDP.hh"
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+
+
+SocketUDP::SocketUDP(bool reuseaddress, bool blocking) {
+    fd = socket(AF_INET, SOCK_DGRAM, 0);
+    if (fd < 0) {
+        perror("SocketUDP creation failed");
+        exit(EXIT_FAILURE);
+    }
+
+#ifndef _WIN32
+    // Windows does not support FD_CLOEXEC
+    fcntl(fd, F_SETFD, FD_CLOEXEC);
+#endif
+
+    if (reuseaddress) {
+        set_reuseaddress();
+    }
+    if (blocking) {
+        set_blocking(true);
+    }
+}
+
+
+SocketUDP::~SocketUDP() {
+    if (fd != -1) {
+        ::close(fd);
+        fd = -1;
+    }
+}
+
+
+bool SocketUDP::bind(const char *address, uint16_t port) {
+    struct sockaddr_in server_addr{};
+    make_sockaddr(address, port, server_addr);
+
+    if (::bind(fd, reinterpret_cast<sockaddr *>(&server_addr), sizeof(server_addr)) != 0) {
+        perror("SocketUDP Bind failed");
+#ifdef _WIN32
+        closesocket(fd);
+#else
+        close(fd);
+#endif
+        return false;
+    }
+    return true;
+}
+
+
+bool SocketUDP::set_reuseaddress() {
+    int one = 1;
+    return (setsockopt(fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one)) != -1);
+}
+
+
+bool SocketUDP::set_blocking(bool blocking) {
+    int fcntl_ret;
+#ifdef _WIN32
+    u_long mode = blocking ? 0 : 1;
+    fcntl_ret = ioctlsocket(fd, FIONBIO, reinterpret_cast<u_long FAR *>(&mode));
+#else
+    if (blocking) {
+        fcntl_ret = fcntl(fd, F_SETFL, fcntl(fd, F_GETFL, 0) & ~O_NONBLOCK);
+    } else {
+        fcntl_ret = fcntl(fd, F_SETFL, fcntl(fd, F_GETFL, 0) | O_NONBLOCK);
+    }
+#endif
+    return fcntl_ret != -1;
+}
+
+
+ssize_t SocketUDP::sendto(const void *buf, size_t size, const char *address, uint16_t port) {
+    struct sockaddr_in sockaddr_out{};
+    make_sockaddr(address, port, sockaddr_out);
+
+    return ::sendto(fd, buf, size, 0, reinterpret_cast<sockaddr *>(&sockaddr_out), sizeof(sockaddr_out));
+}
+
+/*
+  receive some data
+ */
+ssize_t SocketUDP::recv(void *buf, size_t size, uint32_t timeout_ms) {
+    if (!pollin(timeout_ms)) {
+        return -1;
+    }
+    socklen_t len = sizeof(in_addr);
+    return ::recvfrom(fd, buf, size, MSG_DONTWAIT, reinterpret_cast<sockaddr *>(&in_addr), &len);
+}
+
+
+void SocketUDP::get_client_address(const char *&ip_addr, uint16_t &port) {
+    ip_addr = inet_ntoa(in_addr.sin_addr);
+    port = ntohs(in_addr.sin_port);
+}
+
+
+bool SocketUDP::pollin(uint32_t timeout_ms) {
+    fd_set fds;
+    struct timeval tv;
+
+    FD_ZERO(&fds);
+    FD_SET(fd, &fds);
+
+    tv.tv_sec = timeout_ms / 1000;
+    tv.tv_usec = (timeout_ms % 1000) * 1000UL;
+
+    if (select(fd + 1, &fds, nullptr, nullptr, &tv) != 1) {
+        return false;
+    }
+    return true;
+}
+
+void SocketUDP::make_sockaddr(const char *address, uint16_t port, struct sockaddr_in &sockaddr)
+{
+    sockaddr = {};
+
+    sockaddr.sin_family = AF_INET;
+    sockaddr.sin_addr.s_addr = inet_addr(address);
+    sockaddr.sin_port = htons(port);
+#ifdef HAVE_SOCK_SIN_LEN
+    sockaddr.sin_len = sizeof(sockaddr);
+#endif
+}