rectoring choise of firmware to json setting

AirLib/AirLib.vcxproj

@@ -108,10 +108,7 @@
     <ClInclude Include="include\sensors\magnetometer\MagnetometerSimpleParams.hpp" />
     <ClInclude Include="include\sensors\SensorBase.hpp" />
     <ClInclude Include="include\sensors\SensorCollection.hpp" />
-    <ClInclude Include="include\vehicles\configs\BlacksheepQuadX.hpp" />
-    <ClInclude Include="include\vehicles\configs\FlamewheelQuadX.hpp" />
-    <ClInclude Include="include\vehicles\configs\PX4ConfigCreator.hpp" />
-    <ClInclude Include="include\vehicles\configs\Px4HILQuadX.hpp" />
+    <ClInclude Include="include\vehicles\configs\Px4QuadX.hpp" />
     <ClInclude Include="include\controllers\ControllerBase.hpp" />
     <ClInclude Include="include\controllers\MotorDirectController.hpp" />
     <ClInclude Include="include\controllers\MotorDirectControllerParams.hpp" />
@@ -120,6 +117,7 @@
     <ClInclude Include="include\vehicles\configs\RosFlightQuadX.hpp" />
     <ClInclude Include="include\vehicles\MultiRotor.hpp" />
     <ClInclude Include="include\vehicles\MultiRotorParams.hpp" />
+    <ClInclude Include="include\vehicles\MultiRotorParamsFactory.hpp" />
     <ClInclude Include="include\vehicles\Rotor.hpp" />
     <ClInclude Include="include\vehicles\RotorParams.hpp" />
   </ItemGroup>

AirLib/AirLib.vcxproj.filters

@@ -309,19 +309,13 @@
     <ClInclude Include="include\vehicles\configs\RosFlightQuadX.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="include\vehicles\configs\BlacksheepQuadX.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\configs\PX4ConfigCreator.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\configs\FlamewheelQuadX.hpp">
+    <ClInclude Include="include\common\common_utils\Log.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="include\vehicles\configs\Px4HILQuadX.hpp">
+    <ClInclude Include="include\vehicles\MultiRotorParamsFactory.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="include\common\common_utils\Log.hpp">
+    <ClInclude Include="include\vehicles\configs\Px4QuadX.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
   </ItemGroup>

AirLib/include/common/Common.hpp

@@ -10,6 +10,7 @@
 #include <unordered_map>
 #include <unordered_set>
 #include <iostream>
+#include <cstdint>
 #include "common/common_utils/Utils.hpp"
 #include "common_utils/RandomGenerator.hpp"
 #include "VectorMath.hpp"
@@ -22,8 +23,9 @@ namespace msr { namespace airlib {
 
 //numericals
 typedef float real_T;
-typedef unsigned int int32_T;
-typedef bool boolean_T;
+//this is not required for most compilers
+typedef unsigned int uint;
+typedef unsigned long ulong;
 
 //well known types
 typedef msr::airlib::VectorMathf VectorMath;
@@ -43,11 +45,6 @@ typedef VectorMath::RandomVectorGaussianT RandomVectorGaussianR;
 typedef VectorMath::RandomVectorT RandomVectorR;
 
 
-//this is not required for most compilers
-typedef unsigned int uint;
-typedef unsigned long ulong;
-typedef unsigned int uint32_t;
-typedef unsigned char uint8_t;
 
 template <typename T>
 using vector = std::vector<T>;

AirLib/include/controllers/MavLinkDroneController.hpp

@@ -31,7 +31,6 @@ class MavLinkDroneController : public DroneControllerBase
     struct ConnectionInfo {
         /* Default values are requires so uninitialized instance doesn't have random values */
 
-        std::string vehicle_name = "Pixhawk";
         bool use_serial = true; // false means use UDP instead
         //Used to connect via HITL: needed only if use_serial = true
         std::string serial_port = "*";

AirLib/include/vehicles/MultiRotorParams.hpp

@@ -15,6 +15,9 @@
 #include "sensors/gps/GpsSimple.hpp"
 #include "sensors/magnetometer/MagnetometerSimple.hpp"
 
+//below includes are because of setPhysicsGroundTruth methog
+#include "physics/Environment.hpp"
+#include "physics/Kinematics.hpp"
 
 namespace msr { namespace airlib {
 
@@ -88,6 +91,12 @@ class MultiRotorParams {
         return controller_.get();
     }
 
+    //below method is needed to support firmwares without state estimation. In future, we should probably remove this support.
+    virtual void initializePhysics(const Environment* environment, const Kinematics::State* kinematics)
+    {
+        //by default don't use it. If derived class needs this, it should override.
+    }
+
 protected: //must override by derived class
     //this method must clean up any previous initializations
     virtual void setup(Params& params, SensorCollection& sensors, unique_ptr<DroneControllerBase>& controller) = 0;

AirLib/include/vehicles/MultiRotorParamsFactory.hpp

@@ -0,0 +1,41 @@
+// Copyright (c) Microsoft Corporation. All rights reserved.
+// Licensed under the MIT License.
+
+#ifndef msr_airlib_vehicles_MultiRotorParamsFactory_hpp
+#define msr_airlib_vehicles_MultiRotorParamsFactory_hpp
+
+#include "vehicles/configs/RosFlightQuadX.hpp"
+#include "controllers/MavLinkDroneController.hpp"
+#include "controllers/Settings.hpp"
+#include "vehicles/configs/PX4QuadX.hpp"
+
+
+namespace msr { namespace airlib {
+
+class MultiRotorParamsFactory {
+public:
+    static std::unique_ptr<MultiRotorParams> createConfig(const std::string& vehicle_name)
+    {
+        //read settings and override defaults
+        Settings& settings = Settings::singleton();
+        if (!settings.isLoadSuccess())
+            throw std::runtime_error("Cannot load settings.json");
+
+        Settings child;
+        settings.getChild(vehicle_name, child);
+
+        std::unique_ptr<MultiRotorParams> config;
+
+        if (vehicle_name == "Pixhawk") {
+            config.reset(new Px4QuadX(child));
+        } else if (vehicle_name == "RosFlight") {
+            config.reset(new RosFlightQuadX(child));
+        } else
+            throw std::runtime_error(Utils::stringf("Cannot create vehicle config because vehicle name '%s' is not recognized", vehicle_name.c_str()));
+
+        return config;
+    }
+};
+
+}} //namespace
+#endif