fix some typos.

AirLib/include/vehicles/configs/Px4MultiRotor.hpp

@@ -1,8 +1,8 @@
 // Copyright (c) Microsoft Corporation. All rights reserved.
 // Licensed under the MIT License.
 
-#ifndef msr_airlib_vehicles_Px4QuadX_hpp
-#define msr_airlib_vehicles_Px4QuadX_hpp
+#ifndef msr_airlib_vehicles_Px4MultiRotor_hpp
+#define msr_airlib_vehicles_Px4MultiRotor_hpp
 
 #include "controllers/MavLinkDroneController.hpp"
 #include "controllers/Settings.hpp"

docs/faq.md

@@ -72,4 +72,8 @@ drone starts to land.  This is the default behavior of PX4 when offboard mode co
 set this PX4 parameter:
 ````
 param set COM_OBL_ACT 1
-````
+````
+
+### Can I build a hexacopter with AirSim?
+
+Definitely, see [how to build a hexacopter](hexacopter.md).

docs/hexacopter.md

@@ -105,16 +105,16 @@ static void initializeRotorHexX(vector<RotorPose>& rotor_poses /* the result we
 ````
 
 Now the Vector3r parameters above may need some explanation.  The first motor labelled (0) above is on the y-axis, so it's
-vector is obvious `Vector3r(0, arm_lengths[0], rotor_z)` shoing 0 on the x-axis and the arm length on the y-axis.  
+vector is obvious `Vector3r(0, arm_lengths[0], rotor_z)` showing 0 on the x-axis and the arm length on the y-axis.  
 The second motor labelled (1) is also obvious.  But what about motor (2). 
 `
 VectorMath::rotateVector(Vector3r(arm_lengths[2], 0, rotor_z), quadx_rot, true)
 `
 This has x-axis set to armlength and y-axis set to zero, which means it starts out pointing straight up in the above picture.
 Then we apply a rotation of pi/6.  But the rotation is using the left handed rotation rule
-on a NED (z is down) mode, so hold your left hand out, with thumb pointing down, bend your fingers, this is the direction of rotation,
+on a NED coordinate system where z is down, so hold your left hand out, with thumb pointing down, bend your fingers, this is the direction of rotation,
 namely, counter clockwise.  So the arm pointing up, rotates into the position shown for motor (2).  Same for the other arms
-and now our physics is correctly setup for flying hexacopter.
+and now our physics is correctly setup for flying hexacopter.  Of course you can also increase the mass, and tweak the motor thrust parameters if needed.
 
 # Rendering
 

docs/logging.md

@@ -21,6 +21,13 @@ of all mavlink commands to and from the PX4.
 MavLinkTest -server:127.0.0.1:14550 -logdir:d:\temp
 ````
 
+Sometimes you will also want to log the "output" from the Simulator that is being sent to the PX4.
+Specifically this will capture the "hilgps" and "hilsensor" messages that are generated by the 
+Simulator.  To do that run this as well:
+````
+MavLinkTest -server:127.0.0.1:14389 -logdir:d:\temp\output
+````
+
 You will then see log files organized by date in d:\temp\logs.  Please include the specific
 *input.mavlink and *output.mavlink files in a zip file and attach those to the issue report.
 
@@ -33,4 +40,4 @@ it should look something like this `INFO  [logger] Opened log file: rootfs/fs/mi
 
 5. If you are using Pixhawk hardware in HIL mode, then please setthis parameter: SYS_LOGGER=1
 using QGroundControl, then after the experiment, download the log file using QGroundControl
-and zip that and attach it to the issue.
+and zip that and attach it to the issue.