merge from upstream

DEVELOPMENT.md

@@ -8,7 +8,7 @@ Run `build_static_libs.sh` **first** if you are setting up vtol-AirSim for the f
 
 You will also need to re-run the script whenever you modify the `.hpp` or `.cpp` files associated with any of the following C++ classes:
 - Any class with `*RpcLibClient*` or `*RpcLibServer*` in the name
-- `MultirotorApiBase` or `TiltrotorApiBase`
+- `MultirotorApiBase` or `VtolApiBase`
 - `SafetyEval`, `ObstacleMap`, or `FileSystem`
 
 If you have modified any of those files, then run `build_static_libs.sh` **first**, and then perform one of the build methods listed below. 

FORK.md

@@ -1,5 +1,13 @@
 # Maintaining the Fork: [byu-magicc/AirSim](https://github.com/byu-magicc/AirSim)
 
+### Contents
+
+- [Rationale](#rationale)
+- [Updating the AirSim Fork With Changes to vtol-AirSim](#updating-the-airsim-fork-with-changes-to-vtol-airsim)
+- [Merging Upstream Commits](#merging-upstream-commits)
+   - [After the Merge](#after-the-merge-copying-from-the-airsim-fork-to-vtol-airsim)
+
+## Rationale
 ### Why have 2 repositories instead of just one fork of AirSim?
 The layout of the AirSim repository is cumbersome for development. It is a large monorepo where interdependent code is scattered around in places that do not reflect where the code needs to be at compile time, and this makes the reading, writing, and testing of the AirSim source code awkward.
 
@@ -26,8 +34,8 @@ When you run this script, the source code files inside the following directories
 - `vtol-AirSim/Content/VTOL/Tiltrotor --> $AIRSIMPATH/Unreal/Plugins/AirSim/Content/VTOL/Tiltrotor` 
 - `vtol-AirSim/Source/AirLib --> $AIRSIMPATH/AirLib`
 
-## Merging Upstream Commits From microsoft/AirSim to byu-magicc/AirSim
-If new commits have been pushed to the base AirSim repo and you want to merge those commits into our fork of AirSim, then here is a guide on how to do that.
+## Merging Upstream Commits
+If there are new upstream commits - i.e., the AirSim developers have pushed new commits to the base repo [microsoft/AirSim](https://github.com/microsoft/AirSim) - and you want to merge those commits into our fork of AirSim, then here is a guide on how to do that.
 
 You'll need to make some commits, so make sure your code is in a "presentable" state, i.e. you've removed the 55 debugging print statements that you sprinkled all over the place, it builds, and (preferably) it has been tested and works.
 1. Recommended: make a new temporary branch on the AirSim fork. 

README.md

@@ -3,7 +3,7 @@ A copy-fork of [AirSim](https://github.com/microsoft/AirSim)'s Unreal Engine plu
 
 ### Quick links
 
-* [Setup](#setup) (this page)
+* [Setup](#setup-instructions) (this page)
 * [Development](DEVELOPMENT.md)
 * [Maintaining the byu-magicc/AirSim Fork](FORK.md)
 

Source/AirLib/include/common/AirSimSettings.hpp

@@ -29,10 +29,10 @@ namespace airlib
     public: //types
         static constexpr int kSubwindowCount = 3; //must be >= 3 for now
         static constexpr char const* kVehicleTypePX4 = "px4multirotor";
-        static constexpr char const* kVehicleTypePX4Tiltrotor = "px4tiltrotor";
+        static constexpr char const* kVehicleTypePX4Vtol = "px4vtol";
         static constexpr char const* kVehicleTypeArduCopterSolo = "arducoptersolo";
         static constexpr char const* kVehicleTypeSimpleFlight = "simpleflight";
-        static constexpr char const* kVehicleTypeTiltrotorSimple = "tiltrotorsimple";
+        static constexpr char const* kVehicleTypeVtolSimple = "vtolsimple";
         static constexpr char const* kVehicleTypeArduCopter = "arducopter";
         static constexpr char const* kVehicleTypePhysXCar = "physxcar";
         static constexpr char const* kVehicleTypeArduRover = "ardurover";
@@ -42,7 +42,7 @@ namespace airlib
         static constexpr char const* kSensorLocalFrame = "SensorLocalFrame";
 
         static constexpr char const* kSimModeTypeMultirotor = "Multirotor";
-        static constexpr char const* kSimModeTypeTiltrotor = "Tiltrotor";
+        static constexpr char const* kSimModeTypeVtol = "Vtol";
         static constexpr char const* kSimModeTypeCar = "Car";
         static constexpr char const* kSimModeTypeComputerVision = "ComputerVision";
 
@@ -582,7 +582,7 @@ namespace airlib
 
             physics_engine_name = settings_json.getString("PhysicsEngineName", "");
             if (physics_engine_name == "") {
-                if (simmode_name == kSimModeTypeMultirotor || simmode_name == kSimModeTypeTiltrotor)
+                if (simmode_name == kSimModeTypeMultirotor || simmode_name == kSimModeTypeVtol)
                     physics_engine_name = "FastPhysicsEngine";
                 else
                     physics_engine_name = "PhysX"; //this value is only informational for now
@@ -599,7 +599,7 @@ namespace airlib
             std::string view_mode_string = settings_json.getString("ViewMode", "");
 
             if (view_mode_string == "") {
-                if (simmode_name == kSimModeTypeMultirotor || simmode_name == kSimModeTypeTiltrotor)
+                if (simmode_name == kSimModeTypeMultirotor || simmode_name == kSimModeTypeVtol)
                     view_mode_string = "FlyWithMe";
                 else if (simmode_name == kSimModeTypeComputerVision)
                     view_mode_string = "Fpv";
@@ -793,12 +793,12 @@ namespace airlib
             auto vehicle_type = Utils::toLower(settings_json.getString("VehicleType", ""));
 
             std::unique_ptr<VehicleSetting> vehicle_setting;
-            if (vehicle_type == kVehicleTypePX4 || vehicle_type == kVehicleTypePX4Tiltrotor || vehicle_type == kVehicleTypeArduCopterSolo || vehicle_type == kVehicleTypeArduCopter || vehicle_type == kVehicleTypeArduRover)
+            if (vehicle_type == kVehicleTypePX4 || vehicle_type == kVehicleTypePX4Vtol || vehicle_type == kVehicleTypeArduCopterSolo || vehicle_type == kVehicleTypeArduCopter || vehicle_type == kVehicleTypeArduRover)
                 vehicle_setting = createMavLinkVehicleSetting(settings_json);
             //for everything else we don't need derived class yet
             else {
                 vehicle_setting = std::unique_ptr<VehicleSetting>(new VehicleSetting());
-                if (vehicle_type == kVehicleTypeSimpleFlight || vehicle_type == kVehicleTypeTiltrotorSimple) {
+                if (vehicle_type == kVehicleTypeSimpleFlight || vehicle_type == kVehicleTypeVtolSimple) {
                     //TODO: we should be selecting remote if available else keyboard
                     //currently keyboard is not supported so use rc as default
                     vehicle_setting->rc.remote_control_id = 0;
@@ -853,15 +853,15 @@ namespace airlib
                 simple_flight_setting->sensors = sensor_defaults;
                 vehicles[simple_flight_setting->vehicle_name] = std::move(simple_flight_setting);
             }
-            else if (simmode_name == kSimModeTypeTiltrotor) {
-                // create tiltrotor simple flight as default tiltrotor
-                auto tiltrotor_simple_setting = std::unique_ptr<VehicleSetting>(new VehicleSetting("TiltrotorSimple",
-                                                                                                   kVehicleTypeTiltrotorSimple));
+            else if (simmode_name == kSimModeTypeVtol) {
+                // create vtol simple flight as default vtol
+                auto vtol_simple_setting = std::unique_ptr<VehicleSetting>(new VehicleSetting("VtolSimple",
+                                                                                                   kVehicleTypeVtolSimple));
                 // TODO: we should be selecting remote if available else keyboard
                 // currently keyboard is not supported so use rc as default
-                tiltrotor_simple_setting->rc.remote_control_id = 0;
-                tiltrotor_simple_setting->sensors = sensor_defaults;
-                vehicles[tiltrotor_simple_setting->vehicle_name] = std::move(tiltrotor_simple_setting);
+                vtol_simple_setting->rc.remote_control_id = 0;
+                vtol_simple_setting->sensors = sensor_defaults;
+                vehicles[vtol_simple_setting->vehicle_name] = std::move(vtol_simple_setting);
             }
             else if (simmode_name == kSimModeTypeCar) {
                 // create PhysX as default car vehicle
@@ -916,7 +916,7 @@ namespace airlib
                                PawnPath("Class'/AirSim/Blueprints/BP_FlyingPawn.BP_FlyingPawn_C'"));
             pawn_paths.emplace("DefaultComputerVision",
                                PawnPath("Class'/AirSim/Blueprints/BP_ComputerVisionPawn.BP_ComputerVisionPawn_C'"));
-            pawn_paths.emplace("DefaultTiltrotor",
+            pawn_paths.emplace("DefaultVtol",
                                PawnPath("Class'/AirSim/VTOL/Tiltrotor/Blueprints/BP_TiltrotorPawn.BP_TiltrotorPawn_C'"));
         }
 
@@ -1214,7 +1214,7 @@ namespace airlib
                 clock_type = "ScalableClock";
 
                 //override if multirotor simmode with simple_flight
-                if (simmode_name == kSimModeTypeMultirotor || simmode_name == kSimModeTypeTiltrotor) {
+                if (simmode_name == kSimModeTypeMultirotor || simmode_name == kSimModeTypeVtol) {
                     //TODO: this won't work if simple_flight and PX4 is combined together!
 
                     //for multirotors we select steppable fixed interval clock unless we have
@@ -1223,7 +1223,7 @@ namespace airlib
                     for (auto const& vehicle : vehicles) {
                         if (vehicle.second->auto_create &&
                             (vehicle.second->vehicle_type == kVehicleTypePX4 ||
-                             vehicle.second->vehicle_type == kVehicleTypePX4Tiltrotor)) {
+                             vehicle.second->vehicle_type == kVehicleTypePX4Vtol)) {
                             clock_type = "ScalableClock";
                             break;
                         }
@@ -1325,12 +1325,12 @@ namespace airlib
         static void createDefaultSensorSettings(const std::string& simmode_name,
                                                 std::map<std::string, std::shared_ptr<SensorSetting>>& sensors)
         {
-            if (simmode_name == kSimModeTypeMultirotor || simmode_name == kSimModeTypeTiltrotor) {
+            if (simmode_name == kSimModeTypeMultirotor || simmode_name == kSimModeTypeVtol) {
                 sensors["imu"] = createSensorSetting(SensorBase::SensorType::Imu, "imu", true);
                 sensors["magnetometer"] = createSensorSetting(SensorBase::SensorType::Magnetometer, "magnetometer", true);
                 sensors["gps"] = createSensorSetting(SensorBase::SensorType::Gps, "gps", true);
                 sensors["barometer"] = createSensorSetting(SensorBase::SensorType::Barometer, "barometer", true);
-                if (simmode_name == kSimModeTypeTiltrotor) {
+                if (simmode_name == kSimModeTypeVtol) {
                     sensors["airspeed"] = createSensorSetting(SensorBase::SensorType::Airspeed, "airspeed", true);
                 }
             }

Source/AirLib/include/sensors/lidar/LidarSimpleParams.hpp

@@ -61,15 +61,15 @@ namespace airlib
             // By default, for multirotors the lidars FOV point downwards;
             // for cars, the lidars FOV is more forward facing.
             if (std::isnan(vertical_FOV_upper)) {
-                if (simmode_name == AirSimSettings::kSimModeTypeMultirotor || simmode_name == AirSimSettings::kSimModeTypeTiltrotor)
+                if (simmode_name == AirSimSettings::kSimModeTypeMultirotor || simmode_name == AirSimSettings::kSimModeTypeVtol)
                     vertical_FOV_upper = -15;
                 else
                     vertical_FOV_upper = +10;
             }
 
             vertical_FOV_lower = settings_json.getFloat("VerticalFOVLower", Utils::nan<float>());
             if (std::isnan(vertical_FOV_lower)) {
-                if (simmode_name == AirSimSettings::kSimModeTypeMultirotor || simmode_name == AirSimSettings::kSimModeTypeTiltrotor)
+                if (simmode_name == AirSimSettings::kSimModeTypeMultirotor || simmode_name == AirSimSettings::kSimModeTypeVtol)
                     vertical_FOV_lower = -45;
                 else
                     vertical_FOV_lower = -10;
@@ -86,7 +86,7 @@ namespace airlib
             if (std::isnan(relative_pose.position.y()))
                 relative_pose.position.y() = 0;
             if (std::isnan(relative_pose.position.z())) {
-                if (simmode_name == AirSimSettings::kSimModeTypeMultirotor || simmode_name == AirSimSettings::kSimModeTypeTiltrotor)
+                if (simmode_name == AirSimSettings::kSimModeTypeMultirotor || simmode_name == AirSimSettings::kSimModeTypeVtol)
                     relative_pose.position.z() = 0;
                 else
                     relative_pose.position.z() = -1; // a little bit above for cars