updated to v4.27 and latest airsim public version. untested

.gitignore

@@ -36,7 +36,7 @@ CMakeFiles/
 cmake_install.cmake
 CMakeCache.txt
 
-# Unreal Engine
+#Unreal Engine
 StarterContent/
 Saved/
 !DefaultEditorPerProjectUserSettings.ini #contains use less CPU setting
@@ -222,7 +222,6 @@ Backup*/
 UpgradeLog*.XML
 UpgradeLog*.htm
 *.bundle
-**/*.orig
 
 # SQL Server files
 *.mdf
@@ -293,12 +292,14 @@ ModelManifest.xml
 /cmake/MavLinkCom/Makefile
 /cmake/Makefile
 /cmake/HelloDrone/Makefile
+/cmake/HelloSpawnedDrones/Makefile
 /cmake/DroneShell/Makefile
 /cmake/DroneServer/Makefile
 /cmake/AirLib/Makefile
 /cmake/AirLibUnity/Makefile
 /cmake/AirLibUnity/AirLibUnity
 /cmake/HelloDrone/HelloDrone
+/cmake/HelloSpawnedDrones/HelloSpawnedDrones
 /cmake/DroneShell/DroneShell
 /cmake/DroneServer/DroneServer
 cmake/AirLibUnitTests/Makefile
@@ -314,6 +315,7 @@ cmake_build/
 /boost
 /[Ee]igen
 /build_debug
+/build_release
 /cmake/CPackSourceConfig.cmake
 /cmake/CPackConfig.cmake
 /cmake/arch.c
@@ -364,17 +366,31 @@ xcuserdata/
 !*.xcworkspace/contents.xcworkspacedata
 /*.gcno
 
-/Unity/UnityDemo/Library
-/Unity/UnityDemo/Assembly-CSharp.csproj
-/Unity/UnityDemo/UnityDemo.sln
-/Unity/UnityDemo/Logs/
-/Unity/UnityDemo/Assets/Plugins/AirsimWrapper.dll
-/Builds/
+# Sublime Text
+*.sublime-workspace
+*.sublime-project
 
-### External assests ###
+# ROS
+ros/.catkin_tools/
+ros/devel/
+ros/logs/
+ros/.catkin_workspace
+ros/src/CMakeLists.txt
 
-*GenericNPCAnimPack/
-*IndustryPropsPack6/
-/build_release/
-/Scripts/GenerateMaskFromBag/parfor_progress.txt
-*.asv
+# ROS2
+ros2/install/
+ros2/log/
+ros2/src/log
+
+# docs
+docs/README.md
+build_docs/
+
+# api docs
+PythonClient/docs/_build
+
+# Docker
+/docker/Blocks/
+
+# clangd generated folder, for e.g. from VSCode clangd extension
+.cache/

AirLib/AirLib.vcxproj

@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
-<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+<Project DefaultTargets="Build" ToolsVersion="16.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
   <Import Project="$([MSBuild]::GetDirectoryNameOfFileAbove($(MSBuildThisFileDirectory), AirSim.props))\AirSim.props" />
   <PropertyGroup>
     <ShowAllFiles>true</ShowAllFiles>
@@ -21,11 +21,19 @@
       <Configuration>Release</Configuration>
       <Platform>x64</Platform>
     </ProjectConfiguration>
+    <ProjectConfiguration Include="RelWithDebInfo|Win32">
+      <Configuration>RelWithDebInfo</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="RelWithDebInfo|x64">
+      <Configuration>RelWithDebInfo</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="include\api\ApiProvider.hpp" />
     <ClInclude Include="include\api\ApiServerBase.hpp" />
-    <ClInclude Include="include\api\RpcLibAdapatorsBase.hpp" />
+    <ClInclude Include="include\api\RpcLibAdaptorsBase.hpp" />
     <ClInclude Include="include\api\RpcLibClientBase.hpp" />
     <ClInclude Include="include\api\RpcLibServerBase.hpp" />
     <ClInclude Include="include\api\WorldSimApiBase.hpp" />
@@ -45,6 +53,7 @@
     <ClInclude Include="include\common\common_utils\ExceptionUtils.hpp" />
     <ClInclude Include="include\common\common_utils\FileSystem.hpp" />
     <ClInclude Include="include\common\common_utils\json.hpp" />
+    <ClInclude Include="include\common\common_utils\SmoothingFilter.hpp" />
     <ClInclude Include="include\common\common_utils\UniqueValueMap.hpp" />
     <ClInclude Include="include\common\common_utils\MedianFilter.hpp" />
     <ClInclude Include="include\common\common_utils\MinWinDefines.hpp" />
@@ -84,7 +93,7 @@
     <ClInclude Include="include\sensors\SensorFactory.hpp" />
     <ClInclude Include="include\vehicles\car\api\CarApiBase.hpp" />
     <ClInclude Include="include\vehicles\multirotor\api\MultirotorCommon.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibAdapators.hpp" />
+    <ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibAdaptors.hpp" />
     <ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibClient.hpp" />
     <ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibServer.hpp" />
     <ClInclude Include="include\vehicles\multirotor\firmwares\mavlink\ArduCopterSoloApi.hpp" />
@@ -133,7 +142,7 @@
     <ClInclude Include="include\vehicles\multirotor\firmwares\mavlink\MavLinkMultirotorApi.hpp" />
     <ClInclude Include="include\safety\ObstacleMap.hpp" />
     <ClInclude Include="include\common\PidController.hpp" />
-    <ClInclude Include="include\vehicles\car\api\CarRpcLibAdapators.hpp" />
+    <ClInclude Include="include\vehicles\car\api\CarRpcLibAdaptors.hpp" />
     <ClInclude Include="include\vehicles\car\api\CarRpcLibClient.hpp" />
     <ClInclude Include="include\vehicles\car\api\CarRpcLibServer.hpp" />
     <ClInclude Include="include\safety\SafetyEval.hpp" />
@@ -164,10 +173,10 @@
     <ClInclude Include="include\sensors\SensorCollection.hpp" />
     <ClInclude Include="include\vehicles\multirotor\firmwares\mavlink\Px4MultiRotorParams.hpp" />
     <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightQuadXParams.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\MultiRotor.hpp" />
+    <ClInclude Include="include\vehicles\multirotor\MultiRotorPhysicsBody.hpp" />
     <ClInclude Include="include\vehicles\multirotor\MultiRotorParams.hpp" />
     <ClInclude Include="include\vehicles\multirotor\MultiRotorParamsFactory.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\Rotor.hpp" />
+    <ClInclude Include="include\vehicles\multirotor\RotorActuator.hpp" />
     <ClInclude Include="include\vehicles\multirotor\RotorParams.hpp" />
   </ItemGroup>
   <ItemGroup>
@@ -196,26 +205,40 @@
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
     <ConfigurationType>StaticLibrary</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
     <ConfigurationType>StaticLibrary</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'" Label="Configuration">
+    <ConfigurationType>StaticLibrary</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v143</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>StaticLibrary</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
     <ConfigurationType>StaticLibrary</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'" Label="Configuration">
+    <ConfigurationType>StaticLibrary</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v143</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
@@ -230,12 +253,18 @@
   <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
   </ImportGroup>
+  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'" Label="PropertySheets">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
   <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
   </ImportGroup>
   <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
   </ImportGroup>
+  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'" Label="PropertySheets">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
   <PropertyGroup Label="UserMacros" />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
     <LinkIncremental>true</LinkIncremental>
@@ -252,11 +281,21 @@
     <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
     <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
   </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">
+    <LinkIncremental>false</LinkIncremental>
+    <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
+    <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
+  </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <LinkIncremental>false</LinkIncremental>
     <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
     <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
   </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'">
+    <LinkIncremental>false</LinkIncremental>
+    <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
+    <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
+  </PropertyGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
     <ClCompile>
       <PrecompiledHeader>
@@ -267,6 +306,7 @@
       <AdditionalIncludeDirectories>include;deps\eigen3;deps\rpclib\include;$(ProjectDir)..\MavLinkCom\include</AdditionalIncludeDirectories>
       <TreatWarningAsError>true</TreatWarningAsError>
       <AdditionalOptions>/w34263 /w34266 %(AdditionalOptions)</AdditionalOptions>
+      <LanguageStandard>stdcpp17</LanguageStandard>
     </ClCompile>
     <Link>
       <SubSystem>Console</SubSystem>
@@ -292,6 +332,7 @@
       <TreatWarningAsError>true</TreatWarningAsError>
       <AdditionalOptions>/w34263 /w34266 %(AdditionalOptions)</AdditionalOptions>
       <DisableSpecificWarnings>4100;4505;4820;4464;4514;4710;4571;%(DisableSpecificWarnings)</DisableSpecificWarnings>
+      <LanguageStandard>stdcpp17</LanguageStandard>
     </ClCompile>
     <Link>
       <SubSystem>Windows</SubSystem>
@@ -318,6 +359,37 @@
       <AdditionalIncludeDirectories>include;deps\eigen3;deps\rpclib\include;$(ProjectDir)..\MavLinkCom\include</AdditionalIncludeDirectories>
       <TreatWarningAsError>true</TreatWarningAsError>
       <AdditionalOptions>/w34263 /w34266 %(AdditionalOptions)</AdditionalOptions>
+      <LanguageStandard>stdcpp17</LanguageStandard>
+    </ClCompile>
+    <Link>
+      <SubSystem>Windows</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <AdditionalLibraryDirectories>%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+      <AdditionalDependencies>MavLinkCom.lib;Setupapi.lib;Cfgmgr32.lib;%(AdditionalDependencies)</AdditionalDependencies>
+    </Link>
+    <Lib>
+      <AdditionalDependencies>rpc.lib</AdditionalDependencies>
+    </Lib>
+    <Lib>
+      <AdditionalLibraryDirectories>deps\rpclib\lib\$(Platform)\$(Configuration)</AdditionalLibraryDirectories>
+    </Lib>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">
+    <ClCompile>
+      <WarningLevel>Level4</WarningLevel>
+      <PrecompiledHeader>
+      </PrecompiledHeader>
+      <Optimization>Disabled</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <PreprocessorDefinitions>WIN32;NDEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <AdditionalIncludeDirectories>include;deps\eigen3;deps\rpclib\include;$(ProjectDir)..\MavLinkCom\include</AdditionalIncludeDirectories>
+      <TreatWarningAsError>true</TreatWarningAsError>
+      <AdditionalOptions>/w34263 /w34266 %(AdditionalOptions)</AdditionalOptions>
+      <LanguageStandard>stdcpp17</LanguageStandard>
+      <WholeProgramOptimization>false</WholeProgramOptimization>
     </ClCompile>
     <Link>
       <SubSystem>Windows</SubSystem>
@@ -346,6 +418,37 @@
       <AdditionalIncludeDirectories>include;deps\eigen3;deps\rpclib\include;$(ProjectDir)..\MavLinkCom\include</AdditionalIncludeDirectories>
       <TreatWarningAsError>true</TreatWarningAsError>
       <AdditionalOptions>/w34263 /w34266 %(AdditionalOptions)</AdditionalOptions>
+      <LanguageStandard>stdcpp17</LanguageStandard>
+    </ClCompile>
+    <Link>
+      <SubSystem>Windows</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <AdditionalLibraryDirectories>deps\rpclib\lib\Debug;deps\MavLinkCom\lib\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+      <AdditionalDependencies>MavLinkCom.lib;Setupapi.lib;Cfgmgr32.lib;%(AdditionalDependencies)</AdditionalDependencies>
+    </Link>
+    <Lib>
+      <AdditionalDependencies>rpc.lib</AdditionalDependencies>
+    </Lib>
+    <Lib>
+      <AdditionalLibraryDirectories>deps\rpclib\lib\$(Platform)\$(Configuration)</AdditionalLibraryDirectories>
+    </Lib>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'">
+    <ClCompile>
+      <WarningLevel>Level4</WarningLevel>
+      <PrecompiledHeader>
+      </PrecompiledHeader>
+      <Optimization>Disabled</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <PreprocessorDefinitions>NDEBUG;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <AdditionalIncludeDirectories>include;deps\eigen3;deps\rpclib\include;$(ProjectDir)..\MavLinkCom\include</AdditionalIncludeDirectories>
+      <TreatWarningAsError>true</TreatWarningAsError>
+      <AdditionalOptions>/w34263 /w34266 %(AdditionalOptions)</AdditionalOptions>
+      <LanguageStandard>stdcpp17</LanguageStandard>
+      <WholeProgramOptimization>false</WholeProgramOptimization>
     </ClCompile>
     <Link>
       <SubSystem>Windows</SubSystem>

AirLib/AirLib.vcxproj.filters

@@ -213,7 +213,7 @@
     <ClInclude Include="include\common\common_utils\MinWinDefines.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\MultiRotor.hpp">
+    <ClInclude Include="include\vehicles\multirotor\MultiRotorPhysicsBody.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
     <ClInclude Include="include\vehicles\multirotor\MultiRotorParams.hpp">
@@ -222,7 +222,7 @@
     <ClInclude Include="include\vehicles\multirotor\MultiRotorParamsFactory.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\Rotor.hpp">
+    <ClInclude Include="include\vehicles\multirotor\RotorActuator.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
     <ClInclude Include="include\vehicles\multirotor\RotorParams.hpp">
@@ -321,7 +321,7 @@
     <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\AirSimSimpleFlightEstimator.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="include\vehicles\car\api\CarRpcLibAdapators.hpp">
+    <ClInclude Include="include\vehicles\car\api\CarRpcLibAdaptors.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
     <ClInclude Include="include\vehicles\car\api\CarRpcLibClient.hpp">
@@ -330,7 +330,7 @@
     <ClInclude Include="include\vehicles\car\api\CarRpcLibServer.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibAdapators.hpp">
+    <ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibAdaptors.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
     <ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibClient.hpp">
@@ -339,7 +339,7 @@
     <ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibServer.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="include\api\RpcLibAdapatorsBase.hpp">
+    <ClInclude Include="include\api\RpcLibAdaptorsBase.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
     <ClInclude Include="include\vehicles\car\api\CarApiBase.hpp">
@@ -453,6 +453,9 @@
     <ClInclude Include="include\vehicles\multirotor\firmwares\mavlink\ArduCopterSoloParams.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="include\common\common_utils\SmoothingFilter.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="src\safety\ObstacleMap.cpp">