diff --git a/AirLib/include/vehicles/configs/Px4MultiRotor.hpp b/AirLib/include/vehicles/configs/Px4MultiRotor.hpp
index ca1682a117..60844c6102 100644
--- a/AirLib/include/vehicles/configs/Px4MultiRotor.hpp
+++ b/AirLib/include/vehicles/configs/Px4MultiRotor.hpp
@@ -1,248 +1,248 @@
-// Copyright (c) Microsoft Corporation. All rights reserved.
-// Licensed under the MIT License.
-
-#ifndef msr_airlib_vehicles_Px4QuadX_hpp
-#define msr_airlib_vehicles_Px4QuadX_hpp
-
-#include "controllers/MavLinkDroneController.hpp"
-#include "controllers/Settings.hpp"
-
-
-namespace msr { namespace airlib {
-
-class Px4MultiRotor : public MultiRotorParams {
-public:
-    Px4MultiRotor(Settings& settings)
-    {
-        connection_info_ = getConnectionInfo(settings);
-    }
-
-    virtual void setup(Params& params, SensorCollection& sensors, unique_ptr<DroneControllerBase>& controller) override
-    {
-        if (connection_info_.model == "Blacksheep") {
-            setupFrameBlacksheep(params);
-        }
-        else if (connection_info_.model == "Flamewheel") {
-            setupFrameFlamewheel(params);
-        }
-        else if (connection_info_.model == "Hexacopter") {
-            setupFrameGenericHex(params);
-        }
-        else
-            setupFrameGenericQuad(params);
-
-        //create sensors
-        createStandardSensors(sensor_storage_, sensors, params.enabled_sensors);
-        //create MavLink controller for PX4
-        createController(controller, sensors);
-    }
-
-private:
-    void setupFrameGenericQuad(Params& params)
-    {
-        //set up arm lengths
-        //dimensions are for F450 frame: http://artofcircuits.com/product/quadcopter-frame-hj450-with-power-distribution
-        params.rotor_count = 4;
-        std::vector<real_T> arm_lengths(params.rotor_count, 0.2275f);
-
-        //set up mass
-        params.mass = 1.0f; //can be varied from 0.800 to 1.600
-        real_T motor_assembly_weight = 0.055f;  //weight for MT2212 motor for F450 frame
-        real_T box_mass = params.mass - params.rotor_count * motor_assembly_weight;
-
-        // using rotor_param default, but if you want to change any of the rotor_params, call calculateMaxThrust() to recompute the max_thrust
-        // given new thrust coefficients, motor max_rpm and propeller diameter.
-        params.rotor_params.calculateMaxThrust();
-
-        //set up dimensions of core body box or abdomen (not including arms).
-        params.body_box.x = 0.180f; params.body_box.y = 0.11f; params.body_box.z = 0.040f;
-        real_T rotor_z = 2.5f / 100;
-
-        //computer rotor poses
-        initializeRotorQuadX(params.rotor_poses, params.rotor_count, arm_lengths.data(), rotor_z);
-
-        //compute inertia matrix
-        computeInertiaMatrix(params.inertia, params.body_box, params.rotor_poses, box_mass, motor_assembly_weight);
-    }
-
-    void setupFrameGenericHex(Params& params)
-    {
-        //set up arm lengths
-        //dimensions are for F450 frame: http://artofcircuits.com/product/quadcopter-frame-hj450-with-power-distribution
-        params.rotor_count = 6;
-        std::vector<real_T> arm_lengths(params.rotor_count, 0.2275f);
-
-        //set up mass
-        params.mass = 1.0f; //can be varied from 0.800 to 1.600
-        real_T motor_assembly_weight = 0.055f;  //weight for MT2212 motor for F450 frame
-        real_T box_mass = params.mass - params.rotor_count * motor_assembly_weight;
-
-        // using rotor_param default, but if you want to change any of the rotor_params, call calculateMaxThrust() to recompute the max_thrust
-        // given new thrust coefficients, motor max_rpm and propeller diameter.
-        params.rotor_params.calculateMaxThrust();
-
-        //set up dimensions of core body box or abdomen (not including arms).
-        params.body_box.x = 0.180f; params.body_box.y = 0.11f; params.body_box.z = 0.040f;
-        real_T rotor_z = 2.5f / 100;
-
-        //computer rotor poses
-        initializeRotorHexX(params.rotor_poses, params.rotor_count, arm_lengths.data(), rotor_z);
-
-        //compute inertia matrix
-        computeInertiaMatrix(params.inertia, params.body_box, params.rotor_poses, box_mass, motor_assembly_weight);
-    }
-
-    void setupFrameFlamewheel(Params& params)
-    {
-        //set up arm lengths
-        //dimensions are for F450 frame: http://artofcircuits.com/product/quadcopter-frame-hj450-with-power-distribution
-        params.rotor_count = 4;
-        std::vector<real_T> arm_lengths(params.rotor_count, 0.225f);
-
-        //set up mass
-        params.mass = 1.635f; 
-        real_T motor_assembly_weight = 0.052f;  
-        real_T box_mass = params.mass - params.rotor_count * motor_assembly_weight;
-
-        params.rotor_params.C_T = 0.11f;
-        params.rotor_params.C_P = 0.047f;
-        params.rotor_params.max_rpm = 9500;
-        params.rotor_params.calculateMaxThrust();
-        params.linear_drag_coefficient *= 4; // make top speed more real.
-
-        //set up dimensions of core body box or abdomen (not including arms).
-        params.body_box.x = 0.16f; params.body_box.y = 0.10f; params.body_box.z = 0.14f;
-        real_T rotor_z = 0.15f;
-
-        //computer rotor poses
-        initializeRotorQuadX(params.rotor_poses, params.rotor_count, arm_lengths.data(), rotor_z);
-
-        //compute inertia matrix
-        computeInertiaMatrix(params.inertia, params.body_box, params.rotor_poses, box_mass, motor_assembly_weight);
-    }
-
-    void setupFrameBlacksheep(Params& params)
-    {
-        /*
-        Motor placement:
-        x
-        (2)  |   (0)
-        |
-        ------------ y
-        |
-        (1)  |   (3)
-        |
-
-        */
-        //set up arm lengths
-        //dimensions are for Team Blacksheep Discovery (http://team-blacksheep.com/products/product:98)
-        params.rotor_count = 4;
-        std::vector<real_T> arm_lengths;
-
-        Vector3r unit_z(0, 0, -1);  //NED frame
-
-                                    // relative to Forward vector in the order (0,3,1,2) required by quad X pattern
-                                    // http://ardupilot.org/copter/_images/MOTORS_QuadX_QuadPlus.jpg
-        arm_lengths.push_back(0.22f);
-        arm_lengths.push_back(0.255f);
-        arm_lengths.push_back(0.22f);
-        arm_lengths.push_back(0.255f);
-
-        // note: the Forward vector is actually the "x" axis, and the AngleAxisr rotation is pointing down and is left handed, so this means the rotation
-        // is counter clockwise, so the vector (arm_lengths[i], 0) is the X-axis, so the CCW rotations to position each arm correctly are listed below:
-        // See measurements here: http://diydrones.com/profiles/blogs/arducopter-tbs-discovery-style (angles reversed because we are doing CCW rotation)
-        std::vector<real_T> arm_angles;
-        arm_angles.push_back(-55.0f);
-        arm_angles.push_back(125.0f);
-        arm_angles.push_back(55.0f);
-        arm_angles.push_back(-125.0f);
-
-        // quad X pattern 
-        std::vector<RotorTurningDirection> rotor_directions;
-        rotor_directions.push_back(RotorTurningDirection::RotorTurningDirectionCCW);
-        rotor_directions.push_back(RotorTurningDirection::RotorTurningDirectionCCW);
-        rotor_directions.push_back(RotorTurningDirection::RotorTurningDirectionCW);
-        rotor_directions.push_back(RotorTurningDirection::RotorTurningDirectionCW);
-
-        // data from
-        // http://dronesvision.net/team-blacksheep-750kv-motor-esc-set-for-tbs-discovery-fpv-quadcopter/
-        //set up mass
-        params.mass = 2.0f; //can be varied from 0.800 to 1.600
-        real_T motor_assembly_weight = 0.052f;  // weight for TBS motors 
-        real_T box_mass = params.mass - params.rotor_count * motor_assembly_weight;
-
-        // the props we are using a E-Prop, which I didn't find in UIUC database, but this one is close:
-        // http://m-selig.ae.illinois.edu/props/volume-2/plots/ef_130x70_static_ctcp.png
-        params.rotor_params.C_T = 0.11f;
-        params.rotor_params.C_P = 0.047f;
-        params.rotor_params.max_rpm = 9500;
-        params.rotor_params.calculateMaxThrust();
-
-        //set up dimensions of core body box or abdomen (not including arms).
-        params.body_box.x = 0.20f; params.body_box.y = 0.12f; params.body_box.z = 0.04f;
-        real_T rotor_z = 2.5f / 100;
-
-        //computer rotor poses
-        params.rotor_poses.clear();
-        for (uint i = 0; i < 4; i++)
-        {
-            Quaternionr angle(AngleAxisr(arm_angles[i] * M_PIf / 180, unit_z));
-            params.rotor_poses.emplace_back(VectorMath::rotateVector(Vector3r(arm_lengths[i], 0, rotor_z), angle, true), unit_z, rotor_directions[i]);
-        };
-
-        //compute inertia matrix
-        computeInertiaMatrix(params.inertia, params.body_box, params.rotor_poses, box_mass, motor_assembly_weight);
-    }
-
-
-    static MavLinkDroneController::ConnectionInfo getConnectionInfo(const Settings& child)
-    {
-        //start with defaults
-        MavLinkDroneController::ConnectionInfo connection_info;
-        // allow json overrides on a per-vehicle basis.
-        connection_info.sim_sysid = static_cast<uint8_t>(child.getInt("SimSysID", connection_info.sim_sysid));
-        connection_info.sim_compid = child.getInt("SimCompID", connection_info.sim_compid);
-
-        connection_info.vehicle_sysid = static_cast<uint8_t>(child.getInt("VehicleSysID", connection_info.vehicle_sysid));
-        connection_info.vehicle_compid = child.getInt("VehicleCompID", connection_info.vehicle_compid);
-
-        connection_info.offboard_sysid = static_cast<uint8_t>(child.getInt("OffboardSysID", connection_info.offboard_sysid));
-        connection_info.offboard_compid = child.getInt("OffboardCompID", connection_info.offboard_compid);
-
-        connection_info.logviewer_ip_address = child.getString("LogViewerHostIp", connection_info.logviewer_ip_address);
-        connection_info.logviewer_ip_port = child.getInt("LogViewerPort", connection_info.logviewer_ip_port);
-        connection_info.logviewer_ip_sport = child.getInt("LogViewerSendPort", connection_info.logviewer_ip_sport);
-
-        connection_info.qgc_ip_address = child.getString("QgcHostIp", connection_info.qgc_ip_address);
-        connection_info.qgc_ip_port = child.getInt("QgcPort", connection_info.qgc_ip_port);
-
-        connection_info.sitl_ip_address = child.getString("SitlIp", connection_info.sitl_ip_address);
-        connection_info.sitl_ip_port = child.getInt("SitlPort", connection_info.sitl_ip_port);
-
-        connection_info.local_host_ip = child.getString("LocalHostIp", connection_info.local_host_ip);
-
-
-        connection_info.use_serial = child.getBool("UseSerial", connection_info.use_serial);
-        connection_info.ip_address = child.getString("UdpIp", connection_info.ip_address);
-        connection_info.ip_port = child.getInt("UdpPort", connection_info.ip_port);
-        connection_info.serial_port = child.getString("SerialPort", connection_info.serial_port);
-        connection_info.baud_rate = child.getInt("SerialBaudRate", connection_info.baud_rate);
-        connection_info.model = child.getString("Model", connection_info.model);
-        
-        return connection_info;
-    }
-
-    void createController(unique_ptr<DroneControllerBase>& controller, SensorCollection& sensors)
-    {
-        controller.reset(new MavLinkDroneController());
-        auto mav_controller = static_cast<MavLinkDroneController*>(controller.get());
-        mav_controller->initialize(connection_info_, &sensors, true);
-    }
-
-private:
-    vector<unique_ptr<SensorBase>> sensor_storage_;
-    MavLinkDroneController::ConnectionInfo connection_info_;
-};
-
-}} //namespace
-#endif
+// Copyright (c) Microsoft Corporation. All rights reserved.
+// Licensed under the MIT License.
+
+#ifndef msr_airlib_vehicles_Px4QuadX_hpp
+#define msr_airlib_vehicles_Px4QuadX_hpp
+
+#include "controllers/MavLinkDroneController.hpp"
+#include "controllers/Settings.hpp"
+
+
+namespace msr { namespace airlib {
+
+class Px4MultiRotor : public MultiRotorParams {
+public:
+    Px4MultiRotor(Settings& settings)
+    {
+        connection_info_ = getConnectionInfo(settings);
+    }
+
+    virtual void setup(Params& params, SensorCollection& sensors, unique_ptr<DroneControllerBase>& controller) override
+    {
+        if (connection_info_.model == "Blacksheep") {
+            setupFrameBlacksheep(params);
+        }
+        else if (connection_info_.model == "Flamewheel") {
+            setupFrameFlamewheel(params);
+        }
+        else if (connection_info_.model == "Hexacopter") {
+            setupFrameGenericHex(params);
+        }
+        else
+            setupFrameGenericQuad(params);
+
+        //create sensors
+        createStandardSensors(sensor_storage_, sensors, params.enabled_sensors);
+        //create MavLink controller for PX4
+        createController(controller, sensors);
+    }
+
+private:
+    void setupFrameGenericQuad(Params& params)
+    {
+        //set up arm lengths
+        //dimensions are for F450 frame: http://artofcircuits.com/product/quadcopter-frame-hj450-with-power-distribution
+        params.rotor_count = 4;
+        std::vector<real_T> arm_lengths(params.rotor_count, 0.2275f);
+
+        //set up mass
+        params.mass = 1.0f; //can be varied from 0.800 to 1.600
+        real_T motor_assembly_weight = 0.055f;  //weight for MT2212 motor for F450 frame
+        real_T box_mass = params.mass - params.rotor_count * motor_assembly_weight;
+
+        // using rotor_param default, but if you want to change any of the rotor_params, call calculateMaxThrust() to recompute the max_thrust
+        // given new thrust coefficients, motor max_rpm and propeller diameter.
+        params.rotor_params.calculateMaxThrust();
+
+        //set up dimensions of core body box or abdomen (not including arms).
+        params.body_box.x = 0.180f; params.body_box.y = 0.11f; params.body_box.z = 0.040f;
+        real_T rotor_z = 2.5f / 100;
+
+        //computer rotor poses
+        initializeRotorQuadX(params.rotor_poses, params.rotor_count, arm_lengths.data(), rotor_z);
+
+        //compute inertia matrix
+        computeInertiaMatrix(params.inertia, params.body_box, params.rotor_poses, box_mass, motor_assembly_weight);
+    }
+
+    void setupFrameGenericHex(Params& params)
+    {
+        //set up arm lengths
+        //dimensions are for F450 frame: http://artofcircuits.com/product/quadcopter-frame-hj450-with-power-distribution
+        params.rotor_count = 6;
+        std::vector<real_T> arm_lengths(params.rotor_count, 0.2275f);
+
+        //set up mass
+        params.mass = 1.0f; //can be varied from 0.800 to 1.600
+        real_T motor_assembly_weight = 0.055f;  //weight for MT2212 motor for F450 frame
+        real_T box_mass = params.mass - params.rotor_count * motor_assembly_weight;
+
+        // using rotor_param default, but if you want to change any of the rotor_params, call calculateMaxThrust() to recompute the max_thrust
+        // given new thrust coefficients, motor max_rpm and propeller diameter.
+        params.rotor_params.calculateMaxThrust();
+
+        //set up dimensions of core body box or abdomen (not including arms).
+        params.body_box.x = 0.180f; params.body_box.y = 0.11f; params.body_box.z = 0.040f;
+        real_T rotor_z = 2.5f / 100;
+
+        //computer rotor poses
+        initializeRotorHexX(params.rotor_poses, params.rotor_count, arm_lengths.data(), rotor_z);
+
+        //compute inertia matrix
+        computeInertiaMatrix(params.inertia, params.body_box, params.rotor_poses, box_mass, motor_assembly_weight);
+    }
+
+    void setupFrameFlamewheel(Params& params)
+    {
+        //set up arm lengths
+        //dimensions are for F450 frame: http://artofcircuits.com/product/quadcopter-frame-hj450-with-power-distribution
+        params.rotor_count = 4;
+        std::vector<real_T> arm_lengths(params.rotor_count, 0.225f);
+
+        //set up mass
+        params.mass = 1.635f; 
+        real_T motor_assembly_weight = 0.052f;  
+        real_T box_mass = params.mass - params.rotor_count * motor_assembly_weight;
+
+        params.rotor_params.C_T = 0.11f;
+        params.rotor_params.C_P = 0.047f;
+        params.rotor_params.max_rpm = 9500;
+        params.rotor_params.calculateMaxThrust();
+        params.linear_drag_coefficient *= 4; // make top speed more real.
+
+        //set up dimensions of core body box or abdomen (not including arms).
+        params.body_box.x = 0.16f; params.body_box.y = 0.10f; params.body_box.z = 0.14f;
+        real_T rotor_z = 0.15f;
+
+        //computer rotor poses
+        initializeRotorQuadX(params.rotor_poses, params.rotor_count, arm_lengths.data(), rotor_z);
+
+        //compute inertia matrix
+        computeInertiaMatrix(params.inertia, params.body_box, params.rotor_poses, box_mass, motor_assembly_weight);
+    }
+
+    void setupFrameBlacksheep(Params& params)
+    {
+        /*
+        Motor placement:
+        x
+        (2)  |   (0)
+        |
+        ------------ y
+        |
+        (1)  |   (3)
+        |
+
+        */
+        //set up arm lengths
+        //dimensions are for Team Blacksheep Discovery (http://team-blacksheep.com/products/product:98)
+        params.rotor_count = 4;
+        std::vector<real_T> arm_lengths;
+
+        Vector3r unit_z(0, 0, -1);  //NED frame
+
+                                    // relative to Forward vector in the order (0,3,1,2) required by quad X pattern
+                                    // http://ardupilot.org/copter/_images/MOTORS_QuadX_QuadPlus.jpg
+        arm_lengths.push_back(0.22f);
+        arm_lengths.push_back(0.255f);
+        arm_lengths.push_back(0.22f);
+        arm_lengths.push_back(0.255f);
+
+        // note: the Forward vector is actually the "x" axis, and the AngleAxisr rotation is pointing down and is left handed, so this means the rotation
+        // is counter clockwise, so the vector (arm_lengths[i], 0) is the X-axis, so the CCW rotations to position each arm correctly are listed below:
+        // See measurements here: http://diydrones.com/profiles/blogs/arducopter-tbs-discovery-style (angles reversed because we are doing CCW rotation)
+        std::vector<real_T> arm_angles;
+        arm_angles.push_back(-55.0f);
+        arm_angles.push_back(125.0f);
+        arm_angles.push_back(55.0f);
+        arm_angles.push_back(-125.0f);
+
+        // quad X pattern 
+        std::vector<RotorTurningDirection> rotor_directions;
+        rotor_directions.push_back(RotorTurningDirection::RotorTurningDirectionCCW);
+        rotor_directions.push_back(RotorTurningDirection::RotorTurningDirectionCCW);
+        rotor_directions.push_back(RotorTurningDirection::RotorTurningDirectionCW);
+        rotor_directions.push_back(RotorTurningDirection::RotorTurningDirectionCW);
+
+        // data from
+        // http://dronesvision.net/team-blacksheep-750kv-motor-esc-set-for-tbs-discovery-fpv-quadcopter/
+        //set up mass
+        params.mass = 2.0f; //can be varied from 0.800 to 1.600
+        real_T motor_assembly_weight = 0.052f;  // weight for TBS motors 
+        real_T box_mass = params.mass - params.rotor_count * motor_assembly_weight;
+
+        // the props we are using a E-Prop, which I didn't find in UIUC database, but this one is close:
+        // http://m-selig.ae.illinois.edu/props/volume-2/plots/ef_130x70_static_ctcp.png
+        params.rotor_params.C_T = 0.11f;
+        params.rotor_params.C_P = 0.047f;
+        params.rotor_params.max_rpm = 9500;
+        params.rotor_params.calculateMaxThrust();
+
+        //set up dimensions of core body box or abdomen (not including arms).
+        params.body_box.x = 0.20f; params.body_box.y = 0.12f; params.body_box.z = 0.04f;
+        real_T rotor_z = 2.5f / 100;
+
+        //computer rotor poses
+        params.rotor_poses.clear();
+        for (uint i = 0; i < 4; i++)
+        {
+            Quaternionr angle(AngleAxisr(arm_angles[i] * M_PIf / 180, unit_z));
+            params.rotor_poses.emplace_back(VectorMath::rotateVector(Vector3r(arm_lengths[i], 0, rotor_z), angle, true), unit_z, rotor_directions[i]);
+        };
+
+        //compute inertia matrix
+        computeInertiaMatrix(params.inertia, params.body_box, params.rotor_poses, box_mass, motor_assembly_weight);
+    }
+
+
+    static MavLinkDroneController::ConnectionInfo getConnectionInfo(const Settings& child)
+    {
+        //start with defaults
+        MavLinkDroneController::ConnectionInfo connection_info;
+        // allow json overrides on a per-vehicle basis.
+        connection_info.sim_sysid = static_cast<uint8_t>(child.getInt("SimSysID", connection_info.sim_sysid));
+        connection_info.sim_compid = child.getInt("SimCompID", connection_info.sim_compid);
+
+        connection_info.vehicle_sysid = static_cast<uint8_t>(child.getInt("VehicleSysID", connection_info.vehicle_sysid));
+        connection_info.vehicle_compid = child.getInt("VehicleCompID", connection_info.vehicle_compid);
+
+        connection_info.offboard_sysid = static_cast<uint8_t>(child.getInt("OffboardSysID", connection_info.offboard_sysid));
+        connection_info.offboard_compid = child.getInt("OffboardCompID", connection_info.offboard_compid);
+
+        connection_info.logviewer_ip_address = child.getString("LogViewerHostIp", connection_info.logviewer_ip_address);
+        connection_info.logviewer_ip_port = child.getInt("LogViewerPort", connection_info.logviewer_ip_port);
+        connection_info.logviewer_ip_sport = child.getInt("LogViewerSendPort", connection_info.logviewer_ip_sport);
+
+        connection_info.qgc_ip_address = child.getString("QgcHostIp", connection_info.qgc_ip_address);
+        connection_info.qgc_ip_port = child.getInt("QgcPort", connection_info.qgc_ip_port);
+
+        connection_info.sitl_ip_address = child.getString("SitlIp", connection_info.sitl_ip_address);
+        connection_info.sitl_ip_port = child.getInt("SitlPort", connection_info.sitl_ip_port);
+
+        connection_info.local_host_ip = child.getString("LocalHostIp", connection_info.local_host_ip);
+
+
+        connection_info.use_serial = child.getBool("UseSerial", connection_info.use_serial);
+        connection_info.ip_address = child.getString("UdpIp", connection_info.ip_address);
+        connection_info.ip_port = child.getInt("UdpPort", connection_info.ip_port);
+        connection_info.serial_port = child.getString("SerialPort", connection_info.serial_port);
+        connection_info.baud_rate = child.getInt("SerialBaudRate", connection_info.baud_rate);
+        connection_info.model = child.getString("Model", connection_info.model);
+        
+        return connection_info;
+    }
+
+    void createController(unique_ptr<DroneControllerBase>& controller, SensorCollection& sensors)
+    {
+        controller.reset(new MavLinkDroneController());
+        auto mav_controller = static_cast<MavLinkDroneController*>(controller.get());
+        mav_controller->initialize(connection_info_, &sensors, true);
+    }
+
+private:
+    vector<unique_ptr<SensorBase>> sensor_storage_;
+    MavLinkDroneController::ConnectionInfo connection_info_;
+};
+
+}} //namespace
+#endif