From 00f366f9cdb23cc07ee6ba2731daebb16de7fd05 Mon Sep 17 00:00:00 2001
From: ESEP <ACLeighner@aol.com>
Date: Fri, 19 Jun 2020 17:31:11 +0900
Subject: [PATCH 01/17] added DistanceSensor, fixed shake

---
 AirLib/include/common/AirSimSettings.hpp      | 22 +++++++++++++----
 .../sensors/distance/DistanceSimpleParams.hpp | 24 ++++++++++++++++++-
 .../multirotor/api/MultirotorApiBase.cpp      |  4 ++--
 PythonClient/airsim/types.py                  |  6 ++---
 PythonClient/multirotor/path.py               |  4 ++--
 Unreal/Plugins/AirSim/AirSim.uplugin          |  4 ++--
 docs/build_linux.md                           |  1 +
 7 files changed, 51 insertions(+), 14 deletions(-)

diff --git a/AirLib/include/common/AirSimSettings.hpp b/AirLib/include/common/AirSimSettings.hpp
index ce9fd75f5d..2ad20d0cc9 100644
--- a/AirLib/include/common/AirSimSettings.hpp
+++ b/AirLib/include/common/AirSimSettings.hpp
@@ -196,6 +196,16 @@ struct AirSimSettings {
     };
 
     struct DistanceSetting : SensorSetting {
+	//nan means keep the default values set in components
+	Vector3r position = VectorMath::nanVector();
+	Rotation rotation = Rotation::nanRotation();
+
+	real_T min_distance = 20.0f / 100; //m
+	real_T max_distance = 4000.0f / 100; //m 
+	real_T unnorrelated_noise_sigma = 0.002f * 100;
+	real_T update_latency = 0.0f;    //sec
+	real_T update_frequency = 50;    //Hz
+	real_T startup_delay = 0;        //sec
     };
 
     struct LidarSetting : SensorSetting {
@@ -1154,10 +1164,14 @@ struct AirSimSettings {
 
     static void initializeDistanceSetting(DistanceSetting& distance_setting, const Settings& settings_json)
     {
-        unused(distance_setting);
-        unused(settings_json);
-
-        //TODO: set from json as needed
+        distance_setting.min_distance = settings_json.getFloat("MinDistance", distance_setting.min_distance);
+        distance_setting.max_distance = settings_json.getFloat("MaxDistance", distance_setting.max_distance);
+        distance_setting.unnorrelated_noise_sigma = settings_json.getFloat("Noise", distance_setting.unnorrelated_noise_sigma);
+        distance_setting.update_latency = settings_json.getFloat("UpdateLatency", distance_setting.update_latency);
+        distance_setting.update_frequency = settings_json.getFloat("UpdateFrequency", distance_setting.update_frequency);
+        distance_setting.startup_delay = settings_json.getFloat("StartupDelay", distance_setting.startup_delay);
+        distance_setting.position = createVectorSetting(settings_json, distance_setting.position);
+        distance_setting.rotation = createRotationSetting(settings_json, distance_setting.rotation);
     }
 
     static void initializeLidarSetting(LidarSetting& lidar_setting, const Settings& settings_json)
diff --git a/AirLib/include/sensors/distance/DistanceSimpleParams.hpp b/AirLib/include/sensors/distance/DistanceSimpleParams.hpp
index a028365f18..f8babedf00 100644
--- a/AirLib/include/sensors/distance/DistanceSimpleParams.hpp
+++ b/AirLib/include/sensors/distance/DistanceSimpleParams.hpp
@@ -40,7 +40,29 @@ struct DistanceSimpleParams {
 
     void initializeFromSettings(const AirSimSettings::DistanceSetting& settings)
     {
-        unused(settings);
+	min_distance = settings.min_distance;
+	max_distance = settings.max_distance;
+	unnorrelated_noise_sigma = settings.unnorrelated_noise_sigma;
+	update_latency = settings.update_latency;
+	update_frequency = settings.update_frequency;
+	startup_delay = settings.startup_delay;
+	
+	relative_pose.position = settings.position;
+	if (std::isnan(relative_pose.position.x()))
+		relative_pose.position.x() = 0;
+	if (std::isnan(relative_pose.position.y()))
+		relative_pose.position.y() = 0;
+	if (std::isnan(relative_pose.position.z()))
+		relative_pose.position.z() = 0;
+
+	float pitch, roll, yaw;
+	pitch = !std::isnan(settings.rotation.pitch) ? settings.rotation.pitch : 0;
+	roll = !std::isnan(settings.rotation.roll) ? settings.rotation.roll : 0;
+	yaw = !std::isnan(settings.rotation.yaw) ? settings.rotation.yaw : 0;
+	relative_pose.orientation = VectorMath::toQuaternion(
+		Utils::degreesToRadians(pitch),   //pitch - rotation around Y axis
+		Utils::degreesToRadians(roll),    //roll  - rotation around X axis
+		Utils::degreesToRadians(yaw));    //yaw   - rotation around Z axis
     }
 };
 
diff --git a/AirLib/src/vehicles/multirotor/api/MultirotorApiBase.cpp b/AirLib/src/vehicles/multirotor/api/MultirotorApiBase.cpp
index 6bd1d4c191..ea6fa074e4 100644
--- a/AirLib/src/vehicles/multirotor/api/MultirotorApiBase.cpp
+++ b/AirLib/src/vehicles/multirotor/api/MultirotorApiBase.cpp
@@ -683,9 +683,9 @@ void MultirotorApiBase::moveToPathPosition(const Vector3r& dest, float velocity,
     }
 
     //send commands
-    //try to maintain altitude if path was in XY plan only, velocity based control is not as good
+    //try to maintain altitude if path was in XY plane only, velocity based control is not as good
     if (std::abs(cur.z() - dest.z()) <= getDistanceAccuracy()) //for paths in XY plan current code leaves z untouched, so we can compare with strict equality
-        moveByVelocityZInternal(velocity_vect.x(), velocity_vect.y(), dest.z(), yaw_mode);
+        moveByVelocityInternal(velocity_vect.x(), velocity_vect.y(), 0, yaw_mode);
     else
         moveByVelocityInternal(velocity_vect.x(), velocity_vect.y(), velocity_vect.z(), yaw_mode);
 }
diff --git a/PythonClient/airsim/types.py b/PythonClient/airsim/types.py
index 25e359843c..297fb4645c 100644
--- a/PythonClient/airsim/types.py
+++ b/PythonClient/airsim/types.py
@@ -400,9 +400,9 @@ class GpsData(MsgpackMixin):
 
 class DistanceSensorData(MsgpackMixin):
     time_stamp = np.uint64(0)
-    distance = Quaternionr()
-    min_distance = Quaternionr()
-    max_distance = Quaternionr()
+    distance = np.float32(0)
+    min_distance = np.float32(0)
+    max_distance = np.float32(0)
     relative_pose = Pose()
 
 class PIDGains():
diff --git a/PythonClient/multirotor/path.py b/PythonClient/multirotor/path.py
index d36fc6a900..960581afee 100644
--- a/PythonClient/multirotor/path.py
+++ b/PythonClient/multirotor/path.py
@@ -30,9 +30,9 @@
 
 # AirSim uses NED coordinates so negative axis is up.
 # z of -7 is 7 meters above the original launch point.
-z = -7
+z = -70
 print("make sure we are hovering at 7 meters...")
-client.moveToZAsync(z, 1).join()
+client.moveToZAsync(z, 5).join()
 
 # see https://github.com/Microsoft/AirSim/wiki/moveOnPath-demo
 
diff --git a/Unreal/Plugins/AirSim/AirSim.uplugin b/Unreal/Plugins/AirSim/AirSim.uplugin
index bbbf5cc8ba..a467e41876 100644
--- a/Unreal/Plugins/AirSim/AirSim.uplugin
+++ b/Unreal/Plugins/AirSim/AirSim.uplugin
@@ -1,7 +1,7 @@
 {
   "FileVersion" : 3,
-  "Version" : "1.3.1",
-  "VersionName": "1.3.1",
+  "Version" : "1.2.0",
+  "VersionName": "1.2.0",
   "FriendlyName": "AirSim",
   "Description": "AirSim - Autonomous Aerial Vehicles Simulator Plugin",
   "Category" : "Science",
diff --git a/docs/build_linux.md b/docs/build_linux.md
index 37519a7daf..473d25cca2 100644
--- a/docs/build_linux.md
+++ b/docs/build_linux.md
@@ -95,6 +95,7 @@ Alternatively, you can use [APIs](apis.md) for programmatic control or use the s
    ```
   * If this is the case then look for *.gch file(s) that follows after that message, delete them and try again. Here's [relevant thread](https://answers.unrealengine.com/questions/412349/linux-ue4-build-precompiled-header-fatal-error.html) on Unreal Engine forums.
   * If you see other compile errors in console then open up those source files and see if it is due to changes you made. If not, then report it as issue on GitHub.
+  * Additionally, if you are having trouble rebuilding the plugin in UE4 after making changes to the AirSim library, you may need to manually delete the binaries and intermediate folders in both your Unreal Project folder, and in the UnrealProject/Plugin/AirSim folder.  This will force clang to recompile both the UE4 project and plugin and may resolve issues of "clang could not find file x"
 
 - Unreal crashed! How do I know what went wrong?
   * Go to the `MyUnrealProject/Saved/Crashes` folder and search for the file `MyProject.log` within its subdirectories. At the end of this file you will see the stack trace and messages.

From f6d169fc0da09b0ab9c57fb838d99a5fb308c9f8 Mon Sep 17 00:00:00 2001
From: ESEP <ACLeighner@aol.com>
Date: Tue, 23 Jun 2020 13:03:59 +0900
Subject: [PATCH 02/17] Added the remaining sensors to be populated by
 settings.json

---
 AirLib/include/common/AirSimSettings.hpp      | 144 ++++++++++++++++--
 .../barometer/BarometerSimpleParams.hpp       |  27 +++-
 .../include/sensors/gps/GpsSimpleParams.hpp   |  34 ++++-
 .../include/sensors/imu/ImuSimpleParams.hpp   |  31 +++-
 .../magnetometer/MagnetometerSimpleParams.hpp |  32 +++-
 5 files changed, 247 insertions(+), 21 deletions(-)

diff --git a/AirLib/include/common/AirSimSettings.hpp b/AirLib/include/common/AirSimSettings.hpp
index 2ad20d0cc9..aedbac59e7 100644
--- a/AirLib/include/common/AirSimSettings.hpp
+++ b/AirLib/include/common/AirSimSettings.hpp
@@ -184,15 +184,71 @@ struct AirSimSettings {
     };
 
     struct BarometerSetting : SensorSetting {
+	real_T qnh = EarthUtils::SeaLevelPressure / 100.0f; // hPa
+	real_T pressure_factor_sigma = 0.0365f / 20;
+	real_T pressure_factor_tau = 3600;
+	real_T unnorrelated_noise_sigma = 0.027f * 100;
+	real_T update_latency = 0.0f;    //sec
+	real_T update_frequency = 50;    //Hz
+	real_T startup_delay = 0;        //sec
+        Vector3r position = VectorMath::nanVector();
+        Rotation rotation = Rotation::nanRotation();
     };
 
     struct ImuSetting : SensorSetting {
+	//angule random walk (ARW)
+	real_T gyro_arw = 0.30f / sqrt(3600.0f) * M_PIf / 180; //deg/sqrt(hour) converted to rad/sqrt(sec)
+	//Bias Stability (tau = 500s)
+	real_T gyro_tau = 500;
+	real_T gyro_bias_stability = 4.6f / 3600 * M_PIf / 180; //deg/hr converted to rad/sec
+	Vector3r gyro_turn_on_bias = Vector3r::Zero(); //assume calibration is done
+
+	//velocity random walk (ARW)
+	real_T accel_vrw = 0.24f * EarthUtils::Gravity / 1.0E3f; //mg converted to m/s^2 
+	//Bias Stability (tau = 800s)
+	real_T accel_tau = 800;
+	real_T accel_bias_stability = 36.0f * 1E-6f * 9.80665f; //ug converted to m/s^2
+	Vector3r accel_turn_on_bias = Vector3r::Zero(); //assume calibration is done
+        Vector3r position = VectorMath::nanVector();
+        Rotation rotation = Rotation::nanRotation();
+
     };
 
     struct GpsSetting : SensorSetting {
+
+	real_T eph_time_constant = 0.9f, epv_time_constant = 0.9f;
+	real_T eph_initial = 100.0f, epv_initial = 100.0f;   //initially fully diluted positions
+	real_T eph_final = 0.3f, epv_final = 0.4f;
+	real_T eph_min_3d = 3.0f, eph_min_2d = 4.0f;
+
+	real_T update_latency = 0.2f;    //sec
+	real_T update_frequency = 50;    //Hz
+	real_T startup_delay = 1;        //sec
+
+	Vector3r position = VectorMath::nanVector();
+	Rotation rotation = Rotation::nanRotation();
+
     };
 
     struct MagnetometerSetting : SensorSetting {
+	Vector3r noise_sigma = Vector3r(0.005f, 0.005f, 0.005f); //5 mgauss as per specs sheet (RMS is same as stddev) https://goo.gl/UOz6FT
+	real_T scale_factor = 1.0f;
+	Vector3r noise_bias = Vector3r(0.0f, 0.0f, 0.0f); //no offset as per specsheet (zero gauss level) https://goo.gl/UOz6FT
+	float ref_update_frequency = 0.2f;    //Hz
+
+	//use dipole model if there is enough compute power available
+	bool dynamic_reference_source = true;
+	// ref_source 0==ConstantModel; 1==DipoleModel
+	int ref_source = 1;
+
+	//see PX4 param reference for EKF: https://dev.px4.io/en/advanced/parameter_reference.html
+	real_T update_latency = 0.0f;    //sec: from PX4 doc
+	real_T update_frequency = 50;    //Hz
+	real_T startup_delay = 0;        //sec
+
+	Vector3r position = VectorMath::nanVector();
+	Rotation rotation = Rotation::nanRotation();
+	
     };
 
     struct DistanceSetting : SensorSetting {
@@ -704,6 +760,7 @@ struct AirSimSettings {
             settings_json.getFloat("Y", default_vec.y()),
             settings_json.getFloat("Z", default_vec.z()));
     }
+
     static Rotation createRotationSetting(const Settings& settings_json, const Rotation& default_rot)
     {
         return Rotation(settings_json.getFloat("Yaw", default_rot.yaw),
@@ -711,6 +768,34 @@ struct AirSimSettings {
             settings_json.getFloat("Roll", default_rot.roll));
     }
 
+    static Vector3r createGyroBiasSetting(const Settings& settings_json, const Vector3r& default_vec)
+    {
+        return Vector3r(settings_json.getFloat("GyroBias_X", default_vec.x()),
+            settings_json.getFloat("GyroBias_Y", default_vec.y()),
+            settings_json.getFloat("GyroBias_Z", default_vec.z()));
+    }
+
+    static Vector3r createAccelBiasSetting(const Settings& settings_json, const Vector3r& default_vec)
+    {
+        return Vector3r(settings_json.getFloat("AccelBias_X", default_vec.x()),
+            settings_json.getFloat("AccelBias_Y", default_vec.y()),
+            settings_json.getFloat("AccelBias_Z", default_vec.z()));
+    }
+
+    static Vector3r createNoiseSigmaSetting(const Settings& settings_json, const Vector3r& default_vec)
+    {
+        return Vector3r(settings_json.getFloat("NoiseSigma_X", default_vec.x()),
+            settings_json.getFloat("NoiseSigma_Y", default_vec.y()),
+            settings_json.getFloat("NoiseSigma_Z", default_vec.z()));
+    }
+
+    static Vector3r createNoiseBiasSetting(const Settings& settings_json, const Vector3r& default_vec)
+    {
+        return Vector3r(settings_json.getFloat("NoiseBias_X", default_vec.x()),
+            settings_json.getFloat("NoiseBias_Y", default_vec.y()),
+            settings_json.getFloat("NoiseBias_Z", default_vec.z()));
+    }
+
     static std::unique_ptr<VehicleSetting> createVehicleSetting(const std::string& simmode_name,  const Settings& settings_json,
         const std::string vehicle_name)
     {
@@ -1132,34 +1217,63 @@ struct AirSimSettings {
 
     static void initializeBarometerSetting(BarometerSetting& barometer_setting, const Settings& settings_json)
     {
-        unused(barometer_setting);
-        unused(settings_json);
-
-        //TODO: set from json as needed
+	barometer_setting.qnh = settings_json.getFloat("SeaLevelPressure", barometer_setting.qnh);
+	barometer_setting.pressure_factor_sigma = settings_json.getFloat("PressureFactorSigma", barometer_setting.pressure_factor_sigma);
+	barometer_setting.pressure_factor_tau = settings_json.getFloat("PressureFactorTau", barometer_setting.pressure_factor_tau);
+	barometer_setting.unnorrelated_noise_sigma = settings_json.getFloat("NoiseSigma", barometer_setting.unnorrelated_noise_sigma);
+	barometer_setting.update_latency = settings_json.getFloat("UpdateLatency", barometer_setting.update_latency);
+	barometer_setting.update_frequency = settings_json.getFloat("UpdateFrequency", barometer_setting.update_frequency);
+	barometer_setting.startup_delay = settings_json.getFloat("StartupDelay", barometer_setting.startup_delay);
+        barometer_setting.position = createVectorSetting(settings_json, barometer_setting.position);
+        barometer_setting.rotation = createRotationSetting(settings_json, barometer_setting.rotation);
     }
 
     static void initializeImuSetting(ImuSetting& imu_setting, const Settings& settings_json)
     {
-        unused(imu_setting);
-        unused(settings_json);
-
-        //TODO: set from json as needed
+        imu_setting.gyro_arw = settings_json.getFloat("GyroAngleRandomWalk", imu_setting.gyro_arw);
+        imu_setting.gyro_tau = settings_json.getFloat("GyroBiasTau", imu_setting.gyro_tau);
+        imu_setting.gyro_bias_stability = settings_json.getFloat("GyroBiasStability", imu_setting.gyro_bias_stability);
+        imu_setting.gyro_turn_on_bias = createGyroBiasSetting(settings_json, imu_setting.gyro_turn_on_bias);
+
+        imu_setting.accel_vrw = settings_json.getFloat("AccelerometerVelocityRandomWalk", imu_setting.accel_vrw);
+        imu_setting.accel_tau = settings_json.getFloat("AccelerometerBiasTau", imu_setting.accel_tau);
+        imu_setting.accel_bias_stability = settings_json.getFloat("AccelerometerBiasStability", imu_setting.accel_bias_stability);
+        imu_setting.accel_turn_on_bias = createAccelBiasSetting(settings_json, imu_setting.accel_turn_on_bias);
+
+        imu_setting.position = createVectorSetting(settings_json, imu_setting.position);
+        imu_setting.rotation = createRotationSetting(settings_json, imu_setting.rotation);
     }
 
     static void initializeGpsSetting(GpsSetting& gps_setting, const Settings& settings_json)
     {
-        unused(gps_setting);
-        unused(settings_json);
+	gps_setting.eph_time_constant = settings_json.getFloat("EphTimeConstant", gps_setting.eph_time_constant);
+	gps_setting.epv_time_constant = settings_json.getFloat("EpvTimeConstant", gps_setting.epv_time_constant);
+	gps_setting.eph_initial = settings_json.getFloat("EphInitial", gps_setting.eph_initial);
+	gps_setting.epv_initial = settings_json.getFloat("EpvInitial", gps_setting.epv_initial);
+	gps_setting.eph_final = settings_json.getFloat("EphFinal", gps_setting.eph_final);
+	gps_setting.epv_final = settings_json.getFloat("EpvFinal", gps_setting.epv_final);
+	gps_setting.eph_min_3d = settings_json.getFloat("EphMin3d", gps_setting.eph_min_3d);
+	gps_setting.eph_min_2d = settings_json.getFloat("EphMin2d", gps_setting.eph_min_2d);
+	gps_setting.update_latency = settings_json.getFloat("UpdateLatency", gps_setting.update_latency);
+	gps_setting.update_frequency = settings_json.getFloat("UpdateFrequency", gps_setting.update_frequency);
+	gps_setting.startup_delay = settings_json.getFloat("StartupDelay", gps_setting.startup_delay);
+        gps_setting.position = createVectorSetting(settings_json, gps_setting.position);
+        gps_setting.rotation = createRotationSetting(settings_json, gps_setting.rotation);
 
-        //TODO: set from json as needed
     }
 
     static void initializeMagnetometerSetting(MagnetometerSetting& magnetometer_setting, const Settings& settings_json)
     {
-        unused(magnetometer_setting);
-        unused(settings_json);
-
-        //TODO: set from json as needed
+        magnetometer_setting.noise_sigma = createNoiseSigmaSetting(settings_json, magnetometer_setting.noise_sigma);
+        magnetometer_setting.scale_factor = settings_json.getFloat("ScaleFactor", magnetometer_setting.scale_factor);
+	magnetometer_setting.dynamic_reference_source = settings_json.getBool("DynamicReferenceSource", magnetometer_setting.dynamic_reference_source);
+        magnetometer_setting.update_frequency = settings_json.getFloat("UpdateFrequency", magnetometer_setting.update_frequency);
+	magnetometer_setting.ref_source = settings_json.getInt("ReferenceSource", magnetometer_setting.ref_source);
+        magnetometer_setting.update_latency = settings_json.getFloat("UpdateLatency", magnetometer_setting.update_latency);
+        magnetometer_setting.update_frequency = settings_json.getFloat("UpdateFrequency", magnetometer_setting.update_frequency);
+        magnetometer_setting.startup_delay = settings_json.getFloat("StartupDelay", magnetometer_setting.startup_delay);
+        magnetometer_setting.position = createVectorSetting(settings_json, magnetometer_setting.position);
+        magnetometer_setting.rotation = createRotationSetting(settings_json, magnetometer_setting.rotation);
     }
 
     static void initializeDistanceSetting(DistanceSetting& distance_setting, const Settings& settings_json)
diff --git a/AirLib/include/sensors/barometer/BarometerSimpleParams.hpp b/AirLib/include/sensors/barometer/BarometerSimpleParams.hpp
index 62082342dd..84e219f387 100644
--- a/AirLib/include/sensors/barometer/BarometerSimpleParams.hpp
+++ b/AirLib/include/sensors/barometer/BarometerSimpleParams.hpp
@@ -47,9 +47,34 @@ struct BarometerSimpleParams {
     real_T update_frequency = 50;    //Hz
     real_T startup_delay = 0;        //sec
 
+    Pose relative_pose;
+
     void initializeFromSettings(const AirSimSettings::BarometerSetting& settings)
     {
-        unused(settings);
+	qnh = settings.qnh;
+	pressure_factor_sigma = settings.pressure_factor_sigma;
+	pressure_factor_tau = settings.pressure_factor_tau;
+	unnorrelated_noise_sigma = settings.unnorrelated_noise_sigma;
+	update_latency = settings.update_latency;
+	update_frequency = settings.update_frequency;
+	startup_delay = settings.startup_delay;
+
+	relative_pose.position = settings.position;
+	if (std::isnan(relative_pose.position.x()))
+	    relative_pose.position.x() = 0;
+	if (std::isnan(relative_pose.position.y()))
+	    relative_pose.position.y() = 0;
+	if (std::isnan(relative_pose.position.z())) 
+	    relative_pose.position.z() = 0;
+
+	float pitch, roll, yaw;
+	pitch = !std::isnan(settings.rotation.pitch) ? settings.rotation.pitch : 0;
+	roll = !std::isnan(settings.rotation.roll) ? settings.rotation.roll : 0;
+	yaw = !std::isnan(settings.rotation.yaw) ? settings.rotation.yaw : 0;
+	relative_pose.orientation = VectorMath::toQuaternion(
+	    Utils::degreesToRadians(pitch),   //pitch - rotation around Y axis
+	    Utils::degreesToRadians(roll),    //roll  - rotation around X axis
+	    Utils::degreesToRadians(yaw));    //yaw   - rotation around Z axis
     }
 };
 
diff --git a/AirLib/include/sensors/gps/GpsSimpleParams.hpp b/AirLib/include/sensors/gps/GpsSimpleParams.hpp
index 52d8cf88c8..078622bee9 100644
--- a/AirLib/include/sensors/gps/GpsSimpleParams.hpp
+++ b/AirLib/include/sensors/gps/GpsSimpleParams.hpp
@@ -5,7 +5,7 @@
 #define msr_airlib_GpsSimpleParams_hpp
 
 #include "common/Common.hpp"
-
+#include "common/AirSimSettings.hpp"
 
 namespace msr { namespace airlib {
 
@@ -19,9 +19,39 @@ struct GpsSimpleParams {
     real_T update_frequency = 50;    //Hz
     real_T startup_delay = 1;        //sec
 
+    Pose relative_pose;
+
     void initializeFromSettings(const AirSimSettings::GpsSetting& settings)
     {
-        unused(settings);
+	eph_time_constant = settings.eph_time_constant;
+	epv_time_constant = settings.epv_time_constant;
+	eph_initial = settings.eph_initial;
+	epv_initial = settings.epv_initial;
+	eph_final = settings.eph_final;
+	epv_final = settings.epv_final;
+	eph_min_3d = settings.eph_min_3d;
+	eph_min_2d = settings.eph_min_2d;
+
+	update_latency = settings.update_latency;
+	update_frequency = settings.update_frequency;
+	startup_delay = settings.startup_delay;
+
+        relative_pose.position = settings.position;
+        if (std::isnan(relative_pose.position.x()))
+            relative_pose.position.x() = 0;
+        if (std::isnan(relative_pose.position.y()))
+            relative_pose.position.y() = 0;
+        if (std::isnan(relative_pose.position.z())) 
+	    relative_pose.position.z() = 0;
+
+        float pitch, roll, yaw;
+        pitch = !std::isnan(settings.rotation.pitch) ? settings.rotation.pitch : 0;
+        roll = !std::isnan(settings.rotation.roll) ? settings.rotation.roll : 0;
+        yaw = !std::isnan(settings.rotation.yaw) ? settings.rotation.yaw : 0;
+        relative_pose.orientation = VectorMath::toQuaternion(
+            Utils::degreesToRadians(pitch),   //pitch - rotation around Y axis
+            Utils::degreesToRadians(roll),    //roll  - rotation around X axis
+            Utils::degreesToRadians(yaw));    //yaw   - rotation around Z axis
     }
 };
 
diff --git a/AirLib/include/sensors/imu/ImuSimpleParams.hpp b/AirLib/include/sensors/imu/ImuSimpleParams.hpp
index 6cbe166a4e..74fdc2bfa4 100644
--- a/AirLib/include/sensors/imu/ImuSimpleParams.hpp
+++ b/AirLib/include/sensors/imu/ImuSimpleParams.hpp
@@ -24,6 +24,8 @@ struct ImuSimpleParams {
     https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Datasheet1.pdf
     For Allan Variance/Deviation plots see http://www.invensense.com/wp-content/uploads/2015/02/MPU-3300-Datasheet.pdf
     */
+    Pose relative_pose;
+
     struct Gyroscope {
         //angule random walk (ARW)
         real_T arw = 0.30f / sqrt(3600.0f) * M_PIf / 180; //deg/sqrt(hour) converted to rad/sqrt(sec)
@@ -43,10 +45,35 @@ struct ImuSimpleParams {
     } accel;
 
     real_T min_sample_time = 1 / 1000.0f;   //internal IMU frequency
-
+    
     void initializeFromSettings(const AirSimSettings::ImuSetting& settings)
     {
-        unused(settings);
+        gyro.arw = settings.gyro_arw;
+        gyro.tau = settings.gyro_tau;
+        gyro.bias_stability = settings.gyro_bias_stability;
+        gyro.turn_on_bias = settings.gyro_turn_on_bias;
+
+        accel.vrw = settings.accel_vrw;
+        accel.tau = settings.accel_tau;
+        accel.bias_stability = settings.accel_bias_stability;
+        accel.turn_on_bias = settings.accel_turn_on_bias;
+
+        relative_pose.position = settings.position;
+        if (std::isnan(relative_pose.position.x()))
+            relative_pose.position.x() = 0;
+        if (std::isnan(relative_pose.position.y()))
+            relative_pose.position.y() = 0;
+        if (std::isnan(relative_pose.position.z())) 
+	    relative_pose.position.z() = 0;
+
+        float pitch, roll, yaw;
+        pitch = !std::isnan(settings.rotation.pitch) ? settings.rotation.pitch : 0;
+        roll = !std::isnan(settings.rotation.roll) ? settings.rotation.roll : 0;
+        yaw = !std::isnan(settings.rotation.yaw) ? settings.rotation.yaw : 0;
+        relative_pose.orientation = VectorMath::toQuaternion(
+            Utils::degreesToRadians(pitch),   //pitch - rotation around Y axis
+            Utils::degreesToRadians(roll),    //roll  - rotation around X axis
+            Utils::degreesToRadians(yaw));    //yaw   - rotation around Z axis
     }
 };
 
diff --git a/AirLib/include/sensors/magnetometer/MagnetometerSimpleParams.hpp b/AirLib/include/sensors/magnetometer/MagnetometerSimpleParams.hpp
index 652cb3257c..ee1f1b212f 100644
--- a/AirLib/include/sensors/magnetometer/MagnetometerSimpleParams.hpp
+++ b/AirLib/include/sensors/magnetometer/MagnetometerSimpleParams.hpp
@@ -5,6 +5,7 @@
 #define msr_airlib_MagnetometerSimpleParams_hpp
 
 #include "common/Common.hpp"
+#include "common/AirSimSettings.hpp"
 
 
 namespace msr { namespace airlib {
@@ -32,9 +33,38 @@ struct MagnetometerSimpleParams {
     real_T update_frequency = 50;    //Hz
     real_T startup_delay = 0;        //sec
 
+    Pose relative_pose;
+
     void initializeFromSettings(const AirSimSettings::MagnetometerSetting& settings)
     {
-        unused(settings);
+        noise_sigma = settings.noise_sigma;
+	noise_bias = settings.noise_bias;
+        scale_factor = settings.scale_factor;
+	dynamic_reference_source = settings.dynamic_reference_source;
+        ref_update_frequency = settings.update_frequency;
+	if (settings.ref_source == 0){
+		ref_source = ReferenceSource::ReferenceSource_Constant;
+	}
+        update_latency = settings.update_latency;
+        update_frequency = settings.update_frequency;
+        startup_delay = settings.startup_delay;
+
+        relative_pose.position = settings.position;
+        if (std::isnan(relative_pose.position.x()))
+            relative_pose.position.x() = 0;
+        if (std::isnan(relative_pose.position.y()))
+            relative_pose.position.y() = 0;
+        if (std::isnan(relative_pose.position.z())) 
+	    relative_pose.position.z() = 0;
+
+        float pitch, roll, yaw;
+        pitch = !std::isnan(settings.rotation.pitch) ? settings.rotation.pitch : 0;
+        roll = !std::isnan(settings.rotation.roll) ? settings.rotation.roll : 0;
+        yaw = !std::isnan(settings.rotation.yaw) ? settings.rotation.yaw : 0;
+        relative_pose.orientation = VectorMath::toQuaternion(
+            Utils::degreesToRadians(pitch),   //pitch - rotation around Y axis
+            Utils::degreesToRadians(roll),    //roll  - rotation around X axis
+            Utils::degreesToRadians(yaw));    //yaw   - rotation around Z axis
     }
 };
 

From 54020636a3019430730dcee7d90ddddc412647e0 Mon Sep 17 00:00:00 2001
From: ACLeighner <ACLeighner@aol.com>
Date: Tue, 12 Jan 2021 15:52:43 +0900
Subject: [PATCH 03/17] autonomy python files

---
 auto/airsim/__init__.py                       |    4 +
 auto/airsim/__init__.pyc                      |  Bin 0 -> 217 bytes
 .../__pycache__/__init__.cpython-36.pyc       |  Bin 0 -> 189 bytes
 auto/airsim/__pycache__/client.cpython-36.pyc |  Bin 0 -> 55970 bytes
 auto/airsim/__pycache__/utils.cpython-36.pyc  |  Bin 0 -> 5728 bytes
 auto/airsim/client.py                         | 1127 ++++
 auto/airsim/client.pyc                        |  Bin 0 -> 58743 bytes
 auto/airsim/pfm.py                            |   85 +
 auto/airsim/types.py                          |  507 ++
 auto/airsim/types.pyc                         |  Bin 0 -> 25562 bytes
 auto/airsim/utils.py                          |  222 +
 auto/airsim/utils.pyc                         |  Bin 0 -> 7464 bytes
 auto/python/airsim_helper.py                  |  260 +
 auto/python/airsim_helper.pyc                 |  Bin 0 -> 10866 bytes
 auto/python/autonomy.py                       |   49 +
 auto/python/backup                            |  152 +
 auto/python/companion.py                      |  205 +
 auto/python/companion.pyc                     |  Bin 0 -> 4808 bytes
 auto/python/companion2.py                     |  158 +
 auto/python/frames.gv                         |   21 +
 auto/python/frames.pdf                        |  Bin 0 -> 19940 bytes
 auto/python/ground.py                         |  112 +
 auto/python/mapping.py                        |  227 +
 auto/python/mapping2.py                       |  229 +
 auto/python/mapping3.py                       |  164 +
 auto/python/mavros_test_common.py             |  417 ++
 auto/python/mavros_test_common.pyc            |  Bin 0 -> 14439 bytes
 auto/python/mavtest.py                        |  204 +
 auto/python/navigation.py                     |  146 +
 auto/python/offboard.py                       |  165 +
 auto/python/offboard2.py                      |  151 +
 auto/python/offboard3.py                      |  146 +
 auto/python/out.ply                           | 5692 +++++++++++++++++
 auto/python/pad_detection.py                  |  136 +
 auto/python/pad_detection.pyc                 |  Bin 0 -> 5374 bytes
 auto/python/setup_path.py                     |   52 +
 auto/python/setup_path.pyc                    |  Bin 0 -> 1965 bytes
 auto/python/sfm.py                            |  254 +
 auto/python/sfm.pyc                           |  Bin 0 -> 9028 bytes
 auto/python/sfm_ros.py                        |  304 +
 auto/python/stereo.py                         |  129 +
 41 files changed, 11318 insertions(+)
 create mode 100644 auto/airsim/__init__.py
 create mode 100644 auto/airsim/__init__.pyc
 create mode 100644 auto/airsim/__pycache__/__init__.cpython-36.pyc
 create mode 100644 auto/airsim/__pycache__/client.cpython-36.pyc
 create mode 100644 auto/airsim/__pycache__/utils.cpython-36.pyc
 create mode 100644 auto/airsim/client.py
 create mode 100644 auto/airsim/client.pyc
 create mode 100644 auto/airsim/pfm.py
 create mode 100644 auto/airsim/types.py
 create mode 100644 auto/airsim/types.pyc
 create mode 100644 auto/airsim/utils.py
 create mode 100644 auto/airsim/utils.pyc
 create mode 100644 auto/python/airsim_helper.py
 create mode 100644 auto/python/airsim_helper.pyc
 create mode 100644 auto/python/autonomy.py
 create mode 100644 auto/python/backup
 create mode 100644 auto/python/companion.py
 create mode 100644 auto/python/companion.pyc
 create mode 100644 auto/python/companion2.py
 create mode 100644 auto/python/frames.gv
 create mode 100644 auto/python/frames.pdf
 create mode 100644 auto/python/ground.py
 create mode 100644 auto/python/mapping.py
 create mode 100644 auto/python/mapping2.py
 create mode 100644 auto/python/mapping3.py
 create mode 100644 auto/python/mavros_test_common.py
 create mode 100644 auto/python/mavros_test_common.pyc
 create mode 100644 auto/python/mavtest.py
 create mode 100644 auto/python/navigation.py
 create mode 100644 auto/python/offboard.py
 create mode 100644 auto/python/offboard2.py
 create mode 100644 auto/python/offboard3.py
 create mode 100644 auto/python/out.ply
 create mode 100644 auto/python/pad_detection.py
 create mode 100644 auto/python/pad_detection.pyc
 create mode 100644 auto/python/setup_path.py
 create mode 100644 auto/python/setup_path.pyc
 create mode 100644 auto/python/sfm.py
 create mode 100644 auto/python/sfm.pyc
 create mode 100644 auto/python/sfm_ros.py
 create mode 100644 auto/python/stereo.py

diff --git a/auto/airsim/__init__.py b/auto/airsim/__init__.py
new file mode 100644
index 0000000000..4e89c22980
--- /dev/null
+++ b/auto/airsim/__init__.py
@@ -0,0 +1,4 @@
+from .client import *
+from .utils import *
+from .types import *
+
diff --git a/auto/airsim/__init__.pyc b/auto/airsim/__init__.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..60005acc5dbd56f48a503032b21b718d795ca889
GIT binary patch
diff --git a/auto/airsim/__pycache__/__init__.cpython-36.pyc b/auto/airsim/__pycache__/__init__.cpython-36.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..54adf0289a89a53e474e0dce145e9f4183d9f55e
GIT binary patch
diff --git a/auto/airsim/__pycache__/client.cpython-36.pyc b/auto/airsim/__pycache__/client.cpython-36.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..3b803e597f125e220d02f1f136396649f39971ba
GIT binary patch
diff --git a/auto/airsim/__pycache__/utils.cpython-36.pyc b/auto/airsim/__pycache__/utils.cpython-36.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..99e91c1d5489feb208f3b68ff9a40ced9fb6f398
GIT binary patch
diff --git a/auto/airsim/client.py b/auto/airsim/client.py
new file mode 100644
index 0000000000..b8dde7f0f5
--- /dev/null
+++ b/auto/airsim/client.py
@@ -0,0 +1,1127 @@
+from __future__ import print_function
+
+from .utils import *
+from .types import *
+
+import msgpackrpc #install as admin: pip install msgpack-rpc-python
+import numpy as np #pip install numpy
+import msgpack
+import time
+import math
+import logging
+
+class VehicleClient:
+    def __init__(self, ip = "", port = 41451, timeout_value = 3600):
+        if (ip == ""):
+            ip = "127.0.0.1"
+        self.client = msgpackrpc.Client(msgpackrpc.Address(ip, port), timeout = timeout_value, pack_encoding = 'utf-8', unpack_encoding = 'utf-8')
+
+    # -----------------------------------  Common vehicle APIs ---------------------------------------------
+    def reset(self):
+        """
+        Reset the vehicle to its original starting state
+
+        Note that you must call `enableApiControl` and `armDisarm` again after the call to reset
+        """
+        self.client.call('reset')
+
+    def ping(self):
+        """
+        If connection is established then this call will return true otherwise it will be blocked until timeout
+
+        Returns:
+            bool:
+        """
+        return self.client.call('ping')
+
+    def getClientVersion(self):
+        return 1 # sync with C++ client
+
+    def getServerVersion(self):
+        return self.client.call('getServerVersion')
+
+    def getMinRequiredServerVersion(self):
+        return 1 # sync with C++ client
+
+    def getMinRequiredClientVersion(self):
+        return self.client.call('getMinRequiredClientVersion')
+
+    # basic flight control
+    def enableApiControl(self, is_enabled, vehicle_name = ''):
+        """
+        Enables or disables API control for vehicle corresponding to vehicle_name
+
+        Args:
+            is_enabled (bool): True to enable, False to disable API control
+            vehicle_name (str, optional): Name of the vehicle to send this command to
+        """
+        self.client.call('enableApiControl', is_enabled, vehicle_name)
+
+    def isApiControlEnabled(self, vehicle_name = ''):
+        """
+        Returns true if API control is established.
+
+        If false (which is default) then API calls would be ignored. After a successful call to `enableApiControl`, `isApiControlEnabled` should return true.
+
+        Args:
+            vehicle_name (str, optional): Name of the vehicle
+
+        Returns:
+            bool: If API control is enabled
+        """
+        return self.client.call('isApiControlEnabled', vehicle_name)
+
+    def armDisarm(self, arm, vehicle_name = ''):
+        """
+        Arms or disarms vehicle
+
+        Args:
+            arm (bool): True to arm, False to disarm the vehicle
+            vehicle_name (str, optional): Name of the vehicle to send this command to
+
+        Returns:
+            bool: Success
+        """
+        return self.client.call('armDisarm', arm, vehicle_name)
+
+    def simPause(self, is_paused):
+        """
+        Pauses simulation
+
+        Args:
+            is_paused (bool): True to pause the simulation, False to release
+        """
+        self.client.call('simPause', is_paused)
+
+    def simIsPause(self):
+        """
+        Returns true if the simulation is paused
+
+        Returns:
+            bool: If the simulation is paused
+        """
+        return self.client.call("simIsPaused")
+
+    def simContinueForTime(self, seconds):
+        """
+        Continue the simulation for the specified number of seconds
+
+        Args:
+            seconds (float): Time to run the simulation for
+        """
+        self.client.call('simContinueForTime', seconds)
+
+    def getHomeGeoPoint(self, vehicle_name = ''):
+        """
+        Get the Home location of the vehicle
+
+        Args:
+            vehicle_name (str, optional): Name of vehicle to get home location of
+
+        Returns:
+            GeoPoint: Home location of the vehicle
+        """
+        return GeoPoint.from_msgpack(self.client.call('getHomeGeoPoint', vehicle_name))
+
+    def confirmConnection(self):
+        """
+        Checks state of connection every 1 sec and reports it in Console so user can see the progress for connection.
+        """
+        if self.ping():
+            print("Connected!")
+        else:
+             print("Ping returned false!")
+        server_ver = self.getServerVersion()
+        client_ver = self.getClientVersion()
+        server_min_ver = self.getMinRequiredServerVersion()
+        client_min_ver = self.getMinRequiredClientVersion()
+
+        ver_info = "Client Ver:" + str(client_ver) + " (Min Req: " + str(client_min_ver) + \
+              "), Server Ver:" + str(server_ver) + " (Min Req: " + str(server_min_ver) + ")"
+
+        if server_ver < server_min_ver:
+            print(ver_info, file=sys.stderr)
+            print("AirSim server is of older version and not supported by this client. Please upgrade!")
+        elif client_ver < client_min_ver:
+            print(ver_info, file=sys.stderr)
+            print("AirSim client is of older version and not supported by this server. Please upgrade!")
+        else:
+            print(ver_info)
+        print('')
+
+    def simSwapTextures(self, tags, tex_id = 0, component_id = 0, material_id = 0):
+        """
+        Runtime Swap Texture API
+
+        See https://microsoft.github.io/AirSim/retexturing/ for details
+
+        Args:
+            tags (str): string of "," or ", " delimited tags to identify on which actors to perform the swap
+            tex_id (int, optional): indexes the array of textures assigned to each actor undergoing a swap
+
+                                    If out-of-bounds for some object's texture set, it will be taken modulo the number of textures that were available
+            component_id (int, optional):
+            material_id (int, optional):
+
+        Returns:
+            list[str]: List of objects which matched the provided tags and had the texture swap perfomed
+        """
+        return self.client.call("simSwapTextures", tags, tex_id, component_id, material_id)
+
+    # time-of-day control
+    def simSetTimeOfDay(self, is_enabled, start_datetime = "", is_start_datetime_dst = False, celestial_clock_speed = 1, update_interval_secs = 60, move_sun = True):
+        """
+        Control the position of Sun in the environment
+
+        Sun's position is computed using the coordinates specified in `OriginGeopoint` in settings for the date-time specified in the argument,
+        else if the string is empty, current date & time is used
+
+        Args:
+            is_enabled (bool): True to enable time-of-day effect, False to reset the position to original
+            start_datetime (str, optional): Date & Time in %Y-%m-%d %H:%M:%S format, e.g. `2018-02-12 15:20:00`
+            is_start_datetime_dst (bool, optional): True to adjust for Daylight Savings Time
+            celestial_clock_speed (float, optional): Run celestial clock faster or slower than simulation clock
+                                                     E.g. Value 100 means for every 1 second of simulation clock, Sun's position is advanced by 100 seconds
+                                                     so Sun will move in sky much faster
+            update_interval_secs (float, optional): Interval to update the Sun's position
+            move_sun (bool, optional): Whether or not to move the Sun
+        """
+        self.client.call('simSetTimeOfDay', is_enabled, start_datetime, is_start_datetime_dst, celestial_clock_speed, update_interval_secs, move_sun)
+
+    # weather
+    def simEnableWeather(self, enable):
+        """
+        Enable Weather effects. Needs to be called before using `simSetWeatherParameter` API
+
+        Args:
+            enable (bool): True to enable, False to disable
+        """
+        self.client.call('simEnableWeather', enable)
+
+    def simSetWeatherParameter(self, param, val):
+        """
+        Enable various weather effects
+
+        Args:
+            param (WeatherParameter): Weather effect to be enabled
+            val (float): Intensity of the effect, Range 0-1
+        """
+        self.client.call('simSetWeatherParameter', param, val)
+
+    # camera control
+    # simGetImage returns compressed png in array of bytes
+    # image_type uses one of the ImageType members
+    def simGetImage(self, camera_name, image_type, vehicle_name = ''):
+        """
+        Get a single image
+
+        Returns bytes of png format image which can be dumped into abinary file to create .png image
+        `string_to_uint8_array()` can be used to convert into Numpy unit8 array
+        See https://microsoft.github.io/AirSim/image_apis/ for details
+
+        Args:
+            camera_name (str): Name of the camera, for backwards compatibility, ID numbers such as 0,1,etc. can also be used
+            image_type (ImageType): Type of image required
+            vehicle_name (str, optional): Name of the vehicle with the camera
+
+        Returns:
+            Binary string literal of compressed png image
+        """
+        # todo: in future remove below, it's only for compatibility to pre v1.2
+        camera_name = str(camera_name)
+
+        # because this method returns std::vector<uint8>, msgpack decides to encode it as a string unfortunately.
+        result = self.client.call('simGetImage', camera_name, image_type, vehicle_name)
+        if (result == "" or result == "\0"):
+            return None
+        return result
+
+    # camera control
+    # simGetImage returns compressed png in array of bytes
+    # image_type uses one of the ImageType members
+    def simGetImages(self, requests, vehicle_name = ''):
+        """
+        Get multiple images
+
+        See https://microsoft.github.io/AirSim/image_apis/ for details and examples
+
+        Args:
+            requests (list[ImageRequest]): Images required
+            vehicle_name (str, optional): Name of vehicle associated with the camera
+
+        Returns:
+            list[ImageResponse]:
+        """
+        responses_raw = self.client.call('simGetImages', requests, vehicle_name)
+        return [ImageResponse.from_msgpack(response_raw) for response_raw in responses_raw]
+
+    # gets the static meshes in the unreal scene
+    def simGetMeshPositionVertexBuffers(self):
+        """
+        Returns the static meshes that make up the scene
+
+        See https://microsoft.github.io/AirSim/meshes/ for details and how to use this
+
+        Returns:
+            list[MeshPositionVertexBuffersResponse]:
+        """
+        responses_raw = self.client.call('simGetMeshPositionVertexBuffers')
+        return [MeshPositionVertexBuffersResponse.from_msgpack(response_raw) for response_raw in responses_raw]
+
+    def simGetCollisionInfo(self, vehicle_name = ''):
+        """
+        Args:
+            vehicle_name (str, optional): Name of the Vehicle to get the info of
+
+        Returns:
+            CollisionInfo:
+        """
+        return CollisionInfo.from_msgpack(self.client.call('simGetCollisionInfo', vehicle_name))
+
+    def simSetVehiclePose(self, pose, ignore_collison, vehicle_name = ''):
+        """
+        Set the pose of the vehicle
+
+        If you don't want to change position (or orientation) then just set components of position (or orientation) to floating point nan values
+
+        Args:
+            pose (Pose): Desired Pose pf the vehicle
+            ignore_collision (bool): Whether to ignore any collision or not
+            vehicle_name (str, optional): Name of the vehicle to move
+        """
+        self.client.call('simSetVehiclePose', pose, ignore_collison, vehicle_name)
+
+    def simGetVehiclePose(self, vehicle_name = ''):
+        """
+        Args:
+            vehicle_name (str, optional): Name of the vehicle to get the Pose of
+
+        Returns:
+            Pose:
+        """
+        pose = self.client.call('simGetVehiclePose', vehicle_name)
+        return Pose.from_msgpack(pose)
+
+    def simSetTraceLine(self, color_rgba, thickness=1.0, vehicle_name = ''):
+        """
+        Modify the color and thickness of the line when Tracing is enabled
+
+        Tracing can be enabled by pressing T in the Editor or setting `EnableTrace` to `True` in the Vehicle Settings
+
+        Args:
+            color_rgba (list): desired RGBA values from 0.0 to 1.0
+            thickness (float, optional): Thickness of the line
+            vehicle_name (string, optional): Name of the vehicle to set Trace line values for
+        """
+        self.client.call('simSetTraceLine', color_rgba, thickness, vehicle_name)
+
+    def simGetObjectPose(self, object_name):
+        """
+        Args:
+            object_name (str): Object to get the Pose of
+
+        Returns:
+            Pose:
+        """
+        pose = self.client.call('simGetObjectPose', object_name)
+        return Pose.from_msgpack(pose)
+
+    def simSetObjectPose(self, object_name, pose, teleport = True):
+        """
+        Set the pose of the object(actor) in the environment
+
+        The specified actor must have Mobility set to movable, otherwise there will be undefined behaviour.
+        See https://www.unrealengine.com/en-US/blog/moving-physical-objects for details on how to set Mobility and the effect of Teleport parameter
+
+        Args:
+            object_name (str): Name of the object(actor) to move
+            pose (Pose): Desired Pose of the object
+            teleport (bool, optional): Whether to move the object immediately without affecting their velocity
+
+        Returns:
+            bool: If the move was successful
+        """
+        return self.client.call('simSetObjectPose', object_name, pose, teleport)
+
+    def simListSceneObjects(self, name_regex = '.*'):
+        """
+        Lists the objects present in the environment
+
+        Default behaviour is to list all objects, regex can be used to return smaller list of matching objects or actors
+
+        Args:
+            name_regex (str, optional): String to match actor names against, e.g. "Cylinder.*"
+
+        Returns:
+            list[str]: List containing all the names
+        """
+        return self.client.call('simListSceneObjects', name_regex)
+
+    def simSetSegmentationObjectID(self, mesh_name, object_id, is_name_regex = False):
+        """
+        Set segmentation ID for specific objects
+
+        See https://microsoft.github.io/AirSim/image_apis/#segmentation for details
+
+        Args:
+            mesh_name (str): Name of the mesh to set the ID of (supports regex)
+            object_id (int): Object ID to be set, range 0-255
+
+                             RBG values for IDs can be seen at https://microsoft.github.io/AirSim/seg_rgbs.txt
+            is_name_regex (bool, optional): Whether the mesh name is a regex
+
+        Returns:
+            bool: If the mesh was found
+        """
+        return self.client.call('simSetSegmentationObjectID', mesh_name, object_id, is_name_regex)
+
+    def simGetSegmentationObjectID(self, mesh_name):
+        """
+        Returns Object ID for the given mesh name
+
+        Mapping of Object IDs to RGB values can be seen at https://microsoft.github.io/AirSim/seg_rgbs.txt
+
+        Args:
+            mesh_name (str): Name of the mesh to get the ID of
+        """
+        return self.client.call('simGetSegmentationObjectID', mesh_name)
+
+    def simPrintLogMessage(self, message, message_param = "", severity = 0):
+        """
+        Prints the specified message in the simulator's window.
+
+        If message_param is supplied, then it's printed next to the message and in that case if this API is called with same message value
+        but different message_param again then previous line is overwritten with new line (instead of API creating new line on display).
+
+        For example, `simPrintLogMessage("Iteration: ", to_string(i))` keeps updating same line on display when API is called with different values of i.
+        The valid values of severity parameter is 0 to 3 inclusive that corresponds to different colors.
+
+        Args:
+            message (str): Message to be printed
+            message_param (str, optional): Parameter to be printed next to the message
+            severity (int, optional): Range 0-3, inclusive, corresponding to the severity of the message
+        """
+        self.client.call('simPrintLogMessage', message, message_param, severity)
+
+    def simGetCameraInfo(self, camera_name, vehicle_name = ''):
+        """
+        Get details about the camera
+
+        Args:
+            camera_name (str): Name of the camera, for backwards compatibility, ID numbers such as 0,1,etc. can also be used
+            vehicle_name (str, optional): Vehicle which the camera is associated with
+
+        Returns:
+            CameraInfo:
+        """
+        # TODO: below str() conversion is only needed for legacy reason and should be removed in future
+        return CameraInfo.from_msgpack(self.client.call('simGetCameraInfo', str(camera_name), vehicle_name))
+
+    def simSetCameraOrientation(self, camera_name, orientation, vehicle_name = ''):
+        """
+        - Control the orientation of a selected camera
+
+        Args:
+            camera_name (str): Name of the camera to be controlled
+            orientation (Quaternionr): Quaternion representing the desired orientation of the camera
+            vehicle_name (str, optional): Name of vehicle which the camera corresponds to
+        """
+        # TODO: below str() conversion is only needed for legacy reason and should be removed in future
+        self.client.call('simSetCameraOrientation', str(camera_name), orientation, vehicle_name)
+
+    def simSetCameraFov(self, camera_name, fov_degrees, vehicle_name = ''):
+        """
+        - Control the field of view of a selected camera
+
+        Args:
+            camera_name (str): Name of the camera to be controlled
+            fov_degrees (float): Value of field of view in degrees
+            vehicle_name (str, optional): Name of vehicle which the camera corresponds to
+        """
+        # TODO: below str() conversion is only needed for legacy reason and should be removed in future
+        self.client.call('simSetCameraFov', str(camera_name), fov_degrees, vehicle_name)
+
+    def simGetGroundTruthKinematics(self, vehicle_name = ''):
+        """
+        Get Ground truth kinematics of the vehicle
+
+        Args:
+            vehicle_name (str, optional): Name of the vehicle
+
+        Returns:
+            KinematicsState: Ground truth of the vehicle
+        """
+        kinematics_state = self.client.call('simGetGroundTruthKinematics', vehicle_name)
+        return KinematicsState.from_msgpack(kinematics_state)
+    simGetGroundTruthKinematics.__annotations__ = {'return': KinematicsState}
+
+    def simGetGroundTruthEnvironment(self, vehicle_name = ''):
+        """
+        Get ground truth environment state
+
+        Args:
+            vehicle_name (str, optional): Name of the vehicle
+
+        Returns:
+            EnvironmentState: Ground truth environment state
+        """
+        env_state = self.client.call('simGetGroundTruthEnvironment', vehicle_name)
+        return EnvironmentState.from_msgpack(env_state)
+    simGetGroundTruthEnvironment.__annotations__ = {'return': EnvironmentState}
+
+    # sensor APIs
+    def getImuData(self, imu_name = '', vehicle_name = ''):
+        """
+        Args:
+            imu_name (str, optional): Name of IMU to get data from, specified in settings.json
+            vehicle_name (str, optional): Name of vehicle to which the sensor corresponds to
+
+        Returns:
+            ImuData:
+        """
+        return ImuData.from_msgpack(self.client.call('getImuData', imu_name, vehicle_name))
+
+    def getBarometerData(self, barometer_name = '', vehicle_name = ''):
+        """
+        Args:
+            barometer_name (str, optional): Name of Barometer to get data from, specified in settings.json
+            vehicle_name (str, optional): Name of vehicle to which the sensor corresponds to
+
+        Returns:
+            BarometerData:
+        """
+        return BarometerData.from_msgpack(self.client.call('getBarometerData', barometer_name, vehicle_name))
+
+    def getMagnetometerData(self, magnetometer_name = '', vehicle_name = ''):
+        """
+        Args:
+            magnetometer_name (str, optional): Name of Magnetometer to get data from, specified in settings.json
+            vehicle_name (str, optional): Name of vehicle to which the sensor corresponds to
+
+        Returns:
+            MagnetometerData:
+        """
+        return MagnetometerData.from_msgpack(self.client.call('getMagnetometerData', magnetometer_name, vehicle_name))
+
+    def getGpsData(self, gps_name = '', vehicle_name = ''):
+        """
+        Args:
+            gps_name (str, optional): Name of GPS to get data from, specified in settings.json
+            vehicle_name (str, optional): Name of vehicle to which the sensor corresponds to
+
+        Returns:
+            GpsData:
+        """
+        return GpsData.from_msgpack(self.client.call('getGpsData', gps_name, vehicle_name))
+
+    def getDistanceSensorData(self, distance_sensor_name = '', vehicle_name = ''):
+        """
+        Args:
+            distance_sensor_name (str, optional): Name of Distance Sensor to get data from, specified in settings.json
+            vehicle_name (str, optional): Name of vehicle to which the sensor corresponds to
+
+        Returns:
+            DistanceSensorData:
+        """
+        return DistanceSensorData.from_msgpack(self.client.call('getDistanceSensorData', distance_sensor_name, vehicle_name))
+
+    def getLidarData(self, lidar_name = '', vehicle_name = ''):
+        """
+        Args:
+            lidar_name (str, optional): Name of Lidar to get data from, specified in settings.json
+            vehicle_name (str, optional): Name of vehicle to which the sensor corresponds to
+
+        Returns:
+            LidarData:
+        """
+        return LidarData.from_msgpack(self.client.call('getLidarData', lidar_name, vehicle_name))
+
+    def simGetLidarSegmentation(self, lidar_name = '', vehicle_name = ''):
+        """
+        Returns Segmentation ID of each point's collided object in the last Lidar update
+
+        Args:
+            lidar_name (str, optional): Name of Lidar sensor
+            vehicle_name (str, optional): Name of the vehicle wth the sensor
+
+        Returns:
+            list[int]: Segmentation IDs of the objects
+        """
+        return self.client.call('simGetLidarSegmentation', lidar_name, vehicle_name)
+
+    #  Plotting APIs
+    def simFlushPersistentMarkers(self):
+        """
+        Clear any persistent markers - those plotted with setting `is_persistent=True` in the APIs below
+        """
+        self.client.call('simFlushPersistentMarkers')
+
+    def simPlotPoints(self, points, color_rgba=[1.0, 0.0, 0.0, 1.0], size = 10.0, duration = -1.0, is_persistent = False):
+        """
+        Plot a list of 3D points in World NED frame
+
+        Args:
+            points (list[Vector3r]): List of Vector3r objects
+            color_rgba (list, optional): desired RGBA values from 0.0 to 1.0
+            size (float, optional): Size of plotted point
+            duration (float, optional): Duration (seconds) to plot for
+            is_persistent (bool, optional): If set to True, the desired object will be plotted for infinite time.
+        """
+        self.client.call('simPlotPoints', points, color_rgba, size, duration, is_persistent)
+
+    def simPlotLineStrip(self, points, color_rgba=[1.0, 0.0, 0.0, 1.0], thickness = 5.0, duration = -1.0, is_persistent = False):
+        """
+        Plots a line strip in World NED frame, defined from points[0] to points[1], points[1] to points[2], ... , points[n-2] to points[n-1]
+
+        Args:
+            points (list[Vector3r]): List of 3D locations of line start and end points, specified as Vector3r objects
+            color_rgba (list, optional): desired RGBA values from 0.0 to 1.0
+            thickness (float, optional): Thickness of line
+            duration (float, optional): Duration (seconds) to plot for
+            is_persistent (bool, optional): If set to True, the desired object will be plotted for infinite time.
+        """
+        self.client.call('simPlotLineStrip', points, color_rgba, thickness, duration, is_persistent)
+
+    def simPlotLineList(self, points, color_rgba=[1.0, 0.0, 0.0, 1.0], thickness = 5.0, duration = -1.0, is_persistent = False):
+        """
+        Plots a line strip in World NED frame, defined from points[0] to points[1], points[2] to points[3], ... , points[n-2] to points[n-1]
+
+        Args:
+            points (list[Vector3r]): List of 3D locations of line start and end points, specified as Vector3r objects. Must be even
+            color_rgba (list, optional): desired RGBA values from 0.0 to 1.0
+            thickness (float, optional): Thickness of line
+            duration (float, optional): Duration (seconds) to plot for
+            is_persistent (bool, optional): If set to True, the desired object will be plotted for infinite time.
+        """
+        self.client.call('simPlotLineList', points, color_rgba, thickness, duration, is_persistent)
+
+    def simPlotArrows(self, points_start, points_end, color_rgba=[1.0, 0.0, 0.0, 1.0], thickness = 5.0, arrow_size = 2.0, duration = -1.0, is_persistent = False):
+        """
+        Plots a list of arrows in World NED frame, defined from points_start[0] to points_end[0], points_start[1] to points_end[1], ... , points_start[n-1] to points_end[n-1]
+
+        Args:
+            points_start (list[Vector3r]): List of 3D start positions of arrow start positions, specified as Vector3r objects
+            points_end (list[Vector3r]): List of 3D end positions of arrow start positions, specified as Vector3r objects
+            color_rgba (list, optional): desired RGBA values from 0.0 to 1.0
+            thickness (float, optional): Thickness of line
+            arrow_size (float, optional): Size of arrow head
+            duration (float, optional): Duration (seconds) to plot for
+            is_persistent (bool, optional): If set to True, the desired object will be plotted for infinite time.
+        """
+        self.client.call('simPlotArrows', points_start, points_end, color_rgba, thickness, arrow_size, duration, is_persistent)
+
+
+    def simPlotStrings(self, strings, positions, scale = 5, color_rgba=[1.0, 0.0, 0.0, 1.0], duration = -1.0):
+        """
+        Plots a list of strings at desired positions in World NED frame.
+
+        Args:
+            strings (list[String], optional): List of strings to plot
+            positions (list[Vector3r]): List of positions where the strings should be plotted. Should be in one-to-one correspondence with the strings' list
+            scale (float, optional): Font scale of transform name
+            color_rgba (list, optional): desired RGBA values from 0.0 to 1.0
+            duration (float, optional): Duration (seconds) to plot for
+        """
+        self.client.call('simPlotStrings', strings, positions, scale, color_rgba, duration)
+
+    def simPlotTransforms(self, poses, scale = 5.0, thickness = 5.0, duration = -1.0, is_persistent = False):
+        """
+        Plots a list of transforms in World NED frame.
+
+        Args:
+            poses (list[Pose]): List of Pose objects representing the transforms to plot
+            scale (float, optional): Length of transforms' axes
+            thickness (float, optional): Thickness of transforms' axes
+            duration (float, optional): Duration (seconds) to plot for
+            is_persistent (bool, optional): If set to True, the desired object will be plotted for infinite time.
+        """
+        self.client.call('simPlotTransforms', poses, scale, thickness, duration, is_persistent)
+
+    def simPlotTransformsWithNames(self, poses, names, tf_scale = 5.0, tf_thickness = 5.0, text_scale = 10.0, text_color_rgba = [1.0, 0.0, 0.0, 1.0], duration = -1.0):
+        """
+        Plots a list of transforms with their names in World NED frame.
+
+        Args:
+            poses (list[Pose]): List of Pose objects representing the transforms to plot
+            names (list[string]): List of strings with one-to-one correspondence to list of poses
+            tf_scale (float, optional): Length of transforms' axes
+            tf_thickness (float, optional): Thickness of transforms' axes
+            text_scale (float, optional): Font scale of transform name
+            text_color_rgba (list, optional): desired RGBA values from 0.0 to 1.0 for the transform name
+            duration (float, optional): Duration (seconds) to plot for
+        """
+        self.client.call('simPlotTransformsWithNames', poses, names, tf_scale, tf_thickness, text_scale, text_color_rgba, duration)
+
+    def cancelLastTask(self, vehicle_name = ''):
+        """
+        Cancel previous Async task
+
+        Args:
+            vehicle_name (str, optional): Name of the vehicle
+        """
+        self.client.call('cancelLastTask', vehicle_name)
+
+    def waitOnLastTask(self, timeout_sec = float('nan')):
+        """
+        Wait for the last Async task to complete
+
+        Args:
+            timeout_sec (float, optional): Time for the task to complete
+
+        Returns:
+            bool: Result of the last task
+
+                  True if the task completed without cancellation or timeout
+        """
+        return self.client.call('waitOnLastTask', timeout_sec)
+
+# -----------------------------------  Multirotor APIs ---------------------------------------------
+class MultirotorClient(VehicleClient, object):
+    def __init__(self, ip = "", port = 41451, timeout_value = 3600):
+        super(MultirotorClient, self).__init__(ip, port, timeout_value)
+
+    def takeoffAsync(self, timeout_sec = 20, vehicle_name = ''):
+        """
+        Takeoff vehicle to 3m above ground. Vehicle should not be moving when this API is used
+
+        Args:
+            timeout_sec (int, optional): Timeout for the vehicle to reach desired altitude
+            vehicle_name (str, optional): Name of the vehicle to send this command to
+
+        Returns:
+            msgpackrpc.future.Future: future. call .join() to wait for method to finish. Example: client.METHOD().join()
+        """
+        return self.client.call_async('takeoff', timeout_sec, vehicle_name)
+
+    def landAsync(self, timeout_sec = 60, vehicle_name = ''):
+        """
+        Land the vehicle
+
+        Args:
+            timeout_sec (int, optional): Timeout for the vehicle to land
+            vehicle_name (str, optional): Name of the vehicle to send this command to
+
+        Returns:
+            msgpackrpc.future.Future: future. call .join() to wait for method to finish. Example: client.METHOD().join()
+        """
+        return self.client.call_async('land', timeout_sec, vehicle_name)
+
+    def goHomeAsync(self, timeout_sec = 3e+38, vehicle_name = ''):
+        """
+        Return vehicle to Home i.e. Launch location
+
+        Args:
+            timeout_sec (int, optional): Timeout for the vehicle to reach desired altitude
+            vehicle_name (str, optional): Name of the vehicle to send this command to
+
+        Returns:
+            msgpackrpc.future.Future: future. call .join() to wait for method to finish. Example: client.METHOD().join()
+        """
+        return self.client.call_async('goHome', timeout_sec, vehicle_name)
+
+    # APIs for control
+    def moveByAngleZAsync(self, pitch, roll, z, yaw, duration, vehicle_name = ''):
+        return self.client.call_async('moveByAngleZ', pitch, roll, z, yaw, duration, vehicle_name)
+
+    def moveByAngleThrottleAsync(self, pitch, roll, throttle, yaw_rate, duration, vehicle_name = ''):
+        return self.client.call_async('moveByAngleThrottle', pitch, roll, throttle, yaw_rate, duration, vehicle_name)
+
+    def moveByVelocityAsync(self, vx, vy, vz, duration, drivetrain = DrivetrainType.MaxDegreeOfFreedom, yaw_mode = YawMode(), vehicle_name = ''):
+        """
+        Args:
+            vx (float): desired velocity in world (NED) X axis
+            vy (float): desired velocity in world (NED) Y axis
+            vz (float): desired velocity in world (NED) Z axis
+            duration (float): Desired amount of time (seconds), to send this command for
+            drivetrain (DrivetrainType, optional):
+            yaw_mode (YawMode, optional):
+            vehicle_name (str, optional): Name of the multirotor to send this command to
+
+        Returns:
+            msgpackrpc.future.Future: future. call .join() to wait for method to finish. Example: client.METHOD().join()
+        """
+        return self.client.call_async('moveByVelocity', vx, vy, vz, duration, drivetrain, yaw_mode, vehicle_name)
+
+    def moveByVelocityZAsync(self, vx, vy, z, duration, drivetrain = DrivetrainType.MaxDegreeOfFreedom, yaw_mode = YawMode(), vehicle_name = ''):
+        return self.client.call_async('moveByVelocityZ', vx, vy, z, duration, drivetrain, yaw_mode, vehicle_name)
+
+    def moveOnPathAsync(self, path, velocity, timeout_sec = 3e+38, drivetrain = DrivetrainType.MaxDegreeOfFreedom, yaw_mode = YawMode(),
+        lookahead = -1, adaptive_lookahead = 1, vehicle_name = ''):
+        return self.client.call_async('moveOnPath', path, velocity, timeout_sec, drivetrain, yaw_mode, lookahead, adaptive_lookahead, vehicle_name)
+
+    def moveToPositionAsync(self, x, y, z, velocity, timeout_sec = 3e+38, drivetrain = DrivetrainType.MaxDegreeOfFreedom, yaw_mode = YawMode(),
+        lookahead = -1, adaptive_lookahead = 1, vehicle_name = ''):
+        return self.client.call_async('moveToPosition', x, y, z, velocity, timeout_sec, drivetrain, yaw_mode, lookahead, adaptive_lookahead, vehicle_name)
+
+    def moveToZAsync(self, z, velocity, timeout_sec = 3e+38, yaw_mode = YawMode(), lookahead = -1, adaptive_lookahead = 1, vehicle_name = ''):
+        return self.client.call_async('moveToZ', z, velocity, timeout_sec, yaw_mode, lookahead, adaptive_lookahead, vehicle_name)
+
+    def moveByManualAsync(self, vx_max, vy_max, z_min, duration, drivetrain = DrivetrainType.MaxDegreeOfFreedom, yaw_mode = YawMode(), vehicle_name = ''):
+        """
+        - Read current RC state and use it to control the vehicles.
+
+        Parameters sets up the constraints on velocity and minimum altitude while flying. If RC state is detected to violate these constraints
+        then that RC state would be ignored.
+
+        Args:
+            vx_max (float): max velocity allowed in x direction
+            vy_max (float): max velocity allowed in y direction
+            vz_max (float): max velocity allowed in z direction
+            z_min (float): min z allowed for vehicle position
+            duration (float): after this duration vehicle would switch back to non-manual mode
+            drivetrain (DrivetrainType): when ForwardOnly, vehicle rotates itself so that its front is always facing the direction of travel. If MaxDegreeOfFreedom then it doesn't do that (crab-like movement)
+            yaw_mode (YawMode): Specifies if vehicle should face at given angle (is_rate=False) or should be rotating around its axis at given rate (is_rate=True)
+            vehicle_name (str, optional): Name of the multirotor to send this command to
+        Returns:
+            msgpackrpc.future.Future: future. call .join() to wait for method to finish. Example: client.METHOD().join()
+        """
+        return self.client.call_async('moveByManual', vx_max, vy_max, z_min, duration, drivetrain, yaw_mode, vehicle_name)
+
+    def rotateToYawAsync(self, yaw, timeout_sec = 3e+38, margin = 5, vehicle_name = ''):
+        return self.client.call_async('rotateToYaw', yaw, timeout_sec, margin, vehicle_name)
+
+    def rotateByYawRateAsync(self, yaw_rate, duration, vehicle_name = ''):
+        return self.client.call_async('rotateByYawRate', yaw_rate, duration, vehicle_name)
+
+    def hoverAsync(self, vehicle_name = ''):
+        return self.client.call_async('hover', vehicle_name)
+
+    def moveByRC(self, rcdata = RCData(), vehicle_name = ''):
+        return self.client.call('moveByRC', rcdata, vehicle_name)
+
+    # low-level control API
+    def moveByMotorPWMsAsync(self, front_right_pwm, rear_left_pwm, front_left_pwm, rear_right_pwm, duration, vehicle_name = ''):
+        """
+        - Directly control the motors using PWM values
+
+        Args:
+            front_right_pwm (float): PWM value for the front right motor (between 0.0 to 1.0)
+            rear_left_pwm (float): PWM value for the rear left motor (between 0.0 to 1.0)
+            front_left_pwm (float): PWM value for the front left motor (between 0.0 to 1.0)
+            rear_right_pwm (float): PWM value for the rear right motor (between 0.0 to 1.0)
+            duration (float): Desired amount of time (seconds), to send this command for
+            vehicle_name (str, optional): Name of the multirotor to send this command to
+        Returns:
+            msgpackrpc.future.Future: future. call .join() to wait for method to finish. Example: client.METHOD().join()
+        """
+        return self.client.call_async('moveByMotorPWMs', front_right_pwm, rear_left_pwm, front_left_pwm, rear_right_pwm, duration, vehicle_name)
+
+    def moveByRollPitchYawZAsync(self, roll, pitch, yaw, z, duration, vehicle_name = ''):
+        """
+        - z is given in local NED frame of the vehicle.
+        - Roll angle, pitch angle, and yaw angle set points are given in **radians**, in the body frame.
+        - The body frame follows the Front Left Up (FLU) convention, and right-handedness.
+
+        - Frame Convention:
+            - X axis is along the **Front** direction of the quadrotor.
+
+            | Clockwise rotation about this axis defines a positive **roll** angle.
+            | Hence, rolling with a positive angle is equivalent to translating in the **right** direction, w.r.t. our FLU body frame.
+
+            - Y axis is along the **Left** direction of the quadrotor.
+
+            | Clockwise rotation about this axis defines a positive **pitch** angle.
+            | Hence, pitching with a positive angle is equivalent to translating in the **front** direction, w.r.t. our FLU body frame.
+
+            - Z axis is along the **Up** direction.
+
+            | Clockwise rotation about this axis defines a positive **yaw** angle.
+            | Hence, yawing with a positive angle is equivalent to rotated towards the **left** direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
+
+        Args:
+            roll (float): Desired roll angle, in radians.
+            pitch (float): Desired pitch angle, in radians.
+            yaw (float): Desired yaw angle, in radians.
+            z (float): Desired Z value (in local NED frame of the vehicle)
+            duration (float): Desired amount of time (seconds), to send this command for
+            vehicle_name (str, optional): Name of the multirotor to send this command to
+
+        Returns:
+            msgpackrpc.future.Future: future. call .join() to wait for method to finish. Example: client.METHOD().join()
+        """
+        return self.client.call_async('moveByRollPitchYawZ', roll, -pitch, -yaw, z, duration, vehicle_name)
+
+    def moveByRollPitchYawThrottleAsync(self, roll, pitch, yaw, throttle, duration, vehicle_name = ''):
+        """
+        - Desired throttle is between 0.0 to 1.0
+        - Roll angle, pitch angle, and yaw angle are given in **radians**, in the body frame.
+        - The body frame follows the Front Left Up (FLU) convention, and right-handedness.
+
+        - Frame Convention:
+            - X axis is along the **Front** direction of the quadrotor.
+
+            | Clockwise rotation about this axis defines a positive **roll** angle.
+            | Hence, rolling with a positive angle is equivalent to translating in the **right** direction, w.r.t. our FLU body frame.
+
+            - Y axis is along the **Left** direction of the quadrotor.
+
+            | Clockwise rotation about this axis defines a positive **pitch** angle.
+            | Hence, pitching with a positive angle is equivalent to translating in the **front** direction, w.r.t. our FLU body frame.
+
+            - Z axis is along the **Up** direction.
+
+            | Clockwise rotation about this axis defines a positive **yaw** angle.
+            | Hence, yawing with a positive angle is equivalent to rotated towards the **left** direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
+
+        Args:
+            roll (float): Desired roll angle, in radians.
+            pitch (float): Desired pitch angle, in radians.
+            yaw (float): Desired yaw angle, in radians.
+            throttle (float): Desired throttle (between 0.0 to 1.0)
+            duration (float): Desired amount of time (seconds), to send this command for
+            vehicle_name (str, optional): Name of the multirotor to send this command to
+
+        Returns:
+            msgpackrpc.future.Future: future. call .join() to wait for method to finish. Example: client.METHOD().join()
+        """
+        return self.client.call_async('moveByRollPitchYawThrottle', roll, -pitch, -yaw, throttle, duration, vehicle_name)
+
+    def moveByRollPitchYawrateThrottleAsync(self, roll, pitch, yaw_rate, throttle, duration, vehicle_name = ''):
+        """
+        - Desired throttle is between 0.0 to 1.0
+        - Roll angle, pitch angle, and yaw rate set points are given in **radians**, in the body frame.
+        - The body frame follows the Front Left Up (FLU) convention, and right-handedness.
+
+        - Frame Convention:
+            - X axis is along the **Front** direction of the quadrotor.
+
+            | Clockwise rotation about this axis defines a positive **roll** angle.
+            | Hence, rolling with a positive angle is equivalent to translating in the **right** direction, w.r.t. our FLU body frame.
+
+            - Y axis is along the **Left** direction of the quadrotor.
+
+            | Clockwise rotation about this axis defines a positive **pitch** angle.
+            | Hence, pitching with a positive angle is equivalent to translating in the **front** direction, w.r.t. our FLU body frame.
+
+            - Z axis is along the **Up** direction.
+
+            | Clockwise rotation about this axis defines a positive **yaw** angle.
+            | Hence, yawing with a positive angle is equivalent to rotated towards the **left** direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
+
+        Args:
+            roll (float): Desired roll angle, in radians.
+            pitch (float): Desired pitch angle, in radians.
+            yaw_rate (float): Desired yaw rate, in radian per second.
+            throttle (float): Desired throttle (between 0.0 to 1.0)
+            duration (float): Desired amount of time (seconds), to send this command for
+            vehicle_name (str, optional): Name of the multirotor to send this command to
+
+        Returns:
+            msgpackrpc.future.Future: future. call .join() to wait for method to finish. Example: client.METHOD().join()
+        """
+        return self.client.call_async('moveByRollPitchYawrateThrottle', roll, -pitch, -yaw_rate, throttle, duration, vehicle_name)
+
+    def moveByRollPitchYawrateZAsync(self, roll, pitch, yaw_rate, z, duration, vehicle_name = ''):
+        """
+        - z is given in local NED frame of the vehicle.
+        - Roll angle, pitch angle, and yaw rate set points are given in **radians**, in the body frame.
+        - The body frame follows the Front Left Up (FLU) convention, and right-handedness.
+
+        - Frame Convention:
+            - X axis is along the **Front** direction of the quadrotor.
+
+            | Clockwise rotation about this axis defines a positive **roll** angle.
+            | Hence, rolling with a positive angle is equivalent to translating in the **right** direction, w.r.t. our FLU body frame.
+
+            - Y axis is along the **Left** direction of the quadrotor.
+
+            | Clockwise rotation about this axis defines a positive **pitch** angle.
+            | Hence, pitching with a positive angle is equivalent to translating in the **front** direction, w.r.t. our FLU body frame.
+
+            - Z axis is along the **Up** direction.
+
+            | Clockwise rotation about this axis defines a positive **yaw** angle.
+            | Hence, yawing with a positive angle is equivalent to rotated towards the **left** direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
+
+        Args:
+            roll (float): Desired roll angle, in radians.
+            pitch (float): Desired pitch angle, in radians.
+            yaw_rate (float): Desired yaw rate, in radian per second.
+            z (float): Desired Z value (in local NED frame of the vehicle)
+            duration (float): Desired amount of time (seconds), to send this command for
+            vehicle_name (str, optional): Name of the multirotor to send this command to
+
+        Returns:
+            msgpackrpc.future.Future: future. call .join() to wait for method to finish. Example: client.METHOD().join()
+        """
+        return self.client.call_async('moveByRollPitchYawrateZ', roll, -pitch, -yaw_rate, z, duration, vehicle_name)
+
+    def moveByAngleRatesZAsync(self, roll_rate, pitch_rate, yaw_rate, z, duration, vehicle_name = ''):
+        """
+        - z is given in local NED frame of the vehicle.
+        - Roll rate, pitch rate, and yaw rate set points are given in **radians**, in the body frame.
+        - The body frame follows the Front Left Up (FLU) convention, and right-handedness.
+
+        - Frame Convention:
+            - X axis is along the **Front** direction of the quadrotor.
+
+            | Clockwise rotation about this axis defines a positive **roll** angle.
+            | Hence, rolling with a positive angle is equivalent to translating in the **right** direction, w.r.t. our FLU body frame.
+
+            - Y axis is along the **Left** direction of the quadrotor.
+
+            | Clockwise rotation about this axis defines a positive **pitch** angle.
+            | Hence, pitching with a positive angle is equivalent to translating in the **front** direction, w.r.t. our FLU body frame.
+
+            - Z axis is along the **Up** direction.
+
+            | Clockwise rotation about this axis defines a positive **yaw** angle.
+            | Hence, yawing with a positive angle is equivalent to rotated towards the **left** direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
+
+        Args:
+            roll_rate (float): Desired roll rate, in radians / second
+            pitch_rate (float): Desired pitch rate, in radians / second
+            yaw_rate (float): Desired yaw rate, in radians / second
+            z (float): Desired Z value (in local NED frame of the vehicle)
+            duration (float): Desired amount of time (seconds), to send this command for
+            vehicle_name (str, optional): Name of the multirotor to send this command to
+
+        Returns:
+            msgpackrpc.future.Future: future. call .join() to wait for method to finish. Example: client.METHOD().join()
+        """
+        return self.client.call_async('moveByAngleRatesZ', roll_rate, -pitch_rate, -yaw_rate, z, duration, vehicle_name)
+
+    def moveByAngleRatesThrottleAsync(self, roll_rate, pitch_rate, yaw_rate, throttle, duration, vehicle_name = ''):
+        """
+        - Desired throttle is between 0.0 to 1.0
+        - Roll rate, pitch rate, and yaw rate set points are given in **radians**, in the body frame.
+        - The body frame follows the Front Left Up (FLU) convention, and right-handedness.
+
+        - Frame Convention:
+            - X axis is along the **Front** direction of the quadrotor.
+
+            | Clockwise rotation about this axis defines a positive **roll** angle.
+            | Hence, rolling with a positive angle is equivalent to translating in the **right** direction, w.r.t. our FLU body frame.
+
+            - Y axis is along the **Left** direction of the quadrotor.
+
+            | Clockwise rotation about this axis defines a positive **pitch** angle.
+            | Hence, pitching with a positive angle is equivalent to translating in the **front** direction, w.r.t. our FLU body frame.
+
+            - Z axis is along the **Up** direction.
+
+            | Clockwise rotation about this axis defines a positive **yaw** angle.
+            | Hence, yawing with a positive angle is equivalent to rotated towards the **left** direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
+
+        Args:
+            roll_rate (float): Desired roll rate, in radians / second
+            pitch_rate (float): Desired pitch rate, in radians / second
+            yaw_rate (float): Desired yaw rate, in radians / second
+            throttle (float): Desired throttle (between 0.0 to 1.0)
+            duration (float): Desired amount of time (seconds), to send this command for
+            vehicle_name (str, optional): Name of the multirotor to send this command to
+
+        Returns:
+            msgpackrpc.future.Future: future. call .join() to wait for method to finish. Example: client.METHOD().join()
+        """
+        return self.client.call_async('moveByAngleRatesThrottle', roll_rate, -pitch_rate, -yaw_rate, throttle, duration, vehicle_name)
+
+    def setAngleRateControllerGains(self, angle_rate_gains=AngleRateControllerGains(), vehicle_name = ''):
+        """
+        - Modifying these gains will have an affect on *ALL* move*() APIs.
+            This is because any velocity setpoint is converted to an angle level setpoint which is tracked with an angle level controllers.
+            That angle level setpoint is itself tracked with and angle rate controller.
+        - This function should only be called if the default angle rate control PID gains need to be modified.
+
+        Args:
+            angle_rate_gains (AngleRateControllerGains):
+                - Correspond to the roll, pitch, yaw axes, defined in the body frame.
+                - Pass AngleRateControllerGains() to reset gains to default recommended values.
+            vehicle_name (str, optional): Name of the multirotor to send this command to
+        """
+        self.client.call('setAngleRateControllerGains', *(angle_rate_gains.to_lists()+(vehicle_name,)))
+
+    def setAngleLevelControllerGains(self, angle_level_gains=AngleLevelControllerGains(), vehicle_name = ''):
+        """
+        - Sets angle level controller gains (used by any API setting angle references - for ex: moveByRollPitchYawZAsync(), moveByRollPitchYawThrottleAsync(), etc)
+        - Modifying these gains will also affect the behaviour of moveByVelocityAsync() API.
+            This is because the AirSim flight controller will track velocity setpoints by converting them to angle set points.
+        - This function should only be called if the default angle level control PID gains need to be modified.
+        - Passing AngleLevelControllerGains() sets gains to default airsim values.
+
+        Args:
+            angle_level_gains (AngleLevelControllerGains):
+                - Correspond to the roll, pitch, yaw axes, defined in the body frame.
+                - Pass AngleLevelControllerGains() to reset gains to default recommended values.
+            vehicle_name (str, optional): Name of the multirotor to send this command to
+        """
+        self.client.call('setAngleLevelControllerGains', *(angle_level_gains.to_lists()+(vehicle_name,)))
+
+    def setVelocityControllerGains(self, velocity_gains=VelocityControllerGains(), vehicle_name = ''):
+        """
+        - Sets velocity controller gains for moveByVelocityAsync().
+        - This function should only be called if the default velocity control PID gains need to be modified.
+        - Passing VelocityControllerGains() sets gains to default airsim values.
+
+        Args:
+            velocity_gains (VelocityControllerGains):
+                - Correspond to the world X, Y, Z axes.
+                - Pass VelocityControllerGains() to reset gains to default recommended values.
+                - Modifying velocity controller gains will have an affect on the behaviour of moveOnSplineAsync() and moveOnSplineVelConstraintsAsync(), as they both use velocity control to track the trajectory.
+            vehicle_name (str, optional): Name of the multirotor to send this command to
+        """
+        self.client.call('setVelocityControllerGains', *(velocity_gains.to_lists()+(vehicle_name,)))
+
+
+    def setPositionControllerGains(self, position_gains=PositionControllerGains(), vehicle_name = ''):
+        """
+        Sets position controller gains for moveByPositionAsync.
+        This function should only be called if the default position control PID gains need to be modified.
+
+        Args:
+            position_gains (PositionControllerGains):
+                - Correspond to the X, Y, Z axes.
+                - Pass PositionControllerGains() to reset gains to default recommended values.
+            vehicle_name (str, optional): Name of the multirotor to send this command to
+        """
+        self.client.call('setPositionControllerGains', *(position_gains.to_lists()+(vehicle_name,)))
+
+    # query vehicle state
+    def getMultirotorState(self, vehicle_name = ''):
+        """
+        Args:
+            vehicle_name (str, optional): Vehicle to get the state of
+
+        Returns:
+            MultirotorState:
+        """
+        return MultirotorState.from_msgpack(self.client.call('getMultirotorState', vehicle_name))
+    getMultirotorState.__annotations__ = {'return': MultirotorState}
+
+
+# -----------------------------------  Car APIs ---------------------------------------------
+class CarClient(VehicleClient, object):
+    def __init__(self, ip = "", port = 41451, timeout_value = 3600):
+        super(CarClient, self).__init__(ip, port, timeout_value)
+
+    def setCarControls(self, controls, vehicle_name = ''):
+        """
+        Control the car using throttle, steering, brake, etc.
+
+        Args:
+            controls (CarControls): Struct containing control values
+            vehicle_name (str, optional): Name of vehicle to be controlled
+        """
+        self.client.call('setCarControls', controls, vehicle_name)
+
+    def getCarState(self, vehicle_name = ''):
+        """
+        Args:
+            vehicle_name (str, optional): Name of vehicle
+
+        Returns:
+            CarState:
+        """
+        state_raw = self.client.call('getCarState', vehicle_name)
+        return CarState.from_msgpack(state_raw)
+
+    def getCarControls(self, vehicle_name=''):
+        """
+        Args:
+            vehicle_name (str, optional): Name of vehicle
+
+        Returns:
+            CarControls:
+        """
+        controls_raw = self.client.call('getCarControls', vehicle_name)
+        return CarControls.from_msgpack(controls_raw)
diff --git a/auto/airsim/client.pyc b/auto/airsim/client.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..563d74ae6848577e465b205facc163b7693ef3d8
GIT binary patch
diff --git a/auto/airsim/pfm.py b/auto/airsim/pfm.py
new file mode 100644
index 0000000000..6f9f963a8a
--- /dev/null
+++ b/auto/airsim/pfm.py
@@ -0,0 +1,85 @@
+import numpy as np
+import matplotlib.pyplot as plt
+import re
+import sys
+import pdb
+
+
+def read_pfm(file):
+    """ Read a pfm file """
+    file = open(file, 'rb')
+
+    color = None
+    width = None
+    height = None
+    scale = None
+    endian = None
+
+    header = file.readline().rstrip()
+    header = str(bytes.decode(header, encoding='utf-8'))
+    if header == 'PF':
+        color = True
+    elif header == 'Pf':
+        color = False
+    else:
+        raise Exception('Not a PFM file.')
+
+    pattern = r'^(\d+)\s(\d+)\s$'
+    temp_str = str(bytes.decode(file.readline(), encoding='utf-8'))
+    dim_match = re.match(pattern, temp_str)
+    if dim_match:
+        width, height = map(int, dim_match.groups())
+    else:
+        temp_str += str(bytes.decode(file.readline(), encoding='utf-8'))
+        dim_match = re.match(pattern, temp_str)
+        if dim_match:
+            width, height = map(int, dim_match.groups())
+        else:
+            raise Exception('Malformed PFM header: width, height cannot be found')
+
+    scale = float(file.readline().rstrip())
+    if scale < 0: # little-endian
+        endian = '<'
+        scale = -scale
+    else:
+        endian = '>' # big-endian
+
+    data = np.fromfile(file, endian + 'f')
+    shape = (height, width, 3) if color else (height, width)
+
+    data = np.reshape(data, shape)
+    # DEY: I don't know why this was there.
+    file.close()
+    
+    return data, scale
+
+
+def write_pfm(file, image, scale=1):
+    """ Write a pfm file """
+    file = open(file, 'wb')
+
+    color = None
+
+    if image.dtype.name != 'float32':
+        raise Exception('Image dtype must be float32.')
+
+    if len(image.shape) == 3 and image.shape[2] == 3: # color image
+        color = True
+    elif len(image.shape) == 2 or len(image.shape) == 3 and image.shape[2] == 1: # greyscale
+        color = False
+    else:
+        raise Exception('Image must have H x W x 3, H x W x 1 or H x W dimensions.')
+
+    file.write(bytes('PF\n', 'UTF-8') if color else bytes('Pf\n', 'UTF-8'))
+    temp_str = '%d %d\n' % (image.shape[1], image.shape[0])
+    file.write(bytes(temp_str, 'UTF-8'))
+
+    endian = image.dtype.byteorder
+
+    if endian == '<' or endian == '=' and sys.byteorder == 'little':
+        scale = -scale
+
+    temp_str = '%f\n' % scale
+    file.write(bytes(temp_str, 'UTF-8'))
+
+    image.tofile(file)
diff --git a/auto/airsim/types.py b/auto/airsim/types.py
new file mode 100644
index 0000000000..297fb4645c
--- /dev/null
+++ b/auto/airsim/types.py
@@ -0,0 +1,507 @@
+from __future__ import print_function
+import msgpackrpc #install as admin: pip install msgpack-rpc-python
+import numpy as np #pip install numpy
+
+class MsgpackMixin:
+    def __repr__(self):
+        from pprint import pformat
+        return "<" + type(self).__name__ + "> " + pformat(vars(self), indent=4, width=1)
+
+    def to_msgpack(self, *args, **kwargs):
+        return self.__dict__
+
+    @classmethod
+    def from_msgpack(cls, encoded):
+        obj = cls()
+        #obj.__dict__ = {k.decode('utf-8'): (from_msgpack(v.__class__, v) if hasattr(v, "__dict__") else v) for k, v in encoded.items()}
+        obj.__dict__ = { k : (v if not isinstance(v, dict) else getattr(getattr(obj, k).__class__, "from_msgpack")(v)) for k, v in encoded.items()}
+        #return cls(**msgpack.unpack(encoded))
+        return obj
+
+
+class ImageType:
+    Scene = 0
+    DepthPlanner = 1
+    DepthPerspective = 2
+    DepthVis = 3
+    DisparityNormalized = 4
+    Segmentation = 5
+    SurfaceNormals = 6
+    Infrared = 7
+
+class DrivetrainType:
+    MaxDegreeOfFreedom = 0
+    ForwardOnly = 1
+
+class LandedState:
+    Landed = 0
+    Flying = 1
+
+class WeatherParameter:
+    Rain = 0
+    Roadwetness = 1
+    Snow = 2
+    RoadSnow = 3
+    MapleLeaf = 4
+    RoadLeaf = 5
+    Dust = 6
+    Fog = 7
+    Enabled = 8
+
+class Vector3r(MsgpackMixin):
+    x_val = 0.0
+    y_val = 0.0
+    z_val = 0.0
+
+    def __init__(self, x_val = 0.0, y_val = 0.0, z_val = 0.0):
+        self.x_val = x_val
+        self.y_val = y_val
+        self.z_val = z_val
+
+    @staticmethod
+    def nanVector3r():
+        return Vector3r(np.nan, np.nan, np.nan)
+
+    def __add__(self, other):
+        return Vector3r(self.x_val + other.x_val, self.y_val + other.y_val, self.z_val + other.z_val)
+
+    def __sub__(self, other):
+        return Vector3r(self.x_val - other.x_val, self.y_val - other.y_val, self.z_val - other.z_val)
+
+    def __truediv__(self, other):
+        if type(other) in [int, float] + np.sctypes['int'] + np.sctypes['uint'] + np.sctypes['float']:
+            return Vector3r( self.x_val / other, self.y_val / other, self.z_val / other)
+        else:
+            raise TypeError('unsupported operand type(s) for /: %s and %s' % ( str(type(self)), str(type(other))) )
+
+    def __mul__(self, other):
+        if type(other) in [int, float] + np.sctypes['int'] + np.sctypes['uint'] + np.sctypes['float']:
+            return Vector3r(self.x_val*other, self.y_val*other, self.z_val*other)
+        else:
+            raise TypeError('unsupported operand type(s) for *: %s and %s' % ( str(type(self)), str(type(other))) )
+
+    def dot(self, other):
+        if type(self) == type(other):
+            return self.x_val*other.x_val + self.y_val*other.y_val + self.z_val*other.z_val
+        else:
+            raise TypeError('unsupported operand type(s) for \'dot\': %s and %s' % ( str(type(self)), str(type(other))) )
+
+    def cross(self, other):
+        if type(self) == type(other):
+            cross_product = np.cross(self.to_numpy_array(), other.to_numpy_array())
+            return Vector3r(cross_product[0], cross_product[1], cross_product[2])
+        else:
+            raise TypeError('unsupported operand type(s) for \'cross\': %s and %s' % ( str(type(self)), str(type(other))) )
+
+    def get_length(self):
+        return ( self.x_val**2 + self.y_val**2 + self.z_val**2 )**0.5
+
+    def distance_to(self, other):
+        return ( (self.x_val-other.x_val)**2 + (self.y_val-other.y_val)**2 + (self.z_val-other.z_val)**2 )**0.5
+
+    def to_Quaternionr(self):
+        return Quaternionr(self.x_val, self.y_val, self.z_val, 0)
+
+    def to_numpy_array(self):
+        return np.array([self.x_val, self.y_val, self.z_val], dtype=np.float32)
+
+
+class Quaternionr(MsgpackMixin):
+    w_val = 0.0
+    x_val = 0.0
+    y_val = 0.0
+    z_val = 0.0
+
+    def __init__(self, x_val = 0.0, y_val = 0.0, z_val = 0.0, w_val = 1.0):
+        self.x_val = x_val
+        self.y_val = y_val
+        self.z_val = z_val
+        self.w_val = w_val
+
+    @staticmethod
+    def nanQuaternionr():
+        return Quaternionr(np.nan, np.nan, np.nan, np.nan)
+
+    def __add__(self, other):
+        if type(self) == type(other):
+            return Quaternionr( self.x_val+other.x_val, self.y_val+other.y_val, self.z_val+other.z_val, self.w_val+other.w_val )
+        else:
+            raise TypeError('unsupported operand type(s) for +: %s and %s' % ( str(type(self)), str(type(other))) )
+
+    def __mul__(self, other):
+        if type(self) == type(other):
+            t, x, y, z = self.w_val, self.x_val, self.y_val, self.z_val
+            a, b, c, d = other.w_val, other.x_val, other.y_val, other.z_val
+            return Quaternionr( w_val = a*t - b*x - c*y - d*z,
+                                x_val = b*t + a*x + d*y - c*z,
+                                y_val = c*t + a*y + b*z - d*x,
+                                z_val = d*t + z*a + c*x - b*y)
+        else:
+            raise TypeError('unsupported operand type(s) for *: %s and %s' % ( str(type(self)), str(type(other))) )
+
+    def __truediv__(self, other):
+        if type(other) == type(self):
+            return self * other.inverse()
+        elif type(other) in [int, float] + np.sctypes['int'] + np.sctypes['uint'] + np.sctypes['float']:
+            return Quaternionr( self.x_val / other, self.y_val / other, self.z_val / other, self.w_val / other)
+        else:
+            raise TypeError('unsupported operand type(s) for /: %s and %s' % ( str(type(self)), str(type(other))) )
+
+    def dot(self, other):
+        if type(self) == type(other):
+            return self.x_val*other.x_val + self.y_val*other.y_val + self.z_val*other.z_val + self.w_val*other.w_val
+        else:
+            raise TypeError('unsupported operand type(s) for \'dot\': %s and %s' % ( str(type(self)), str(type(other))) )
+
+    def cross(self, other):
+        if type(self) == type(other):
+            return (self * other - other * self) / 2
+        else:
+            raise TypeError('unsupported operand type(s) for \'cross\': %s and %s' % ( str(type(self)), str(type(other))) )
+
+    def outer_product(self, other):
+        if type(self) == type(other):
+            return ( self.inverse()*other - other.inverse()*self ) / 2
+        else:
+            raise TypeError('unsupported operand type(s) for \'outer_product\': %s and %s' % ( str(type(self)), str(type(other))) )
+
+    def rotate(self, other):
+        if type(self) == type(other):
+            if other.get_length() == 1:
+                return other * self * other.inverse()
+            else:
+                raise ValueError('length of the other Quaternionr must be 1')
+        else:
+            raise TypeError('unsupported operand type(s) for \'rotate\': %s and %s' % ( str(type(self)), str(type(other))) )
+
+    def conjugate(self):
+        return Quaternionr(-self.x_val, -self.y_val, -self.z_val, self.w_val)
+
+    def star(self):
+        return self.conjugate()
+
+    def inverse(self):
+        return self.star() / self.dot(self)
+
+    def sgn(self):
+        return self/self.get_length()
+
+    def get_length(self):
+        return ( self.x_val**2 + self.y_val**2 + self.z_val**2 + self.w_val**2 )**0.5
+
+    def to_numpy_array(self):
+        return np.array([self.x_val, self.y_val, self.z_val, self.w_val], dtype=np.float32)
+
+
+class Pose(MsgpackMixin):
+    position = Vector3r()
+    orientation = Quaternionr()
+
+    def __init__(self, position_val = None, orientation_val = None):
+        position_val = position_val if position_val != None else Vector3r()
+        orientation_val = orientation_val if orientation_val != None else Quaternionr()
+        self.position = position_val
+        self.orientation = orientation_val
+
+    @staticmethod
+    def nanPose():
+        return Pose(Vector3r.nanVector3r(), Quaternionr.nanQuaternionr())
+
+
+class CollisionInfo(MsgpackMixin):
+    has_collided = False
+    normal = Vector3r()
+    impact_point = Vector3r()
+    position = Vector3r()
+    penetration_depth = 0.0
+    time_stamp = 0.0
+    object_name = ""
+    object_id = -1
+
+class GeoPoint(MsgpackMixin):
+    latitude = 0.0
+    longitude = 0.0
+    altitude = 0.0
+
+class YawMode(MsgpackMixin):
+    is_rate = True
+    yaw_or_rate = 0.0
+    def __init__(self, is_rate = True, yaw_or_rate = 0.0):
+        self.is_rate = is_rate
+        self.yaw_or_rate = yaw_or_rate
+
+class RCData(MsgpackMixin):
+    timestamp = 0
+    pitch, roll, throttle, yaw = (0.0,)*4 #init 4 variable to 0.0
+    switch1, switch2, switch3, switch4 = (0,)*4
+    switch5, switch6, switch7, switch8 = (0,)*4
+    is_initialized = False
+    is_valid = False
+    def __init__(self, timestamp = 0, pitch = 0.0, roll = 0.0, throttle = 0.0, yaw = 0.0, switch1 = 0,
+                 switch2 = 0, switch3 = 0, switch4 = 0, switch5 = 0, switch6 = 0, switch7 = 0, switch8 = 0, is_initialized = False, is_valid = False):
+        self.timestamp = timestamp
+        self.pitch = pitch
+        self.roll = roll
+        self.throttle = throttle
+        self.yaw = yaw
+        self.switch1 = switch1
+        self.switch2 = switch2
+        self.switch3 = switch3
+        self.switch4 = switch4
+        self.switch5 = switch5
+        self.switch6 = switch6
+        self.switch7 = switch7
+        self.switch8 = switch8
+        self.is_initialized = is_initialized
+        self.is_valid = is_valid
+
+class ImageRequest(MsgpackMixin):
+    camera_name = '0'
+    image_type = ImageType.Scene
+    pixels_as_float = False
+    compress = False
+
+    def __init__(self, camera_name, image_type, pixels_as_float = False, compress = True):
+        # todo: in future remove str(), it's only for compatibility to pre v1.2
+        self.camera_name = str(camera_name)
+        self.image_type = image_type
+        self.pixels_as_float = pixels_as_float
+        self.compress = compress
+
+
+class ImageResponse(MsgpackMixin):
+    image_data_uint8 = np.uint8(0)
+    image_data_float = 0.0
+    camera_position = Vector3r()
+    camera_orientation = Quaternionr()
+    time_stamp = np.uint64(0)
+    message = ''
+    pixels_as_float = 0.0
+    compress = True
+    width = 0
+    height = 0
+    image_type = ImageType.Scene
+
+class CarControls(MsgpackMixin):
+    throttle = 0.0
+    steering = 0.0
+    brake = 0.0
+    handbrake = False
+    is_manual_gear = False
+    manual_gear = 0
+    gear_immediate = True
+
+    def __init__(self, throttle = 0, steering = 0, brake = 0,
+        handbrake = False, is_manual_gear = False, manual_gear = 0, gear_immediate = True):
+        self.throttle = throttle
+        self.steering = steering
+        self.brake = brake
+        self.handbrake = handbrake
+        self.is_manual_gear = is_manual_gear
+        self.manual_gear = manual_gear
+        self.gear_immediate = gear_immediate
+
+
+    def set_throttle(self, throttle_val, forward):
+        if (forward):
+            self.is_manual_gear = False
+            self.manual_gear = 0
+            self.throttle = abs(throttle_val)
+        else:
+            self.is_manual_gear = False
+            self.manual_gear = -1
+            self.throttle = - abs(throttle_val)
+
+class KinematicsState(MsgpackMixin):
+    position = Vector3r()
+    orientation = Quaternionr()
+    linear_velocity = Vector3r()
+    angular_velocity = Vector3r()
+    linear_acceleration = Vector3r()
+    angular_acceleration = Vector3r()
+
+class EnvironmentState(MsgpackMixin):
+    position = Vector3r()
+    geo_point = GeoPoint()
+    gravity = Vector3r()
+    air_pressure = 0.0
+    temperature = 0.0
+    air_density = 0.0
+
+class CarState(MsgpackMixin):
+    speed = 0.0
+    gear = 0
+    rpm = 0.0
+    maxrpm = 0.0
+    handbrake = False
+    collision = CollisionInfo()
+    kinematics_estimated = KinematicsState()
+    timestamp = np.uint64(0)
+
+class MultirotorState(MsgpackMixin):
+    collision = CollisionInfo()
+    kinematics_estimated = KinematicsState()
+    gps_location = GeoPoint()
+    timestamp = np.uint64(0)
+    landed_state = LandedState.Landed
+    rc_data = RCData()
+    ready = False
+    ready_message = ""
+    can_arm = False
+
+class ProjectionMatrix(MsgpackMixin):
+    matrix = []
+
+class CameraInfo(MsgpackMixin):
+    pose = Pose()
+    fov = -1
+    proj_mat = ProjectionMatrix()
+
+class LidarData(MsgpackMixin):
+    point_cloud = 0.0
+    time_stamp = np.uint64(0)
+    pose = Pose()
+
+class ImuData(MsgpackMixin):
+    time_stamp = np.uint64(0)
+    orientation = Quaternionr()
+    angular_velocity = Vector3r()
+    linear_acceleration = Vector3r()
+
+class BarometerData(MsgpackMixin):
+    time_stamp = np.uint64(0)
+    altitude = Quaternionr()
+    pressure = Vector3r()
+    qnh = Vector3r()
+
+class MagnetometerData(MsgpackMixin):
+    time_stamp = np.uint64(0)
+    magnetic_field_body = Vector3r()
+    magnetic_field_covariance = 0.0
+
+class GnssFixType(MsgpackMixin):
+    GNSS_FIX_NO_FIX = 0
+    GNSS_FIX_TIME_ONLY = 1
+    GNSS_FIX_2D_FIX = 2
+    GNSS_FIX_3D_FIX = 3
+
+class GnssReport(MsgpackMixin):
+    geo_point = GeoPoint()
+    eph = 0.0
+    epv = 0.0
+    velocity = Vector3r()
+    fix_type = GnssFixType()
+    time_utc = np.uint64(0)
+
+class GpsData(MsgpackMixin):
+    time_stamp = np.uint64(0)
+    gnss = GnssReport()
+    is_valid = False
+
+class DistanceSensorData(MsgpackMixin):
+    time_stamp = np.uint64(0)
+    distance = np.float32(0)
+    min_distance = np.float32(0)
+    max_distance = np.float32(0)
+    relative_pose = Pose()
+
+class PIDGains():
+    """
+    Struct to store values of PID gains. Used to transmit controller gain values while instantiating
+    AngleLevel/AngleRate/Velocity/PositionControllerGains objects.
+    
+    Attributes:
+        kP (float): Proportional gain
+        kI (float): Integrator gain
+        kD (float): Derivative gain
+    """
+    def __init__(self, kp, ki, kd):
+        self.kp = kp
+        self.ki = ki
+        self.kd = kd
+
+    def to_list(self):
+        return [self.kp, self.ki, self.kd]
+
+class AngleRateControllerGains():
+    """
+    Struct to contain controller gains used by angle level PID controller
+    
+    Attributes:
+        roll_gains (PIDGains): kP, kI, kD for roll axis
+        pitch_gains (PIDGains): kP, kI, kD for pitch axis
+        yaw_gains (PIDGains): kP, kI, kD for yaw axis
+    """
+    def __init__(self, roll_gains = PIDGains(0.25, 0, 0),
+                       pitch_gains = PIDGains(0.25, 0, 0),
+                       yaw_gains = PIDGains(0.25, 0, 0)):
+        self.roll_gains = roll_gains
+        self.pitch_gains = pitch_gains
+        self.yaw_gains = yaw_gains
+    
+    def to_lists(self):
+        return [self.roll_gains.kp, self.pitch_gains.kp, self.yaw_gains.kp], [self.roll_gains.ki, self.pitch_gains.ki, self.yaw_gains.ki], [self.roll_gains.kd, self.pitch_gains.kd, self.yaw_gains.kd]
+
+class AngleLevelControllerGains():
+    """
+    Struct to contain controller gains used by angle rate PID controller
+    
+    Attributes:
+        roll_gains (PIDGains): kP, kI, kD for roll axis
+        pitch_gains (PIDGains): kP, kI, kD for pitch axis
+        yaw_gains (PIDGains): kP, kI, kD for yaw axis
+    """
+    def __init__(self, roll_gains = PIDGains(2.5, 0, 0),
+                       pitch_gains = PIDGains(2.5, 0, 0),
+                       yaw_gains = PIDGains(2.5, 0, 0)):
+        self.roll_gains = roll_gains
+        self.pitch_gains = pitch_gains
+        self.yaw_gains = yaw_gains
+    
+    def to_lists(self):
+        return [self.roll_gains.kp, self.pitch_gains.kp, self.yaw_gains.kp], [self.roll_gains.ki, self.pitch_gains.ki, self.yaw_gains.ki], [self.roll_gains.kd, self.pitch_gains.kd, self.yaw_gains.kd]
+
+class VelocityControllerGains():
+    """
+    Struct to contain controller gains used by velocity PID controller
+    
+    Attributes:
+        x_gains (PIDGains): kP, kI, kD for X axis
+        y_gains (PIDGains): kP, kI, kD for Y axis
+        z_gains (PIDGains): kP, kI, kD for Z axis
+    """
+    def __init__(self, x_gains = PIDGains(0.2, 0, 0),
+                       y_gains = PIDGains(0.2, 0, 0),
+                       z_gains = PIDGains(2.0, 2.0, 0)):
+        self.x_gains = x_gains
+        self.y_gains = y_gains
+        self.z_gains = z_gains
+    
+    def to_lists(self):
+        return [self.x_gains.kp, self.y_gains.kp, self.z_gains.kp], [self.x_gains.ki, self.y_gains.ki, self.z_gains.ki], [self.x_gains.kd, self.y_gains.kd, self.z_gains.kd]
+
+class PositionControllerGains():
+    """
+    Struct to contain controller gains used by position PID controller
+    
+    Attributes:
+        x_gains (PIDGains): kP, kI, kD for X axis
+        y_gains (PIDGains): kP, kI, kD for Y axis
+        z_gains (PIDGains): kP, kI, kD for Z axis
+    """
+    def __init__(self, x_gains = PIDGains(0.25, 0, 0),
+                       y_gains = PIDGains(0.25, 0, 0),
+                       z_gains = PIDGains(0.25, 0, 0)):
+        self.x_gains = x_gains
+        self.y_gains = y_gains
+        self.z_gains = z_gains
+    
+    def to_lists(self):
+        return [self.x_gains.kp, self.y_gains.kp, self.z_gains.kp], [self.x_gains.ki, self.y_gains.ki, self.z_gains.ki], [self.x_gains.kd, self.y_gains.kd, self.z_gains.kd]
+
+class MeshPositionVertexBuffersResponse(MsgpackMixin):
+    position = Vector3r()
+    orientation = Quaternionr()
+    vertices = 0.0
+    indices = 0.0
+    name = ''
diff --git a/auto/airsim/types.pyc b/auto/airsim/types.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..7ea22487d96b8443577bffb67633b33959a30eb1
GIT binary patch
diff --git a/auto/airsim/utils.py b/auto/airsim/utils.py
new file mode 100644
index 0000000000..cd56292417
--- /dev/null
+++ b/auto/airsim/utils.py
@@ -0,0 +1,222 @@
+import numpy as np #pip install numpy
+import math
+import time
+import sys
+import os
+import inspect
+import types
+import re
+
+from .types import *
+
+
+def string_to_uint8_array(bstr):
+    return np.fromstring(bstr, np.uint8)
+    
+def string_to_float_array(bstr):
+    return np.fromstring(bstr, np.float32)
+    
+def list_to_2d_float_array(flst, width, height):
+    return np.reshape(np.asarray(flst, np.float32), (height, width))
+    
+def get_pfm_array(response):
+    return list_to_2d_float_array(response.image_data_float, response.width, response.height)
+
+    
+def get_public_fields(obj):
+    return [attr for attr in dir(obj)
+                            if not (attr.startswith("_") 
+                            or inspect.isbuiltin(attr)
+                            or inspect.isfunction(attr)
+                            or inspect.ismethod(attr))]
+
+
+    
+def to_dict(obj):
+    return dict([attr, getattr(obj, attr)] for attr in get_public_fields(obj))
+
+    
+def to_str(obj):
+    return str(to_dict(obj))
+
+    
+def write_file(filename, bstr):
+    with open(filename, 'wb') as afile:
+        afile.write(bstr)
+
+# helper method for converting getOrientation to roll/pitch/yaw
+# https:#en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
+    
+def to_eularian_angles(q):
+    z = q.z_val
+    y = q.y_val
+    x = q.x_val
+    w = q.w_val
+    ysqr = y * y
+
+    # roll (x-axis rotation)
+    t0 = +2.0 * (w*x + y*z)
+    t1 = +1.0 - 2.0*(x*x + ysqr)
+    roll = math.atan2(t0, t1)
+
+    # pitch (y-axis rotation)
+    t2 = +2.0 * (w*y - z*x)
+    if (t2 > 1.0):
+        t2 = 1
+    if (t2 < -1.0):
+        t2 = -1.0
+    pitch = math.asin(t2)
+
+    # yaw (z-axis rotation)
+    t3 = +2.0 * (w*z + x*y)
+    t4 = +1.0 - 2.0 * (ysqr + z*z)
+    yaw = math.atan2(t3, t4)
+
+    return (pitch, roll, yaw)
+
+    
+def to_quaternion(pitch, roll, yaw):
+    t0 = math.cos(yaw * 0.5)
+    t1 = math.sin(yaw * 0.5)
+    t2 = math.cos(roll * 0.5)
+    t3 = math.sin(roll * 0.5)
+    t4 = math.cos(pitch * 0.5)
+    t5 = math.sin(pitch * 0.5)
+
+    q = Quaternionr()
+    q.w_val = t0 * t2 * t4 + t1 * t3 * t5 #w
+    q.x_val = t0 * t3 * t4 - t1 * t2 * t5 #x
+    q.y_val = t0 * t2 * t5 + t1 * t3 * t4 #y
+    q.z_val = t1 * t2 * t4 - t0 * t3 * t5 #z
+    return q
+
+    
+def wait_key(message = ''):
+    ''' Wait for a key press on the console and return it. '''
+    if message != '':
+        print (message)
+
+    result = None
+    if os.name == 'nt':
+        import msvcrt
+        result = msvcrt.getch()
+    else:
+        import termios
+        fd = sys.stdin.fileno()
+
+        oldterm = termios.tcgetattr(fd)
+        newattr = termios.tcgetattr(fd)
+        newattr[3] = newattr[3] & ~termios.ICANON & ~termios.ECHO
+        termios.tcsetattr(fd, termios.TCSANOW, newattr)
+
+        try:
+            result = sys.stdin.read(1)
+        except IOError:
+            pass
+        finally:
+            termios.tcsetattr(fd, termios.TCSAFLUSH, oldterm)
+
+    return result
+
+    
+def read_pfm(file):
+    """ Read a pfm file """
+    file = open(file, 'rb')
+
+    color = None
+    width = None
+    height = None
+    scale = None
+    endian = None
+
+    header = file.readline().rstrip()
+    header = str(bytes.decode(header, encoding='utf-8'))
+    if header == 'PF':
+        color = True
+    elif header == 'Pf':
+        color = False
+    else:
+        raise Exception('Not a PFM file.')
+
+    temp_str = str(bytes.decode(file.readline(), encoding='utf-8'))
+    dim_match = re.match(r'^(\d+)\s(\d+)\s$', temp_str)
+    if dim_match:
+        width, height = map(int, dim_match.groups())
+    else:
+        raise Exception('Malformed PFM header.')
+
+    scale = float(file.readline().rstrip())
+    if scale < 0: # little-endian
+        endian = '<'
+        scale = -scale
+    else:
+        endian = '>' # big-endian
+
+    data = np.fromfile(file, endian + 'f')
+    shape = (height, width, 3) if color else (height, width)
+
+    data = np.reshape(data, shape)
+    # DEY: I don't know why this was there.
+    file.close()
+    
+    return data, scale
+
+    
+def write_pfm(file, image, scale=1):
+    """ Write a pfm file """
+    file = open(file, 'wb')
+
+    color = None
+
+    if image.dtype.name != 'float32':
+        raise Exception('Image dtype must be float32.')
+
+    if len(image.shape) == 3 and image.shape[2] == 3: # color image
+        color = True
+    elif len(image.shape) == 2 or len(image.shape) == 3 and image.shape[2] == 1: # grayscale
+        color = False
+    else:
+        raise Exception('Image must have H x W x 3, H x W x 1 or H x W dimensions.')
+
+    file.write('PF\n'.encode('utf-8')  if color else 'Pf\n'.encode('utf-8'))
+    temp_str = '%d %d\n' % (image.shape[1], image.shape[0])
+    file.write(temp_str.encode('utf-8'))
+
+    endian = image.dtype.byteorder
+
+    if endian == '<' or endian == '=' and sys.byteorder == 'little':
+        scale = -scale
+
+    temp_str = '%f\n' % scale
+    file.write(temp_str.encode('utf-8'))
+
+    image.tofile(file)
+
+    
+def write_png(filename, image):
+    """ image must be numpy array H X W X channels
+    """
+    import zlib, struct
+
+    buf = image.flatten().tobytes()
+    width = image.shape[1]
+    height = image.shape[0]
+
+    # reverse the vertical line order and add null bytes at the start
+    width_byte_3 = width * 3
+    raw_data = b''.join(b'\x00' + buf[span:span + width_byte_3]
+                        for span in range((height - 1) * width_byte_3, -1, - width_byte_3))
+
+    def png_pack(png_tag, data):
+        chunk_head = png_tag + data
+        return (struct.pack("!I", len(data)) +
+                chunk_head +
+                struct.pack("!I", 0xFFFFFFFF & zlib.crc32(chunk_head)))
+
+    png_bytes = b''.join([
+        b'\x89PNG\r\n\x1a\n',
+        png_pack(b'IHDR', struct.pack("!2I5B", width, height, 8, 6, 0, 0, 0)),
+        png_pack(b'IDAT', zlib.compress(raw_data, 9)),
+        png_pack(b'IEND', b'')])
+
+    write_file(filename, png_bytes)
diff --git a/auto/airsim/utils.pyc b/auto/airsim/utils.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..b306b9caa59a6637690817cce8f80027fdb4fe9a
GIT binary patch
diff --git a/auto/python/airsim_helper.py b/auto/python/airsim_helper.py
new file mode 100644
index 0000000000..ea19af063b
--- /dev/null
+++ b/auto/python/airsim_helper.py
@@ -0,0 +1,260 @@
+import setup_path
+import airsim
+import cv2
+import json
+import platform
+import rospy
+import numpy as np
+import math
+import tf2_ros
+import tf2_geometry_msgs
+import atexit
+import time
+import threading
+import subprocess
+import os
+import roslaunch
+from os import environ
+from os.path import expanduser
+from sensor_msgs.msg import Image,CameraInfo
+from tf2_msgs.msg import TFMessage
+from geometry_msgs.msg import TransformStamped, Vector3, Quaternion, PoseStamped, Point
+from cv_bridge import CvBridge
+from tf.transformations import quaternion_from_matrix, quaternion_from_euler, euler_from_quaternion, quaternion_conjugate
+
+class AirSimHelper(threading.Thread):
+
+	def severConnection(self,ASP):
+		for robot in ASP.robots:
+			ASP.client.cancelLastTask(robot.name)
+			ASP.client.reset()
+			if (not robot.sitl):
+				robot.px4.communicate('shutdown')
+				print('waiting for '+robot.name+' px4_sitl to shutdown')
+			print('Severed connection with '+robot.name)
+		print('waiting for all processes to finish...')
+		time.sleep(1)
+
+	def __init__(self):
+		if (platform.system() == "Windows"):
+			home = environ['USERPROFILE']
+			settings_path = home + "Documents\AirSim\settings.json"
+		else:
+			home = expanduser("~")
+			settings_path = home + "/Documents/AirSim/settings.json"
+		with open(settings_path) as f:
+			airsim_settings = json.load(f)
+
+       		threading.Thread.__init__(self)
+
+		#initialize the airsim wrapper
+		ASP = AirSimPublisher()
+		atexit.register(self.severConnection, ASP=ASP)
+		ASP.client.confirmConnection()
+		
+
+		launch = roslaunch.scriptapi.ROSLaunch()
+		launch.start()	
+		uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
+		roslaunch.configure_logging(uuid)
+
+		#Init Rospy and TF
+		#rospy.init_node('airsim_publisher', anonymous=True)
+		static_br = tf2_ros.StaticTransformBroadcaster()
+
+		vehicles = airsim_settings['Vehicles'].keys()
+		for vehicle in vehicles:
+
+			robot = Robot(vehicle)
+
+			cameras = airsim_settings['Vehicles'][vehicle]['Cameras']
+			robot.addCameras(cameras)
+			try:
+				robot.setAddress(airsim_settings['Vehicles'][vehicle]['LocalHostIp'])
+				robot.setPort(airsim_settings['Vehicles'][vehicle]['TcpPort'])
+				robot.setSITL(airsim_settings['Vehicles'][vehicle]['UseSerial'])
+			except (RuntimeError, TypeError, NameError):
+				print('Error reading LocalHostIP, TcpPort, or UseSerial in settings.json for robot '+vehicle)	
+
+			if (not robot.sitl):
+				print('Starting px4_sitl for '+vehicle)
+				robot.setPX4(subprocess.Popen(["make","px4_sitl_default","none_iris"], stdout=subprocess.PIPE, stderr=subprocess.PIPE, cwd="../px4/Firmware"))
+			transforms = ASP.getTransforms(airsim_settings['Vehicles'][vehicle], robot)	
+			static_br.sendTransform(transforms)
+			ASP.addRobot(robot)
+
+		#Begin Loop
+		rate = rospy.Rate(30)  # 30hz
+		while not rospy.is_shutdown():
+			#TODO: multithreading
+			ASP.updateTime()
+			for robot in ASP.robots:
+				transforms = ASP.updateData(robot)		
+			rate.sleep()
+
+class Robot:
+	def __init__(self, name):
+		self.name = name
+		self.address = '0.0.0.0'
+		self.port = '0'
+		self.sitl = False
+		self.px4 = []
+		self.MAVROS = []
+		self.sensors = {}
+		self.cameras = {}
+		self.publishers = {}
+		self.publishers['truepose'] = rospy.Publisher('airsim/' + self.name + "/truepose", PoseStamped, queue_size=10)	
+
+	def setAddress(self, address):
+		self.address = address
+
+	def setPort(self, port):
+		self.port = port
+
+	def setSITL(self, enable):
+		if (enable == 'True' or enable == 'true'):
+			self.sitl = True
+
+	def setPX4(self, subprocess):
+		self.px4 = subprocess
+
+	def setMAVROS(self, ros_process):
+		self.MAVROS = ros_process
+
+	def addCameras(self, cameras):
+		camera_dict = {}
+		for camera in cameras:
+			camera_params = cameras[camera]['CaptureSettings'][0]
+			if ('PublishToRos' in camera_params and camera_params['PublishToRos'] == 1):			
+				camera_dict[camera] = cameras[camera]
+				self.publishers[camera] = rospy.Publisher('airsim/' + self.name + "/" + camera + "/image_raw", Image, queue_size=30)
+				self.publishers[camera + "_info"] = rospy.Publisher('airsim/' + self.name + "/" + camera, CameraInfo, queue_size=30)
+		self.cameras = camera_dict
+
+class AirSimPublisher:
+	def __init__(self):
+		self.robots = []
+		self.client = airsim.MultirotorClient()
+		self.time = rospy.Time.now()
+		self.bridge = CvBridge()
+		self.tfBuffer = tf2_ros.Buffer()
+    		listener = tf2_ros.TransformListener(self.tfBuffer)
+
+	def updateTime(self):
+		self.time = rospy.Time.now()
+
+	def addRobot(self, robot):
+		self.robots.append(robot)
+
+	def getCameraInfoMsg(self,camera,robot):
+		cam_params = robot.cameras[camera]['CaptureSettings'][0]
+		height = cam_params['Height']
+		width = cam_params['Width']
+		fx = abs((width/2)/math.tan(cam_params['FOV_Degrees']/2*math.pi/180))
+		fy = fx		
+		#fy = abs((height/2)/math.tan(cam_params['FOV_Degrees']/2*math.pi/180))
+		cx = width/2
+		cy = height/2		
+		cam_msg = CameraInfo()
+		cam_msg.header.stamp = self.time
+		cam_msg.header.frame_id = str(camera)
+		cam_msg.height = height
+		cam_msg.width = width
+		cam_msg.distortion_model = "plumb_bob"
+		cam_msg.D = (0, 0, 0, 0, 0)
+		cam_msg.K = (fx, 0, cx, 0, fy, cy, 0, 0, 1)
+		return cam_msg
+
+	def getImageMsg(self,image,camera,robot):
+		cam_params = robot.cameras[camera]['CaptureSettings'][0]
+		height = cam_params['Height']
+		width = cam_params['Width']
+
+		img_msg = Image()
+		img_msg.header.stamp = self.time
+		img_msg.header.frame_id = str(camera)
+		img_msg.encoding = "bgr8"
+		img_msg.height = height
+		img_msg.width = width
+		img_msg.data = image
+		img_msg.is_bigendian = 0
+		img_msg.step = img_msg.width * 3
+		return img_msg
+
+	def getPoseMsg(self,robot):
+		#FOR SIMULATION ONLY
+		pose_data = self.client.simGetVehiclePose(robot.name)
+		pose_msg = PoseStamped()
+		pose_msg.header.stamp = self.time
+		pose_msg.header.frame_id = robot.name
+		#convert to REP-103 ENU
+		pose_msg.pose.position = Point(pose_data.position.y_val, pose_data.position.x_val, -pose_data.position.z_val)
+		pose_msg.pose.orientation = Quaternion(pose_data.orientation.y_val, pose_data.orientation.x_val, -pose_data.orientation.z_val, pose_data.orientation.w_val)
+		return pose_msg
+
+	def getTransforms(self, settings, robot):
+		#https://github.com/methylDragon/ros-sensor-fusion-tutorial/blob/master/01%20-%20ROS%20and%20Sensor%20Fusion%20Tutorial.md#3.1
+		cameras = settings['Cameras']
+		transforms = []
+		for camera in cameras:
+			#gimbal cameras are not going to be static transforms
+			if not ('Gimbal' in cameras[camera]):
+				transforms.append(self.staticTransform(cameras[camera], str(camera), robot.name))
+		robot_2_map = TransformStamped()
+		robot_2_map.header.stamp = self.time
+		robot_2_map.header.frame_id = 'map'
+		robot_2_map.child_frame_id = robot.name
+		robot_2_map.transform.rotation = Quaternion(0,0,0,1)
+		transforms.append(robot_2_map)
+		return transforms
+
+	def staticTransform(self, sensor, child, parent):
+		x = sensor['X'] if ('X' in sensor) else 0
+		y = sensor['Y'] if ('Y' in sensor) else 0
+		z = sensor['Z'] if ('Z' in sensor) else 0
+		roll = sensor['Roll']/(180/math.pi) if ('Roll' in sensor) else 0
+		pitch = sensor['Pitch']/(180/math.pi) if ('Pitch' in sensor) else 0
+		yaw = sensor['Yaw']/(180/math.pi) if ('Yaw' in sensor) else 0
+
+		transform = TransformStamped()
+		transform.header.stamp = self.time
+		transform.header.frame_id = str(parent)
+		transform.child_frame_id = child + '_pose'
+		#transform.transform.rotation = Quaternion(q[0],q[1],q[2],q[3])
+		q = quaternion_from_euler(roll, pitch, yaw)
+		#invert to get transform from sensor to base_link
+		q = quaternion_conjugate(q)
+		transform.transform.translation = Point(-x,-y,-z)
+		transform.transform.rotation = Quaternion(q[0],q[1],q[2],q[3])	
+		t_euler = euler_from_quaternion([transform.transform.rotation.x,transform.transform.rotation.y,transform.transform.rotation.z,transform.transform.rotation.w])
+		print(t_euler)
+		print(transform)
+		return transform
+
+	def updateData(self, robot):
+		img_pub = []
+		cam_pub = []
+		img_requests = []		
+		transforms = []
+		for camera in robot.cameras:
+			img_pub.append(robot.publishers[camera])
+			cam_pub = robot.publishers[camera + "_info"]
+			cam_pub.publish(self.getCameraInfoMsg(camera,robot))	
+			img_type = robot.cameras[camera]['CaptureSettings'][0]['ImageType']
+			img_requests.append(airsim.ImageRequest(camera, img_type, False, False))
+			#TODO publish gimbal transform			
+			#if ('Gimbal' in robot.cameras[camera]):			
+			
+		#get images
+		responses = self.client.simGetImages(img_requests, robot.name)
+		if len(responses) != len(robot.cameras):
+			print("Error receiving images from AirSim")
+		else:
+			for i in range(len(responses)):
+				img_pub[i].publish(self.getImageMsg(responses[i].image_data_uint8,robot.cameras.keys()[i],robot))
+		#update true pose
+		pub = robot.publishers['truepose']
+		pub.publish(self.getPoseMsg(robot))
+
+
+
diff --git a/auto/python/airsim_helper.pyc b/auto/python/airsim_helper.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..fc2360d730a92a1f5980510ffeddc66342e30e4a
GIT binary patch
diff --git a/auto/python/autonomy.py b/auto/python/autonomy.py
new file mode 100644
index 0000000000..9d2e7d4db0
--- /dev/null
+++ b/auto/python/autonomy.py
@@ -0,0 +1,49 @@
+import rospy
+import time
+from sensor_msgs.msg import Image,CameraInfo
+from std_msgs.msg import Float32
+from tf2_msgs.msg import TFMessage
+from geometry_msgs.msg import TransformStamped, Vector3, Quaternion, PoseWithCovarianceStamped, PoseStamped
+from sensor_msgs.msg import PointCloud2
+from cv_bridge import CvBridge
+from tf.transformations import quaternion_from_euler
+from airsim2ros.msg import Barometer, Distance
+from nav_msgs.msg import Odometry
+from multiprocessing import Process
+
+from tf.transformations import quaternion_from_matrix, rotation_matrix, quaternion_matrix
+
+from pad_detection import PadDetector
+from airsim_helper import AirSimHelper
+
+import setup_path
+import airsim
+import cv2
+import time
+import numpy as np
+import roslaunch
+import atexit
+import sys
+import tf2_ros
+import tf2_geometry_msgs
+from threading import Thread
+
+class Autonomy:
+
+	def __init__(self):
+
+		rospy.init_node('autonomy', anonymous=True)
+
+		#Helper function to setup 'True' Drone pose and Video ROS Topics
+		#Not intended for actual drone use
+		AirSim = AirSimHelper()
+		AirSim.daemon = True
+		AirSim.start()
+		
+		rospy.spin()
+
+
+if __name__ == "__main__":
+	Autonomy()
+
+
diff --git a/auto/python/backup b/auto/python/backup
new file mode 100644
index 0000000000..18054a6f64
--- /dev/null
+++ b/auto/python/backup
@@ -0,0 +1,152 @@
+import rospy
+import glob
+import json
+import math
+import os
+import px4tools
+import sys
+import time
+import actionlib
+import roslaunch
+import numpy as np
+import tf2_ros
+import tf2_geometry_msgs
+
+from mavros import mavlink
+from mavros_msgs.msg import Mavlink, Waypoint, WaypointReached, GlobalPositionTarget, State, TakeoffAction, TakeoffGoal, LandAction, LandGoal, WaypointsAction, WaypointsGoal, HomePosition
+from mavros_msgs.srv import CommandBool, SetMode, CommandTOL, WaypointPush, WaypointClear, CommandHome
+from sensor_msgs.msg import NavSatFix
+from nav_msgs.msg import Odometry
+from geometry_msgs.msg import Pose, PoseWithCovariance, PoseStamped, PoseWithCovarianceStamped
+from mavros_test_common import MavrosTestCommon
+from pymavlink import mavutil
+
+class companion():
+
+	def __init__(self):
+
+		#Initialize ROSLaunch
+		launch = roslaunch.scriptapi.ROSLaunch()
+		launch.start()	
+		uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
+		roslaunch.configure_logging(uuid)
+
+		#Launch MAVROS
+		cli_args = ('mavros', 'px4.launch')
+		roslaunch_file = [(roslaunch.rlutil.resolve_launch_arguments(cli_args)[0])]
+		mavros = roslaunch.parent.ROSLaunchParent(uuid, roslaunch_file)
+		mavros.start()
+
+		#Launch ORBSLAM
+		cli_args = ('orb_slam2_ros', 'orb_slam2_mono.launch')
+		roslaunch_file = [(roslaunch.rlutil.resolve_launch_arguments(cli_args)[0])]
+		orbslam = roslaunch.parent.ROSLaunchParent(uuid, roslaunch_file)
+		orbslam.start()
+
+   		rospy.init_node('companion_node', anonymous=True)
+
+		self.local_pose = Pose()
+		self.slam_pose = PoseStamped()
+		self.raw_slam_pose = PoseStamped()
+		self.calib_init_slam = Pose()
+		self.calib_init_local = Pose()
+		self.slam_calibrated = False
+		self.slam_offset_x = 0
+		self.slam_offset_y = 0
+		self.slam_offset_z = 0
+		self.slam_scale = 1
+
+		self.timer = 0
+		self.calibration_check_interval = 128 #in px4 freq
+
+		rospy.Subscriber('/mavros/global_position/local', Odometry, self.local_pose_callback)
+		rospy.Subscriber('/orb_slam2_mono/pose', PoseStamped, self.slamCallback)
+		self.slam_pub = rospy.Publisher('/mavros/vision_pose/pose', PoseStamped, queue_size=50)
+
+		self.tfBuffer = tf2_ros.Buffer()
+    		listener = tf2_ros.TransformListener(self.tfBuffer)
+
+		rospy.spin()
+
+		#Code to scale and publish orbslam pose to px4
+
+	def local_pose_callback(self,data):
+		self.local_pose = data.pose.pose
+		self.timer
+		if (self.timer == self.calibration_check_interval):
+			self.timer = 0
+			self.runCalibration()
+		else:
+			self.timer += 1
+		
+	def slamCallback(self,data):
+		pose_converted = self.convertFRD(data)
+		
+		if (self.raw_slam_pose.header.stamp.secs < pose_converted.header.stamp.secs - 1) or (self.calib_init_slam.position.x == 0) :
+			self.calib_init_slam = pose_converted.pose
+			self.calib_init_local = self.local_pose
+			#print(self.calib_init_slam.position,self.calib_init_local.position)
+			self.slam_calibrated = False
+
+		self.raw_slam_pose = pose_converted
+		if (self.slam_calibrated):
+
+			#print('bfore: ', self.raw_slam_pose.pose.position.x,self.raw_slam_pose.pose.position.y,self.raw_slam_pose.pose.position.z)
+			#transform SLAM pose
+			self.slam_pose.pose.position.x = self.raw_slam_pose.pose.position.x * self.slam_scale + self.slam_offset_x
+			self.slam_pose.pose.position.y = self.raw_slam_pose.pose.position.y * self.slam_scale + self.slam_offset_y
+			self.slam_pose.pose.position.z = self.raw_slam_pose.pose.position.z * self.slam_scale + self.slam_offset_z
+
+			self.slam_pose.pose.orientation = self.raw_slam_pose.pose.orientation
+			#print('after: ', self.slam_pose.pose.position.x,self.slam_pose.pose.position.y,self.slam_pose.pose.position.z)
+
+			self.slam_pose.header.stamp = self.raw_slam_pose.header.stamp
+			self.slam_pose.header.frame_id = 'Drone1'   	
+
+			self.slam_pub.publish(self.slam_pose)
+		else:
+			self.runCalibration()
+
+	def runCalibration(self):
+			#check for sufficient calibration movement
+			#TODO Check data timeliness
+			x = self.local_pose.position.x - self.calib_init_local.position.x
+			y = self.local_pose.position.y - self.calib_init_local.position.y
+			x_slam = self.raw_slam_pose.pose.position.x - self.calib_init_slam.position.x
+			y_slam = self.raw_slam_pose.pose.position.y - self.calib_init_slam.position.y
+			if (math.sqrt(x*x+y*y) > 5.0):
+				self.slam_scale = math.sqrt(x*x+y*y)/math.sqrt(x_slam*x_slam+y_slam*y_slam)
+				#print('scale', self.slam_scale)
+				self.slam_offset_x = (self.calib_init_local.position.x-self.slam_scale*self.calib_init_slam.position.x)
+				self.slam_offset_y = (self.calib_init_local.position.y-self.slam_scale*self.calib_init_slam.position.y)
+				self.slam_offset_z = (self.calib_init_local.position.z-self.slam_scale*self.calib_init_slam.position.z)
+				self.slam_calibrated = True
+
+	def convertFRD(self, data):
+		
+		#apply gimbal rotation (this is (mostly) working Dec 15th)
+		try:
+			transform = self.tfBuffer.lookup_transform('main','Drone1',rospy.Time(0),rospy.Duration(1.0))
+			data = tf2_geometry_msgs.do_transform_pose(data, transform)
+		except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException):
+			print('Error loading gimbal transform')	
+
+		#convert to px4 coord system  (this is working Dec 15th)
+		converted = PoseStamped()
+		converted.header = data.header
+		converted.pose.position.x = -data.pose.position.y
+		converted.pose.position.y = data.pose.position.x
+		converted.pose.position.z = data.pose.position.z
+		
+		converted.pose.orientation.x = -data.pose.orientation.y
+		converted.pose.orientation.y = data.pose.orientation.x
+		converted.pose.orientation.z = data.pose.orientation.z
+		converted.pose.orientation.w = data.pose.orientation.w
+		#print(converted.pose.orientation)
+
+		return converted
+
+
+if __name__ == '__main__':
+	companion()
+
diff --git a/auto/python/companion.py b/auto/python/companion.py
new file mode 100644
index 0000000000..868c96f53a
--- /dev/null
+++ b/auto/python/companion.py
@@ -0,0 +1,205 @@
+import rospy
+import glob
+import json
+import math
+import os
+import px4tools
+import sys
+import time
+import actionlib
+import roslaunch
+import numpy as np
+import tf2_ros
+import tf2_geometry_msgs
+import cv2
+
+from cv_bridge import CvBridge, CvBridgeError
+
+from mavros import mavlink
+from mavros_msgs.msg import Mavlink, Waypoint, WaypointReached, GlobalPositionTarget, State, TakeoffAction, TakeoffGoal, LandAction, LandGoal, WaypointsAction, WaypointsGoal, HomePosition
+from mavros_msgs.srv import CommandBool, SetMode, CommandTOL, WaypointPush, WaypointClear, CommandHome
+from orb_slam2_ros.msg import KeyFrames
+from sensor_msgs.msg import NavSatFix, Image
+from std_msgs.msg import Header
+from nav_msgs.msg import Odometry
+from geometry_msgs.msg import Pose, PoseWithCovariance, PoseStamped, PoseWithCovarianceStamped
+from mavros_test_common import MavrosTestCommon
+from pymavlink import mavutil
+
+class KeyFrame:
+	stamp = 0.0
+	latitude = 0.0
+	longitude = 0.0
+	altitude = 0.0
+	orientation = [0.0,0.0,0.0,0.0]
+	image = ""	
+
+class companion():
+
+	def __init__(self):
+
+		#Initialize ROSLaunch
+		launch = roslaunch.scriptapi.ROSLaunch()
+		launch.start()	
+		uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
+		roslaunch.configure_logging(uuid)
+
+		#Launch MAVROS
+		cli_args = ('mavros', 'px4.launch')
+		roslaunch_file = [(roslaunch.rlutil.resolve_launch_arguments(cli_args)[0])]
+		mavros = roslaunch.parent.ROSLaunchParent(uuid, roslaunch_file)
+		mavros.start()
+
+		#Launch ORBSLAM
+		cli_args = ('orb_slam2_ros', 'orb_slam2_mono.launch')
+		roslaunch_file = [(roslaunch.rlutil.resolve_launch_arguments(cli_args)[0])]
+		orbslam = roslaunch.parent.ROSLaunchParent(uuid, roslaunch_file)
+		orbslam.start()
+
+   		rospy.init_node('companion_node', anonymous=True)
+
+		self.local_pose = Pose()
+		self.slam_pose = PoseStamped()
+		self.raw_slam_pose = PoseStamped()
+		self.calib_init_slam = Pose()
+		self.calib_init_local = Pose()
+		self.slam_calibrated = False
+		self.slam_offset_x = 0
+		self.slam_offset_y = 0
+		self.slam_offset_z = 0
+		self.slam_scale = 1
+		self.state = "SYSTEM_NOT_READY"
+		self.last_state = "SYSTEM_NOT_READY"
+			#States:
+			#"SYSTEM_NOT_READY"
+			#"NO_IMAGES_YET"
+			#"NOT_INITIALIZED"
+			#"OK"
+			#"LOST"
+
+		self.keyframes = []
+		self.image_buffer = []
+		self.bridge = CvBridge()
+
+		rospy.Subscriber('/mavros/local_position/pose', PoseStamped, self.local_pose_callback)
+		rospy.Subscriber('/orb_slam2_mono/pose', PoseStamped, self.slamCallback)
+		rospy.Subscriber('/orb_slam2_mono/state', Header, self.stateCallback)
+		rospy.Subscriber('/orb_slam2_mono/keyframes', KeyFrames, self.keyframesCallback)
+		rospy.Subscriber('/airsim/base_link/camera/image_raw', Image, self.imageBuffer)
+		#rospy.Subscriber('/orb_slam2_mono/keyframes', KeyFrames, self.keyframesCallback)
+		self.slam_pub = rospy.Publisher('/mavros/vision_pose/pose', PoseStamped, queue_size=50)
+
+		rospy.spin()
+
+		#Code to scale and publish orbslam pose to px4
+
+	def local_pose_callback(self,data):
+		#TODO Ensure this data is up to date!!
+		self.local_pose = data.pose
+		
+	def stateCallback(self,data):
+		#Check for state change
+		self.state = data.frame_id
+		if (self.last_state != self.state):
+			self.slam_calibrated = False
+			if (self.state == "OK"):
+				self.calib_init_slam = self.raw_slam_pose.pose
+				self.calib_init_local = self.local_pose
+		self.last_state = self.state
+
+	def slamCallback(self,data):
+
+		self.raw_slam_pose = self.convertFRD(data)
+		self.runCalibration()
+		if (self.slam_calibrated):
+			#transform SLAM pose
+			self.slam_pose.pose.position.x = self.raw_slam_pose.pose.position.x * self.slam_scale + self.slam_offset_x
+			self.slam_pose.pose.position.y = self.raw_slam_pose.pose.position.y * self.slam_scale + self.slam_offset_y
+			self.slam_pose.pose.position.z = self.raw_slam_pose.pose.position.z * self.slam_scale + self.slam_offset_z
+			self.slam_pose.pose.orientation = self.raw_slam_pose.pose.orientation
+			self.slam_pose.header = self.raw_slam_pose.header
+
+			self.slam_pub.publish(self.slam_pose)
+		#else:
+			#if (self.state == "OK"):
+
+			
+
+	def runCalibration(self):
+			#check for sufficient calibration movement
+			x = self.local_pose.position.x - self.calib_init_local.position.x
+			y = self.local_pose.position.y - self.calib_init_local.position.y
+			x_slam = self.raw_slam_pose.pose.position.x - self.calib_init_slam.position.x
+			y_slam = self.raw_slam_pose.pose.position.y - self.calib_init_slam.position.y
+			if (math.sqrt(x*x+y*y) > 5.0 and x_slam != 0):
+				self.slam_scale = math.sqrt(x*x+y*y)/math.sqrt(x_slam*x_slam+y_slam*y_slam)			
+				self.slam_offset_x = (self.calib_init_local.position.x-self.slam_scale*self.calib_init_slam.position.x)
+				self.slam_offset_y = (self.calib_init_local.position.y-self.slam_scale*self.calib_init_slam.position.y)
+				self.slam_offset_z = (self.calib_init_local.position.z-self.slam_scale*self.calib_init_slam.position.z)
+				#print('offset', self.slam_offset_x, self.slam_offset_y, self.slam_offset_z)
+				self.slam_calibrated = True
+
+	def convertFRD(self, data):
+
+		#convert to px4 coord system  (this is working Dec 15th)
+		converted = PoseStamped()
+		converted.header.frame_id = 'map'
+		converted.pose.position.x = -data.pose.position.y
+		converted.pose.position.y = data.pose.position.z
+		converted.pose.position.z = -data.pose.position.x
+		
+		converted.pose.orientation.x = -data.pose.orientation.y
+		converted.pose.orientation.y = data.pose.orientation.z
+		converted.pose.orientation.z = -data.pose.orientation.x
+		converted.pose.orientation.w = data.pose.orientation.w
+
+		return converted
+
+	def imageBuffer(self, data):
+		buffer_size = 60
+		if (len(self.image_buffer) > buffer_size):
+			self.image_buffer.pop()
+		self.image_buffer.insert(0,data)
+
+	def keyframesCallback(self,data):
+		#TODO not currently captureing all keyframes
+		print(len(data.keyframes),len(self.keyframes))
+		#check for new keyframes
+		data = list(data.keyframes)
+		if (len(self.keyframes) == 0):
+			self.addKeyFrame(data.pop())
+		else:
+			#check for removed keyframes
+			for old_kf in self.keyframes:
+				found = False
+				for new_kf in data:
+					if (old_kf.stamp == new_kf.header.stamp):
+						found = True
+						break
+				if (not found):
+					print('remove frame')
+					self.keyframes.remove(old_kf)
+			kf = data.pop()
+			#Add new Keyframes to end of list
+			while (kf.header.stamp > self.keyframes[-1].stamp):
+				self.addKeyFrame(kf)
+				kf = data.pop()
+
+
+	def addKeyFrame(self, data):
+		kf = KeyFrame()
+		for img in self.image_buffer:
+			#print(img.header.stamp, data.header.stamp)
+			if (img.header.stamp == data.header.stamp):
+				print('added frame')
+				kf.stamp = data.header.stamp
+				cv_img = self.bridge.imgmsg_to_cv2(img, "passthrough")
+				kf.image = 'img/'+str(kf.stamp.to_sec())+'.png'
+				cv2.imwrite(kf.image, cv_img)
+				self.keyframes.append(kf)
+				break
+
+		
+if __name__ == '__main__':
+	companion()
+
diff --git a/auto/python/companion.pyc b/auto/python/companion.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..a4bd2f35d8c7f62bcc6c84c6821a1e0906ff5cb8
GIT binary patch
diff --git a/auto/python/companion2.py b/auto/python/companion2.py
new file mode 100644
index 0000000000..8b5b39e6a2
--- /dev/null
+++ b/auto/python/companion2.py
@@ -0,0 +1,158 @@
+import rospy
+import glob
+import json
+import math
+import os
+import px4tools
+import sys
+import time
+import actionlib
+import roslaunch
+import numpy as np
+import tf2_ros
+import tf2_geometry_msgs
+
+from mavros import mavlink
+from mavros_msgs.msg import Mavlink, Waypoint, WaypointReached, GlobalPositionTarget, State, TakeoffAction, TakeoffGoal, LandAction, LandGoal, WaypointsAction, WaypointsGoal, HomePosition
+from mavros_msgs.srv import CommandBool, SetMode, CommandTOL, WaypointPush, WaypointClear, CommandHome
+from sensor_msgs.msg import NavSatFix
+from nav_msgs.msg import Odometry
+from geometry_msgs.msg import Pose, PoseWithCovariance, PoseStamped, PoseWithCovarianceStamped
+from mavros_test_common import MavrosTestCommon
+from pymavlink import mavutil
+
+class companion():
+
+	def __init__(self):
+
+		#Initialize ROSLaunch
+		launch = roslaunch.scriptapi.ROSLaunch()
+		launch.start()	
+		uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
+		roslaunch.configure_logging(uuid)
+
+		#Launch MAVROS
+		cli_args = ('mavros', 'px4.launch')
+		roslaunch_file = [(roslaunch.rlutil.resolve_launch_arguments(cli_args)[0])]
+		mavros = roslaunch.parent.ROSLaunchParent(uuid, roslaunch_file)
+		mavros.start()
+
+		#Launch ORBSLAM
+		cli_args = ('orb_slam2_ros', 'orb_slam2_mono.launch')
+		roslaunch_file = [(roslaunch.rlutil.resolve_launch_arguments(cli_args)[0])]
+		orbslam = roslaunch.parent.ROSLaunchParent(uuid, roslaunch_file)
+		orbslam.start()
+
+   		rospy.init_node('companion_node', anonymous=True)
+
+		self.local_pose = Pose()
+		self.slam_pose = PoseStamped()
+		self.raw_slam_pose = PoseStamped()
+		self.calib_init_slam = Pose()
+		self.calib_init_local = Pose()
+		self.slam_calibrated = False
+		self.slam_offset_x = 0
+		self.slam_offset_y = 0
+		self.slam_offset_z = 0
+		self.slam_scale = 1
+
+		self.timer = 0
+		self.calibration_check_interval = 128 #in px4 freq
+
+		rospy.Subscriber('/mavros/local_position/pose', PoseStamped, self.local_pose_callback)
+		rospy.Subscriber('/orb_slam2_mono/pose', PoseStamped, self.slamCallback)
+		self.slam_pub = rospy.Publisher('/mavros/vision_pose/pose', PoseStamped, queue_size=50)
+
+		self.tfBuffer = tf2_ros.Buffer()
+    		listener = tf2_ros.TransformListener(self.tfBuffer)
+
+		self.cam_t = self.tfBuffer.lookup_transform('base_link','camera_pose',rospy.Time(0),rospy.Duration(1.0))
+
+		rospy.spin()
+
+		#Code to scale and publish orbslam pose to px4
+
+	def local_pose_callback(self,data):
+		self.local_pose = data.pose
+		self.timer
+		if (self.timer == self.calibration_check_interval):
+			self.timer = 0
+			self.runCalibration()
+		else:
+			self.timer += 1
+		
+	def slamCallback(self,data):
+		pose_converted = self.convertFRD(data)
+		
+		if (self.raw_slam_pose.header.stamp.secs < pose_converted.header.stamp.secs - 1) or (self.calib_init_slam.position.x == 0) :
+			self.calib_init_slam = pose_converted.pose
+			self.calib_init_local = self.local_pose
+			print(self.calib_init_slam.position,self.calib_init_local.position)
+			self.slam_calibrated = False
+
+		self.raw_slam_pose = pose_converted
+		if (self.slam_calibrated):
+
+			#print('bfore: ', self.raw_slam_pose.pose.position.x,self.raw_slam_pose.pose.position.y,self.raw_slam_pose.pose.position.z)
+			#transform SLAM pose
+			self.slam_pose.pose.position.x = self.raw_slam_pose.pose.position.x * self.slam_scale + self.slam_offset_x + self.cam_t.transform.translation.x
+			self.slam_pose.pose.position.y = self.raw_slam_pose.pose.position.y * self.slam_scale + self.slam_offset_y + self.cam_t.transform.translation.y
+			self.slam_pose.pose.position.z = self.raw_slam_pose.pose.position.z * self.slam_scale + self.slam_offset_z + self.cam_t.transform.translation.z
+
+			self.slam_pose.pose.orientation = self.raw_slam_pose.pose.orientation
+			
+			self.slam_pose.header = self.raw_slam_pose.header
+
+			self.slam_pub.publish(self.slam_pose)
+		else:
+			self.runCalibration()
+
+	def runCalibration(self):
+			#check for sufficient calibration movement
+			#TODO Check data timeliness
+			x = self.local_pose.position.x - self.calib_init_local.position.x
+			y = self.local_pose.position.y - self.calib_init_local.position.y
+			x_slam = self.raw_slam_pose.pose.position.x - self.calib_init_slam.position.x
+			y_slam = self.raw_slam_pose.pose.position.y - self.calib_init_slam.position.y
+			if (math.sqrt(x*x+y*y) > 5.0):
+				self.slam_scale = math.sqrt(x*x+y*y)/math.sqrt(x_slam*x_slam+y_slam*y_slam)
+				print('scale', self.slam_scale)				
+				self.slam_offset_x = (self.calib_init_local.position.x-self.slam_scale*self.calib_init_slam.position.x)
+				self.slam_offset_y = (self.calib_init_local.position.y-self.slam_scale*self.calib_init_slam.position.y)
+				self.slam_offset_z = (self.calib_init_local.position.z-self.slam_scale*self.calib_init_slam.position.z)
+				self.slam_calibrated = True
+
+	def convertFRD(self, data):
+
+		temp = data
+		#data.pose.position.x = temp.pose.position.z
+		#data.pose.position.y = temp.pose.position.x
+		#data.pose.position.z = temp.pose.position.y
+
+		#apply transform from camera pose to robot frame
+		transform = self.cam_t
+		transform.transform.translation.x = 0.0
+		transform.transform.translation.y = 0.0
+		transform.transform.translation.z = 0.0
+		data = tf2_geometry_msgs.do_transform_pose(data, transform)
+
+		#convert to px4 coord system  (this is working Dec 15th)
+		converted = PoseStamped()
+		converted.header.frame_id = 'base_link'
+		converted.pose.position.x = -data.pose.position.y
+		converted.pose.position.y = data.pose.position.x
+		converted.pose.position.z = data.pose.position.z
+		
+		converted.pose.orientation.x = -data.pose.orientation.y
+		converted.pose.orientation.y = data.pose.orientation.x
+		converted.pose.orientation.z = data.pose.orientation.z
+		converted.pose.orientation.w = data.pose.orientation.w
+		#print(converted.pose.orientation)
+		
+		#return data
+		return converted
+
+
+if __name__ == '__main__':
+	companion()
+
diff --git a/auto/python/frames.gv b/auto/python/frames.gv
new file mode 100644
index 0000000000..43a84fa2c5
--- /dev/null
+++ b/auto/python/frames.gv
@@ -0,0 +1,21 @@
+digraph G {
+"map" -> "map_ned"[label="Broadcaster: /mavros\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1608106089.618 sec old)\nBuffer length: 0.000 sec\n"];
+"odom" -> "odom_ned"[label="Broadcaster: /mavros\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1608106089.618 sec old)\nBuffer length: 0.000 sec\n"];
+"base_link" -> "base_link_frd"[label="Broadcaster: /mavros\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1608106089.618 sec old)\nBuffer length: 0.000 sec\n"];
+"map" -> "base_link"[label="Broadcaster: /autonomy_11715_1608104044344\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1608106089.618 sec old)\nBuffer length: 0.000 sec\n"];
+"Drone1" -> "color"[label="Broadcaster: /autonomy_11715_1608104044344\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1608106089.618 sec old)\nBuffer length: 0.000 sec\n"];
+"Drone1" -> "depth"[label="Broadcaster: /autonomy_11715_1608104044344\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1608106089.618 sec old)\nBuffer length: 0.000 sec\n"];
+"base_link" -> "main"[label="Broadcaster: /autonomy_11715_1608104044344\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1608106089.618 sec old)\nBuffer length: 0.000 sec\n"];
+edge [style=invis];
+ subgraph cluster_legend { style=bold; color=black; label ="view_frames Result";
+"Recorded at time: 1608106089.618"[ shape=plaintext ] ;
+ }->"map";
+edge [style=invis];
+ subgraph cluster_legend { style=bold; color=black; label ="view_frames Result";
+"Recorded at time: 1608106089.618"[ shape=plaintext ] ;
+ }->"odom";
+edge [style=invis];
+ subgraph cluster_legend { style=bold; color=black; label ="view_frames Result";
+"Recorded at time: 1608106089.618"[ shape=plaintext ] ;
+ }->"Drone1";
+}
\ No newline at end of file
diff --git a/auto/python/frames.pdf b/auto/python/frames.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..5b41792d0d440780273cb0502022d90228d1fcd4
GIT binary patch
diff --git a/auto/python/ground.py b/auto/python/ground.py
new file mode 100644
index 0000000000..5b59d6e78b
--- /dev/null
+++ b/auto/python/ground.py
@@ -0,0 +1,112 @@
+import rospy
+import glob
+import json
+import math
+import os
+import px4tools
+import sys
+import time
+import actionlib
+import roslaunch
+from mavros import mavlink
+from mavros import action_server2
+from mavros_msgs.msg import Mavlink, Waypoint, WaypointReached, GlobalPositionTarget, State, TakeoffAction, TakeoffGoal, LandAction, LandGoal, WaypointsAction, WaypointsGoal, HomePosition
+from mavros_msgs.srv import CommandBool, SetMode, CommandTOL, WaypointPush, WaypointClear, CommandHome
+from sensor_msgs.msg import NavSatFix
+from geometry_msgs.msg import PoseStamped
+from mavros_test_common import MavrosTestCommon
+from pymavlink import mavutil
+from threading import Thread
+
+# Brings in the SimpleActionClient
+import actionlib
+
+class ground_station():
+
+		state_sub = rospy.Subscriber('mavros/state', State, self.state_callback)
+		self.state = State
+		#PUBLISHERS
+		local_pos_pub = rospy.Publisher('mavros/setpoint_position/local', PoseStamped, queue_size=10)
+		#global_pos_pub = rospy.Publisher('mavros/setpoint_position/global', GlobalPositionTarget, queue_size=10)
+		local_pos_sub = rospy.Subscriber('/mavros/global_position/global', NavSatFix, self.global_pos_callback)
+		home_pos_sub = rospy.Subscriber('/mavros/home_position/home', HomePosition, self.home_pos_callback)
+
+		#ACTIONS
+		#init actionlib servers
+		server = Thread(target=action_server2.ActionServer)
+		server.setDaemon(True)
+		server.start()
+		takeoff_client = actionlib.SimpleActionClient('takeoff', TakeoffAction)
+		land_client = actionlib.SimpleActionClient('land', LandAction)
+		waypoints_client = actionlib.SimpleActionClient('waypoints', WaypointsAction)
+
+		# need to simulate heartbeat to prevent datalink loss detection
+		hb_mav_msg = mavutil.mavlink.MAVLink_heartbeat_message(mavutil.mavlink.MAV_TYPE_GCS, 0, 0, 0, 0, 0)
+		hb_mav_msg.pack(mavutil.mavlink.MAVLink('', 2, 1))
+		hb_ros_msg = mavlink.convert_to_rosmsg(hb_mav_msg)
+		hb_thread = Thread(target=self.send_heartbeat, args=(hb_ros_msg))
+		hb_thread.setDaemon(True)
+
+		#PREFLIGHT CHECK
+
+		rate = rospy.Rate(30)
+		while (not self.state.connected):
+			print('Waiting on Connection')
+			rate.sleep()
+		print('Connected')
+
+		time.sleep(5)
+
+		goal = TakeoffGoal()
+		goal.height = 10
+	
+		print('Actionlib started')
+
+		takeoff_client.send_goal(goal)
+		takeoff_client.wait_for_result()
+
+		wps = []
+		wp1 = Waypoint()
+		wp2 = Waypoint()
+		wp1.command = 16
+		wp1.x_lat = self.home_pos.geo.latitude - 0.00050
+		wp1.y_long = self.home_pos.geo.longitude
+		wp1.z_alt = 10
+		wp1.autocontinue = True
+
+		wp2.command = 16
+		wp2.x_lat = self.home_pos.geo.latitude
+		wp2.y_long = self.home_pos.geo.longitude
+		wp2.z_alt = 10
+		wp2.autocontinue = True
+
+		goal = WaypointsGoal()
+		goal.waypoints.append(wp1)
+		goal.waypoints.append(wp2)
+		print(goal)
+		waypoints_client.send_goal(goal)
+		waypoints_client.wait_for_result(rospy.Duration.from_sec(45.0))
+
+		time.sleep(5)
+
+		goal = LandGoal()
+		goal.x_lat = self.home_pos.geo.latitude
+		goal.y_long = self.home_pos.geo.longitude
+		goal.z_alt = 0.0
+
+		print('Actionlib started')
+
+		land_client.send_goal(goal)
+		land_client.wait_for_result(rospy.Duration.from_sec(30.0))
+		sys.exit()
+		
+
+	# Heartbeat must be sent to px4 at 2Hz or else auto disconnect
+	def send_heartbeat(self, hb_ros_msg):
+		rate = rospy.Rate(2)  # Hz
+		while not rospy.is_shutdown():
+			self.mavlink_pub.publish(hb_ros_msg)
+			try:  # prevent garbage in console output when thread is killed
+				rate.sleep()
+			except rospy.ROSInterruptException:
+				pass
diff --git a/auto/python/mapping.py b/auto/python/mapping.py
new file mode 100644
index 0000000000..aafa515302
--- /dev/null
+++ b/auto/python/mapping.py
@@ -0,0 +1,227 @@
+import rospy
+import tf2_ros
+import tf2_geometry_msgs
+import cv2
+import numpy as np
+import math
+import struct
+
+from cv_bridge import CvBridge
+from sensor_msgs.msg import Image, CameraInfo, PointCloud2, PointField
+from sensor_msgs import point_cloud2
+from tf2_msgs.msg import TFMessage
+from geometry_msgs.msg import PoseStamped, Quaternion, TransformStamped
+from nav_msgs.msg import Odometry
+
+from sfm import getColors
+from sfm import triangulate
+from sfm import triangulate_int
+from sfm import drawTracks
+from sfm import getTrackLength
+from sfm import getObjectPointsEssential
+from sfm import eliminateDuplicateObjects
+from sfm import baFun
+from sfm import bundle_adjustment_sparsity
+
+from scipy.sparse import lil_matrix
+from scipy.optimize import least_squares
+
+from tf.transformations import quaternion_matrix, euler_from_quaternion, quaternion_multiply
+
+class mapping():
+
+	def __init__(self):
+
+   		rospy.init_node('mapping', anonymous=True)
+
+		self.bridge = CvBridge()
+		self.tfBuffer = tf2_ros.Buffer()
+    		listener = tf2_ros.TransformListener(self.tfBuffer)
+
+		self.image = []
+		self.pose = PoseStamped()
+		self.K = []
+		self.d = []
+		self.cam_width =  []
+		self.cam_height = []
+		self.rotation = []
+		self.translation = []
+		self.tracking = False
+
+		self.img_curr = []
+		self.img_prev = []
+
+		self.features_orig = []
+		self.features_prev = []
+
+		self.obj_mask = []
+
+		self.reset = True
+
+		#INITIALIZE FEATURE MATCHING PARAMETERS#
+		self.maxCorners = 500 #Maximum number of corners to return. If there are more corners than are found, the strongest of them is returned
+		self.qualityLevel = 0.01 #For example, if best corner has measure = 1500, and qualityLevel=0.01 , then corners with quality<15 are rejected.
+		self.minDistance = 10 #Minimum possible Euclidean distance between the returned corners.
+		self.lk_params = dict(winSize = (15,15), maxLevel = 2, criteria = (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 0.03))
+
+		#rospy.Subscriber('/mavros/local_position/pose', PoseStamped, self.poseCallback)
+		rospy.Subscriber('orb_slam2_mono/pose', PoseStamped, self.poseCallback)
+		rospy.Subscriber('/airsim/base_link/camera/image_raw', Image, self.imageCallback)
+		rospy.Subscriber('/airsim/base_link/camera', CameraInfo, self.camInfoCallback)
+		self.cloud_pub = rospy.Publisher("cloud", PointCloud2, queue_size=10)
+		self.test_pose = rospy.Publisher("test_pose", PoseStamped, queue_size=10)
+
+		print('waiting on topics...')
+		rospy.wait_for_message('/airsim/base_link/camera', Image)
+		#self.cam_width = self.img_curr.shape[0]
+		#self.cam_height = self.img_curr.shape[1]
+		print('K: ', self.K)
+		print('D: ', self.D)
+		rospy.wait_for_message('/mavros/local_position/pose', PoseStamped)
+		print('connected')
+
+		rospy.spin()
+
+	def poseCallback(self, data):
+		pose_stamped = PoseStamped()
+		pose_stamped.pose = data.pose
+		pose_stamped.header = data.header
+		self.pose.header = pose_stamped.header
+		self.pose = data
+		try:
+			t = self.tfBuffer.lookup_transform('camera_pose','base_link',rospy.Time(0),rospy.Duration(1.0))
+			#self.pose = tf2_geometry_msgs.do_transform_pose(self.pose, t)
+			#self.pose.pose.position.x = pose_stamped.pose.position.x + t.transform.translation.x
+			#self.pose.pose.position.y = pose_stamped.pose.position.y + t.transform.translation.y
+			#self.pose.pose.position.z = pose_stamped.pose.position.z + t.transform.translation.z
+			#q0 = (pose_stamped.pose.orientation.x,pose_stamped.pose.orientation.y,pose_stamped.pose.orientation.z,pose_stamped.pose.orientation.w)
+			#q1 = (self.pose.pose.orientation.x,self.pose.pose.orientation.y,self.pose.pose.orientation.z,self.pose.pose.orientation.w)
+			#q = quaternion_multiply(q1,q0)
+			#self.pose.pose.orientation.x = q[0]
+			#self.pose.pose.orientation.y = q[1]
+			#self.pose.pose.orientation.z = q[2]
+			#self.pose.pose.orientation.w = q[3]
+			self.test_pose.publish(self.pose)
+		except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException):
+			print('Error loading gimbal transform')
+		q = (self.pose.pose.orientation.x,self.pose.pose.orientation.y,self.pose.pose.orientation.z,self.pose.pose.orientation.w)
+		r = quaternion_matrix(q)
+		self.rotation = r[0:3,0:3]
+		self.translation = np.array(([self.pose.pose.position.x],[self.pose.pose.position.y],[self.pose.pose.position.z]))
+		#print(self.translation)
+		
+	def imageCallback(self, data):
+		self.header = data.header
+		self.img_curr = self.bridge.imgmsg_to_cv2(data, desired_encoding='passthrough')
+
+		P1 = np.hstack((self.rotation,self.translation))
+
+		grey_curr = cv2.cvtColor(self.img_curr, cv2.COLOR_RGB2GRAY)
+
+		#check if we are currently tracking flow, if no, we need to initialize and wait for next image
+		if (self.reset or ):
+			#Get first set of features to track
+			self.features_orig = cv2.goodFeaturesToTrack(grey_curr, self.maxCorners, self.qualityLevel, self.minDistance)
+			self.features_prev = self.features_orig
+			self.P0 = P1
+			self.obj_mask = np.full((len(self.features_orig), 4),-1)
+			self.reset = False
+			self.img_prev = self.img_curr
+			return
+
+		grey_prev = cv2.cvtColor(self.img_prev, cv2.COLOR_RGB2GRAY)
+
+		#GET NEW FEATURE LOCATIONS#
+		next, status, error = cv2.calcOpticalFlowPyrLK(grey_prev, grey_curr , self.features_prev, None, **self.lk_params)
+		if (not next.any()):
+			self.reset = True
+			return
+
+		#Filter out the points with high error 
+		error = error[status[:,0] == 1]
+		new = next[status[:,0] == 1]
+		new = new[error[:,0] < 10]
+
+		#Update the original list of features to reflect pixels that have been lost in the flow
+		self.features_orig = self.features_orig[status[:,0] == 1]
+		self.features_orig = self.features_orig[error[:,0] < 10]
+
+		# Updates previous good feature points
+		self.features_prev = new.reshape(-1, 1, 2) 
+
+		#Optional visualization
+		output = drawTracks(self.features_orig.astype(int), new, self.img_curr, (0, 255, 0))
+		cv2.imshow('Tracks',output)
+		self.img_prev = self.img_curr
+		key = cv2.waitKey(1) & 0xFF;
+
+		#Check sufficient parallax# 
+		avg_track_len = getTrackLength(self.features_orig,new)
+		if (avg_track_len < 30):
+			#not enough parrallax
+			return
+
+		#Attempt to calculate SFM
+		orig_pts = self.features_orig.reshape(len(self.features_orig),2)
+
+		new_pts = new.reshape(len(new),2)
+		mask_inf = np.zeros(len(new_pts))
+
+		#TODO filter out points with low parallax
+
+		print(len(orig_pts))
+		#Check quality of pts
+		if (len(orig_pts) < 10):
+			#Not enough quality points, reset
+			self.reset = True
+			return
+
+		#SolvePNP
+		#Get 3d world points and associated pixel values for the second image
+		print(np.reshape(self.P0[:,3],(1,3)),np.reshape(P1[:,2],(1,3)))
+		print(P1,(self.pose.pose.position.x,self.pose.pose.position.y,self.pose.pose.position.z))
+		obj_pts, prev_pts, new_pts, P = getObjectPointsEssential(orig_pts,new_pts,self.P0,self.K, self.D)
+
+        	#obj_pts, mask_tri, error = triangulate(orig_pts, self.P0, new_pts, P1, self.K, self.D)
+		
+		#Get colors from detected pixels for coloring pointcloud
+
+		#pixel_pts = new_pts[mask_tri[:,0]==1]
+		colors = getColors(new_pts,self.img_curr.copy())		
+
+		self.publishPoints(obj_pts, colors)
+		self.reset = True
+
+		return
+
+	def camInfoCallback(self,data):
+		self.K = np.reshape(data.K,(3,3))
+		self.D = np.reshape(data.D,(1,5))
+
+	def publishPoints(self, obj_pts, colors):
+		points = []		
+		for i in range(len(obj_pts)):
+			x = obj_pts[i,0]
+			y = obj_pts[i,1]
+			z = obj_pts[i,2]
+			#print(obj_pts[i])
+			r = colors[i,0]
+			g = colors[i,1]
+			b = colors[i,2]
+			a = 255
+			rgb = struct.unpack('I', struct.pack('BBBB', b, g, r, a))[0]
+			pt = [x, y, z, rgb]			
+			points.append(pt)
+		fields = [PointField('x', 0, PointField.FLOAT32, 1),
+			  PointField('y', 4, PointField.FLOAT32, 1),
+			  PointField('z', 8, PointField.FLOAT32, 1),
+			  PointField('rgba', 12, PointField.UINT32, 1),
+			  ]
+		#Raytracing (clearing of free space) is always done from the origin of this frame_id at the time of the point cloud
+		header = self.header
+		header.frame_id = 'map'
+		cloud = point_cloud2.create_cloud(header, fields, points)
+		self.cloud_pub.publish(cloud)
+
+if __name__ == '__main__':
+	mapping()
diff --git a/auto/python/mapping2.py b/auto/python/mapping2.py
new file mode 100644
index 0000000000..7d1adb64f9
--- /dev/null
+++ b/auto/python/mapping2.py
@@ -0,0 +1,229 @@
+import rospy
+import tf2_ros
+import tf2_geometry_msgs
+import cv2
+import numpy as np
+import math
+import struct
+
+from cv_bridge import CvBridge
+from sensor_msgs.msg import Image, CameraInfo, PointCloud2, PointField
+from sensor_msgs import point_cloud2
+from tf2_msgs.msg import TFMessage
+from geometry_msgs.msg import PoseStamped, Quaternion, TransformStamped
+from nav_msgs.msg import Odometry
+
+from sfm import getColors
+from sfm import triangulate
+from sfm import triangulate_int
+from sfm import drawTracks
+from sfm import getTrackLength
+from sfm import getObjectPointsEssential
+from sfm import eliminateDuplicateObjects
+from sfm import baFun
+from sfm import bundle_adjustment_sparsity
+
+from scipy.sparse import lil_matrix
+from scipy.optimize import least_squares
+
+from tf.transformations import quaternion_matrix, euler_from_quaternion, quaternion_multiply, quaternion_from_matrix
+
+class mapping():
+
+	def __init__(self):
+
+   		rospy.init_node('mapping', anonymous=True)
+
+		self.bridge = CvBridge()
+		self.tfBuffer = tf2_ros.Buffer()
+    		listener = tf2_ros.TransformListener(self.tfBuffer)
+
+		self.image = []
+		self.pose = PoseStamped()
+		self.K = []
+		self.d = []
+		self.cam_width =  []
+		self.cam_height = []
+		self.rotation = []
+		self.translation = []
+		self.tracking = False
+
+		self.img_curr = []
+		self.img_prev = []
+
+		self.features_orig = []
+		self.features_prev = []
+
+		self.obj_mask = []
+
+		self.reset = True
+
+		#INITIALIZE FEATURE MATCHING PARAMETERS#
+		self.maxCorners = 500 #Maximum number of corners to return. If there are more corners than are found, the strongest of them is returned
+		self.qualityLevel = 0.01 #For example, if best corner has measure = 1500, and qualityLevel=0.01 , then corners with quality<15 are rejected.
+		self.minDistance = 10 #Minimum possible Euclidean distance between the returned corners.
+		self.lk_params = dict(winSize = (15,15), maxLevel = 2, criteria = (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 0.03))
+
+		#rospy.Subscriber('/mavros/local_position/pose', PoseStamped, self.poseCallback)
+		rospy.Subscriber('orb_slam2_mono/pose', PoseStamped, self.poseCallback)
+		rospy.Subscriber('/airsim/base_link/camera/image_raw', Image, self.imageCallback)
+		rospy.Subscriber('/airsim/base_link/camera', CameraInfo, self.camInfoCallback)
+		self.cloud_pub = rospy.Publisher("cloud", PointCloud2, queue_size=10)
+		self.test_pose = rospy.Publisher("test_pose", PoseStamped, queue_size=10)
+
+		print('waiting on topics...')
+		rospy.wait_for_message('/airsim/base_link/camera/image_raw', Image)
+
+		#self.cam_width = self.img_curr.shape[0]
+		#self.cam_height = self.img_curr.shape[1]
+		print('K: ', self.K)
+		print('D: ', self.D)
+		rospy.wait_for_message('/mavros/local_position/pose', PoseStamped)
+		print('connected')
+		print(float(self.pose.header.stamp.secs)+float(self.pose.header.stamp.nsecs)/1000000000.0,float(self.header.stamp.secs)+float(self.header.stamp.nsecs)/1000000000.0)
+		rospy.spin()
+
+	def poseCallback(self, data):
+		self.pose = data
+		#self.test_pose.publish(self.pose)
+		q = (self.pose.pose.orientation.x,self.pose.pose.orientation.y,self.pose.pose.orientation.z,self.pose.pose.orientation.w)
+		r = quaternion_matrix(q)
+		#print(r)
+		self.rotation = r[0:3,0:3]
+		self.translation = np.array(([self.pose.pose.position.x],[self.pose.pose.position.y],[self.pose.pose.position.z]))
+		#print(self.translation)
+		
+	def imageCallback(self, data):
+		self.header = data.header
+		self.img_curr = self.bridge.imgmsg_to_cv2(data, desired_encoding='passthrough')
+
+		P1 = np.hstack((self.rotation,self.translation))
+		
+
+		grey_curr = cv2.cvtColor(self.img_curr, cv2.COLOR_RGB2GRAY)
+
+		#check if we are currently tracking flow, if no, we need to initialize and wait for next image
+		if (self.reset and P1 != []):
+			#Get first set of features to track
+			self.features_orig = cv2.goodFeaturesToTrack(grey_curr, self.maxCorners, self.qualityLevel, self.minDistance)
+			self.features_prev = self.features_orig
+			self.P0 = P1
+			self.obj_mask = np.full((len(self.features_orig), 4),-1)
+			self.reset = False
+			self.img_prev = self.img_curr
+			return
+
+		grey_prev = cv2.cvtColor(self.img_prev, cv2.COLOR_RGB2GRAY)
+
+		#GET NEW FEATURE LOCATIONS#
+		next, status, error = cv2.calcOpticalFlowPyrLK(grey_prev, grey_curr , self.features_prev, None, **self.lk_params)
+		if (not next.any()):
+			self.reset = True
+			return
+
+		#Filter out the points with high error 
+		error = error[status[:,0] == 1]
+		new = next[status[:,0] == 1]
+		new = new[error[:,0] < 10]
+
+		#Update the original list of features to reflect pixels that have been lost in the flow
+		self.features_orig = self.features_orig[status[:,0] == 1]
+		self.features_orig = self.features_orig[error[:,0] < 10]
+
+		# Updates previous good feature points
+		self.features_prev = new.reshape(-1, 1, 2) 
+
+		#Check sufficient parallax# 
+		avg_track_len = getTrackLength(self.features_orig,new)
+		if (avg_track_len < 30):
+			#not enough parrallax
+			return
+
+		#Attempt to calculate SFM
+		orig_pts = self.features_orig.reshape(len(self.features_orig),2)
+
+		new_pts = new.reshape(len(new),2)
+		mask_inf = np.zeros(len(new_pts))
+
+		#TODO filter out points with low parallax
+
+		print(len(orig_pts))
+		#Check quality of pts
+		if (len(orig_pts) < 10):
+			#Not enough quality points, reset
+			self.reset = True
+			return
+
+		#Optional visualization
+		output = drawTracks(orig_pts.astype(int), new_pts.astype(int, self.img_curr, (0, 255, 0))
+		cv2.imshow('Tracks',output)
+		self.img_prev = self.img_curr
+		key = cv2.waitKey(1) & 0xFF;
+
+		#SolvePNP
+		#Get 3d world points and associated pixel values for the second image
+		print('1', )
+		#obj_pts, prev_pts, new_pts, P = getObjectPointsEssential(orig_pts,new_pts,self.P0,self.K, self.D)
+
+        	obj_pts, mask_tri, error = triangulate(orig_pts, self.P0, new_pts, P1, self.K, self.D)
+	
+		test = PoseStamped()
+		test.header.stamp = data.header.stamp
+		test.header.frame_id = self.pose.header.frame_id
+		test.pose.position.x = P1[0,3]
+		test.pose.position.y = P1[1,3]
+		test.pose.position.z = P1[2,3]
+
+		orient = np.hstack((P1[0:3,0:3],[[0],[0],[0]]))
+		print(orient)
+		orient = np.vstack((orient,[0,0,0,1]))
+		orient = quaternion_from_matrix(orient)
+
+		test.pose.orientation.x = orient[0]
+		test.pose.orientation.y = orient[1]
+		test.pose.orientation.z = orient[2]
+		test.pose.orientation.w = orient[3]
+
+		self.test_pose.publish(test)
+
+		#Get colors from detected pixels for coloring pointcloud
+
+		new_pts = new_pts[mask_tri[:,0]==1]
+		colors = getColors(new_pts,self.img_curr.copy())		
+
+		self.publishPoints(obj_pts, colors)
+		self.reset = True
+
+		return
+
+	def camInfoCallback(self,data):
+		self.K = np.reshape(data.K,(3,3))
+		self.D = np.reshape(data.D,(1,5))
+
+	def publishPoints(self, obj_pts, colors):
+		points = []		
+		for i in range(len(obj_pts)):
+			x = obj_pts[i,0]
+			y = obj_pts[i,1]
+			z = obj_pts[i,2]
+			#print(obj_pts[i])
+			r = colors[i,0]
+			g = colors[i,1]
+			b = colors[i,2]
+			a = 255
+			rgb = struct.unpack('I', struct.pack('BBBB', b, g, r, a))[0]
+			pt = [x, y, z, rgb]			
+			points.append(pt)
+		fields = [PointField('x', 0, PointField.FLOAT32, 1),
+			  PointField('y', 4, PointField.FLOAT32, 1),
+			  PointField('z', 8, PointField.FLOAT32, 1),
+			  PointField('rgba', 12, PointField.UINT32, 1),
+			  ]
+		#Raytracing (clearing of free space) is always done from the origin of this frame_id at the time of the point cloud
+		header = self.header
+		header.frame_id = 'map'
+		cloud = point_cloud2.create_cloud(header, fields, points)
+		self.cloud_pub.publish(cloud)
+
+if __name__ == '__main__':
+	mapping()
diff --git a/auto/python/mapping3.py b/auto/python/mapping3.py
new file mode 100644
index 0000000000..eaca36799a
--- /dev/null
+++ b/auto/python/mapping3.py
@@ -0,0 +1,164 @@
+import rospy
+import tf2_ros
+import tf2_geometry_msgs
+import cv2
+import numpy as np
+import math
+import struct
+
+from cv_bridge import CvBridge
+from sensor_msgs.msg import Image, CameraInfo, PointCloud2, PointField, NavSatFix 
+from sensor_msgs import point_cloud2
+from tf2_msgs.msg import TFMessage
+from geometry_msgs.msg import PoseStamped, Quaternion, TransformStamped, Point
+from nav_msgs.msg import Odometry
+
+from sfm import getColors
+from sfm import triangulate
+from sfm import triangulate_int
+from sfm import drawTracks
+from sfm import getTrackLength
+from sfm import getObjectPointsEssential
+from sfm import eliminateDuplicateObjects
+from sfm import baFun
+from sfm import bundle_adjustment_sparsity
+
+from scipy.sparse import lil_matrix
+from scipy.optimize import least_squares
+
+from tf.transformations import quaternion_matrix, euler_from_quaternion, quaternion_multiply, quaternion_from_matrix
+
+bowExtractor = cv2.BOWImgDescriptorExtractor()
+orb = cv2.ORB_create()
+
+class frame():
+
+	def __init__(self, image):
+		self.image = image
+		kp = orb.detect(self.image, None)
+		kp, desc = orb.compute(self.image,kp)
+		
+	def computeBOW(self):
+		self.BoW = bowExtractor.compute(self.image, kps, desc)
+
+class mapping():
+
+	def gpsCallback(self, data):
+		if (not self.gpsInitialized):
+			self.initialGPS = data
+			self.gpsInitialized = True
+		else:
+			self.curr_pose.header = data.header
+			self.curr_pose.frame_id = "map"
+			self.curr_pose.position = self.ecef_to_enu(self.gps_to_ecef(data),self.gps_to_ecef(self.initialGPS))
+			self.test_pose.publish(self.curr_pose)
+
+	def gps_to_ecef(self, gps):
+		lat = data.latitude
+		lon = data.longitude
+		alt = data.altitude
+		rad_lat = lat * (math.pi / 180.0)
+		rad_lon = lon * (math.pi / 180.0)
+
+		a = 6378137.0
+		finv = 298.257223563
+		f = 1 / finv
+		e2 = 1 - (1 - f) * (1 - f)
+		v = a / math.sqrt(1 - e2 * math.sin(rad_lat) * math.sin(rad_lat))
+
+		x = (v + alt) * math.cos(rad_lat) * math.cos(rad_lon)
+		y = (v + alt) * math.cos(rad_lat) * math.sin(rad_lon)
+		z = (v * (1 - e2) + alt) * math.sin(rad_lat)
+
+		position = Point()
+		position.x = x
+		position.y = y
+		position.z = z
+
+		return position
+
+	def ecef_to_enu(self, point, origin):
+		enu = Point()
+		enu.x = point.x - origin.x
+		enu.y = point.y - origin.y
+		enu.z = point.z - origin.z
+		return enu
+
+	def imageCallback(self, data):
+		self.header = data.header
+		self.img_curr = self.bridge.imgmsg_to_cv2(data, desired_encoding='passthrough')
+
+	def camInfoCallback(self,data):
+		self.K = np.reshape(data.K,(3,3))
+		self.D = np.reshape(data.D,(1,5))
+
+	def publishPoints(self, obj_pts, colors):
+		points = []		
+		for i in range(len(obj_pts)):
+			x = obj_pts[i,0]
+			y = obj_pts[i,1]
+			z = obj_pts[i,2]
+			#print(obj_pts[i])
+			r = colors[i,0]
+			g = colors[i,1]
+			b = colors[i,2]
+			a = 255
+			rgb = struct.unpack('I', struct.pack('BBBB', b, g, r, a))[0]
+			pt = [x, y, z, rgb]			
+			points.append(pt)
+		fields = [PointField('x', 0, PointField.FLOAT32, 1),
+			  PointField('y', 4, PointField.FLOAT32, 1),
+			  PointField('z', 8, PointField.FLOAT32, 1),
+			  PointField('rgba', 12, PointField.UINT32, 1),
+			  ]
+		#Raytracing (clearing of free space) is always done from the origin of this frame_id at the time of the point cloud
+		header = self.header
+		header.frame_id = 'map'
+		cloud = point_cloud2.create_cloud(header, fields, points)
+		self.cloud_pub.publish(cloud)
+
+	def __init__(self):
+
+   		rospy.init_node('mapping', anonymous=True)
+
+		self.bridge = CvBridge()
+		self.tfBuffer = tf2_ros.Buffer()
+    		listener = tf2_ros.TransformListener(self.tfBuffer)
+
+		self.img_curr = []
+		self.curr_pose = PoseStamped()
+		self.K = []
+		self.d = []
+
+		self.gpsInitialized = False
+		self.initialGPS = NavSatFix()
+
+		rospy.Subscriber('/mavros/global_position/global', NavSatFix , self.gpsCallback)
+		rospy.Subscriber('/airsim/base_link/camera/image_raw', Image, self.imageCallback)
+		rospy.Subscriber('/airsim/base_link/camera', CameraInfo, self.camInfoCallback)
+		self.cloud_pub = rospy.Publisher("cloud", PointCloud2, queue_size=10)
+		self.test_pose = rospy.Publisher("test_pose", PoseStamped, queue_size=10)
+
+		print('waiting on topics...')
+		rospy.wait_for_message('/airsim/base_link/camera/image_raw', Image)
+		print('K: ', self.K)
+		print('D: ', self.D)
+		rospy.wait_for_message('/mavros/global_position/global', PoseStamped)
+		
+		self.run()
+
+	def run(self):
+
+		
+		if (self.state != "initialized"):
+			self.initialize()
+
+	def initialize(self):
+		
+		
+
+
+if __name__ == '__main__':
+	mapping()
+
+
diff --git a/auto/python/mavros_test_common.py b/auto/python/mavros_test_common.py
new file mode 100644
index 0000000000..b9d9c9ffa7
--- /dev/null
+++ b/auto/python/mavros_test_common.py
@@ -0,0 +1,417 @@
+#!/usr/bin/env python2
+from __future__ import division
+
+import unittest
+import rospy
+import math
+from geometry_msgs.msg import PoseStamped
+from mavros_msgs.msg import Altitude, ExtendedState, HomePosition, State, \
+                            WaypointList
+from mavros_msgs.srv import CommandBool, ParamGet, SetMode, WaypointClear, \
+                            WaypointPush
+from pymavlink import mavutil
+from sensor_msgs.msg import NavSatFix
+
+
+class MavrosTestCommon(unittest.TestCase):
+    def __init__(self, *args):
+        super(MavrosTestCommon, self).__init__(*args)
+
+    def setUp(self):
+        self.altitude = Altitude()
+        self.extended_state = ExtendedState()
+        self.global_position = NavSatFix()
+        self.home_position = HomePosition()
+        self.local_position = PoseStamped()
+        self.mission_wp = WaypointList()
+        self.state = State()
+        self.mav_type = None
+
+        self.sub_topics_ready = {
+            key: False
+            for key in [
+                'alt', 'ext_state', 'global_pos', 'home_pos', 'local_pos',
+                'mission_wp', 'state'
+            ]
+        }
+
+        # ROS services
+        service_timeout = 30
+        rospy.loginfo("waiting for ROS services")
+        try:
+            rospy.wait_for_service('mavros/param/get', service_timeout)
+            rospy.wait_for_service('mavros/cmd/arming', service_timeout)
+            rospy.wait_for_service('mavros/mission/push', service_timeout)
+            rospy.wait_for_service('mavros/mission/clear', service_timeout)
+            rospy.wait_for_service('mavros/set_mode', service_timeout)
+            rospy.loginfo("ROS services are up")
+        except rospy.ROSException:
+            self.fail("failed to connect to services")
+        self.get_param_srv = rospy.ServiceProxy('mavros/param/get', ParamGet)
+        self.set_arming_srv = rospy.ServiceProxy('mavros/cmd/arming',
+                                                 CommandBool)
+        self.set_mode_srv = rospy.ServiceProxy('mavros/set_mode', SetMode)
+        self.wp_clear_srv = rospy.ServiceProxy('mavros/mission/clear',
+                                               WaypointClear)
+        self.wp_push_srv = rospy.ServiceProxy('mavros/mission/push',
+                                              WaypointPush)
+
+        # ROS subscribers
+        self.alt_sub = rospy.Subscriber('mavros/altitude', Altitude,
+                                        self.altitude_callback)
+        self.ext_state_sub = rospy.Subscriber('mavros/extended_state',
+                                              ExtendedState,
+                                              self.extended_state_callback)
+        self.global_pos_sub = rospy.Subscriber('mavros/global_position/global',
+                                               NavSatFix,
+                                               self.global_position_callback)
+        self.home_pos_sub = rospy.Subscriber('mavros/home_position/home',
+                                             HomePosition,
+                                             self.home_position_callback)
+        self.local_pos_sub = rospy.Subscriber('mavros/local_position/pose',
+                                              PoseStamped,
+                                              self.local_position_callback)
+        self.mission_wp_sub = rospy.Subscriber(
+            'mavros/mission/waypoints', WaypointList, self.mission_wp_callback)
+        self.state_sub = rospy.Subscriber('mavros/state', State,
+                                          self.state_callback)
+
+    def tearDown(self):
+        self.log_topic_vars()
+
+    #
+    # Callback functions
+    #
+    def altitude_callback(self, data):
+        self.altitude = data
+
+        # amsl has been observed to be nan while other fields are valid
+        if not self.sub_topics_ready['alt'] and not math.isnan(data.amsl):
+            self.sub_topics_ready['alt'] = True
+
+    def extended_state_callback(self, data):
+        if self.extended_state.vtol_state != data.vtol_state:
+            rospy.loginfo("VTOL state changed from {0} to {1}".format(
+                mavutil.mavlink.enums['MAV_VTOL_STATE']
+                [self.extended_state.vtol_state].name, mavutil.mavlink.enums[
+                    'MAV_VTOL_STATE'][data.vtol_state].name))
+
+        if self.extended_state.landed_state != data.landed_state:
+            rospy.loginfo("landed state changed from {0} to {1}".format(
+                mavutil.mavlink.enums['MAV_LANDED_STATE']
+                [self.extended_state.landed_state].name, mavutil.mavlink.enums[
+                    'MAV_LANDED_STATE'][data.landed_state].name))
+
+        self.extended_state = data
+
+        if not self.sub_topics_ready['ext_state']:
+            self.sub_topics_ready['ext_state'] = True
+
+    def global_position_callback(self, data):
+        self.global_position = data
+
+        if not self.sub_topics_ready['global_pos']:
+            self.sub_topics_ready['global_pos'] = True
+
+    def home_position_callback(self, data):
+        self.home_position = data
+
+        if not self.sub_topics_ready['home_pos']:
+            self.sub_topics_ready['home_pos'] = True
+
+    def local_position_callback(self, data):
+        self.local_position = data
+
+        if not self.sub_topics_ready['local_pos']:
+            self.sub_topics_ready['local_pos'] = True
+
+    def mission_wp_callback(self, data):
+        if self.mission_wp.current_seq != data.current_seq:
+            rospy.loginfo("current mission waypoint sequence updated: {0}".
+                          format(data.current_seq))
+
+        self.mission_wp = data
+
+        if not self.sub_topics_ready['mission_wp']:
+            self.sub_topics_ready['mission_wp'] = True
+
+    def state_callback(self, data):
+        if self.state.armed != data.armed:
+            rospy.loginfo("armed state changed from {0} to {1}".format(
+                self.state.armed, data.armed))
+
+        if self.state.connected != data.connected:
+            rospy.loginfo("connected changed from {0} to {1}".format(
+                self.state.connected, data.connected))
+
+        if self.state.mode != data.mode:
+            rospy.loginfo("mode changed from {0} to {1}".format(
+                self.state.mode, data.mode))
+
+        if self.state.system_status != data.system_status:
+            rospy.loginfo("system_status changed from {0} to {1}".format(
+                mavutil.mavlink.enums['MAV_STATE'][
+                    self.state.system_status].name, mavutil.mavlink.enums[
+                        'MAV_STATE'][data.system_status].name))
+
+        self.state = data
+
+        # mavros publishes a disconnected state message on init
+        if not self.sub_topics_ready['state'] and data.connected:
+            self.sub_topics_ready['state'] = True
+
+    #
+    # Helper methods
+    #
+    def set_arm(self, arm, timeout):
+        """arm: True to arm or False to disarm, timeout(int): seconds"""
+        rospy.loginfo("setting FCU arm: {0}".format(arm))
+        old_arm = self.state.armed
+        loop_freq = 1  # Hz
+        rate = rospy.Rate(loop_freq)
+        arm_set = False
+        for i in xrange(timeout * loop_freq):
+            if self.state.armed == arm:
+                arm_set = True
+                rospy.loginfo("set arm success | seconds: {0} of {1}".format(
+                    i / loop_freq, timeout))
+                break
+            else:
+                try:
+                    res = self.set_arming_srv(arm)
+                    if not res.success:
+                        rospy.logerr("failed to send arm command")
+                except rospy.ServiceException as e:
+                    rospy.logerr(e)
+
+            try:
+                rate.sleep()
+            except rospy.ROSException as e:
+                self.fail(e)
+
+        self.assertTrue(arm_set, (
+            "failed to set arm | new arm: {0}, old arm: {1} | timeout(seconds): {2}".
+            format(arm, old_arm, timeout)))
+
+    def set_mode(self, mode, timeout):
+        """mode: PX4 mode string, timeout(int): seconds"""
+        rospy.loginfo("setting FCU mode: {0}".format(mode))
+        old_mode = self.state.mode
+        loop_freq = 1  # Hz
+        rate = rospy.Rate(loop_freq)
+        mode_set = False
+        for i in xrange(timeout * loop_freq):
+            if self.state.mode == mode:
+                mode_set = True
+                rospy.loginfo("set mode success | seconds: {0} of {1}".format(
+                    i / loop_freq, timeout))
+                break
+            else:
+                try:
+                    res = self.set_mode_srv(0, mode)  # 0 is custom mode
+                    if not res.mode_sent:
+                        rospy.logerr("failed to send mode command")
+                except rospy.ServiceException as e:
+                    rospy.logerr(e)
+
+            try:
+                rate.sleep()
+            except rospy.ROSException as e:
+                self.fail(e)
+
+        self.assertTrue(mode_set, (
+            "failed to set mode | new mode: {0}, old mode: {1} | timeout(seconds): {2}".
+            format(mode, old_mode, timeout)))
+
+    def wait_for_topics(self, timeout):
+        """wait for simulation to be ready, make sure we're getting topic info
+        from all topics by checking dictionary of flag values set in callbacks,
+        timeout(int): seconds"""
+        rospy.loginfo("waiting for subscribed topics to be ready")
+        loop_freq = 1  # Hz
+        rate = rospy.Rate(loop_freq)
+        simulation_ready = False
+        for i in xrange(timeout * loop_freq):
+            if all(value for value in self.sub_topics_ready.values()):
+                simulation_ready = True
+                rospy.loginfo("simulation topics ready | seconds: {0} of {1}".
+                              format(i / loop_freq, timeout))
+                break
+
+            try:
+                rate.sleep()
+            except rospy.ROSException as e:
+                self.fail(e)
+
+        self.assertTrue(simulation_ready, (
+            "failed to hear from all subscribed simulation topics | topic ready flags: {0} | timeout(seconds): {1}".
+            format(self.sub_topics_ready, timeout)))
+
+    def wait_for_landed_state(self, desired_landed_state, timeout, index):
+        rospy.loginfo("waiting for landed state | state: {0}, index: {1}".
+                      format(mavutil.mavlink.enums['MAV_LANDED_STATE'][
+                          desired_landed_state].name, index))
+        loop_freq = 10  # Hz
+        rate = rospy.Rate(loop_freq)
+        landed_state_confirmed = False
+        for i in xrange(timeout * loop_freq):
+            if self.extended_state.landed_state == desired_landed_state:
+                landed_state_confirmed = True
+                rospy.loginfo("landed state confirmed | seconds: {0} of {1}".
+                              format(i / loop_freq, timeout))
+                break
+
+            try:
+                rate.sleep()
+            except rospy.ROSException as e:
+                self.fail(e)
+
+        self.assertTrue(landed_state_confirmed, (
+            "landed state not detected | desired: {0}, current: {1} | index: {2}, timeout(seconds): {3}".
+            format(mavutil.mavlink.enums['MAV_LANDED_STATE'][
+                desired_landed_state].name, mavutil.mavlink.enums[
+                    'MAV_LANDED_STATE'][self.extended_state.landed_state].name,
+                   index, timeout)))
+
+    def wait_for_vtol_state(self, transition, timeout, index):
+        """Wait for VTOL transition, timeout(int): seconds"""
+        rospy.loginfo(
+            "waiting for VTOL transition | transition: {0}, index: {1}".format(
+                mavutil.mavlink.enums['MAV_VTOL_STATE'][
+                    transition].name, index))
+        loop_freq = 10  # Hz
+        rate = rospy.Rate(loop_freq)
+        transitioned = False
+        for i in xrange(timeout * loop_freq):
+            if transition == self.extended_state.vtol_state:
+                rospy.loginfo("transitioned | seconds: {0} of {1}".format(
+                    i / loop_freq, timeout))
+                transitioned = True
+                break
+
+            try:
+                rate.sleep()
+            except rospy.ROSException as e:
+                self.fail(e)
+
+        self.assertTrue(transitioned, (
+            "transition not detected | desired: {0}, current: {1} | index: {2} timeout(seconds): {3}".
+            format(mavutil.mavlink.enums['MAV_VTOL_STATE'][transition].name,
+                   mavutil.mavlink.enums['MAV_VTOL_STATE'][
+                       self.extended_state.vtol_state].name, index, timeout)))
+
+    def clear_wps(self, timeout):
+        """timeout(int): seconds"""
+        loop_freq = 1  # Hz
+        rate = rospy.Rate(loop_freq)
+        wps_cleared = False
+        for i in xrange(timeout * loop_freq):
+            if not self.mission_wp.waypoints:
+                wps_cleared = True
+                rospy.loginfo("clear waypoints success | seconds: {0} of {1}".
+                              format(i / loop_freq, timeout))
+                break
+            else:
+                try:
+                    res = self.wp_clear_srv()
+                    if not res.success:
+                        rospy.logerr("failed to send waypoint clear command")
+                except rospy.ServiceException as e:
+                    rospy.logerr(e)
+
+            try:
+                rate.sleep()
+            except rospy.ROSException as e:
+                self.fail(e)
+
+        self.assertTrue(wps_cleared, (
+            "failed to clear waypoints | timeout(seconds): {0}".format(timeout)
+        ))
+
+    def send_wps(self, waypoints, timeout):
+        """waypoints, timeout(int): seconds"""
+        rospy.loginfo("sending mission waypoints")
+        if self.mission_wp.waypoints:
+            rospy.loginfo("FCU already has mission waypoints")
+
+        loop_freq = 1  # Hz
+        rate = rospy.Rate(loop_freq)
+        wps_sent = False
+        wps_verified = False
+        for i in xrange(timeout * loop_freq):
+            if not wps_sent:
+                try:
+                    res = self.wp_push_srv(start_index=0, waypoints=waypoints)
+                    wps_sent = res.success
+                    if wps_sent:
+                        rospy.loginfo("waypoints successfully transferred")
+                except rospy.ServiceException as e:
+                    rospy.logerr(e)
+            else:
+                if len(waypoints) == len(self.mission_wp.waypoints):
+                    rospy.loginfo("number of waypoints transferred: {0}".
+                                  format(len(waypoints)))
+                    wps_verified = True
+
+            if wps_sent and wps_verified:
+                rospy.loginfo("send waypoints success | seconds: {0} of {1}".
+                              format(i / loop_freq, timeout))
+                break
+
+            try:
+                rate.sleep()
+            except rospy.ROSException as e:
+                self.fail(e)
+
+        self.assertTrue((
+            wps_sent and wps_verified
+        ), "mission could not be transferred and verified | timeout(seconds): {0}".
+                        format(timeout))
+
+    def wait_for_mav_type(self, timeout):
+        """Wait for MAV_TYPE parameter, timeout(int): seconds"""
+        rospy.loginfo("waiting for MAV_TYPE")
+        loop_freq = 1  # Hz
+        rate = rospy.Rate(loop_freq)
+        res = False
+        for i in xrange(timeout * loop_freq):
+            try:
+                res = self.get_param_srv('MAV_TYPE')
+                if res.success:
+                    self.mav_type = res.value.integer
+                    rospy.loginfo(
+                        "MAV_TYPE received | type: {0} | seconds: {1} of {2}".
+                        format(mavutil.mavlink.enums['MAV_TYPE'][self.mav_type]
+                               .name, i / loop_freq, timeout))
+                    break
+            except rospy.ServiceException as e:
+                rospy.logerr(e)
+
+            try:
+                rate.sleep()
+            except rospy.ROSException as e:
+                self.fail(e)
+
+        self.assertTrue(res.success, (
+            "MAV_TYPE param get failed | timeout(seconds): {0}".format(timeout)
+        ))
+
+    def log_topic_vars(self):
+        """log the state of topic variables"""
+        rospy.loginfo("========================")
+        rospy.loginfo("===== topic values =====")
+        rospy.loginfo("========================")
+        rospy.loginfo("altitude:\n{}".format(self.altitude))
+        rospy.loginfo("========================")
+        rospy.loginfo("extended_state:\n{}".format(self.extended_state))
+        rospy.loginfo("========================")
+        rospy.loginfo("global_position:\n{}".format(self.global_position))
+        rospy.loginfo("========================")
+        rospy.loginfo("home_position:\n{}".format(self.home_position))
+        rospy.loginfo("========================")
+        rospy.loginfo("local_position:\n{}".format(self.local_position))
+        rospy.loginfo("========================")
+        rospy.loginfo("mission_wp:\n{}".format(self.mission_wp))
+        rospy.loginfo("========================")
+        rospy.loginfo("state:\n{}".format(self.state))
+        rospy.loginfo("========================")
diff --git a/auto/python/mavros_test_common.pyc b/auto/python/mavros_test_common.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..4fef7677ecc194bfd3614b5d4e50a8b8011256b1
GIT binary patch
diff --git a/auto/python/mavtest.py b/auto/python/mavtest.py
new file mode 100644
index 0000000000..a13a9a4a25
--- /dev/null
+++ b/auto/python/mavtest.py
@@ -0,0 +1,204 @@
+import rospy
+import glob
+import json
+import math
+import os
+import px4tools
+import sys
+from mavros import mavlink
+from mavros_msgs.msg import Mavlink, Waypoint, WaypointReached, GlobalPositionTarget, State
+from mavros_msgs.srv import CommandBool, SetMode, CommandTOL, WaypointPush, WaypointClear
+from sensor_msgs.msg import NavSatFix
+from geometry_msgs.msg import PoseStamped
+from mavros_test_common import MavrosTestCommon
+from pymavlink import mavutil
+from threading import Thread
+
+class mavrostest():
+
+	def state_callback(self, data):
+		self.state = data
+
+	def wp_reached_callback(self, data):
+		self.wp_reached = data
+
+	def global_pos_callback(self, data):
+		self.global_pos = data
+
+	def __init__(self):
+
+   		rospy.init_node('test_node', anonymous=True)
+		self.state = State()
+		self.wp_reached = 0
+		self.global_pos = NavSatFix()
+		
+		#SUBSCRIBERS
+		state_sub = rospy.Subscriber('mavros/state', State, self.state_callback)
+		#global_pos_sub = rospy.Subscriber('/mavros/global_position/global', State, self.state_callback)
+		local_pos_sub = rospy.Subscriber('/mavros/global_position/global', NavSatFix, self.global_pos_callback)
+		wp_reached_sub = rospy.Subscriber('/mavros/mission/reached', WaypointReached, self.state_callback)
+
+		#PUBLISHERS
+		local_pos_pub = rospy.Publisher('mavros/setpoint_position/local', PoseStamped, queue_size=10)
+		#global_pos_pub = rospy.Publisher('mavros/setpoint_position/global', GlobalPositionTarget, queue_size=10)
+
+		#SERVICES
+		arm_client = rospy.ServiceProxy('mavros/cmd/arming', CommandBool)
+		takeoff_client = rospy.ServiceProxy('mavros/cmd/takeoff', CommandTOL)
+		land_client = rospy.ServiceProxy('mavros/cmd/land', CommandTOL)
+		mode_client = rospy.ServiceProxy('mavros/set_mode', SetMode)
+		mission_push_client = rospy.ServiceProxy('mavros/mission/push', WaypointPush)
+		mission_clear_client = rospy.ServiceProxy('mavros/mission/clear', WaypointClear)
+
+		rate = rospy.Rate(20)
+
+		while (not self.state.connected):
+			print('Waiting on Connection')
+			rate.sleep()
+		print('Connected')
+
+		# need to simulate heartbeat to prevent datalink loss detection
+		hb_mav_msg = mavutil.mavlink.MAVLink_heartbeat_message(mavutil.mavlink.MAV_TYPE_GCS, 0, 0, 0, 0, 0)
+		hb_mav_msg.pack(mavutil.mavlink.MAVLink('', 2, 1))
+		hb_ros_msg = mavlink.convert_to_rosmsg(hb_mav_msg)
+		hb_thread = Thread(target=self.send_heartbeat, args=(hb_ros_msg))
+
+		last_request = rospy.Time.now()
+		# Disarm
+		ack = False
+		while (not ack):
+			try:
+				ack = arm_client(False).success
+			except rospy.ServiceException as e:
+				print("Disarming Failed: %s" %e)
+			rate.sleep()
+		print('Disarmed')
+
+		# Set Mode
+		mode = "AUTO.LOITER"
+		ack = False
+		while (not ack):
+			try:
+				ack = mode_client(0, "AUTO.LOITER").mode_sent  # 0 is custom mode
+			except rospy.ServiceException as e:
+				print("Mode Change Failed: %s" %e)
+			rate.sleep()
+		print('Mode set to ', mode)
+
+		# Arm
+		ack = False
+		while (not ack):
+			try:
+				ack = arm_client(True).success
+			except rospy.ServiceException as e:
+				print("Arming Failed: %s" %e)
+			rate.sleep()
+		print('Armed')
+
+		#Clear any old missions
+		ack = False
+		while (not ack):
+			try:
+				ack = mission_clear_client().success
+			except rospy.ServiceException as e:
+				print("Mission Clear Failed: %s" %e)
+			rate.sleep()
+		print('old missions cleared')
+
+		#Create and execute Mission
+
+		home_lat = self.global_pos.latitude
+		home_long = self.global_pos.longitude
+
+		waypoints = []
+		takeoff = Waypoint()
+		takeoff.frame = 3
+		takeoff.command = mavutil.mavlink.MAV_CMD_NAV_TAKEOFF
+		takeoff.is_current = True
+		takeoff.autocontinue = True
+		takeoff.param1 = 0.0
+		takeoff.param2 = 0.0
+		takeoff.param3 = 0.3
+		takeoff.param4 = 0.0
+		takeoff.x_lat = home_lat
+		takeoff.y_long = home_long
+		takeoff.z_alt = 8.0
+
+		wp1 = Waypoint()
+		wp1.frame = 3
+		wp1.command = mavutil.mavlink.MAV_CMD_NAV_WAYPOINT
+		wp1.is_current = True
+		wp1.autocontinue = True
+		wp1.param1 = 0.0
+		wp1.param2 = 0.0
+		wp1.param3 = 0.3
+		wp1.param4 = 0.0
+		wp1.x_lat = home_lat + 0.00005
+		wp1.y_long = home_long
+		wp1.z_alt = 8.0
+
+		waypoints.append(wp1)
+
+		rtl = Waypoint()
+		rtl.frame = 3
+		rtl.command = 20
+		rtl.is_current = True
+		rtl.autocontinue = True
+		rtl.param1 = 0.0
+		rtl.param2 = 0.0
+		rtl.param3 = 0.0
+		rtl.param4 = 0.0
+		rtl.x_lat = 0.0
+		rtl.y_long = 0.0
+		rtl.z_alt = 0.0
+		waypoints.append(rtl)
+
+	
+		ack = False
+		while (not ack):	
+			try:
+				ack = mission_push_client(start_index=0, waypoints=waypoints).success
+			except rospy.ServiceException as e:
+				print("Mission Push Failed: %s" %e)
+			rate.sleep()
+
+		print('Mission Loaded')
+
+		# Set Mode
+		mode = "AUTO.MISSION"
+		ack = False
+		while (not ack):
+			try:
+				ack = mode_client(5, mode).mode_sent  # 0 is custom mode
+			except rospy.ServiceException as e:
+				print("Mode Change Failed: %s" %e)
+			rate.sleep()
+
+		print('Beginning Mission')
+
+		while (self.wp_reached != 3):
+			rate.sleep()
+
+#		print "\nTaking off"
+#		try:
+#			response = takeoff_client(altitude=10, latitude=0, longitude=0, min_pitch=0, yaw=0)
+#			rospy.loginfo(response)
+#		except rospy.ServiceException as e:
+#			print("Takeoff failed: %s" %e)
+
+
+	#
+	# Helper methods
+	#
+	def send_heartbeat(self, hb_ros_msg):
+		rate = rospy.Rate(2)  # Hz
+		while not rospy.is_shutdown():
+			self.mavlink_pub.publish(hb_ros_msg)
+			try:  # prevent garbage in console output when thread is killed
+				rate.sleep()
+			except rospy.ROSInterruptException:
+				pass
+
+if __name__ == '__main__':
+	mavrostest()
+
diff --git a/auto/python/navigation.py b/auto/python/navigation.py
new file mode 100644
index 0000000000..e065240df0
--- /dev/null
+++ b/auto/python/navigation.py
@@ -0,0 +1,146 @@
+import rospy
+import glob
+import json
+import math
+import os
+import px4tools
+import sys
+import time
+import actionlib
+import roslaunch
+from mavros import mavlink
+from mavros import action_server
+from mavros_msgs.msg import Mavlink, Waypoint, WaypointReached, GlobalPositionTarget, State, TakeoffAction, TakeoffGoal, LandAction, LandGoal, WaypointsAction, WaypointsGoal, HomePosition
+from mavros_msgs.srv import CommandBool, SetMode, CommandTOL, WaypointPush, WaypointClear, CommandHome
+from sensor_msgs.msg import NavSatFix
+from geometry_msgs.msg import PoseStamped
+from mavros_test_common import MavrosTestCommon
+from pymavlink import mavutil
+from threading import Thread
+
+# Brings in the SimpleActionClient
+import actionlib
+
+class offboard():
+
+	def state_callback(self, data):
+		self.state = data
+
+	def wp_reached_callback(self, data):
+		self.wp_reached = data
+
+	def home_pos_callback(self, data):
+		self.home_pos = data
+		#print(self.home_pos.geo)
+
+	def global_pos_callback(self, data):
+		self.global_pos = data
+
+	def __init__(self):
+
+   		rospy.init_node('guidance_node', anonymous=True)
+
+		state_sub = rospy.Subscriber('mavros/state', State, self.state_callback)
+		self.state = State
+		#PUBLISHERS
+		local_pos_pub = rospy.Publisher('mavros/setpoint_position/local', PoseStamped, queue_size=10)
+		#global_pos_pub = rospy.Publisher('mavros/setpoint_position/global', GlobalPositionTarget, queue_size=10)
+		local_pos_sub = rospy.Subscriber('/mavros/global_position/global', NavSatFix, self.global_pos_callback)
+		home_pos_sub = rospy.Subscriber('/mavros/home_position/home', HomePosition, self.home_pos_callback)
+
+		#ACTIONS
+		#init actionlib servers
+		server = Thread(target=action_server.ActionServer)
+		server.setDaemon(True)
+		server.start()
+		takeoff_client = actionlib.SimpleActionClient('takeoff', TakeoffAction)
+		land_client = actionlib.SimpleActionClient('land', LandAction)
+		waypoints_client = actionlib.SimpleActionClient('waypoints', WaypointsAction)
+
+		# need to simulate heartbeat to prevent datalink loss detection
+		hb_mav_msg = mavutil.mavlink.MAVLink_heartbeat_message(mavutil.mavlink.MAV_TYPE_GCS, 0, 0, 0, 0, 0)
+		hb_mav_msg.pack(mavutil.mavlink.MAVLink('', 2, 1))
+		hb_ros_msg = mavlink.convert_to_rosmsg(hb_mav_msg)
+		hb_thread = Thread(target=self.send_heartbeat, args=(hb_ros_msg))
+		hb_thread.setDaemon(True)
+
+		#PREFLIGHT CHECK
+
+		rate = rospy.Rate(30)
+		while (not self.state.connected):
+			print('Waiting on Connection')
+			rate.sleep()
+		print('Connected')
+
+		time.sleep(5)
+
+		goal = TakeoffGoal()
+		goal.height = 10
+	
+		print('Actionlib started')
+
+		takeoff_client.send_goal(goal)
+		takeoff_client.wait_for_result()
+
+		wps = []
+		wp1 = Waypoint()
+		wp2 = Waypoint()
+		wp3 = Waypoint()
+		wp1.command = 16
+		wp1.x_lat = self.home_pos.geo.latitude - 0.00050
+		wp1.y_long = self.home_pos.geo.longitude
+		wp1.z_alt = 10
+		wp1.autocontinue = True
+
+		wp2.command = 16
+		wp2.x_lat = self.home_pos.geo.latitude - 0.00050
+		wp2.y_long = self.home_pos.geo.longitude - 0.00050
+		wp2.z_alt = 10
+		wp2.autocontinue = True
+
+
+		wp3.command = 16
+		wp3.x_lat = self.home_pos.geo.latitude
+		wp3.y_long = self.home_pos.geo.longitude
+		wp3.z_alt = 10
+		wp3.autocontinue = True
+
+		goal = WaypointsGoal()
+		goal.waypoints.append(wp1)
+		goal.waypoints.append(wp2)
+		goal.waypoints.append(wp3)
+		print(goal)
+		waypoints_client.send_goal(goal)
+		waypoints_client.wait_for_result(rospy.Duration.from_sec(45.0))
+
+		time.sleep(5)
+
+		goal = LandGoal()
+		goal.x_lat = self.home_pos.geo.latitude
+		goal.y_long = self.home_pos.geo.longitude
+		goal.z_alt = 0.0
+
+		print('Actionlib started')
+
+		land_client.send_goal(goal)
+		land_client.wait_for_result(rospy.Duration.from_sec(30.0))
+		sys.exit()
+		
+
+	# Heartbeat must be sent to px4 at 2Hz or else auto disconnect
+	def send_heartbeat(self, hb_ros_msg):
+		rate = rospy.Rate(2)  # Hz
+		while not rospy.is_shutdown():
+			self.mavlink_pub.publish(hb_ros_msg)
+			try:  # prevent garbage in console output when thread is killed
+				rate.sleep()
+			except rospy.ROSInterruptException:
+				pass
+
+
+if __name__ == '__main__':
+	offboard()
+
+
+
+
diff --git a/auto/python/offboard.py b/auto/python/offboard.py
new file mode 100644
index 0000000000..32d9887c85
--- /dev/null
+++ b/auto/python/offboard.py
@@ -0,0 +1,165 @@
+import rospy
+import glob
+import json
+import math
+import os
+import px4tools
+import sys
+import time
+import actionlib
+import roslaunch
+from mavros import mavlink
+from mavros import action_server
+from mavros_msgs.msg import Mavlink, Waypoint, WaypointReached, GlobalPositionTarget, State, TakeoffAction, TakeoffGoal, LandAction, LandGoal, WaypointsAction, WaypointsGoal
+from mavros_msgs.srv import CommandBool, SetMode, CommandTOL, WaypointPush, WaypointClear
+from sensor_msgs.msg import NavSatFix
+from geometry_msgs.msg import PoseStamped
+from mavros_test_common import MavrosTestCommon
+from pymavlink import mavutil
+from threading import Thread
+
+# Brings in the SimpleActionClient
+import actionlib
+
+class offboard(MavrosTestCommon):
+
+	def state_callback(self, data):
+		self.state = data
+
+	def wp_reached_callback(self, data):
+		self.wp_reached = data
+
+	def global_pos_callback(self, data):
+		self.global_pos = data
+
+	def __init__(self):
+
+		#Initialize ROSLaunch
+		launch = roslaunch.scriptapi.ROSLaunch()
+		launch.start()	
+		uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
+		roslaunch.configure_logging(uuid)
+
+		#Launch MAVROS
+		cli_args = ('mavros', 'px4.launch')
+		roslaunch_file = [(roslaunch.rlutil.resolve_launch_arguments(cli_args)[0])]
+		mavros = roslaunch.parent.ROSLaunchParent(uuid, roslaunch_file)
+		mavros.start()	
+
+   		rospy.init_node('test_node', anonymous=True)
+
+		print('got here')
+		
+		#SUBSCRIBERS
+		state_sub = rospy.Subscriber('mavros/state', State, self.state_callback)
+		#global_pos_sub = rospy.Subscriber('/mavros/global_position/global', State, self.state_callback)
+		local_pos_sub = rospy.Subscriber('/mavros/global_position/global', NavSatFix, self.global_pos_callback)
+		#wp_reached_sub = rospy.Subscriber('/mavros/mission/reached', WaypointReached, self.wp_reached_callback)
+
+		#PUBLISHERS
+		local_pos_pub = rospy.Publisher('mavros/setpoint_position/local', PoseStamped, queue_size=10)
+		#global_pos_pub = rospy.Publisher('mavros/setpoint_position/global', GlobalPositionTarget, queue_size=10)
+
+		#SERVICES
+		arm_client = rospy.ServiceProxy('mavros/cmd/arming', CommandBool)
+		#takeoff_client = rospy.ServiceProxy('mavros/cmd/takeoff', CommandTOL)
+		#land_client = rospy.ServiceProxy('mavros/cmd/land', CommandTOL)
+		mode_client = rospy.ServiceProxy('mavros/set_mode', SetMode)
+		#mission_push_client = rospy.ServiceProxy('mavros/mission/push', WaypointPush)
+		mission_clear_client = rospy.ServiceProxy('mavros/mission/clear', WaypointClear)
+
+		#ACTIONS
+		#init actionlib servers
+		server = Thread(target=action_server.ActionServer)
+		server.setDaemon(True)
+		server.start()
+		takeoff_client = actionlib.SimpleActionClient('takeoff', TakeoffAction)
+		land_client = actionlib.SimpleActionClient('land', LandAction)
+		waypoints_client = actionlib.SimpleActionClient('waypoints', WaypointsAction)
+
+		self.state = State()
+		self.wp_reached = 0
+		self.global_pos = NavSatFix()
+
+		rate = rospy.Rate(30)
+		while (not self.state.connected):
+			print('Waiting on Connection')
+			rate.sleep()
+		print('Connected')
+
+		# need to simulate heartbeat to prevent datalink loss detection
+		hb_mav_msg = mavutil.mavlink.MAVLink_heartbeat_message(mavutil.mavlink.MAV_TYPE_GCS, 0, 0, 0, 0, 0)
+		hb_mav_msg.pack(mavutil.mavlink.MAVLink('', 2, 1))
+		hb_ros_msg = mavlink.convert_to_rosmsg(hb_mav_msg)
+		hb_thread = Thread(target=self.send_heartbeat, args=(hb_ros_msg))
+		hb_thread.setDaemon(True)
+
+		#PREFLIGHT CHECK
+
+		time.sleep(5)
+
+		#Clear any old missions
+		ack = False
+		while (not ack):
+			try:
+				ack = mission_clear_client().success
+			except rospy.ServiceException as e:
+				print("Mission Clear Failed: %s" %e)
+			rate.sleep()
+		print('old missions cleared')
+
+		time.sleep(5)
+
+		# Arm
+		self.set_arm(True, 5)
+
+		goal = TakeoffGoal()
+		goal.height = 10
+	
+		print('Actionlib started')
+
+		takeoff_client.send_goal(goal)
+		takeoff_client.wait_for_result()
+
+		wp1 = Waypoint()
+		wp2 = Waypoint()
+		wp1.x_lat = self.global_pos.latitude + 0.00110
+		wp1.y_long = self.global_pos.longitude + 0.00110
+		wp1.z_alt = 10
+
+		wp2.x_lat = self.global_pos.latitude
+		wp2.y_long = self.global_pos.longitude
+		wp2.z_alt = 10
+
+		goal = WaypointsGoal()
+		goal.waypoints = [wp1, wp2]
+		#waypoints_client.send_goal(goal)
+		#waypoints_client.wait_for_result(rospy.Duration.from_sec(45.0))
+
+		goal = LandGoal()
+		goal.height = 0.0
+	
+		print('Actionlib started')
+
+		land_client.send_goal(goal)
+		land_client.wait_for_result(rospy.Duration.from_sec(30.0))
+		sys.exit()
+		
+
+	# Heartbeat must be sent to px4 at 2Hz or else auto disconnect
+	def send_heartbeat(self, hb_ros_msg):
+		rate = rospy.Rate(2)  # Hz
+		while not rospy.is_shutdown():
+			self.mavlink_pub.publish(hb_ros_msg)
+			try:  # prevent garbage in console output when thread is killed
+				rate.sleep()
+			except rospy.ROSInterruptException:
+				pass
+
+
+if __name__ == '__main__':
+	offboard()
+
+
+
+
diff --git a/auto/python/offboard2.py b/auto/python/offboard2.py
new file mode 100644
index 0000000000..20a810a414
--- /dev/null
+++ b/auto/python/offboard2.py
@@ -0,0 +1,151 @@
+import rospy
+import glob
+import json
+import math
+import os
+import px4tools
+import sys
+import time
+import actionlib
+import roslaunch
+from mavros import mavlink
+from mavros import action_server2
+from mavros_msgs.msg import Mavlink, Waypoint, WaypointReached, GlobalPositionTarget, State, TakeoffAction, TakeoffGoal, LandAction, LandGoal, WaypointsAction, WaypointsGoal, HomePosition
+from mavros_msgs.srv import CommandBool, SetMode, CommandTOL, WaypointPush, WaypointClear, CommandHome
+from sensor_msgs.msg import NavSatFix
+from geometry_msgs.msg import PoseStamped
+from mavros_test_common import MavrosTestCommon
+from pymavlink import mavutil
+from threading import Thread
+
+# Brings in the SimpleActionClient
+import actionlib
+
+class offboard():
+
+	def state_callback(self, data):
+		self.state = data
+
+	def wp_reached_callback(self, data):
+		self.wp_reached = data
+
+	def home_pos_callback(self, data):
+		self.home_pos = data
+		#print(self.home_pos.geo)
+
+	def global_pos_callback(self, data):
+		self.global_pos = data
+
+	def __init__(self):
+
+		#Initialize ROSLaunch
+		launch = roslaunch.scriptapi.ROSLaunch()
+		launch.start()	
+		uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
+		roslaunch.configure_logging(uuid)
+
+		#Launch MAVROS
+		cli_args = ('mavros', 'px4.launch')
+		roslaunch_file = [(roslaunch.rlutil.resolve_launch_arguments(cli_args)[0])]
+		mavros = roslaunch.parent.ROSLaunchParent(uuid, roslaunch_file)
+		mavros.start()	
+
+   		rospy.init_node('test_node', anonymous=True)
+
+		print('got here')
+
+		state_sub = rospy.Subscriber('mavros/state', State, self.state_callback)
+		self.state = State
+		#PUBLISHERS
+		local_pos_pub = rospy.Publisher('mavros/setpoint_position/local', PoseStamped, queue_size=10)
+		#global_pos_pub = rospy.Publisher('mavros/setpoint_position/global', GlobalPositionTarget, queue_size=10)
+		local_pos_sub = rospy.Subscriber('/mavros/global_position/global', NavSatFix, self.global_pos_callback)
+		home_pos_sub = rospy.Subscriber('/mavros/home_position/home', HomePosition, self.home_pos_callback)
+
+		#ACTIONS
+		#init actionlib servers
+		server = Thread(target=action_server2.ActionServer)
+		server.setDaemon(True)
+		server.start()
+		takeoff_client = actionlib.SimpleActionClient('takeoff', TakeoffAction)
+		land_client = actionlib.SimpleActionClient('land', LandAction)
+		waypoints_client = actionlib.SimpleActionClient('waypoints', WaypointsAction)
+
+		# need to simulate heartbeat to prevent datalink loss detection
+		hb_mav_msg = mavutil.mavlink.MAVLink_heartbeat_message(mavutil.mavlink.MAV_TYPE_GCS, 0, 0, 0, 0, 0)
+		hb_mav_msg.pack(mavutil.mavlink.MAVLink('', 2, 1))
+		hb_ros_msg = mavlink.convert_to_rosmsg(hb_mav_msg)
+		hb_thread = Thread(target=self.send_heartbeat, args=(hb_ros_msg))
+		hb_thread.setDaemon(True)
+
+		#PREFLIGHT CHECK
+
+		rate = rospy.Rate(30)
+		while (not self.state.connected):
+			print('Waiting on Connection')
+			rate.sleep()
+		print('Connected')
+
+		time.sleep(5)
+
+		goal = TakeoffGoal()
+		goal.height = 10
+	
+		print('Actionlib started')
+
+		takeoff_client.send_goal(goal)
+		takeoff_client.wait_for_result()
+
+		wps = []
+		wp1 = Waypoint()
+		wp2 = Waypoint()
+		wp1.command = 16
+		wp1.x_lat = self.home_pos.geo.latitude - 0.00050
+		wp1.y_long = self.home_pos.geo.longitude
+		wp1.z_alt = 10
+		wp1.autocontinue = True
+
+		wp2.command = 16
+		wp2.x_lat = self.home_pos.geo.latitude
+		wp2.y_long = self.home_pos.geo.longitude
+		wp2.z_alt = 10
+		wp2.autocontinue = True
+
+		goal = WaypointsGoal()
+		goal.waypoints.append(wp1)
+		goal.waypoints.append(wp2)
+		print(goal)
+		waypoints_client.send_goal(goal)
+		waypoints_client.wait_for_result(rospy.Duration.from_sec(45.0))
+
+		time.sleep(5)
+
+		goal = LandGoal()
+		goal.x_lat = self.home_pos.geo.latitude
+		goal.y_long = self.home_pos.geo.longitude
+		goal.z_alt = 0.0
+
+		print('Actionlib started')
+
+		land_client.send_goal(goal)
+		land_client.wait_for_result(rospy.Duration.from_sec(30.0))
+		sys.exit()
+		
+
+	# Heartbeat must be sent to px4 at 2Hz or else auto disconnect
+	def send_heartbeat(self, hb_ros_msg):
+		rate = rospy.Rate(2)  # Hz
+		while not rospy.is_shutdown():
+			self.mavlink_pub.publish(hb_ros_msg)
+			try:  # prevent garbage in console output when thread is killed
+				rate.sleep()
+			except rospy.ROSInterruptException:
+				pass
+
+
+if __name__ == '__main__':
+	offboard()
+
+
+
+
diff --git a/auto/python/offboard3.py b/auto/python/offboard3.py
new file mode 100644
index 0000000000..eef9eb1d3b
--- /dev/null
+++ b/auto/python/offboard3.py
@@ -0,0 +1,146 @@
+import rospy
+import glob
+import json
+import math
+import os
+import px4tools
+import sys
+import time
+import actionlib
+import roslaunch
+from mavros import mavlink
+from mavros import action_server2
+from mavros_msgs.msg import Mavlink, Waypoint, WaypointReached, GlobalPositionTarget, State, TakeoffAction, TakeoffGoal, LandAction, LandGoal, WaypointsAction, WaypointsGoal, HomePosition
+from mavros_msgs.srv import CommandBool, SetMode, CommandTOL, WaypointPush, WaypointClear, CommandHome
+from sensor_msgs.msg import NavSatFix
+from geometry_msgs.msg import PoseStamped
+from mavros_test_common import MavrosTestCommon
+from pymavlink import mavutil
+from threading import Thread
+
+# Brings in the SimpleActionClient
+import actionlib
+
+class offboard():
+
+	def state_callback(self, data):
+		self.state = data
+
+	def wp_reached_callback(self, data):
+		self.wp_reached = data
+
+	def home_pos_callback(self, data):
+		self.home_pos = data
+		#print(self.home_pos.geo)
+
+	def global_pos_callback(self, data):
+		self.global_pos = data
+
+	def __init__(self):
+
+   		rospy.init_node('guidance_node', anonymous=True)
+
+		state_sub = rospy.Subscriber('mavros/state', State, self.state_callback)
+		self.state = State
+		#PUBLISHERS
+		local_pos_pub = rospy.Publisher('mavros/setpoint_position/local', PoseStamped, queue_size=10)
+		#global_pos_pub = rospy.Publisher('mavros/setpoint_position/global', GlobalPositionTarget, queue_size=10)
+		local_pos_sub = rospy.Subscriber('/mavros/global_position/global', NavSatFix, self.global_pos_callback)
+		home_pos_sub = rospy.Subscriber('/mavros/home_position/home', HomePosition, self.home_pos_callback)
+
+		#ACTIONS
+		#init actionlib servers
+		server = Thread(target=action_server2.ActionServer)
+		server.setDaemon(True)
+		server.start()
+		takeoff_client = actionlib.SimpleActionClient('takeoff', TakeoffAction)
+		land_client = actionlib.SimpleActionClient('land', LandAction)
+		waypoints_client = actionlib.SimpleActionClient('waypoints', WaypointsAction)
+
+		# need to simulate heartbeat to prevent datalink loss detection
+		hb_mav_msg = mavutil.mavlink.MAVLink_heartbeat_message(mavutil.mavlink.MAV_TYPE_GCS, 0, 0, 0, 0, 0)
+		hb_mav_msg.pack(mavutil.mavlink.MAVLink('', 2, 1))
+		hb_ros_msg = mavlink.convert_to_rosmsg(hb_mav_msg)
+		hb_thread = Thread(target=self.send_heartbeat, args=(hb_ros_msg))
+		hb_thread.setDaemon(True)
+
+		#PREFLIGHT CHECK
+
+		rate = rospy.Rate(30)
+		while (not self.state.connected):
+			print('Waiting on Connection')
+			rate.sleep()
+		print('Connected')
+
+		time.sleep(5)
+
+		goal = TakeoffGoal()
+		goal.height = 10
+	
+		print('Actionlib started')
+
+		takeoff_client.send_goal(goal)
+		takeoff_client.wait_for_result()
+
+		wps = []
+		wp1 = Waypoint()
+		wp2 = Waypoint()
+		wp3 = Waypoint()
+		wp1.command = 16
+		wp1.x_lat = self.home_pos.geo.latitude - 0.00050
+		wp1.y_long = self.home_pos.geo.longitude
+		wp1.z_alt = 10
+		wp1.autocontinue = True
+
+		wp2.command = 16
+		wp2.x_lat = self.home_pos.geo.latitude - 0.00050
+		wp2.y_long = self.home_pos.geo.longitude - 0.00050
+		wp2.z_alt = 10
+		wp2.autocontinue = True
+
+
+		wp3.command = 16
+		wp3.x_lat = self.home_pos.geo.latitude
+		wp3.y_long = self.home_pos.geo.longitude
+		wp3.z_alt = 10
+		wp3.autocontinue = True
+
+		goal = WaypointsGoal()
+		goal.waypoints.append(wp1)
+		goal.waypoints.append(wp2)
+		goal.waypoints.append(wp3)
+		print(goal)
+		waypoints_client.send_goal(goal)
+		waypoints_client.wait_for_result(rospy.Duration.from_sec(45.0))
+
+		time.sleep(5)
+
+		goal = LandGoal()
+		goal.x_lat = self.home_pos.geo.latitude
+		goal.y_long = self.home_pos.geo.longitude
+		goal.z_alt = 0.0
+
+		print('Actionlib started')
+
+		land_client.send_goal(goal)
+		land_client.wait_for_result(rospy.Duration.from_sec(30.0))
+		sys.exit()
+		
+
+	# Heartbeat must be sent to px4 at 2Hz or else auto disconnect
+	def send_heartbeat(self, hb_ros_msg):
+		rate = rospy.Rate(2)  # Hz
+		while not rospy.is_shutdown():
+			self.mavlink_pub.publish(hb_ros_msg)
+			try:  # prevent garbage in console output when thread is killed
+				rate.sleep()
+			except rospy.ROSInterruptException:
+				pass
+
+
+if __name__ == '__main__':
+	offboard()
+
+
+
+
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\ No newline at end of file
diff --git a/auto/python/pad_detection.py b/auto/python/pad_detection.py
new file mode 100644
index 0000000000..8c63623699
--- /dev/null
+++ b/auto/python/pad_detection.py
@@ -0,0 +1,136 @@
+import rospy
+from sensor_msgs.msg import Image,CameraInfo
+from std_msgs.msg import Float32
+from tf2_msgs.msg import TFMessage
+from geometry_msgs.msg import TransformStamped, Vector3, Quaternion, PoseWithCovarianceStamped, PoseStamped, Point
+from cv_bridge import CvBridge
+from airsim2ros.msg import Barometer, Distance
+from nav_msgs.msg import Odometry
+from multiprocessing import Process
+from tf import TransformListener
+
+from cv_bridge import CvBridge, CvBridgeError
+
+from tf.transformations import quaternion_from_matrix, rotation_matrix, euler_from_quaternion, quaternion_multiply
+
+import setup_path
+import airsim
+import cv2
+import math
+import numpy as np
+import roslaunch
+import tf2_ros
+import tf2_geometry_msgs
+from matplotlib import pyplot as plt
+import threading
+
+MIN_MATCH_COUNT = 10
+
+BOARD_SIZE = 1.00
+
+class PadDetector():
+
+	# Define a callback for the Image message
+	def imageCallback(self, img_msg):
+		self.curr_time = img_msg.header.stamp
+		# Try to convert the ROS Image message to a CV2 Image
+		try:
+			self.curr_image = self.bridge.imgmsg_to_cv2(img_msg, "passthrough")
+		except CvBridgeError, e:
+			rospy.logerr("CvBridge Error: {0}".format(e))
+
+	def camInfoCallback(self, cam_info):
+		# Try to convert the ROS Image message to a CV2 Image
+		self.K = np.reshape(cam_info.K,(3,3)).astype(np.float32)
+		self.D = np.reshape(cam_info.D,(1,5)).astype(np.float32)
+
+	def buildPoseMsg(self, rvec, tvec):
+
+		pose_msg = PoseStamped()
+		pose_msg.header.stamp = self.curr_time
+		pose_msg.header.frame_id = 'Drone1'
+		#get 3x3 mat
+		rmat, _jac = cv2.Rodrigues(rvec)
+
+		#transform board frame to camera frame
+		R = rmat.transpose()
+		t = -R.dot(tvec)
+
+		#Switch x and y coordinates going from image to camera frame?
+		t = np.array([t[1]-BOARD_SIZE/2,-t[0]+BOARD_SIZE/2,-t[2]])
+		P = np.hstack((R,t))
+
+		#Transform from camera frame to REP-103
+		cam_2_ned = np.array(	[[1,0,0],
+					 [0,1,0],
+					 [0,0,-1]])
+		P = cam_2_ned.dot(P)
+		R = P[0:3,0:3]
+		R = np.vstack((R,[0,0,0]))
+		R = np.hstack((R,[[0],[0],[0],[1]]))
+		t = P[0:3,3]
+		#convert to quaternion and build msg
+		q = quaternion_from_matrix(R)
+
+		pose_msg.pose.position = Point(t[0],t[1],t[2])
+		pose_msg.pose.orientation = Quaternion(q[0],q[1],q[2],q[3])
+
+		return pose_msg		
+
+	# Override the run() function of Thread class
+	def run(self):
+		rate = rospy.Rate(30)  # 30hz
+		# Load the predefined dictionary
+		dictionary = cv2.aruco.Dictionary_get(cv2.aruco.DICT_6X6_250)
+		# Generate the board
+		board = cv2.aruco.GridBoard_create(2,2, 0.46, 0.08, dictionary)
+		# Initialize the detector parameters using default values
+		parameters =  cv2.aruco.DetectorParameters_create()
+		while not rospy.is_shutdown():
+			img1 = self.curr_image;
+			# Detect the markers in the image
+			markerCorners, markerIds, rejectedCandidates = cv2.aruco.detectMarkers(img1, dictionary, parameters=parameters)
+			try:
+				_ret, rvec, tvec = cv2.aruco.estimatePoseBoard(markerCorners, markerIds, board, self.K, self.D)
+				self.pose_pub.publish(self.buildPoseMsg(rvec,tvec))
+			except:
+				continue
+			rate.sleep()
+
+	def stopped(self):
+        	return self._stop_event.is_set()
+
+	def __init__(self):
+		rospy.init_node('autonomy', anonymous=True)
+		rospy.Subscriber('/airsim/Drone1/main/image_raw', Image, self.imageCallback)
+		rospy.Subscriber('/airsim/Drone1/main', CameraInfo, self.camInfoCallback)
+       		self._stop_event = threading.Event()
+
+		rate = rospy.Rate(30)  # 30hz
+		self.curr_image = np.array([])
+		self.curr_time = 0
+		self.bridge = CvBridge()
+		self.K = np.array([])
+		self.D = np.array([])
+		self.transformer = TransformListener()
+		self.tfBuffer = tf2_ros.Buffer()
+    		listener = tf2_ros.TransformListener(self.tfBuffer)
+
+		self.pose_pub = rospy.Publisher('mavros/vision_pose/pose', PoseStamped, queue_size=10)
+
+		if (len(self.curr_image) == 0):
+			rospy.wait_for_message('/airsim/Drone1/main/image_raw',Image)
+		print('got image')
+
+		if (len(self.K) == 0):
+			rospy.wait_for_message('/airsim/Drone1/main',CameraInfo)
+		print('got camInfo')
+
+
+if __name__ == "__main__":
+	pd = PadDetector()
+	pd.run()
+
+
+
+
diff --git a/auto/python/pad_detection.pyc b/auto/python/pad_detection.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..8a4ff0004306ef1a5a8004704c525d3e30ba9162
GIT binary patch
diff --git a/auto/python/setup_path.py b/auto/python/setup_path.py
new file mode 100644
index 0000000000..c547acd8ea
--- /dev/null
+++ b/auto/python/setup_path.py
@@ -0,0 +1,52 @@
+# Import this module to automatically setup path to local airsim module
+# This module first tries to see if airsim module is installed via pip
+# If it does then we don't do anything else
+# Else we look up grand-parent folder to see if it has airsim folder
+#    and if it does then we add that in sys.path
+
+import os,sys,logging
+
+#this class simply tries to see if airsim 
+class SetupPath:
+    @staticmethod
+    def getDirLevels(path):
+        path_norm = os.path.normpath(path)
+        return len(path_norm.split(os.sep))
+
+    @staticmethod
+    def getCurrentPath():
+        cur_filepath = __file__
+        return os.path.dirname(cur_filepath)
+
+    @staticmethod
+    def getGrandParentDir():
+        cur_path = SetupPath.getCurrentPath()
+        if SetupPath.getDirLevels(cur_path) >= 2:
+            return os.path.dirname(os.path.dirname(cur_path))
+        return ''
+
+    @staticmethod
+    def getParentDir():
+        cur_path = SetupPath.getCurrentPath()
+        if SetupPath.getDirLevels(cur_path) >= 1:
+            return os.path.dirname(cur_path)
+        return ''
+
+    @staticmethod
+    def addAirSimModulePath():
+        # if airsim module is installed then don't do anything else
+        #import pkgutil
+        #airsim_loader = pkgutil.find_loader('airsim')
+        #if airsim_loader is not None:
+        #    return
+
+        parent = SetupPath.getParentDir()
+        if parent !=  '':
+            airsim_path = os.path.join(parent, 'airsim')
+            client_path = os.path.join(airsim_path, 'client.py')
+            if os.path.exists(client_path):
+                sys.path.insert(0, parent)
+        else:
+            logging.warning("airsim module not found in parent folder. Using installed package (pip install airsim).")
+
+SetupPath.addAirSimModulePath()
diff --git a/auto/python/setup_path.pyc b/auto/python/setup_path.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..37d00da3d686264aacf3092317687719011af89e
GIT binary patch
diff --git a/auto/python/sfm.py b/auto/python/sfm.py
new file mode 100644
index 0000000000..d6538c97d8
--- /dev/null
+++ b/auto/python/sfm.py
@@ -0,0 +1,254 @@
+import setup_path
+import airsim
+import numpy as np
+import time
+import math
+import cv2
+import open3d as o3d #pip install open3d; conda install "tornado<4.5.3"
+
+from scipy.sparse import lil_matrix
+from scipy.optimize import least_squares
+
+
+
+def getColors(pixel_coords, image):
+    color = []
+    for i in range(len(pixel_coords)):
+        x, y = pixel_coords[i].ravel()
+        x = min(image.shape[1]-1,max(0,x))  
+        y = min(image.shape[0]-1,max(0,y))   
+        BGR = ((image[int(y),int(x)].astype(float))/255)
+        color.append([BGR[2],BGR[1],BGR[0]])
+    color = np.reshape(color,(len(color),3))
+    return color
+    
+def triangulate(pts1, P0, pts2, P1, K, d):
+    #initialize lists
+    obj_pts = []
+    mask = []
+    total = 0
+    count = 0
+
+    #convert to weird array format that undistort points needs (N, 1, 2) DEPENDS ON OPENCV version
+    pts1 = np.reshape(pts1,(len(pts1),1,2))
+    pts2 = np.reshape(pts2,(len(pts2),1,2))
+
+    #Normalize and undistort, this will convert the pts from pixel coordinates to camera coordinates (i.e. [-1 > 0 < 1])
+    pts1_norm = cv2.undistortPoints(pts1, K, d)
+    pts2_norm = cv2.undistortPoints(pts2, K, d)
+    pts1_norm = np.reshape(pts1_norm,(len(pts1),2))
+    pts2_norm = np.reshape(pts2_norm,(len(pts2),2))
+    #pull out Rotation and translation from P1 matrix for reprojection test
+    R = np.reshape(P1[:,0:3],(3,3))
+    t = np.reshape(P1[:,3],(3,1))
+
+    #for all points
+    points3d = []
+    for i in range(len(pts1_norm)):
+        #triangulate
+        point = triangulate_int(pts1_norm[i],P0,pts2_norm[i],P1)
+	points3d.append(point)
+    points3d = np.reshape(points3d,(len(points3d),3))
+    #do a reprojection
+    reproj_pts, ret = cv2.projectPoints(points3d,R,t,K,d)
+    for i in range(len(reproj_pts)):
+	    rx, ry = reproj_pts[i].ravel()
+	    ox, oy = pts2[i].ravel() 
+	    #get distance between projected and original points
+	    distance = math.sqrt((rx-ox)**2+(ry-oy)**2)
+	    #test if distance is above threshold
+	    if (distance < 5):
+		#add point to cloud
+		obj_pts.append(points3d[i])
+		print(points3d[i])
+		count = count + 1
+		mask.append([1])
+		#aggregate distance for average calculation
+		total = total + distance
+	    else:
+		mask.append([0])
+
+    obj_pts = np.reshape(obj_pts,(len(obj_pts),3))
+    mask = np.reshape(mask,(len(mask),1))
+    error = total/(len(obj_pts)+1)
+    print('Triangulated points',count,'out of',len(pts1_norm),'=',int(count/len(pts1_norm)*100),'%')
+    print('Average reprojection error',int(error),'pixel(s)')  
+    
+    return obj_pts, mask, error
+    
+def triangulate_int(pix_pt1,P0,pix_pt2,P1):
+    #code taken from 'Mastering OpenCV with Practical Computer Vision Projects' Chapter 4
+    #https://www.cs.ccu.edu.tw/~damon/photo/,OpenCV/,Mastering_OpenCV.pdf
+    #build A matrix
+    A = np.array([[pix_pt1[0]*P0[2,0]-P0[0,0],pix_pt1[0]*P0[2,1]-P0[0,1],pix_pt1[0]*P0[2,2]-P0[0,2]],
+    [pix_pt1[1]*P0[2,0]-P0[1,0],pix_pt1[1]*P0[2,1]-P0[1,1],pix_pt1[1]*P0[2,2]-P0[1,2]],
+    [pix_pt2[0]*P1[2,0]-P1[0,0], pix_pt2[0]*P1[2,1]-P1[0,1],pix_pt2[0]*P1[2,2]-P1[0,2]],
+    [pix_pt2[1]*P1[2,0]-P1[1,0], pix_pt2[1]*P1[2,1]-P1[1,1],pix_pt2[1]*P1[2,2]-P1[1,2]]])
+    #build B vector
+    B = np.array([[-1*(pix_pt1[0]*P0[2,3]-P0[0,3])],
+    [-1*(pix_pt1[1]*P0[2,3]-P0[1,3])],
+    [-1*(pix_pt2[0]*P1[2,3]-P1[0,3])],
+    [-1*(pix_pt2[1]*P1[2,3]-P1[1,3])]])
+    #solve for X
+    ret, X = cv2.solve(A,B,flags=cv2.DECOMP_SVD)
+    #print(X)
+    return X
+
+def drawTracks(orig, next, img, color):   
+    # Draws the optical flow tracks
+    output = img.copy()
+    mask = np.zeros_like(output)
+    for i, (new, old) in enumerate(zip(next, orig)):
+        # Returns a contiguous flattened array as (x, y) coordinates for new point
+        a, b = new.ravel()
+        # Returns a contiguous flattened array as (x, y) coordinates for old point
+        c, d = old.ravel()
+        # Draws line between new and old position with green color and 2 thickness
+        mask = cv2.line(mask, (a, b), (c, d), color, 2)
+        # Draws filled circle (thickness of -1) at new position with green color and radius of 3
+        output = cv2.circle(output, (a, b), 3, color, -1)    
+    # Overlays the optical flow tracks on the original frame
+    output = cv2.add(output, mask)
+    return output
+    
+def getTrackLength(orig,new):
+    num_samples  = 10
+    rand_pts = np.random.choice(len(new),num_samples,replace=False)
+    total = 0
+    for i in range(num_samples):
+        j = rand_pts[i]
+        x1, y1 = orig[j].ravel()
+        x2, y2 = new[j].ravel() 
+        #get distance between new and original points
+        distance = math.sqrt((x1-x2)*(x1-x2)+(y1-y2)*(y1-y2))
+        total = total + distance
+    avg_dist = total/num_samples
+    return avg_dist
+    
+def getObjectPointsEssential(prev_pts,new_pts,P0,K,d):
+    #Get essential matrix to derive R, t, and F
+    E, mask_e = cv2.findEssentialMat(prev_pts,new_pts, K, method=cv2.RANSAC, prob=0.999, threshold = 1.0)
+    print ("Essential matrix: used ", np.sum(mask_e) ," of total ",len(new_pts),"matches")
+    prev_pts = prev_pts[mask_e[:,0]==1]
+    new_pts = new_pts[mask_e[:,0]==1]
+   
+    R1, R2, t1 = cv2.decomposeEssentialMat(E)
+    t2 = -1*t1
+    
+    P1 = []
+    #These are the four possible Projection Matrices, only one produces the most correct points
+    P1.append(np.hstack((R1,t1))*P0)
+    P1.append(np.hstack((R1,t2))*P0)
+    P1.append(np.hstack((R2,t1))*P0)
+    P1.append(np.hstack((R2,t2))*P0)
+    best_obj_pts = []
+    best_error = 1000
+    for i in range(4):
+        #Get 3d world points and associated pixel values for the second image
+        obj_pts, mask_tri, error = triangulate(prev_pts, P0, new_pts, P1[i], K, d)
+        if(len(obj_pts) > len(best_obj_pts)):            
+            best_error = error
+            best_obj_pts = obj_pts
+            best_mask_tri = mask_tri
+            best_P1 = P1[i]
+        elif(len(obj_pts) == len(best_obj_pts) & (error < best_error)):
+            best_error = error
+            best_obj_pts = obj_pts
+            best_mask_tri = mask_tri
+            best_P1 = P1[i]
+    
+    prev_pts = prev_pts[best_mask_tri[:,0]==1]
+    new_pts = new_pts[best_mask_tri[:,0]==1]
+    
+    return best_obj_pts, prev_pts, new_pts, best_P1
+    
+def getObjectPointsPnP(obj_pts,new_pts,P0,K,d,rvec,tvec):
+    #SolvePNP
+    _, rvec, tvec, inliers  = cv2.solvePnPRansac(obj_pts, pixel_pts, K, d, rvec, tvec, useExtrinsicGuess = True)
+    print('SolvePnP used',len(inliers),'points of total', len(pixel_pts),'=',int(len(inliers)/len(pixel_pts)*100),'%')
+    #convert pnp rotation to (3x3) with rodrigues method
+    R, _ = cv2.Rodrigues(rvec)
+    t = tvec 
+
+    #Create second projection matrix
+    #P1 = np.dot(K,np.hstack((R, t)))
+    P1 = np.hstack((R, t))
+
+    #Now we need to get the full set of matches to apply this projection matrix to
+    #Get 3d world points and associated pixel values for the second image
+    obj_pts, mask_tri = triangulate(pts1, P0, pts2, P1, K, d)
+    
+    return obj_pts, mask_tri, P1
+    
+def eliminateDuplicateObjects(prev_objs, new_features):
+    #get all objects and pixel coords from the last image
+    prev_objs = np.reshape(prev_objs,(-1,6))
+    #a new mask to check for last images objects in the new features
+    mask_1 = np.full((len(new_features),4),-1)
+    #a new mask to remove these duplicates from the pre_objs_array
+    mask_2 = np.ones(len(prev_objs[:,0]))
+    count = 0
+    for i in range(len(new_features)):
+        x,y = new_features[i].ravel()
+        for j in range(len(prev_objs)):
+            #checks distance between new features and existing object pixels
+            if(math.isclose(prev_objs[j,4],x,rel_tol=0.02) & math.isclose(prev_objs[j,5],y,rel_tol=0.03)):
+                if (mask_2[j] == 1):    
+                    count += 1
+                    mask_1[i] = prev_objs[j,0:4]
+                    mask_2[j] = 0
+                break                          
+    #eliminate duplicate objects contained in the pre_objs array
+    prev_objs = prev_objs[mask_2==1]
+    #create the overall mask
+    mask_3 = np.vstack((mask_1,prev_objs[:,0:4]))
+    #create a total list of pixel coords consisting of new features and previous pixel coordinates,
+    #must be the same length as the object index mask
+    new_features = new_features.reshape(len(new_features),2)
+    orig = np.vstack((new_features,prev_objs[:,4:6])).reshape(-1, 1, 2).astype(np.float32)
+    
+    return orig, mask_3
+    
+def baFun(params, n_cameras, n_points, camera_indices, points_2d):
+    """Compute residuals.   
+    `params` contains camera parameters and 3-D coordinates.
+    """
+    cam_list = []
+    for i in range(n_cameras):
+        begin = (i*6)
+        end = (i*6+6)
+        cam_list.append(params[begin:end].ravel())
+        
+    points_3d = []
+    for i in range(n_points):
+        begin = i*3+(n_cameras*6)
+        end = i*3+3+(n_cameras*6)
+        points_3d.append(params[begin:end])
+    
+    proj_list = []  
+    for i in range(n_points):
+        camera = cam_list[camera_indices[i]]
+        R = np.reshape(camera[0:3],(1,3))
+        t = np.reshape(camera[3:6],(1,3))
+        R, _ = cv2.Rodrigues(R)
+        point_proj, ret = cv2.projectPoints(points_3d[i],R,t,K,d)
+        proj_list.append(point_proj)
+    proj_list = np.reshape(proj_list,(-1,2))
+    points_2d = np.reshape(points_2d,(-1,2))
+    return (proj_list - points_2d).ravel()
+    
+def bundle_adjustment_sparsity(n_cameras, n_points, camera_indices, point_indices):
+    m = camera_indices.size * 2
+    n = n_cameras * 6 + n_points * 3
+    A = lil_matrix((m, n), dtype=int)
+
+    i = np.arange(camera_indices.size)
+    for s in range(6):
+        A[2 * i, camera_indices * 6 + s] = 1
+        A[2 * i + 1, camera_indices * 6 + s] = 1
+
+    for s in range(3):
+        A[2 * i, n_cameras * 6 + point_indices * 3 + s] = 1
+        A[2 * i + 1, n_cameras * 6 + point_indices * 3 + s] = 1
+
+    return A
diff --git a/auto/python/sfm.pyc b/auto/python/sfm.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..aa7c2b5d757d5c546269615c5eac67ea9fed8b59
GIT binary patch
diff --git a/auto/python/sfm_ros.py b/auto/python/sfm_ros.py
new file mode 100644
index 0000000000..b93d4308f5
--- /dev/null
+++ b/auto/python/sfm_ros.py
@@ -0,0 +1,304 @@
+import rospy
+import tf2_ros
+import tf2_geometry_msgs
+import cv2
+import numpy as np
+import math
+import struct
+
+from cv_bridge import CvBridge
+from sensor_msgs.msg import Image, CameraInfo, PointCloud2, PointField
+from sensor_msgs import point_cloud2
+from tf2_msgs.msg import TFMessage
+from geometry_msgs.msg import PoseStamped, Quaternion, TransformStamped
+from nav_msgs.msg import Odometry
+
+from sfm import getColors
+from sfm import triangulate
+from sfm import triangulate_int
+from sfm import drawTracks
+from sfm import getTrackLength
+from sfm import getObjectPointsEssential
+from sfm import eliminateDuplicateObjects
+from sfm import baFun
+from sfm import bundle_adjustment_sparsity
+
+from scipy.sparse import lil_matrix
+from scipy.optimize import least_squares
+
+from tf.transformations import quaternion_matrix, euler_from_quaternion, quaternion_multiply, quaternion_from_matrix
+
+class mapping():
+
+	def __init__(self):
+
+   		rospy.init_node('mapping', anonymous=True)
+
+		self.bridge = CvBridge()
+		self.tfBuffer = tf2_ros.Buffer()
+			listener = tf2_ros.TransformListener(self.tfBuffer)
+
+		self.image = []
+		self.pose = PoseStamped()
+		self.K = []
+		self.d = []
+		self.cam_width =  []
+		self.cam_height = []
+		self.rotation = []
+		self.translation = []
+		self.tracking = False
+
+		self.img_curr = []
+		self.img_prev = []
+
+		self.features_orig = []
+		self.features_prev = []
+
+		self.obj_mask = []
+
+		self.reset = True
+
+		#INITIALIZE FEATURE MATCHING PARAMETERS#
+		self.maxCorners = 500 #Maximum number of corners to return. If there are more corners than are found, the strongest of them is returned
+		self.qualityLevel = 0.01 #For example, if best corner has measure = 1500, and qualityLevel=0.01 , then corners with quality<15 are rejected.
+		self.minDistance = 10 #Minimum possible Euclidean distance between the returned corners.
+		self.lk_params = dict(winSize = (15,15), maxLevel = 2, criteria = (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 0.03))
+
+		#rospy.Subscriber('/mavros/local_position/pose', PoseStamped, self.poseCallback)
+		rospy.Subscriber('orb_slam2_mono/pose', PoseStamped, self.poseCallback)
+		rospy.Subscriber('/airsim/base_link/camera/image_raw', Image, self.imageCallback)
+		rospy.Subscriber('/airsim/base_link/camera', CameraInfo, self.camInfoCallback)
+		self.cloud_pub = rospy.Publisher("cloud", PointCloud2, queue_size=10)
+		self.test_pose = rospy.Publisher("test_pose", PoseStamped, queue_size=10)
+
+		print('waiting on topics...')
+		rospy.wait_for_message('/airsim/base_link/camera/image_raw', Image)
+
+		#self.cam_width = self.img_curr.shape[0]
+		#self.cam_height = self.img_curr.shape[1]
+		print('K: ', self.K)
+		print('D: ', self.D)
+		rospy.wait_for_message('/mavros/local_position/pose', PoseStamped)
+		print('connected')
+		print(float(self.pose.header.stamp.secs)+float(self.pose.header.stamp.nsecs)/1000000000.0,float(self.header.stamp.secs)+float(self.header.stamp.nsecs)/1000000000.0)
+		self.run()
+
+	def poseCallback(self, data):
+		self.pose = data
+		#self.test_pose.publish(self.pose)
+		q = (self.pose.pose.orientation.x,self.pose.pose.orientation.y,self.pose.pose.orientation.z,self.pose.pose.orientation.w)
+		r = quaternion_matrix(q)
+		#print(r)
+		self.rotation = r[0:3,0:3]
+		self.translation = np.array(([self.pose.pose.position.x],[self.pose.pose.position.y],[self.pose.pose.position.z]))
+		#print(self.translation)
+		
+	def imageCallback(self, data):
+		self.header = data.header
+		self.img_curr = self.bridge.imgmsg_to_cv2(data, desired_encoding='passthrough')
+
+	def run(self):
+		#TAKE NEW IMAGE#
+		rawImage2 = self.img_curr
+		if (rawImage2 == None):
+			print("Camera is not returning image, please check airsim for error messages")
+			sys.exit(0)
+		else:
+			img2 = self.img_curr
+			gray2 = cv2.cvtColor(img2, cv2.COLOR_RGB2GRAY)
+
+		#GET NEW FEATURE LOCATIONS#
+		next, status, error = cv2.calcOpticalFlowPyrLK(gray, gray2, prev, None, **lk_params)
+		error = error[status[:,0] == 1]
+		#First, filter out the points with high error 
+		new = next[status[:,0] == 1]
+		new = new[error[:,0] < 10]
+		#Update the original list of features to reflect pixels that have been lost in the flow
+		orig = orig[status[:,0] == 1]
+		orig = orig[error[:,0] < 10]
+		#update the object mask
+		obj_mask = obj_mask[status[:,0] == 1]
+		obj_mask = obj_mask[error[:,0] < 10]
+		
+		# Updates previous good feature points
+		prev = new.reshape(-1, 1, 2) 
+		
+		#Optional visualization
+		output = drawTracks(orig.astype(int), new, img2, (0, 255, 0))
+		cv2.imshow('Tracks',output)
+		gray = gray2
+		
+		#IF SIGNIFICANT CHANGE FROM PREVIOUS IMAGE# 
+		avg_track_len = getTrackLength(orig,new)
+		if (avg_track_len > (img.shape[0]/5) or (len(orig)/orig_count < 0.8)):
+			print('update, image #:',img_idx)
+			#Time to calculate SFM
+			
+			prev_pts = orig.reshape(len(orig),2)
+			new_pts = new.reshape(len(new),2)
+			mask_inf = np.zeros(len(new_pts))
+			'''Lets check for infiniti points'''
+			for i in range(len(new_pts)):
+				x1, y1 = prev_pts[i].ravel()
+				x2, y2 = new_pts[i].ravel() 
+				#get distance between new and original points
+				distance = math.sqrt((x1-x2)*(x1-x2)+(y1-y2)*(y1-y2))
+				if (distance >= 5):
+					mask_inf[i] = 1
+			
+			new_pts = new_pts[mask_inf==1] 
+			obj_mask = obj_mask[mask_inf==1] 
+			print(len(prev_pts)-len(new_pts),'"infinite" eliminated')
+			prev_pts = prev_pts[mask_inf==1]	   
+
+			#Is this the first calculation?
+			if (img_idx == 0):
+				#initial P0
+				P0 = np.hstack((np.eye(3, 3), np.zeros((3, 1))))
+				#get first set of objects from essential matrix
+				obj_pts, prev_pts, new_pts, P = getObjectPointsEssential(prev_pts,new_pts,P0,K,d)
+
+				#Check quality of pts
+				if (len(obj_pts) > 15):
+					cam_objs = []
+					for i in range(len(obj_pts)):
+						cam_objs.append(np.hstack((i,obj_pts[i].ravel(),prev_pts[i].ravel())))
+					all_objs.append(cam_objs)								
+					cam_objs = []
+					for i in range(len(obj_pts)):
+						cam_objs.append(np.hstack((i,obj_pts[i].ravel(),new_pts[i].ravel())))
+						obj_idx += 1
+					all_objs.append(cam_objs)
+					img_idx += 1			   
+					all_P_mats.append(P0)
+					all_P_mats.append(P)
+					P0 = P
+					#get a new set of features to track
+					new_features = cv2.goodFeaturesToTrack(gray, maxCorners, qualityLevel, minDistance)
+					orig, obj_mask = eliminateDuplicateObjects(all_objs[img_idx],new_features)
+					t = np.reshape(P0[:,3],(1,3))
+					t = t * np.array([1,-1,1])
+					#Get colors from detected pixels for coloring pointcloud
+					colors = getColors(new_pts,img2.copy())
+					all_pts = obj_pts
+					all_colors = colors
+					all_pts = np.vstack((all_pts,np.reshape(t,(1,3))))
+					all_colors = np.vstack((all_colors,np.array([0.,1.,0.])))
+				else:	
+					orig = cv2.goodFeaturesToTrack(gray, maxCorners, qualityLevel, minDistance)
+				
+				
+					
+			else:#get camera matrices from PNP
+				#SolvePNP
+				masked_objs = obj_mask[obj_mask[:,0]!=-1]
+				pixel_pts = new_pts[obj_mask[:,0]!=-1]
+				obj_pts = masked_objs[:,1:4]
+				
+				_, rvec, tvec, inliers  = cv2.solvePnPRansac(obj_pts, pixel_pts, K, d, flags=cv2.SOLVEPNP_EPNP)
+				print('SolvePnP used',len(inliers),'points of total', len(pixel_pts),'=',int(len(inliers)/len(pixel_pts)*100),'%')
+				#convert pnp rotation to (3x3) with rodrigues method
+				P1 = np.hstack((cv2.Rodrigues(rvec)[0], tvec))
+	   
+				#Now we need to get the full set of matches to apply this projection matrix to
+				#Get 3d world points and associated pixel values for the second image
+				new_objs, mask_tri, error = triangulate(prev_pts, P0, new_pts, P1, K, d)
+				
+				obj_mask = obj_mask[mask_tri[:,0]==1]
+				prev_pts = prev_pts[mask_tri[:,0]==1]
+				new_pts = new_pts[mask_tri[:,0]==1]
+			   
+				cam_objs = []
+				for i in range(len(new_objs)):
+					if (obj_mask[i,0] != -1):
+						cam_objs.append(np.hstack((obj_mask[i,0],new_objs[i].ravel(),new_pts[i].ravel())))  
+					else:
+						cam_objs.append(np.hstack((obj_idx,new_objs[i].ravel(),new_pts[i].ravel())))	
+						obj_idx += 1			   
+				all_objs.append(cam_objs)
+				img_idx += 1
+				all_P_mats.append(P1)
+				P0 = P1
+				#get a new set of features to track
+				new_features = cv2.goodFeaturesToTrack(gray, maxCorners, qualityLevel, minDistance)
+				orig, obj_mask = eliminateDuplicateObjects(all_objs[img_idx],new_features)
+				t = np.reshape(P0[:,3],(1,3))
+				t = t * np.array([1,-1,1])
+				#Get colors from detected pixels for coloring pointcloud
+				colors = getColors(new_pts,img2.copy())
+				all_pts = np.vstack((all_pts,new_objs))
+				all_colors = np.vstack((all_colors,colors))
+				all_pts = np.vstack((all_pts,np.reshape(t,(1,3))))
+				all_colors = np.vstack((all_colors,np.array([1.,0.,0.])))
+			
+			print('colro\points',len(all_pts),len(all_colors))
+			pcd = o3d.geometry.PointCloud()
+			pcd.points = o3d.utility.Vector3dVector(all_pts)
+			pcd.colors = o3d.utility.Vector3dVector(all_colors.astype(float))
+			o3d.io.write_point_cloud("pointcloud.ply", pcd)	
+			
+			frames = 3
+			if (False):
+			#if ((img_idx > frames) & ((img_idx-1) % frames == 0)):
+				#Lets do bundle adjustment
+				
+				n_cameras = frames
+
+				ba_objs = []			
+				camera_params = []			
+				for i in range(frames):
+					ba_objs.extend(np.reshape(all_objs[(img_idx-frames-1+i)],(-1,6)))
+					P = all_P_mats[(img_idx-frames-1+i)]
+					R, _ = cv2.Rodrigues(P[:,0:3])
+					t = np.reshape(P[:,3],(1,3))
+					camera_params.extend(np.hstack((R.ravel(),t.ravel())))
+				ba_objs = np.reshape(ba_objs,(-1,6))
+				camera_params = np.reshape(camera_params,(-1,6))
+				print(camera_params)
+
+				camera_indices = np.empty_like(ba_objs[:,0]).astype(int)
+				next = 0
+				prev = 0
+				for i in range(frames):
+					next += len(all_objs[(img_idx-frames-1+i)])
+					camera_indices[prev:next] = i
+					prev = next
+					
+				points_3d = np.reshape(ba_objs[:,1:4],(-1,3))
+				points_2d = np.reshape(ba_objs[:,4:6],(-1,2))
+				point_indices = np.reshape(ba_objs[:,0],(-1,1))
+	  
+				n_points = len(points_3d)
+
+				n = 6 * n_cameras + 3 * n_points
+				m = 2 * n_points
+
+				print("n_cameras: {}".format(n_cameras))
+				print("n_points: {}".format(n_points))
+				print("Total number of parameters: {}".format(n))
+				print("Total number of residuals: {}".format(m))
+				
+				#ba_thread = myThread(1,"thread1",n_cameras,n_points, camera_indices, point_indices)
+				
+				x0 = np.hstack((camera_params.ravel(), points_3d.ravel()))
+				f0 = baFun(x0, n_cameras, n_points, camera_indices, points_2d)
+				
+				plt.plot(f0)
+				#plt.show()
+
+				A = bundle_adjustment_sparsity(n_cameras, n_points, camera_indices, point_indices)
+				res = least_squares(baFun, x0, jac_sparsity=A, verbose=2, x_scale='jac', ftol=1e-4, method='trf',
+						args=(n_cameras, n_points, camera_indices, points_2d))
+				
+				plt.plot(res.fun)
+				plt.show()
+			prev = orig
+			orig_count = len(orig)
+		  
+		 
+		key = cv2.waitKey(1) & 0xFF;
+		if (key == 27 or key == ord('q') or key == ord('x')):
+			break;  
+
+if __name__ == '__main__':
+	mapping()
diff --git a/auto/python/stereo.py b/auto/python/stereo.py
new file mode 100644
index 0000000000..486858d908
--- /dev/null
+++ b/auto/python/stereo.py
@@ -0,0 +1,129 @@
+#!/usr/bin/env python
+
+# Python 2/3 compatibility
+from __future__ import print_function
+
+import numpy as np
+import cv2
+
+import struct
+
+import rospy
+from sensor_msgs import point_cloud2
+from sensor_msgs.msg import Image,CameraInfo, PointCloud2, PointField
+from std_msgs.msg import Header
+
+from cv_bridge import CvBridge, CvBridgeError
+
+ply_header = '''ply
+format ascii 1.0
+element vertex %(vert_num)d
+property float x
+property float y
+property float z
+property uchar red
+property uchar green
+property uchar blue
+end_header
+'''
+
+class Stereo():
+
+	def depthCallback(self,data):
+		try:
+			self.depth_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
+		except CvBridgeError as e:
+			print(e)
+
+	def colorCallback(self,data):
+		try:
+			self.color_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
+		except CvBridgeError as e:
+			print(e)
+
+	def infoCallback(self, data):
+		self.img_height = data.height
+		self.img_width = data.width
+		self.frame = data.header.frame_id
+		self.time = data.header.stamp
+		self.D = np.reshape(data.D,(1,5))
+		self.K = np.reshape(data.K,(3,3))
+
+	def array2pointcloud(self, xyz_pts, colors, stamp=None, frame_id=None):
+		points = []
+		for i in range(xyz_pts.shape[0]):
+		    rgb = struct.unpack('I', struct.pack('BBBB', colors[i,0], colors[i,1], colors[i,2], 255))[0]
+		    pt = [xyz_pts[i,0],xyz_pts[i,1],xyz_pts[i,2], rgb]
+		    points.append(pt)
+
+		fields = [PointField('x', 0, PointField.FLOAT32, 1),
+			  PointField('y', 4, PointField.FLOAT32, 1),
+			  PointField('z', 8, PointField.FLOAT32, 1),
+			  # PointField('rgb', 12, PointField.UINT32, 1),
+			  PointField('rgba', 12, PointField.UINT32, 1),
+			  ]
+
+		header = Header()
+		header.frame_id = frame_id
+		header.stamp = stamp
+		pc2 = point_cloud2.create_cloud(header, fields, points)
+		self.pc_pub.publish(pc2)
+
+
+	def __init__(self):
+
+		rospy.init_node('stereo', anonymous=True)
+
+		self.bridge = CvBridge()
+		self.color_sub = rospy.Subscriber("airsim/Drone1/color/image_raw",Image,self.colorCallback)
+		self.depth_sub = rospy.Subscriber("airsim/Drone1/depth/image_raw",Image,self.depthCallback)
+		self.info_sub = rospy.Subscriber("airsim/Drone1/depth",CameraInfo,self.infoCallback)
+		self.pc_pub = rospy.Publisher("airsim/Drone1/stereo", PointCloud2, queue_size=2)
+		self.color_image = np.array(0)
+		self.depth_image = np.array(0)
+		self.img_height = 0
+		self.img_width = 0
+		self.time = 0
+		self.frame = ""
+		self.D = np.array(0)
+		self.K = np.array(0)
+
+		rospy.wait_for_message('/airsim/Drone1/depth/image_raw',Image)
+		print('got depth image')
+
+		rospy.wait_for_message('/airsim/Drone1/color/image_raw',Image)
+		print('got color image')
+
+		rospy.wait_for_message('/airsim/Drone1/depth', CameraInfo)
+		print('got camera info')
+		
+		rate = rospy.Rate(10)  # 30hz
+		h, w = self.img_height, self.img_width
+		f = self.K[0,0]          #focal length  
+
+		Q = np.array([	[0,-1,0, -320],
+				[1,0,0, -240],
+				[0,0,1, 204],
+				[0,0,33, 0]])
+
+		while(True):
+
+			disp = np.array(cv2.cvtColor(self.depth_image, cv2.COLOR_BGR2GRAY)).astype(np.float32) / 16.0
+			points = cv2.reprojectImageTo3D(disp, Q)
+			colors = cv2.cvtColor(self.color_image, cv2.COLOR_BGR2RGB)
+			mask = disp > disp.min()
+			out_points = points[mask]
+			out_colors = colors[mask]
+
+			self.array2pointcloud(out_points, out_colors, self.time, self.frame)
+
+			#cv2.imshow('left', self.left_image)
+			cv2.imshow('disparity', (disp))
+			cv2.waitKey(1)
+			rate.sleep()
+
+
+if __name__ == '__main__':
+	Stereo()
+	exit()
+

From 41a869865818c2de29cd16c7ba55ccff191b9d9b Mon Sep 17 00:00:00 2001
From: ACLeighner <ACLeighner@aol.com>
Date: Tue, 9 Feb 2021 14:25:32 +0900
Subject: [PATCH 04/17] Add files via upload

updated python files
---
 auto/python/companion.py   | 68 ++++++++++++++++++++++++--------------
 auto/python/disable_gps.py | 21 ++++++++++++
 2 files changed, 65 insertions(+), 24 deletions(-)
 create mode 100644 auto/python/disable_gps.py

diff --git a/auto/python/companion.py b/auto/python/companion.py
index 868c96f53a..3df5b7916e 100644
--- a/auto/python/companion.py
+++ b/auto/python/companion.py
@@ -12,6 +12,7 @@
 import tf2_ros
 import tf2_geometry_msgs
 import cv2
+import shutil
 
 from cv_bridge import CvBridge, CvBridgeError
 
@@ -26,13 +27,16 @@
 from mavros_test_common import MavrosTestCommon
 from pymavlink import mavutil
 
-class KeyFrame:
-	stamp = 0.0
-	latitude = 0.0
-	longitude = 0.0
-	altitude = 0.0
-	orientation = [0.0,0.0,0.0,0.0]
-	image = ""	
+class KeyFrame(object):
+	empty = []
+
+	def __init__(self):
+		self.header = Header()
+		self.latitude = 0.0
+		self.longitude = 0.0
+		self.altitude = 0.0
+		self.orientation = [0.0,0.0,0.0,0.0]
+		self.image = ""	
 
 class companion():
 
@@ -57,6 +61,10 @@ def __init__(self):
 		orbslam.start()
 
    		rospy.init_node('companion_node', anonymous=True)
+		
+		#clear old images
+		shutil.rmtree('img')
+		os.mkdir('img')		
 
 		self.local_pose = Pose()
 		self.slam_pose = PoseStamped()
@@ -70,6 +78,7 @@ def __init__(self):
 		self.slam_scale = 1
 		self.state = "SYSTEM_NOT_READY"
 		self.last_state = "SYSTEM_NOT_READY"
+
 			#States:
 			#"SYSTEM_NOT_READY"
 			#"NO_IMAGES_YET"
@@ -156,48 +165,59 @@ def convertFRD(self, data):
 		return converted
 
 	def imageBuffer(self, data):
-		buffer_size = 60
+		buffer_size = 30
 		if (len(self.image_buffer) > buffer_size):
 			self.image_buffer.pop()
 		self.image_buffer.insert(0,data)
 
 	def keyframesCallback(self,data):
-		#TODO not currently captureing all keyframes
-		print(len(data.keyframes),len(self.keyframes))
+		#TODO not currently capturing all keyframes
+		#print(len(data.keyframes),len(self.keyframes))
 		#check for new keyframes
 		data = list(data.keyframes)
 		if (len(self.keyframes) == 0):
-			self.addKeyFrame(data.pop())
+			for kf in data:
+				self.addKeyFrame(kf)
 		else:
 			#check for removed keyframes
 			for old_kf in self.keyframes:
 				found = False
 				for new_kf in data:
-					if (old_kf.stamp == new_kf.header.stamp):
+					if (old_kf.header.stamp == new_kf.header.stamp):
 						found = True
 						break
+				#print(found)				
 				if (not found):
-					print('remove frame')
-					self.keyframes.remove(old_kf)
-			kf = data.pop()
-			#Add new Keyframes to end of list
-			while (kf.header.stamp > self.keyframes[-1].stamp):
-				self.addKeyFrame(kf)
-				kf = data.pop()
-
+					self.removeKeyFrame(old_kf)
+			#Add new kfs
+			latest = self.keyframes[-1].header.stamp
+			for new_kf in data:
+				if (new_kf.header.stamp > latest):
+					self.addKeyFrame(new_kf)		
+
+	def removeKeyFrame(self, data):
+		#print('remove frame '+data.image)
+		self.keyframes.remove(data)
+		if os.path.exists(data.image):
+ 			os.remove(data.image)
 
 	def addKeyFrame(self, data):
 		kf = KeyFrame()
+		found = False
 		for img in self.image_buffer:
 			#print(img.header.stamp, data.header.stamp)
-			if (img.header.stamp == data.header.stamp):
-				print('added frame')
-				kf.stamp = data.header.stamp
+			if (img.header.stamp.to_sec() == data.header.stamp.to_sec()):
+				#print('add frame')
+				kf.header.stamp = data.header.stamp
 				cv_img = self.bridge.imgmsg_to_cv2(img, "passthrough")
-				kf.image = 'img/'+str(kf.stamp.to_sec())+'.png'
+				kf.image = 'img/'+str(kf.header.stamp.to_sec())+'.png'
 				cv2.imwrite(kf.image, cv_img)
 				self.keyframes.append(kf)
+				found = True
 				break
+		if (not found):
+			print('Image not found, consider increasing image buffer size')
+			
 
 		
 if __name__ == '__main__':
diff --git a/auto/python/disable_gps.py b/auto/python/disable_gps.py
new file mode 100644
index 0000000000..6597602360
--- /dev/null
+++ b/auto/python/disable_gps.py
@@ -0,0 +1,21 @@
+import rospy
+import px4tools
+
+from mavros import mavlink
+from mavros_msgs.msg import Mavlink, Waypoint, WaypointReached, GlobalPositionTarget, State, TakeoffAction, TakeoffGoal, LandAction, LandGoal, WaypointsAction, WaypointsGoal, HomePosition, ParamValue
+from mavros_msgs.srv import CommandBool, SetMode, CommandTOL, WaypointPush, WaypointClear, CommandHome, ParamSet
+
+
+rospy.init_node('disable_gps', anonymous=True)
+
+rospy.wait_for_service('/mavros/param/set')
+print('connected to ParamSet Service')
+param_set = rospy.ServiceProxy('/mavros/param/set', ParamSet)
+
+param = ParamValue()
+param_set
+
+
+rospy.spin()
+
+

From bcd3e0a38c5c4997eb44699d0d189c7e32520f96 Mon Sep 17 00:00:00 2001
From: ACLeighner <ACLeighner@aol.com>
Date: Mon, 22 Feb 2021 16:40:20 +0900
Subject: [PATCH 05/17] Add files via upload

---
 auto/python/companion.py | 31 +++++++++++++++++++------------
 1 file changed, 19 insertions(+), 12 deletions(-)

diff --git a/auto/python/companion.py b/auto/python/companion.py
index 3df5b7916e..43b1fbdf54 100644
--- a/auto/python/companion.py
+++ b/auto/python/companion.py
@@ -19,8 +19,8 @@
 from mavros import mavlink
 from mavros_msgs.msg import Mavlink, Waypoint, WaypointReached, GlobalPositionTarget, State, TakeoffAction, TakeoffGoal, LandAction, LandGoal, WaypointsAction, WaypointsGoal, HomePosition
 from mavros_msgs.srv import CommandBool, SetMode, CommandTOL, WaypointPush, WaypointClear, CommandHome
-from orb_slam2_ros.msg import KeyFrames
-from sensor_msgs.msg import NavSatFix, Image
+from orb_slam2_ros.msg import KeyFrames, Observations
+from sensor_msgs.msg import NavSatFix, Image, PointCloud2
 from std_msgs.msg import Header
 from nav_msgs.msg import Odometry
 from geometry_msgs.msg import Pose, PoseWithCovariance, PoseStamped, PoseWithCovarianceStamped
@@ -31,7 +31,7 @@ class KeyFrame(object):
 	empty = []
 
 	def __init__(self):
-		self.header = Header()
+		self.image_id = ""
 		self.latitude = 0.0
 		self.longitude = 0.0
 		self.altitude = 0.0
@@ -93,6 +93,8 @@ def __init__(self):
 		rospy.Subscriber('/mavros/local_position/pose', PoseStamped, self.local_pose_callback)
 		rospy.Subscriber('/orb_slam2_mono/pose', PoseStamped, self.slamCallback)
 		rospy.Subscriber('/orb_slam2_mono/state', Header, self.stateCallback)
+		rospy.Subscriber('/orb_slam2_mono/map_points', PointCloud2, self.pointcloudCallback)
+		rospy.Subscriber('/orb_slam2_mono/observations', Observations, self.observationsCallback)
 		rospy.Subscriber('/orb_slam2_mono/keyframes', KeyFrames, self.keyframesCallback)
 		rospy.Subscriber('/airsim/base_link/camera/image_raw', Image, self.imageBuffer)
 		#rospy.Subscriber('/orb_slam2_mono/keyframes', KeyFrames, self.keyframesCallback)
@@ -165,7 +167,7 @@ def convertFRD(self, data):
 		return converted
 
 	def imageBuffer(self, data):
-		buffer_size = 30
+		buffer_size = 50
 		if (len(self.image_buffer) > buffer_size):
 			self.image_buffer.pop()
 		self.image_buffer.insert(0,data)
@@ -183,16 +185,16 @@ def keyframesCallback(self,data):
 			for old_kf in self.keyframes:
 				found = False
 				for new_kf in data:
-					if (old_kf.header.stamp == new_kf.header.stamp):
+					if (old_kf.image_id == new_kf.header.stamp.to_sec()):
 						found = True
 						break
 				#print(found)				
 				if (not found):
 					self.removeKeyFrame(old_kf)
 			#Add new kfs
-			latest = self.keyframes[-1].header.stamp
+			latest = self.keyframes[-1].image_id
 			for new_kf in data:
-				if (new_kf.header.stamp > latest):
+				if (new_kf.header.stamp.to_sec() > latest):
 					self.addKeyFrame(new_kf)		
 
 	def removeKeyFrame(self, data):
@@ -208,17 +210,22 @@ def addKeyFrame(self, data):
 			#print(img.header.stamp, data.header.stamp)
 			if (img.header.stamp.to_sec() == data.header.stamp.to_sec()):
 				#print('add frame')
-				kf.header.stamp = data.header.stamp
+				kf.image_id = data.header.stamp.to_sec()
 				cv_img = self.bridge.imgmsg_to_cv2(img, "passthrough")
-				kf.image = 'img/'+str(kf.header.stamp.to_sec())+'.png'
+				kf.image = 'img/'+str(kf.image_id)+'.png'
 				cv2.imwrite(kf.image, cv_img)
 				self.keyframes.append(kf)
 				found = True
-				break
-		if (not found):
-			print('Image not found, consider increasing image buffer size')
+				return
+		print('Image not found, consider increasing image buffer size')
 			
+	def pointcloudCallback(self, data):
+		self.pointcloud = data
 
+	def observationsCallback(self, data):
+		data = list(data.observations)
+		print(self.pointcloud.width, len(data))
+		
 		
 if __name__ == '__main__':
 	companion()

From b14cd9f00cda774fa0248270a47ea0fd0e0442c2 Mon Sep 17 00:00:00 2001
From: Erik Vroon <erik.vroon22@gmail.com>
Date: Mon, 22 Mar 2021 14:20:38 +0100
Subject: [PATCH 06/17] Fix formatting in sensor params code

---
 .../barometer/BarometerSimpleParams.hpp       | 49 ++++++++++---------
 .../include/sensors/gps/GpsSimpleParams.hpp   | 29 +++++------
 .../include/sensors/imu/ImuSimpleParams.hpp   | 11 +++--
 .../sensors/lidar/LidarSimpleParams.hpp       | 12 ++---
 .../magnetometer/MagnetometerSimpleParams.hpp | 17 ++++---
 5 files changed, 62 insertions(+), 56 deletions(-)

diff --git a/AirLib/include/sensors/barometer/BarometerSimpleParams.hpp b/AirLib/include/sensors/barometer/BarometerSimpleParams.hpp
index 84e219f387..14d6803e9a 100644
--- a/AirLib/include/sensors/barometer/BarometerSimpleParams.hpp
+++ b/AirLib/include/sensors/barometer/BarometerSimpleParams.hpp
@@ -51,30 +51,31 @@ struct BarometerSimpleParams {
 
     void initializeFromSettings(const AirSimSettings::BarometerSetting& settings)
     {
-	qnh = settings.qnh;
-	pressure_factor_sigma = settings.pressure_factor_sigma;
-	pressure_factor_tau = settings.pressure_factor_tau;
-	unnorrelated_noise_sigma = settings.unnorrelated_noise_sigma;
-	update_latency = settings.update_latency;
-	update_frequency = settings.update_frequency;
-	startup_delay = settings.startup_delay;
-
-	relative_pose.position = settings.position;
-	if (std::isnan(relative_pose.position.x()))
-	    relative_pose.position.x() = 0;
-	if (std::isnan(relative_pose.position.y()))
-	    relative_pose.position.y() = 0;
-	if (std::isnan(relative_pose.position.z())) 
-	    relative_pose.position.z() = 0;
-
-	float pitch, roll, yaw;
-	pitch = !std::isnan(settings.rotation.pitch) ? settings.rotation.pitch : 0;
-	roll = !std::isnan(settings.rotation.roll) ? settings.rotation.roll : 0;
-	yaw = !std::isnan(settings.rotation.yaw) ? settings.rotation.yaw : 0;
-	relative_pose.orientation = VectorMath::toQuaternion(
-	    Utils::degreesToRadians(pitch),   //pitch - rotation around Y axis
-	    Utils::degreesToRadians(roll),    //roll  - rotation around X axis
-	    Utils::degreesToRadians(yaw));    //yaw   - rotation around Z axis
+        qnh = settings.qnh;
+        pressure_factor_sigma = settings.pressure_factor_sigma;
+        pressure_factor_tau = settings.pressure_factor_tau;
+        unnorrelated_noise_sigma = settings.unnorrelated_noise_sigma;
+        update_latency = settings.update_latency;
+        update_frequency = settings.update_frequency;
+        startup_delay = settings.startup_delay;
+
+        relative_pose.position = settings.position;
+        if (std::isnan(relative_pose.position.x()))
+            relative_pose.position.x() = 0;
+        if (std::isnan(relative_pose.position.y()))
+            relative_pose.position.y() = 0;
+        if (std::isnan(relative_pose.position.z()))
+            relative_pose.position.z() = 0;
+
+        float pitch, roll, yaw;
+        pitch = !std::isnan(settings.rotation.pitch) ? settings.rotation.pitch : 0;
+        roll = !std::isnan(settings.rotation.roll) ? settings.rotation.roll : 0;
+        yaw = !std::isnan(settings.rotation.yaw) ? settings.rotation.yaw : 0;
+        relative_pose.orientation = VectorMath::toQuaternion(
+            Utils::degreesToRadians(pitch),   //pitch - rotation around Y axis
+            Utils::degreesToRadians(roll),    //roll  - rotation around X axis
+            Utils::degreesToRadians(yaw)     //yaw   - rotation around Z axis
+        );
     }
 };
 
diff --git a/AirLib/include/sensors/gps/GpsSimpleParams.hpp b/AirLib/include/sensors/gps/GpsSimpleParams.hpp
index 078622bee9..92014a9f7c 100644
--- a/AirLib/include/sensors/gps/GpsSimpleParams.hpp
+++ b/AirLib/include/sensors/gps/GpsSimpleParams.hpp
@@ -23,25 +23,25 @@ struct GpsSimpleParams {
 
     void initializeFromSettings(const AirSimSettings::GpsSetting& settings)
     {
-	eph_time_constant = settings.eph_time_constant;
-	epv_time_constant = settings.epv_time_constant;
-	eph_initial = settings.eph_initial;
-	epv_initial = settings.epv_initial;
-	eph_final = settings.eph_final;
-	epv_final = settings.epv_final;
-	eph_min_3d = settings.eph_min_3d;
-	eph_min_2d = settings.eph_min_2d;
-
-	update_latency = settings.update_latency;
-	update_frequency = settings.update_frequency;
-	startup_delay = settings.startup_delay;
+        eph_time_constant = settings.eph_time_constant;
+        epv_time_constant = settings.epv_time_constant;
+        eph_initial = settings.eph_initial;
+        epv_initial = settings.epv_initial;
+        eph_final = settings.eph_final;
+        epv_final = settings.epv_final;
+        eph_min_3d = settings.eph_min_3d;
+        eph_min_2d = settings.eph_min_2d;
+
+        update_latency = settings.update_latency;
+        update_frequency = settings.update_frequency;
+        startup_delay = settings.startup_delay;
 
         relative_pose.position = settings.position;
         if (std::isnan(relative_pose.position.x()))
             relative_pose.position.x() = 0;
         if (std::isnan(relative_pose.position.y()))
             relative_pose.position.y() = 0;
-        if (std::isnan(relative_pose.position.z())) 
+        if (std::isnan(relative_pose.position.z()))
 	    relative_pose.position.z() = 0;
 
         float pitch, roll, yaw;
@@ -51,7 +51,8 @@ struct GpsSimpleParams {
         relative_pose.orientation = VectorMath::toQuaternion(
             Utils::degreesToRadians(pitch),   //pitch - rotation around Y axis
             Utils::degreesToRadians(roll),    //roll  - rotation around X axis
-            Utils::degreesToRadians(yaw));    //yaw   - rotation around Z axis
+            Utils::degreesToRadians(yaw)      //yaw   - rotation around Z axis
+        );
     }
 };
 
diff --git a/AirLib/include/sensors/imu/ImuSimpleParams.hpp b/AirLib/include/sensors/imu/ImuSimpleParams.hpp
index 74fdc2bfa4..b23119baca 100644
--- a/AirLib/include/sensors/imu/ImuSimpleParams.hpp
+++ b/AirLib/include/sensors/imu/ImuSimpleParams.hpp
@@ -16,7 +16,7 @@ namespace msr { namespace airlib {
 // A description of the parameters:
 // https://github.com/ethz-asl/kalibr/wiki/IMU-Noise-Model-and-Intrinsics
 struct ImuSimpleParams {
-    /* ref: Parameter values are for MPU 6000 IMU from InvenSense 
+    /* ref: Parameter values are for MPU 6000 IMU from InvenSense
     Design and Characterization of a Low Cost MEMS IMU Cluster for Precision Navigation
     Daniel R. Greenheck, 2009, sec 2.2, pp 17
     http://epublications.marquette.edu/cgi/viewcontent.cgi?article=1326&context=theses_open
@@ -37,7 +37,7 @@ struct ImuSimpleParams {
 
     struct Accelerometer {
         //velocity random walk (ARW)
-        real_T vrw = 0.24f * EarthUtils::Gravity / 1.0E3f; //mg converted to m/s^2 
+        real_T vrw = 0.24f * EarthUtils::Gravity / 1.0E3f; //mg converted to m/s^2
         //Bias Stability (tau = 800s)
         real_T tau = 800;
         real_T bias_stability = 36.0f * 1E-6f * 9.80665f; //ug converted to m/s^2
@@ -45,7 +45,7 @@ struct ImuSimpleParams {
     } accel;
 
     real_T min_sample_time = 1 / 1000.0f;   //internal IMU frequency
-    
+
     void initializeFromSettings(const AirSimSettings::ImuSetting& settings)
     {
         gyro.arw = settings.gyro_arw;
@@ -63,7 +63,7 @@ struct ImuSimpleParams {
             relative_pose.position.x() = 0;
         if (std::isnan(relative_pose.position.y()))
             relative_pose.position.y() = 0;
-        if (std::isnan(relative_pose.position.z())) 
+        if (std::isnan(relative_pose.position.z()))
 	    relative_pose.position.z() = 0;
 
         float pitch, roll, yaw;
@@ -73,7 +73,8 @@ struct ImuSimpleParams {
         relative_pose.orientation = VectorMath::toQuaternion(
             Utils::degreesToRadians(pitch),   //pitch - rotation around Y axis
             Utils::degreesToRadians(roll),    //roll  - rotation around X axis
-            Utils::degreesToRadians(yaw));    //yaw   - rotation around Z axis
+            Utils::degreesToRadians(yaw)      //yaw   - rotation around Z axis
+        );
     }
 };
 
diff --git a/AirLib/include/sensors/lidar/LidarSimpleParams.hpp b/AirLib/include/sensors/lidar/LidarSimpleParams.hpp
index c42bb59c7b..9701d9a808 100644
--- a/AirLib/include/sensors/lidar/LidarSimpleParams.hpp
+++ b/AirLib/include/sensors/lidar/LidarSimpleParams.hpp
@@ -17,9 +17,9 @@ struct LidarSimpleParams {
     // default settings
     // TODO: enable reading of these params from AirSim settings
 
-    uint number_of_channels = 16; 
+    uint number_of_channels = 16;
     real_T range = 10000.0f / 100;            // meters
-    uint points_per_second = 100000;  
+    uint points_per_second = 100000;
     uint horizontal_rotation_frequency = 10;  // rotations/sec
     real_T horizontal_FOV_start = 0;
     real_T horizontal_FOV_end = 359;
@@ -28,8 +28,8 @@ struct LidarSimpleParams {
 
     Pose relative_pose {
         Vector3r(0,0,-1),                     // position - a little above vehicle (especially for cars) or Vector3r::Zero()
-        Quaternionr::Identity()               // orientation - by default Quaternionr(1, 0, 0, 0) 
-        };                       
+        Quaternionr::Identity()               // orientation - by default Quaternionr(1, 0, 0, 0)
+        };
 
     bool draw_debug_points = false;
     std::string data_frame = AirSimSettings::kVehicleInertialFrame;
@@ -86,8 +86,8 @@ struct LidarSimpleParams {
         relative_pose.orientation = VectorMath::toQuaternion(
             Utils::degreesToRadians(pitch),   //pitch - rotation around Y axis
             Utils::degreesToRadians(roll),    //roll  - rotation around X axis
-            Utils::degreesToRadians(yaw));    //yaw   - rotation around Z axis
-           
+            Utils::degreesToRadians(yaw)      //yaw   - rotation around Z axis
+        );
         draw_debug_points = settings.draw_debug_points;
         data_frame = settings.data_frame;
     }
diff --git a/AirLib/include/sensors/magnetometer/MagnetometerSimpleParams.hpp b/AirLib/include/sensors/magnetometer/MagnetometerSimpleParams.hpp
index ee1f1b212f..320d84607b 100644
--- a/AirLib/include/sensors/magnetometer/MagnetometerSimpleParams.hpp
+++ b/AirLib/include/sensors/magnetometer/MagnetometerSimpleParams.hpp
@@ -38,13 +38,15 @@ struct MagnetometerSimpleParams {
     void initializeFromSettings(const AirSimSettings::MagnetometerSetting& settings)
     {
         noise_sigma = settings.noise_sigma;
-	noise_bias = settings.noise_bias;
+        noise_bias = settings.noise_bias;
         scale_factor = settings.scale_factor;
-	dynamic_reference_source = settings.dynamic_reference_source;
+        dynamic_reference_source = settings.dynamic_reference_source;
         ref_update_frequency = settings.update_frequency;
-	if (settings.ref_source == 0){
-		ref_source = ReferenceSource::ReferenceSource_Constant;
-	}
+
+        if (settings.ref_source == 0){
+            ref_source = ReferenceSource::ReferenceSource_Constant;
+        }
+
         update_latency = settings.update_latency;
         update_frequency = settings.update_frequency;
         startup_delay = settings.startup_delay;
@@ -54,7 +56,7 @@ struct MagnetometerSimpleParams {
             relative_pose.position.x() = 0;
         if (std::isnan(relative_pose.position.y()))
             relative_pose.position.y() = 0;
-        if (std::isnan(relative_pose.position.z())) 
+        if (std::isnan(relative_pose.position.z()))
 	    relative_pose.position.z() = 0;
 
         float pitch, roll, yaw;
@@ -64,7 +66,8 @@ struct MagnetometerSimpleParams {
         relative_pose.orientation = VectorMath::toQuaternion(
             Utils::degreesToRadians(pitch),   //pitch - rotation around Y axis
             Utils::degreesToRadians(roll),    //roll  - rotation around X axis
-            Utils::degreesToRadians(yaw));    //yaw   - rotation around Z axis
+            Utils::degreesToRadians(yaw)      //yaw   - rotation around Z axis
+        );
     }
 };
 

From b71e6c438ed5f10331314dd042d1d08e3758a1c1 Mon Sep 17 00:00:00 2001
From: Erik Vroon <erik.vroon22@gmail.com>
Date: Mon, 22 Mar 2021 14:22:26 +0100
Subject: [PATCH 07/17] Implement feedback on PR #2821

---
 PythonClient/airsim/types.py    |  6 +++---
 PythonClient/multirotor/path.py |  2 +-
 auto/airsim/types.py            | 24 ++++++++++++------------
 docs/build_linux.md             |  2 +-
 4 files changed, 17 insertions(+), 17 deletions(-)

diff --git a/PythonClient/airsim/types.py b/PythonClient/airsim/types.py
index 174db08e78..e60fd2715a 100644
--- a/PythonClient/airsim/types.py
+++ b/PythonClient/airsim/types.py
@@ -415,9 +415,9 @@ class GpsData(MsgpackMixin):
 
 class DistanceSensorData(MsgpackMixin):
     time_stamp = np.uint64(0)
-    distance = np.float32(0)
-    min_distance = np.float32(0)
-    max_distance = np.float32(0)
+    distance = 0.0
+    min_distance = 0.0
+    max_distance = 0.0
     relative_pose = Pose()
 
 class PIDGains():
diff --git a/PythonClient/multirotor/path.py b/PythonClient/multirotor/path.py
index 960581afee..d3ce23b2a8 100644
--- a/PythonClient/multirotor/path.py
+++ b/PythonClient/multirotor/path.py
@@ -32,7 +32,7 @@
 # z of -7 is 7 meters above the original launch point.
 z = -70
 print("make sure we are hovering at 7 meters...")
-client.moveToZAsync(z, 5).join()
+client.moveToZAsync(z, 1).join()
 
 # see https://github.com/Microsoft/AirSim/wiki/moveOnPath-demo
 
diff --git a/auto/airsim/types.py b/auto/airsim/types.py
index 297fb4645c..867efd15b6 100644
--- a/auto/airsim/types.py
+++ b/auto/airsim/types.py
@@ -400,16 +400,16 @@ class GpsData(MsgpackMixin):
 
 class DistanceSensorData(MsgpackMixin):
     time_stamp = np.uint64(0)
-    distance = np.float32(0)
-    min_distance = np.float32(0)
-    max_distance = np.float32(0)
+    distance = 0.0
+    min_distance = 0.0
+    max_distance = 0.0
     relative_pose = Pose()
 
 class PIDGains():
     """
     Struct to store values of PID gains. Used to transmit controller gain values while instantiating
     AngleLevel/AngleRate/Velocity/PositionControllerGains objects.
-    
+
     Attributes:
         kP (float): Proportional gain
         kI (float): Integrator gain
@@ -426,7 +426,7 @@ def to_list(self):
 class AngleRateControllerGains():
     """
     Struct to contain controller gains used by angle level PID controller
-    
+
     Attributes:
         roll_gains (PIDGains): kP, kI, kD for roll axis
         pitch_gains (PIDGains): kP, kI, kD for pitch axis
@@ -438,14 +438,14 @@ def __init__(self, roll_gains = PIDGains(0.25, 0, 0),
         self.roll_gains = roll_gains
         self.pitch_gains = pitch_gains
         self.yaw_gains = yaw_gains
-    
+
     def to_lists(self):
         return [self.roll_gains.kp, self.pitch_gains.kp, self.yaw_gains.kp], [self.roll_gains.ki, self.pitch_gains.ki, self.yaw_gains.ki], [self.roll_gains.kd, self.pitch_gains.kd, self.yaw_gains.kd]
 
 class AngleLevelControllerGains():
     """
     Struct to contain controller gains used by angle rate PID controller
-    
+
     Attributes:
         roll_gains (PIDGains): kP, kI, kD for roll axis
         pitch_gains (PIDGains): kP, kI, kD for pitch axis
@@ -457,14 +457,14 @@ def __init__(self, roll_gains = PIDGains(2.5, 0, 0),
         self.roll_gains = roll_gains
         self.pitch_gains = pitch_gains
         self.yaw_gains = yaw_gains
-    
+
     def to_lists(self):
         return [self.roll_gains.kp, self.pitch_gains.kp, self.yaw_gains.kp], [self.roll_gains.ki, self.pitch_gains.ki, self.yaw_gains.ki], [self.roll_gains.kd, self.pitch_gains.kd, self.yaw_gains.kd]
 
 class VelocityControllerGains():
     """
     Struct to contain controller gains used by velocity PID controller
-    
+
     Attributes:
         x_gains (PIDGains): kP, kI, kD for X axis
         y_gains (PIDGains): kP, kI, kD for Y axis
@@ -476,14 +476,14 @@ def __init__(self, x_gains = PIDGains(0.2, 0, 0),
         self.x_gains = x_gains
         self.y_gains = y_gains
         self.z_gains = z_gains
-    
+
     def to_lists(self):
         return [self.x_gains.kp, self.y_gains.kp, self.z_gains.kp], [self.x_gains.ki, self.y_gains.ki, self.z_gains.ki], [self.x_gains.kd, self.y_gains.kd, self.z_gains.kd]
 
 class PositionControllerGains():
     """
     Struct to contain controller gains used by position PID controller
-    
+
     Attributes:
         x_gains (PIDGains): kP, kI, kD for X axis
         y_gains (PIDGains): kP, kI, kD for Y axis
@@ -495,7 +495,7 @@ def __init__(self, x_gains = PIDGains(0.25, 0, 0),
         self.x_gains = x_gains
         self.y_gains = y_gains
         self.z_gains = z_gains
-    
+
     def to_lists(self):
         return [self.x_gains.kp, self.y_gains.kp, self.z_gains.kp], [self.x_gains.ki, self.y_gains.ki, self.z_gains.ki], [self.x_gains.kd, self.y_gains.kd, self.z_gains.kd]
 
diff --git a/docs/build_linux.md b/docs/build_linux.md
index d19f8fb465..12753e2c48 100644
--- a/docs/build_linux.md
+++ b/docs/build_linux.md
@@ -100,7 +100,7 @@ Alternatively, you can use [APIs](apis.md) for programmatic control or use the s
   * If this is the case then look for *.gch file(s) that follows after that message, delete them and try again. Here's [relevant thread](https://answers.unrealengine.com/questions/412349/linux-ue4-build-precompiled-header-fatal-error.html) on Unreal Engine forums.
 
   * If you see other compile errors in console then open up those source files and see if it is due to changes you made. If not, then report it as issue on GitHub.
-  * Additionally, if you are having trouble rebuilding the plugin in UE4 after making changes to the AirSim library, you may need to manually delete the binaries and intermediate folders in both your Unreal Project folder, and in the UnrealProject/Plugin/AirSim folder.  This will force clang to recompile both the UE4 project and plugin and may resolve issues of "clang could not find file x"
+  * Additionally, if you are having trouble rebuilding the plugin in UE4 after making changes to the AirSim library, you may need to manually delete the binaries and intermediate folders in both your Unreal Project folder, and in the UnrealProject/Plugin/AirSim folder. This can be done by running [clean.sh](https://github.com/microsoft/AirSim/blob/master/Unreal/Environments/Blocks/clean.sh). This will force clang to recompile both the UE4 project and plugin and may resolve issues of "clang could not find file x".
 
 - Unreal crashed! How do I know what went wrong?
     * Go to the `MyUnrealProject/Saved/Crashes` folder and search for the file `MyProject.log` within its subdirectories. At the end of this file you will see the stack trace and messages.

From 49a82b6e3be6818b7d025268f183e5e7f5ba84f1 Mon Sep 17 00:00:00 2001
From: Erik Vroon <erik.vroon22@gmail.com>
Date: Mon, 22 Mar 2021 14:31:50 +0100
Subject: [PATCH 08/17] Remove auto directory

Seems to be a duplicate of the PythonClient dir.
---
 AirLib/include/common/AirSimSettings.hpp      |   40 +-
 PythonClient/multirotor/path.py               |    2 +-
 auto/airsim/__init__.py                       |    4 -
 auto/airsim/__init__.pyc                      |  Bin 217 -> 0 bytes
 .../__pycache__/__init__.cpython-36.pyc       |  Bin 189 -> 0 bytes
 auto/airsim/__pycache__/client.cpython-36.pyc |  Bin 55970 -> 0 bytes
 auto/airsim/__pycache__/utils.cpython-36.pyc  |  Bin 5728 -> 0 bytes
 auto/airsim/client.py                         | 1127 ----
 auto/airsim/client.pyc                        |  Bin 58743 -> 0 bytes
 auto/airsim/pfm.py                            |   85 -
 auto/airsim/types.py                          |  507 --
 auto/airsim/types.pyc                         |  Bin 25562 -> 0 bytes
 auto/airsim/utils.py                          |  222 -
 auto/airsim/utils.pyc                         |  Bin 7464 -> 0 bytes
 auto/python/airsim_helper.py                  |  260 -
 auto/python/airsim_helper.pyc                 |  Bin 10866 -> 0 bytes
 auto/python/autonomy.py                       |   49 -
 auto/python/backup                            |  152 -
 auto/python/companion.py                      |  232 -
 auto/python/companion.pyc                     |  Bin 4808 -> 0 bytes
 auto/python/companion2.py                     |  158 -
 auto/python/disable_gps.py                    |   21 -
 auto/python/frames.gv                         |   21 -
 auto/python/frames.pdf                        |  Bin 19940 -> 0 bytes
 auto/python/ground.py                         |  112 -
 auto/python/mapping.py                        |  227 -
 auto/python/mapping2.py                       |  229 -
 auto/python/mapping3.py                       |  164 -
 auto/python/mavros_test_common.py             |  417 --
 auto/python/mavros_test_common.pyc            |  Bin 14439 -> 0 bytes
 auto/python/mavtest.py                        |  204 -
 auto/python/navigation.py                     |  146 -
 auto/python/offboard.py                       |  165 -
 auto/python/offboard2.py                      |  151 -
 auto/python/offboard3.py                      |  146 -
 auto/python/out.ply                           | 5692 -----------------
 auto/python/pad_detection.py                  |  136 -
 auto/python/pad_detection.pyc                 |  Bin 5374 -> 0 bytes
 auto/python/setup_path.py                     |   52 -
 auto/python/setup_path.pyc                    |  Bin 1965 -> 0 bytes
 auto/python/sfm.py                            |  254 -
 auto/python/sfm.pyc                           |  Bin 9028 -> 0 bytes
 auto/python/sfm_ros.py                        |  304 -
 auto/python/stereo.py                         |  129 -
 44 files changed, 21 insertions(+), 11387 deletions(-)
 delete mode 100644 auto/airsim/__init__.py
 delete mode 100644 auto/airsim/__init__.pyc
 delete mode 100644 auto/airsim/__pycache__/__init__.cpython-36.pyc
 delete mode 100644 auto/airsim/__pycache__/client.cpython-36.pyc
 delete mode 100644 auto/airsim/__pycache__/utils.cpython-36.pyc
 delete mode 100644 auto/airsim/client.py
 delete mode 100644 auto/airsim/client.pyc
 delete mode 100644 auto/airsim/pfm.py
 delete mode 100644 auto/airsim/types.py
 delete mode 100644 auto/airsim/types.pyc
 delete mode 100644 auto/airsim/utils.py
 delete mode 100644 auto/airsim/utils.pyc
 delete mode 100644 auto/python/airsim_helper.py
 delete mode 100644 auto/python/airsim_helper.pyc
 delete mode 100644 auto/python/autonomy.py
 delete mode 100644 auto/python/backup
 delete mode 100644 auto/python/companion.py
 delete mode 100644 auto/python/companion.pyc
 delete mode 100644 auto/python/companion2.py
 delete mode 100644 auto/python/disable_gps.py
 delete mode 100644 auto/python/frames.gv
 delete mode 100644 auto/python/frames.pdf
 delete mode 100644 auto/python/ground.py
 delete mode 100644 auto/python/mapping.py
 delete mode 100644 auto/python/mapping2.py
 delete mode 100644 auto/python/mapping3.py
 delete mode 100644 auto/python/mavros_test_common.py
 delete mode 100644 auto/python/mavros_test_common.pyc
 delete mode 100644 auto/python/mavtest.py
 delete mode 100644 auto/python/navigation.py
 delete mode 100644 auto/python/offboard.py
 delete mode 100644 auto/python/offboard2.py
 delete mode 100644 auto/python/offboard3.py
 delete mode 100644 auto/python/out.ply
 delete mode 100644 auto/python/pad_detection.py
 delete mode 100644 auto/python/pad_detection.pyc
 delete mode 100644 auto/python/setup_path.py
 delete mode 100644 auto/python/setup_path.pyc
 delete mode 100644 auto/python/sfm.py
 delete mode 100644 auto/python/sfm.pyc
 delete mode 100644 auto/python/sfm_ros.py
 delete mode 100644 auto/python/stereo.py

diff --git a/AirLib/include/common/AirSimSettings.hpp b/AirLib/include/common/AirSimSettings.hpp
index 67b7f9dec6..f33806734c 100644
--- a/AirLib/include/common/AirSimSettings.hpp
+++ b/AirLib/include/common/AirSimSettings.hpp
@@ -1288,13 +1288,13 @@ struct AirSimSettings {
 
     static void initializeBarometerSetting(BarometerSetting& barometer_setting, const Settings& settings_json)
     {
-	barometer_setting.qnh = settings_json.getFloat("SeaLevelPressure", barometer_setting.qnh);
-	barometer_setting.pressure_factor_sigma = settings_json.getFloat("PressureFactorSigma", barometer_setting.pressure_factor_sigma);
-	barometer_setting.pressure_factor_tau = settings_json.getFloat("PressureFactorTau", barometer_setting.pressure_factor_tau);
-	barometer_setting.unnorrelated_noise_sigma = settings_json.getFloat("NoiseSigma", barometer_setting.unnorrelated_noise_sigma);
-	barometer_setting.update_latency = settings_json.getFloat("UpdateLatency", barometer_setting.update_latency);
-	barometer_setting.update_frequency = settings_json.getFloat("UpdateFrequency", barometer_setting.update_frequency);
-	barometer_setting.startup_delay = settings_json.getFloat("StartupDelay", barometer_setting.startup_delay);
+        barometer_setting.qnh = settings_json.getFloat("SeaLevelPressure", barometer_setting.qnh);
+        barometer_setting.pressure_factor_sigma = settings_json.getFloat("PressureFactorSigma", barometer_setting.pressure_factor_sigma);
+        barometer_setting.pressure_factor_tau = settings_json.getFloat("PressureFactorTau", barometer_setting.pressure_factor_tau);
+        barometer_setting.unnorrelated_noise_sigma = settings_json.getFloat("NoiseSigma", barometer_setting.unnorrelated_noise_sigma);
+        barometer_setting.update_latency = settings_json.getFloat("UpdateLatency", barometer_setting.update_latency);
+        barometer_setting.update_frequency = settings_json.getFloat("UpdateFrequency", barometer_setting.update_frequency);
+        barometer_setting.startup_delay = settings_json.getFloat("StartupDelay", barometer_setting.startup_delay);
         barometer_setting.position = createVectorSetting(settings_json, barometer_setting.position);
         barometer_setting.rotation = createRotationSetting(settings_json, barometer_setting.rotation);
     }
@@ -1317,17 +1317,17 @@ struct AirSimSettings {
 
     static void initializeGpsSetting(GpsSetting& gps_setting, const Settings& settings_json)
     {
-	gps_setting.eph_time_constant = settings_json.getFloat("EphTimeConstant", gps_setting.eph_time_constant);
-	gps_setting.epv_time_constant = settings_json.getFloat("EpvTimeConstant", gps_setting.epv_time_constant);
-	gps_setting.eph_initial = settings_json.getFloat("EphInitial", gps_setting.eph_initial);
-	gps_setting.epv_initial = settings_json.getFloat("EpvInitial", gps_setting.epv_initial);
-	gps_setting.eph_final = settings_json.getFloat("EphFinal", gps_setting.eph_final);
-	gps_setting.epv_final = settings_json.getFloat("EpvFinal", gps_setting.epv_final);
-	gps_setting.eph_min_3d = settings_json.getFloat("EphMin3d", gps_setting.eph_min_3d);
-	gps_setting.eph_min_2d = settings_json.getFloat("EphMin2d", gps_setting.eph_min_2d);
-	gps_setting.update_latency = settings_json.getFloat("UpdateLatency", gps_setting.update_latency);
-	gps_setting.update_frequency = settings_json.getFloat("UpdateFrequency", gps_setting.update_frequency);
-	gps_setting.startup_delay = settings_json.getFloat("StartupDelay", gps_setting.startup_delay);
+        gps_setting.eph_time_constant = settings_json.getFloat("EphTimeConstant", gps_setting.eph_time_constant);
+        gps_setting.epv_time_constant = settings_json.getFloat("EpvTimeConstant", gps_setting.epv_time_constant);
+        gps_setting.eph_initial = settings_json.getFloat("EphInitial", gps_setting.eph_initial);
+        gps_setting.epv_initial = settings_json.getFloat("EpvInitial", gps_setting.epv_initial);
+        gps_setting.eph_final = settings_json.getFloat("EphFinal", gps_setting.eph_final);
+        gps_setting.epv_final = settings_json.getFloat("EpvFinal", gps_setting.epv_final);
+        gps_setting.eph_min_3d = settings_json.getFloat("EphMin3d", gps_setting.eph_min_3d);
+        gps_setting.eph_min_2d = settings_json.getFloat("EphMin2d", gps_setting.eph_min_2d);
+        gps_setting.update_latency = settings_json.getFloat("UpdateLatency", gps_setting.update_latency);
+        gps_setting.update_frequency = settings_json.getFloat("UpdateFrequency", gps_setting.update_frequency);
+        gps_setting.startup_delay = settings_json.getFloat("StartupDelay", gps_setting.startup_delay);
         gps_setting.position = createVectorSetting(settings_json, gps_setting.position);
         gps_setting.rotation = createRotationSetting(settings_json, gps_setting.rotation);
 
@@ -1337,9 +1337,9 @@ struct AirSimSettings {
     {
         magnetometer_setting.noise_sigma = createNoiseSigmaSetting(settings_json, magnetometer_setting.noise_sigma);
         magnetometer_setting.scale_factor = settings_json.getFloat("ScaleFactor", magnetometer_setting.scale_factor);
-	magnetometer_setting.dynamic_reference_source = settings_json.getBool("DynamicReferenceSource", magnetometer_setting.dynamic_reference_source);
+        magnetometer_setting.dynamic_reference_source = settings_json.getBool("DynamicReferenceSource", magnetometer_setting.dynamic_reference_source);
         magnetometer_setting.update_frequency = settings_json.getFloat("UpdateFrequency", magnetometer_setting.update_frequency);
-	magnetometer_setting.ref_source = settings_json.getInt("ReferenceSource", magnetometer_setting.ref_source);
+        magnetometer_setting.ref_source = settings_json.getInt("ReferenceSource", magnetometer_setting.ref_source);
         magnetometer_setting.update_latency = settings_json.getFloat("UpdateLatency", magnetometer_setting.update_latency);
         magnetometer_setting.update_frequency = settings_json.getFloat("UpdateFrequency", magnetometer_setting.update_frequency);
         magnetometer_setting.startup_delay = settings_json.getFloat("StartupDelay", magnetometer_setting.startup_delay);
diff --git a/PythonClient/multirotor/path.py b/PythonClient/multirotor/path.py
index d3ce23b2a8..d36fc6a900 100644
--- a/PythonClient/multirotor/path.py
+++ b/PythonClient/multirotor/path.py
@@ -30,7 +30,7 @@
 
 # AirSim uses NED coordinates so negative axis is up.
 # z of -7 is 7 meters above the original launch point.
-z = -70
+z = -7
 print("make sure we are hovering at 7 meters...")
 client.moveToZAsync(z, 1).join()
 
diff --git a/auto/airsim/__init__.py b/auto/airsim/__init__.py
deleted file mode 100644
index 4e89c22980..0000000000
--- a/auto/airsim/__init__.py
+++ /dev/null
@@ -1,4 +0,0 @@
-from .client import *
-from .utils import *
-from .types import *
-
diff --git a/auto/airsim/__init__.pyc b/auto/airsim/__init__.pyc
deleted file mode 100644
index 60005acc5dbd56f48a503032b21b718d795ca889..0000000000000000000000000000000000000000
GIT binary patch
diff --git a/auto/airsim/__pycache__/__init__.cpython-36.pyc b/auto/airsim/__pycache__/__init__.cpython-36.pyc
deleted file mode 100644
index 54adf0289a89a53e474e0dce145e9f4183d9f55e..0000000000000000000000000000000000000000
GIT binary patch
diff --git a/auto/airsim/__pycache__/client.cpython-36.pyc b/auto/airsim/__pycache__/client.cpython-36.pyc
deleted file mode 100644
index 3b803e597f125e220d02f1f136396649f39971ba..0000000000000000000000000000000000000000
GIT binary patch
diff --git a/auto/airsim/__pycache__/utils.cpython-36.pyc b/auto/airsim/__pycache__/utils.cpython-36.pyc
deleted file mode 100644
index 99e91c1d5489feb208f3b68ff9a40ced9fb6f398..0000000000000000000000000000000000000000
GIT binary patch
diff --git a/auto/airsim/client.py b/auto/airsim/client.py
deleted file mode 100644
index b8dde7f0f5..0000000000
--- a/auto/airsim/client.py
+++ /dev/null
@@ -1,1127 +0,0 @@
-from __future__ import print_function
-
-from .utils import *
-from .types import *
-
-import msgpackrpc #install as admin: pip install msgpack-rpc-python
-import numpy as np #pip install numpy
-import msgpack
-import time
-import math
-import logging
-
-class VehicleClient:
-    def __init__(self, ip = "", port = 41451, timeout_value = 3600):
-        if (ip == ""):
-            ip = "127.0.0.1"
-        self.client = msgpackrpc.Client(msgpackrpc.Address(ip, port), timeout = timeout_value, pack_encoding = 'utf-8', unpack_encoding = 'utf-8')
-
-    # -----------------------------------  Common vehicle APIs ---------------------------------------------
-    def reset(self):
-        """
-        Reset the vehicle to its original starting state
-
-        Note that you must call `enableApiControl` and `armDisarm` again after the call to reset
-        """
-        self.client.call('reset')
-
-    def ping(self):
-        """
-        If connection is established then this call will return true otherwise it will be blocked until timeout
-
-        Returns:
-            bool:
-        """
-        return self.client.call('ping')
-
-    def getClientVersion(self):
-        return 1 # sync with C++ client
-
-    def getServerVersion(self):
-        return self.client.call('getServerVersion')
-
-    def getMinRequiredServerVersion(self):
-        return 1 # sync with C++ client
-
-    def getMinRequiredClientVersion(self):
-        return self.client.call('getMinRequiredClientVersion')
-
-    # basic flight control
-    def enableApiControl(self, is_enabled, vehicle_name = ''):
-        """
-        Enables or disables API control for vehicle corresponding to vehicle_name
-
-        Args:
-            is_enabled (bool): True to enable, False to disable API control
-            vehicle_name (str, optional): Name of the vehicle to send this command to
-        """
-        self.client.call('enableApiControl', is_enabled, vehicle_name)
-
-    def isApiControlEnabled(self, vehicle_name = ''):
-        """
-        Returns true if API control is established.
-
-        If false (which is default) then API calls would be ignored. After a successful call to `enableApiControl`, `isApiControlEnabled` should return true.
-
-        Args:
-            vehicle_name (str, optional): Name of the vehicle
-
-        Returns:
-            bool: If API control is enabled
-        """
-        return self.client.call('isApiControlEnabled', vehicle_name)
-
-    def armDisarm(self, arm, vehicle_name = ''):
-        """
-        Arms or disarms vehicle
-
-        Args:
-            arm (bool): True to arm, False to disarm the vehicle
-            vehicle_name (str, optional): Name of the vehicle to send this command to
-
-        Returns:
-            bool: Success
-        """
-        return self.client.call('armDisarm', arm, vehicle_name)
-
-    def simPause(self, is_paused):
-        """
-        Pauses simulation
-
-        Args:
-            is_paused (bool): True to pause the simulation, False to release
-        """
-        self.client.call('simPause', is_paused)
-
-    def simIsPause(self):
-        """
-        Returns true if the simulation is paused
-
-        Returns:
-            bool: If the simulation is paused
-        """
-        return self.client.call("simIsPaused")
-
-    def simContinueForTime(self, seconds):
-        """
-        Continue the simulation for the specified number of seconds
-
-        Args:
-            seconds (float): Time to run the simulation for
-        """
-        self.client.call('simContinueForTime', seconds)
-
-    def getHomeGeoPoint(self, vehicle_name = ''):
-        """
-        Get the Home location of the vehicle
-
-        Args:
-            vehicle_name (str, optional): Name of vehicle to get home location of
-
-        Returns:
-            GeoPoint: Home location of the vehicle
-        """
-        return GeoPoint.from_msgpack(self.client.call('getHomeGeoPoint', vehicle_name))
-
-    def confirmConnection(self):
-        """
-        Checks state of connection every 1 sec and reports it in Console so user can see the progress for connection.
-        """
-        if self.ping():
-            print("Connected!")
-        else:
-             print("Ping returned false!")
-        server_ver = self.getServerVersion()
-        client_ver = self.getClientVersion()
-        server_min_ver = self.getMinRequiredServerVersion()
-        client_min_ver = self.getMinRequiredClientVersion()
-
-        ver_info = "Client Ver:" + str(client_ver) + " (Min Req: " + str(client_min_ver) + \
-              "), Server Ver:" + str(server_ver) + " (Min Req: " + str(server_min_ver) + ")"
-
-        if server_ver < server_min_ver:
-            print(ver_info, file=sys.stderr)
-            print("AirSim server is of older version and not supported by this client. Please upgrade!")
-        elif client_ver < client_min_ver:
-            print(ver_info, file=sys.stderr)
-            print("AirSim client is of older version and not supported by this server. Please upgrade!")
-        else:
-            print(ver_info)
-        print('')
-
-    def simSwapTextures(self, tags, tex_id = 0, component_id = 0, material_id = 0):
-        """
-        Runtime Swap Texture API
-
-        See https://microsoft.github.io/AirSim/retexturing/ for details
-
-        Args:
-            tags (str): string of "," or ", " delimited tags to identify on which actors to perform the swap
-            tex_id (int, optional): indexes the array of textures assigned to each actor undergoing a swap
-
-                                    If out-of-bounds for some object's texture set, it will be taken modulo the number of textures that were available
-            component_id (int, optional):
-            material_id (int, optional):
-
-        Returns:
-            list[str]: List of objects which matched the provided tags and had the texture swap perfomed
-        """
-        return self.client.call("simSwapTextures", tags, tex_id, component_id, material_id)
-
-    # time-of-day control
-    def simSetTimeOfDay(self, is_enabled, start_datetime = "", is_start_datetime_dst = False, celestial_clock_speed = 1, update_interval_secs = 60, move_sun = True):
-        """
-        Control the position of Sun in the environment
-
-        Sun's position is computed using the coordinates specified in `OriginGeopoint` in settings for the date-time specified in the argument,
-        else if the string is empty, current date & time is used
-
-        Args:
-            is_enabled (bool): True to enable time-of-day effect, False to reset the position to original
-            start_datetime (str, optional): Date & Time in %Y-%m-%d %H:%M:%S format, e.g. `2018-02-12 15:20:00`
-            is_start_datetime_dst (bool, optional): True to adjust for Daylight Savings Time
-            celestial_clock_speed (float, optional): Run celestial clock faster or slower than simulation clock
-                                                     E.g. Value 100 means for every 1 second of simulation clock, Sun's position is advanced by 100 seconds
-                                                     so Sun will move in sky much faster
-            update_interval_secs (float, optional): Interval to update the Sun's position
-            move_sun (bool, optional): Whether or not to move the Sun
-        """
-        self.client.call('simSetTimeOfDay', is_enabled, start_datetime, is_start_datetime_dst, celestial_clock_speed, update_interval_secs, move_sun)
-
-    # weather
-    def simEnableWeather(self, enable):
-        """
-        Enable Weather effects. Needs to be called before using `simSetWeatherParameter` API
-
-        Args:
-            enable (bool): True to enable, False to disable
-        """
-        self.client.call('simEnableWeather', enable)
-
-    def simSetWeatherParameter(self, param, val):
-        """
-        Enable various weather effects
-
-        Args:
-            param (WeatherParameter): Weather effect to be enabled
-            val (float): Intensity of the effect, Range 0-1
-        """
-        self.client.call('simSetWeatherParameter', param, val)
-
-    # camera control
-    # simGetImage returns compressed png in array of bytes
-    # image_type uses one of the ImageType members
-    def simGetImage(self, camera_name, image_type, vehicle_name = ''):
-        """
-        Get a single image
-
-        Returns bytes of png format image which can be dumped into abinary file to create .png image
-        `string_to_uint8_array()` can be used to convert into Numpy unit8 array
-        See https://microsoft.github.io/AirSim/image_apis/ for details
-
-        Args:
-            camera_name (str): Name of the camera, for backwards compatibility, ID numbers such as 0,1,etc. can also be used
-            image_type (ImageType): Type of image required
-            vehicle_name (str, optional): Name of the vehicle with the camera
-
-        Returns:
-            Binary string literal of compressed png image
-        """
-        # todo: in future remove below, it's only for compatibility to pre v1.2
-        camera_name = str(camera_name)
-
-        # because this method returns std::vector<uint8>, msgpack decides to encode it as a string unfortunately.
-        result = self.client.call('simGetImage', camera_name, image_type, vehicle_name)
-        if (result == "" or result == "\0"):
-            return None
-        return result
-
-    # camera control
-    # simGetImage returns compressed png in array of bytes
-    # image_type uses one of the ImageType members
-    def simGetImages(self, requests, vehicle_name = ''):
-        """
-        Get multiple images
-
-        See https://microsoft.github.io/AirSim/image_apis/ for details and examples
-
-        Args:
-            requests (list[ImageRequest]): Images required
-            vehicle_name (str, optional): Name of vehicle associated with the camera
-
-        Returns:
-            list[ImageResponse]:
-        """
-        responses_raw = self.client.call('simGetImages', requests, vehicle_name)
-        return [ImageResponse.from_msgpack(response_raw) for response_raw in responses_raw]
-
-    # gets the static meshes in the unreal scene
-    def simGetMeshPositionVertexBuffers(self):
-        """
-        Returns the static meshes that make up the scene
-
-        See https://microsoft.github.io/AirSim/meshes/ for details and how to use this
-
-        Returns:
-            list[MeshPositionVertexBuffersResponse]:
-        """
-        responses_raw = self.client.call('simGetMeshPositionVertexBuffers')
-        return [MeshPositionVertexBuffersResponse.from_msgpack(response_raw) for response_raw in responses_raw]
-
-    def simGetCollisionInfo(self, vehicle_name = ''):
-        """
-        Args:
-            vehicle_name (str, optional): Name of the Vehicle to get the info of
-
-        Returns:
-            CollisionInfo:
-        """
-        return CollisionInfo.from_msgpack(self.client.call('simGetCollisionInfo', vehicle_name))
-
-    def simSetVehiclePose(self, pose, ignore_collison, vehicle_name = ''):
-        """
-        Set the pose of the vehicle
-
-        If you don't want to change position (or orientation) then just set components of position (or orientation) to floating point nan values
-
-        Args:
-            pose (Pose): Desired Pose pf the vehicle
-            ignore_collision (bool): Whether to ignore any collision or not
-            vehicle_name (str, optional): Name of the vehicle to move
-        """
-        self.client.call('simSetVehiclePose', pose, ignore_collison, vehicle_name)
-
-    def simGetVehiclePose(self, vehicle_name = ''):
-        """
-        Args:
-            vehicle_name (str, optional): Name of the vehicle to get the Pose of
-
-        Returns:
-            Pose:
-        """
-        pose = self.client.call('simGetVehiclePose', vehicle_name)
-        return Pose.from_msgpack(pose)
-
-    def simSetTraceLine(self, color_rgba, thickness=1.0, vehicle_name = ''):
-        """
-        Modify the color and thickness of the line when Tracing is enabled
-
-        Tracing can be enabled by pressing T in the Editor or setting `EnableTrace` to `True` in the Vehicle Settings
-
-        Args:
-            color_rgba (list): desired RGBA values from 0.0 to 1.0
-            thickness (float, optional): Thickness of the line
-            vehicle_name (string, optional): Name of the vehicle to set Trace line values for
-        """
-        self.client.call('simSetTraceLine', color_rgba, thickness, vehicle_name)
-
-    def simGetObjectPose(self, object_name):
-        """
-        Args:
-            object_name (str): Object to get the Pose of
-
-        Returns:
-            Pose:
-        """
-        pose = self.client.call('simGetObjectPose', object_name)
-        return Pose.from_msgpack(pose)
-
-    def simSetObjectPose(self, object_name, pose, teleport = True):
-        """
-        Set the pose of the object(actor) in the environment
-
-        The specified actor must have Mobility set to movable, otherwise there will be undefined behaviour.
-        See https://www.unrealengine.com/en-US/blog/moving-physical-objects for details on how to set Mobility and the effect of Teleport parameter
-
-        Args:
-            object_name (str): Name of the object(actor) to move
-            pose (Pose): Desired Pose of the object
-            teleport (bool, optional): Whether to move the object immediately without affecting their velocity
-
-        Returns:
-            bool: If the move was successful
-        """
-        return self.client.call('simSetObjectPose', object_name, pose, teleport)
-
-    def simListSceneObjects(self, name_regex = '.*'):
-        """
-        Lists the objects present in the environment
-
-        Default behaviour is to list all objects, regex can be used to return smaller list of matching objects or actors
-
-        Args:
-            name_regex (str, optional): String to match actor names against, e.g. "Cylinder.*"
-
-        Returns:
-            list[str]: List containing all the names
-        """
-        return self.client.call('simListSceneObjects', name_regex)
-
-    def simSetSegmentationObjectID(self, mesh_name, object_id, is_name_regex = False):
-        """
-        Set segmentation ID for specific objects
-
-        See https://microsoft.github.io/AirSim/image_apis/#segmentation for details
-
-        Args:
-            mesh_name (str): Name of the mesh to set the ID of (supports regex)
-            object_id (int): Object ID to be set, range 0-255
-
-                             RBG values for IDs can be seen at https://microsoft.github.io/AirSim/seg_rgbs.txt
-            is_name_regex (bool, optional): Whether the mesh name is a regex
-
-        Returns:
-            bool: If the mesh was found
-        """
-        return self.client.call('simSetSegmentationObjectID', mesh_name, object_id, is_name_regex)
-
-    def simGetSegmentationObjectID(self, mesh_name):
-        """
-        Returns Object ID for the given mesh name
-
-        Mapping of Object IDs to RGB values can be seen at https://microsoft.github.io/AirSim/seg_rgbs.txt
-
-        Args:
-            mesh_name (str): Name of the mesh to get the ID of
-        """
-        return self.client.call('simGetSegmentationObjectID', mesh_name)
-
-    def simPrintLogMessage(self, message, message_param = "", severity = 0):
-        """
-        Prints the specified message in the simulator's window.
-
-        If message_param is supplied, then it's printed next to the message and in that case if this API is called with same message value
-        but different message_param again then previous line is overwritten with new line (instead of API creating new line on display).
-
-        For example, `simPrintLogMessage("Iteration: ", to_string(i))` keeps updating same line on display when API is called with different values of i.
-        The valid values of severity parameter is 0 to 3 inclusive that corresponds to different colors.
-
-        Args:
-            message (str): Message to be printed
-            message_param (str, optional): Parameter to be printed next to the message
-            severity (int, optional): Range 0-3, inclusive, corresponding to the severity of the message
-        """
-        self.client.call('simPrintLogMessage', message, message_param, severity)
-
-    def simGetCameraInfo(self, camera_name, vehicle_name = ''):
-        """
-        Get details about the camera
-
-        Args:
-            camera_name (str): Name of the camera, for backwards compatibility, ID numbers such as 0,1,etc. can also be used
-            vehicle_name (str, optional): Vehicle which the camera is associated with
-
-        Returns:
-            CameraInfo:
-        """
-        # TODO: below str() conversion is only needed for legacy reason and should be removed in future
-        return CameraInfo.from_msgpack(self.client.call('simGetCameraInfo', str(camera_name), vehicle_name))
-
-    def simSetCameraOrientation(self, camera_name, orientation, vehicle_name = ''):
-        """
-        - Control the orientation of a selected camera
-
-        Args:
-            camera_name (str): Name of the camera to be controlled
-            orientation (Quaternionr): Quaternion representing the desired orientation of the camera
-            vehicle_name (str, optional): Name of vehicle which the camera corresponds to
-        """
-        # TODO: below str() conversion is only needed for legacy reason and should be removed in future
-        self.client.call('simSetCameraOrientation', str(camera_name), orientation, vehicle_name)
-
-    def simSetCameraFov(self, camera_name, fov_degrees, vehicle_name = ''):
-        """
-        - Control the field of view of a selected camera
-
-        Args:
-            camera_name (str): Name of the camera to be controlled
-            fov_degrees (float): Value of field of view in degrees
-            vehicle_name (str, optional): Name of vehicle which the camera corresponds to
-        """
-        # TODO: below str() conversion is only needed for legacy reason and should be removed in future
-        self.client.call('simSetCameraFov', str(camera_name), fov_degrees, vehicle_name)
-
-    def simGetGroundTruthKinematics(self, vehicle_name = ''):
-        """
-        Get Ground truth kinematics of the vehicle
-
-        Args:
-            vehicle_name (str, optional): Name of the vehicle
-
-        Returns:
-            KinematicsState: Ground truth of the vehicle
-        """
-        kinematics_state = self.client.call('simGetGroundTruthKinematics', vehicle_name)
-        return KinematicsState.from_msgpack(kinematics_state)
-    simGetGroundTruthKinematics.__annotations__ = {'return': KinematicsState}
-
-    def simGetGroundTruthEnvironment(self, vehicle_name = ''):
-        """
-        Get ground truth environment state
-
-        Args:
-            vehicle_name (str, optional): Name of the vehicle
-
-        Returns:
-            EnvironmentState: Ground truth environment state
-        """
-        env_state = self.client.call('simGetGroundTruthEnvironment', vehicle_name)
-        return EnvironmentState.from_msgpack(env_state)
-    simGetGroundTruthEnvironment.__annotations__ = {'return': EnvironmentState}
-
-    # sensor APIs
-    def getImuData(self, imu_name = '', vehicle_name = ''):
-        """
-        Args:
-            imu_name (str, optional): Name of IMU to get data from, specified in settings.json
-            vehicle_name (str, optional): Name of vehicle to which the sensor corresponds to
-
-        Returns:
-            ImuData:
-        """
-        return ImuData.from_msgpack(self.client.call('getImuData', imu_name, vehicle_name))
-
-    def getBarometerData(self, barometer_name = '', vehicle_name = ''):
-        """
-        Args:
-            barometer_name (str, optional): Name of Barometer to get data from, specified in settings.json
-            vehicle_name (str, optional): Name of vehicle to which the sensor corresponds to
-
-        Returns:
-            BarometerData:
-        """
-        return BarometerData.from_msgpack(self.client.call('getBarometerData', barometer_name, vehicle_name))
-
-    def getMagnetometerData(self, magnetometer_name = '', vehicle_name = ''):
-        """
-        Args:
-            magnetometer_name (str, optional): Name of Magnetometer to get data from, specified in settings.json
-            vehicle_name (str, optional): Name of vehicle to which the sensor corresponds to
-
-        Returns:
-            MagnetometerData:
-        """
-        return MagnetometerData.from_msgpack(self.client.call('getMagnetometerData', magnetometer_name, vehicle_name))
-
-    def getGpsData(self, gps_name = '', vehicle_name = ''):
-        """
-        Args:
-            gps_name (str, optional): Name of GPS to get data from, specified in settings.json
-            vehicle_name (str, optional): Name of vehicle to which the sensor corresponds to
-
-        Returns:
-            GpsData:
-        """
-        return GpsData.from_msgpack(self.client.call('getGpsData', gps_name, vehicle_name))
-
-    def getDistanceSensorData(self, distance_sensor_name = '', vehicle_name = ''):
-        """
-        Args:
-            distance_sensor_name (str, optional): Name of Distance Sensor to get data from, specified in settings.json
-            vehicle_name (str, optional): Name of vehicle to which the sensor corresponds to
-
-        Returns:
-            DistanceSensorData:
-        """
-        return DistanceSensorData.from_msgpack(self.client.call('getDistanceSensorData', distance_sensor_name, vehicle_name))
-
-    def getLidarData(self, lidar_name = '', vehicle_name = ''):
-        """
-        Args:
-            lidar_name (str, optional): Name of Lidar to get data from, specified in settings.json
-            vehicle_name (str, optional): Name of vehicle to which the sensor corresponds to
-
-        Returns:
-            LidarData:
-        """
-        return LidarData.from_msgpack(self.client.call('getLidarData', lidar_name, vehicle_name))
-
-    def simGetLidarSegmentation(self, lidar_name = '', vehicle_name = ''):
-        """
-        Returns Segmentation ID of each point's collided object in the last Lidar update
-
-        Args:
-            lidar_name (str, optional): Name of Lidar sensor
-            vehicle_name (str, optional): Name of the vehicle wth the sensor
-
-        Returns:
-            list[int]: Segmentation IDs of the objects
-        """
-        return self.client.call('simGetLidarSegmentation', lidar_name, vehicle_name)
-
-    #  Plotting APIs
-    def simFlushPersistentMarkers(self):
-        """
-        Clear any persistent markers - those plotted with setting `is_persistent=True` in the APIs below
-        """
-        self.client.call('simFlushPersistentMarkers')
-
-    def simPlotPoints(self, points, color_rgba=[1.0, 0.0, 0.0, 1.0], size = 10.0, duration = -1.0, is_persistent = False):
-        """
-        Plot a list of 3D points in World NED frame
-
-        Args:
-            points (list[Vector3r]): List of Vector3r objects
-            color_rgba (list, optional): desired RGBA values from 0.0 to 1.0
-            size (float, optional): Size of plotted point
-            duration (float, optional): Duration (seconds) to plot for
-            is_persistent (bool, optional): If set to True, the desired object will be plotted for infinite time.
-        """
-        self.client.call('simPlotPoints', points, color_rgba, size, duration, is_persistent)
-
-    def simPlotLineStrip(self, points, color_rgba=[1.0, 0.0, 0.0, 1.0], thickness = 5.0, duration = -1.0, is_persistent = False):
-        """
-        Plots a line strip in World NED frame, defined from points[0] to points[1], points[1] to points[2], ... , points[n-2] to points[n-1]
-
-        Args:
-            points (list[Vector3r]): List of 3D locations of line start and end points, specified as Vector3r objects
-            color_rgba (list, optional): desired RGBA values from 0.0 to 1.0
-            thickness (float, optional): Thickness of line
-            duration (float, optional): Duration (seconds) to plot for
-            is_persistent (bool, optional): If set to True, the desired object will be plotted for infinite time.
-        """
-        self.client.call('simPlotLineStrip', points, color_rgba, thickness, duration, is_persistent)
-
-    def simPlotLineList(self, points, color_rgba=[1.0, 0.0, 0.0, 1.0], thickness = 5.0, duration = -1.0, is_persistent = False):
-        """
-        Plots a line strip in World NED frame, defined from points[0] to points[1], points[2] to points[3], ... , points[n-2] to points[n-1]
-
-        Args:
-            points (list[Vector3r]): List of 3D locations of line start and end points, specified as Vector3r objects. Must be even
-            color_rgba (list, optional): desired RGBA values from 0.0 to 1.0
-            thickness (float, optional): Thickness of line
-            duration (float, optional): Duration (seconds) to plot for
-            is_persistent (bool, optional): If set to True, the desired object will be plotted for infinite time.
-        """
-        self.client.call('simPlotLineList', points, color_rgba, thickness, duration, is_persistent)
-
-    def simPlotArrows(self, points_start, points_end, color_rgba=[1.0, 0.0, 0.0, 1.0], thickness = 5.0, arrow_size = 2.0, duration = -1.0, is_persistent = False):
-        """
-        Plots a list of arrows in World NED frame, defined from points_start[0] to points_end[0], points_start[1] to points_end[1], ... , points_start[n-1] to points_end[n-1]
-
-        Args:
-            points_start (list[Vector3r]): List of 3D start positions of arrow start positions, specified as Vector3r objects
-            points_end (list[Vector3r]): List of 3D end positions of arrow start positions, specified as Vector3r objects
-            color_rgba (list, optional): desired RGBA values from 0.0 to 1.0
-            thickness (float, optional): Thickness of line
-            arrow_size (float, optional): Size of arrow head
-            duration (float, optional): Duration (seconds) to plot for
-            is_persistent (bool, optional): If set to True, the desired object will be plotted for infinite time.
-        """
-        self.client.call('simPlotArrows', points_start, points_end, color_rgba, thickness, arrow_size, duration, is_persistent)
-
-
-    def simPlotStrings(self, strings, positions, scale = 5, color_rgba=[1.0, 0.0, 0.0, 1.0], duration = -1.0):
-        """
-        Plots a list of strings at desired positions in World NED frame.
-
-        Args:
-            strings (list[String], optional): List of strings to plot
-            positions (list[Vector3r]): List of positions where the strings should be plotted. Should be in one-to-one correspondence with the strings' list
-            scale (float, optional): Font scale of transform name
-            color_rgba (list, optional): desired RGBA values from 0.0 to 1.0
-            duration (float, optional): Duration (seconds) to plot for
-        """
-        self.client.call('simPlotStrings', strings, positions, scale, color_rgba, duration)
-
-    def simPlotTransforms(self, poses, scale = 5.0, thickness = 5.0, duration = -1.0, is_persistent = False):
-        """
-        Plots a list of transforms in World NED frame.
-
-        Args:
-            poses (list[Pose]): List of Pose objects representing the transforms to plot
-            scale (float, optional): Length of transforms' axes
-            thickness (float, optional): Thickness of transforms' axes
-            duration (float, optional): Duration (seconds) to plot for
-            is_persistent (bool, optional): If set to True, the desired object will be plotted for infinite time.
-        """
-        self.client.call('simPlotTransforms', poses, scale, thickness, duration, is_persistent)
-
-    def simPlotTransformsWithNames(self, poses, names, tf_scale = 5.0, tf_thickness = 5.0, text_scale = 10.0, text_color_rgba = [1.0, 0.0, 0.0, 1.0], duration = -1.0):
-        """
-        Plots a list of transforms with their names in World NED frame.
-
-        Args:
-            poses (list[Pose]): List of Pose objects representing the transforms to plot
-            names (list[string]): List of strings with one-to-one correspondence to list of poses
-            tf_scale (float, optional): Length of transforms' axes
-            tf_thickness (float, optional): Thickness of transforms' axes
-            text_scale (float, optional): Font scale of transform name
-            text_color_rgba (list, optional): desired RGBA values from 0.0 to 1.0 for the transform name
-            duration (float, optional): Duration (seconds) to plot for
-        """
-        self.client.call('simPlotTransformsWithNames', poses, names, tf_scale, tf_thickness, text_scale, text_color_rgba, duration)
-
-    def cancelLastTask(self, vehicle_name = ''):
-        """
-        Cancel previous Async task
-
-        Args:
-            vehicle_name (str, optional): Name of the vehicle
-        """
-        self.client.call('cancelLastTask', vehicle_name)
-
-    def waitOnLastTask(self, timeout_sec = float('nan')):
-        """
-        Wait for the last Async task to complete
-
-        Args:
-            timeout_sec (float, optional): Time for the task to complete
-
-        Returns:
-            bool: Result of the last task
-
-                  True if the task completed without cancellation or timeout
-        """
-        return self.client.call('waitOnLastTask', timeout_sec)
-
-# -----------------------------------  Multirotor APIs ---------------------------------------------
-class MultirotorClient(VehicleClient, object):
-    def __init__(self, ip = "", port = 41451, timeout_value = 3600):
-        super(MultirotorClient, self).__init__(ip, port, timeout_value)
-
-    def takeoffAsync(self, timeout_sec = 20, vehicle_name = ''):
-        """
-        Takeoff vehicle to 3m above ground. Vehicle should not be moving when this API is used
-
-        Args:
-            timeout_sec (int, optional): Timeout for the vehicle to reach desired altitude
-            vehicle_name (str, optional): Name of the vehicle to send this command to
-
-        Returns:
-            msgpackrpc.future.Future: future. call .join() to wait for method to finish. Example: client.METHOD().join()
-        """
-        return self.client.call_async('takeoff', timeout_sec, vehicle_name)
-
-    def landAsync(self, timeout_sec = 60, vehicle_name = ''):
-        """
-        Land the vehicle
-
-        Args:
-            timeout_sec (int, optional): Timeout for the vehicle to land
-            vehicle_name (str, optional): Name of the vehicle to send this command to
-
-        Returns:
-            msgpackrpc.future.Future: future. call .join() to wait for method to finish. Example: client.METHOD().join()
-        """
-        return self.client.call_async('land', timeout_sec, vehicle_name)
-
-    def goHomeAsync(self, timeout_sec = 3e+38, vehicle_name = ''):
-        """
-        Return vehicle to Home i.e. Launch location
-
-        Args:
-            timeout_sec (int, optional): Timeout for the vehicle to reach desired altitude
-            vehicle_name (str, optional): Name of the vehicle to send this command to
-
-        Returns:
-            msgpackrpc.future.Future: future. call .join() to wait for method to finish. Example: client.METHOD().join()
-        """
-        return self.client.call_async('goHome', timeout_sec, vehicle_name)
-
-    # APIs for control
-    def moveByAngleZAsync(self, pitch, roll, z, yaw, duration, vehicle_name = ''):
-        return self.client.call_async('moveByAngleZ', pitch, roll, z, yaw, duration, vehicle_name)
-
-    def moveByAngleThrottleAsync(self, pitch, roll, throttle, yaw_rate, duration, vehicle_name = ''):
-        return self.client.call_async('moveByAngleThrottle', pitch, roll, throttle, yaw_rate, duration, vehicle_name)
-
-    def moveByVelocityAsync(self, vx, vy, vz, duration, drivetrain = DrivetrainType.MaxDegreeOfFreedom, yaw_mode = YawMode(), vehicle_name = ''):
-        """
-        Args:
-            vx (float): desired velocity in world (NED) X axis
-            vy (float): desired velocity in world (NED) Y axis
-            vz (float): desired velocity in world (NED) Z axis
-            duration (float): Desired amount of time (seconds), to send this command for
-            drivetrain (DrivetrainType, optional):
-            yaw_mode (YawMode, optional):
-            vehicle_name (str, optional): Name of the multirotor to send this command to
-
-        Returns:
-            msgpackrpc.future.Future: future. call .join() to wait for method to finish. Example: client.METHOD().join()
-        """
-        return self.client.call_async('moveByVelocity', vx, vy, vz, duration, drivetrain, yaw_mode, vehicle_name)
-
-    def moveByVelocityZAsync(self, vx, vy, z, duration, drivetrain = DrivetrainType.MaxDegreeOfFreedom, yaw_mode = YawMode(), vehicle_name = ''):
-        return self.client.call_async('moveByVelocityZ', vx, vy, z, duration, drivetrain, yaw_mode, vehicle_name)
-
-    def moveOnPathAsync(self, path, velocity, timeout_sec = 3e+38, drivetrain = DrivetrainType.MaxDegreeOfFreedom, yaw_mode = YawMode(),
-        lookahead = -1, adaptive_lookahead = 1, vehicle_name = ''):
-        return self.client.call_async('moveOnPath', path, velocity, timeout_sec, drivetrain, yaw_mode, lookahead, adaptive_lookahead, vehicle_name)
-
-    def moveToPositionAsync(self, x, y, z, velocity, timeout_sec = 3e+38, drivetrain = DrivetrainType.MaxDegreeOfFreedom, yaw_mode = YawMode(),
-        lookahead = -1, adaptive_lookahead = 1, vehicle_name = ''):
-        return self.client.call_async('moveToPosition', x, y, z, velocity, timeout_sec, drivetrain, yaw_mode, lookahead, adaptive_lookahead, vehicle_name)
-
-    def moveToZAsync(self, z, velocity, timeout_sec = 3e+38, yaw_mode = YawMode(), lookahead = -1, adaptive_lookahead = 1, vehicle_name = ''):
-        return self.client.call_async('moveToZ', z, velocity, timeout_sec, yaw_mode, lookahead, adaptive_lookahead, vehicle_name)
-
-    def moveByManualAsync(self, vx_max, vy_max, z_min, duration, drivetrain = DrivetrainType.MaxDegreeOfFreedom, yaw_mode = YawMode(), vehicle_name = ''):
-        """
-        - Read current RC state and use it to control the vehicles.
-
-        Parameters sets up the constraints on velocity and minimum altitude while flying. If RC state is detected to violate these constraints
-        then that RC state would be ignored.
-
-        Args:
-            vx_max (float): max velocity allowed in x direction
-            vy_max (float): max velocity allowed in y direction
-            vz_max (float): max velocity allowed in z direction
-            z_min (float): min z allowed for vehicle position
-            duration (float): after this duration vehicle would switch back to non-manual mode
-            drivetrain (DrivetrainType): when ForwardOnly, vehicle rotates itself so that its front is always facing the direction of travel. If MaxDegreeOfFreedom then it doesn't do that (crab-like movement)
-            yaw_mode (YawMode): Specifies if vehicle should face at given angle (is_rate=False) or should be rotating around its axis at given rate (is_rate=True)
-            vehicle_name (str, optional): Name of the multirotor to send this command to
-        Returns:
-            msgpackrpc.future.Future: future. call .join() to wait for method to finish. Example: client.METHOD().join()
-        """
-        return self.client.call_async('moveByManual', vx_max, vy_max, z_min, duration, drivetrain, yaw_mode, vehicle_name)
-
-    def rotateToYawAsync(self, yaw, timeout_sec = 3e+38, margin = 5, vehicle_name = ''):
-        return self.client.call_async('rotateToYaw', yaw, timeout_sec, margin, vehicle_name)
-
-    def rotateByYawRateAsync(self, yaw_rate, duration, vehicle_name = ''):
-        return self.client.call_async('rotateByYawRate', yaw_rate, duration, vehicle_name)
-
-    def hoverAsync(self, vehicle_name = ''):
-        return self.client.call_async('hover', vehicle_name)
-
-    def moveByRC(self, rcdata = RCData(), vehicle_name = ''):
-        return self.client.call('moveByRC', rcdata, vehicle_name)
-
-    # low-level control API
-    def moveByMotorPWMsAsync(self, front_right_pwm, rear_left_pwm, front_left_pwm, rear_right_pwm, duration, vehicle_name = ''):
-        """
-        - Directly control the motors using PWM values
-
-        Args:
-            front_right_pwm (float): PWM value for the front right motor (between 0.0 to 1.0)
-            rear_left_pwm (float): PWM value for the rear left motor (between 0.0 to 1.0)
-            front_left_pwm (float): PWM value for the front left motor (between 0.0 to 1.0)
-            rear_right_pwm (float): PWM value for the rear right motor (between 0.0 to 1.0)
-            duration (float): Desired amount of time (seconds), to send this command for
-            vehicle_name (str, optional): Name of the multirotor to send this command to
-        Returns:
-            msgpackrpc.future.Future: future. call .join() to wait for method to finish. Example: client.METHOD().join()
-        """
-        return self.client.call_async('moveByMotorPWMs', front_right_pwm, rear_left_pwm, front_left_pwm, rear_right_pwm, duration, vehicle_name)
-
-    def moveByRollPitchYawZAsync(self, roll, pitch, yaw, z, duration, vehicle_name = ''):
-        """
-        - z is given in local NED frame of the vehicle.
-        - Roll angle, pitch angle, and yaw angle set points are given in **radians**, in the body frame.
-        - The body frame follows the Front Left Up (FLU) convention, and right-handedness.
-
-        - Frame Convention:
-            - X axis is along the **Front** direction of the quadrotor.
-
-            | Clockwise rotation about this axis defines a positive **roll** angle.
-            | Hence, rolling with a positive angle is equivalent to translating in the **right** direction, w.r.t. our FLU body frame.
-
-            - Y axis is along the **Left** direction of the quadrotor.
-
-            | Clockwise rotation about this axis defines a positive **pitch** angle.
-            | Hence, pitching with a positive angle is equivalent to translating in the **front** direction, w.r.t. our FLU body frame.
-
-            - Z axis is along the **Up** direction.
-
-            | Clockwise rotation about this axis defines a positive **yaw** angle.
-            | Hence, yawing with a positive angle is equivalent to rotated towards the **left** direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
-
-        Args:
-            roll (float): Desired roll angle, in radians.
-            pitch (float): Desired pitch angle, in radians.
-            yaw (float): Desired yaw angle, in radians.
-            z (float): Desired Z value (in local NED frame of the vehicle)
-            duration (float): Desired amount of time (seconds), to send this command for
-            vehicle_name (str, optional): Name of the multirotor to send this command to
-
-        Returns:
-            msgpackrpc.future.Future: future. call .join() to wait for method to finish. Example: client.METHOD().join()
-        """
-        return self.client.call_async('moveByRollPitchYawZ', roll, -pitch, -yaw, z, duration, vehicle_name)
-
-    def moveByRollPitchYawThrottleAsync(self, roll, pitch, yaw, throttle, duration, vehicle_name = ''):
-        """
-        - Desired throttle is between 0.0 to 1.0
-        - Roll angle, pitch angle, and yaw angle are given in **radians**, in the body frame.
-        - The body frame follows the Front Left Up (FLU) convention, and right-handedness.
-
-        - Frame Convention:
-            - X axis is along the **Front** direction of the quadrotor.
-
-            | Clockwise rotation about this axis defines a positive **roll** angle.
-            | Hence, rolling with a positive angle is equivalent to translating in the **right** direction, w.r.t. our FLU body frame.
-
-            - Y axis is along the **Left** direction of the quadrotor.
-
-            | Clockwise rotation about this axis defines a positive **pitch** angle.
-            | Hence, pitching with a positive angle is equivalent to translating in the **front** direction, w.r.t. our FLU body frame.
-
-            - Z axis is along the **Up** direction.
-
-            | Clockwise rotation about this axis defines a positive **yaw** angle.
-            | Hence, yawing with a positive angle is equivalent to rotated towards the **left** direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
-
-        Args:
-            roll (float): Desired roll angle, in radians.
-            pitch (float): Desired pitch angle, in radians.
-            yaw (float): Desired yaw angle, in radians.
-            throttle (float): Desired throttle (between 0.0 to 1.0)
-            duration (float): Desired amount of time (seconds), to send this command for
-            vehicle_name (str, optional): Name of the multirotor to send this command to
-
-        Returns:
-            msgpackrpc.future.Future: future. call .join() to wait for method to finish. Example: client.METHOD().join()
-        """
-        return self.client.call_async('moveByRollPitchYawThrottle', roll, -pitch, -yaw, throttle, duration, vehicle_name)
-
-    def moveByRollPitchYawrateThrottleAsync(self, roll, pitch, yaw_rate, throttle, duration, vehicle_name = ''):
-        """
-        - Desired throttle is between 0.0 to 1.0
-        - Roll angle, pitch angle, and yaw rate set points are given in **radians**, in the body frame.
-        - The body frame follows the Front Left Up (FLU) convention, and right-handedness.
-
-        - Frame Convention:
-            - X axis is along the **Front** direction of the quadrotor.
-
-            | Clockwise rotation about this axis defines a positive **roll** angle.
-            | Hence, rolling with a positive angle is equivalent to translating in the **right** direction, w.r.t. our FLU body frame.
-
-            - Y axis is along the **Left** direction of the quadrotor.
-
-            | Clockwise rotation about this axis defines a positive **pitch** angle.
-            | Hence, pitching with a positive angle is equivalent to translating in the **front** direction, w.r.t. our FLU body frame.
-
-            - Z axis is along the **Up** direction.
-
-            | Clockwise rotation about this axis defines a positive **yaw** angle.
-            | Hence, yawing with a positive angle is equivalent to rotated towards the **left** direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
-
-        Args:
-            roll (float): Desired roll angle, in radians.
-            pitch (float): Desired pitch angle, in radians.
-            yaw_rate (float): Desired yaw rate, in radian per second.
-            throttle (float): Desired throttle (between 0.0 to 1.0)
-            duration (float): Desired amount of time (seconds), to send this command for
-            vehicle_name (str, optional): Name of the multirotor to send this command to
-
-        Returns:
-            msgpackrpc.future.Future: future. call .join() to wait for method to finish. Example: client.METHOD().join()
-        """
-        return self.client.call_async('moveByRollPitchYawrateThrottle', roll, -pitch, -yaw_rate, throttle, duration, vehicle_name)
-
-    def moveByRollPitchYawrateZAsync(self, roll, pitch, yaw_rate, z, duration, vehicle_name = ''):
-        """
-        - z is given in local NED frame of the vehicle.
-        - Roll angle, pitch angle, and yaw rate set points are given in **radians**, in the body frame.
-        - The body frame follows the Front Left Up (FLU) convention, and right-handedness.
-
-        - Frame Convention:
-            - X axis is along the **Front** direction of the quadrotor.
-
-            | Clockwise rotation about this axis defines a positive **roll** angle.
-            | Hence, rolling with a positive angle is equivalent to translating in the **right** direction, w.r.t. our FLU body frame.
-
-            - Y axis is along the **Left** direction of the quadrotor.
-
-            | Clockwise rotation about this axis defines a positive **pitch** angle.
-            | Hence, pitching with a positive angle is equivalent to translating in the **front** direction, w.r.t. our FLU body frame.
-
-            - Z axis is along the **Up** direction.
-
-            | Clockwise rotation about this axis defines a positive **yaw** angle.
-            | Hence, yawing with a positive angle is equivalent to rotated towards the **left** direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
-
-        Args:
-            roll (float): Desired roll angle, in radians.
-            pitch (float): Desired pitch angle, in radians.
-            yaw_rate (float): Desired yaw rate, in radian per second.
-            z (float): Desired Z value (in local NED frame of the vehicle)
-            duration (float): Desired amount of time (seconds), to send this command for
-            vehicle_name (str, optional): Name of the multirotor to send this command to
-
-        Returns:
-            msgpackrpc.future.Future: future. call .join() to wait for method to finish. Example: client.METHOD().join()
-        """
-        return self.client.call_async('moveByRollPitchYawrateZ', roll, -pitch, -yaw_rate, z, duration, vehicle_name)
-
-    def moveByAngleRatesZAsync(self, roll_rate, pitch_rate, yaw_rate, z, duration, vehicle_name = ''):
-        """
-        - z is given in local NED frame of the vehicle.
-        - Roll rate, pitch rate, and yaw rate set points are given in **radians**, in the body frame.
-        - The body frame follows the Front Left Up (FLU) convention, and right-handedness.
-
-        - Frame Convention:
-            - X axis is along the **Front** direction of the quadrotor.
-
-            | Clockwise rotation about this axis defines a positive **roll** angle.
-            | Hence, rolling with a positive angle is equivalent to translating in the **right** direction, w.r.t. our FLU body frame.
-
-            - Y axis is along the **Left** direction of the quadrotor.
-
-            | Clockwise rotation about this axis defines a positive **pitch** angle.
-            | Hence, pitching with a positive angle is equivalent to translating in the **front** direction, w.r.t. our FLU body frame.
-
-            - Z axis is along the **Up** direction.
-
-            | Clockwise rotation about this axis defines a positive **yaw** angle.
-            | Hence, yawing with a positive angle is equivalent to rotated towards the **left** direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
-
-        Args:
-            roll_rate (float): Desired roll rate, in radians / second
-            pitch_rate (float): Desired pitch rate, in radians / second
-            yaw_rate (float): Desired yaw rate, in radians / second
-            z (float): Desired Z value (in local NED frame of the vehicle)
-            duration (float): Desired amount of time (seconds), to send this command for
-            vehicle_name (str, optional): Name of the multirotor to send this command to
-
-        Returns:
-            msgpackrpc.future.Future: future. call .join() to wait for method to finish. Example: client.METHOD().join()
-        """
-        return self.client.call_async('moveByAngleRatesZ', roll_rate, -pitch_rate, -yaw_rate, z, duration, vehicle_name)
-
-    def moveByAngleRatesThrottleAsync(self, roll_rate, pitch_rate, yaw_rate, throttle, duration, vehicle_name = ''):
-        """
-        - Desired throttle is between 0.0 to 1.0
-        - Roll rate, pitch rate, and yaw rate set points are given in **radians**, in the body frame.
-        - The body frame follows the Front Left Up (FLU) convention, and right-handedness.
-
-        - Frame Convention:
-            - X axis is along the **Front** direction of the quadrotor.
-
-            | Clockwise rotation about this axis defines a positive **roll** angle.
-            | Hence, rolling with a positive angle is equivalent to translating in the **right** direction, w.r.t. our FLU body frame.
-
-            - Y axis is along the **Left** direction of the quadrotor.
-
-            | Clockwise rotation about this axis defines a positive **pitch** angle.
-            | Hence, pitching with a positive angle is equivalent to translating in the **front** direction, w.r.t. our FLU body frame.
-
-            - Z axis is along the **Up** direction.
-
-            | Clockwise rotation about this axis defines a positive **yaw** angle.
-            | Hence, yawing with a positive angle is equivalent to rotated towards the **left** direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
-
-        Args:
-            roll_rate (float): Desired roll rate, in radians / second
-            pitch_rate (float): Desired pitch rate, in radians / second
-            yaw_rate (float): Desired yaw rate, in radians / second
-            throttle (float): Desired throttle (between 0.0 to 1.0)
-            duration (float): Desired amount of time (seconds), to send this command for
-            vehicle_name (str, optional): Name of the multirotor to send this command to
-
-        Returns:
-            msgpackrpc.future.Future: future. call .join() to wait for method to finish. Example: client.METHOD().join()
-        """
-        return self.client.call_async('moveByAngleRatesThrottle', roll_rate, -pitch_rate, -yaw_rate, throttle, duration, vehicle_name)
-
-    def setAngleRateControllerGains(self, angle_rate_gains=AngleRateControllerGains(), vehicle_name = ''):
-        """
-        - Modifying these gains will have an affect on *ALL* move*() APIs.
-            This is because any velocity setpoint is converted to an angle level setpoint which is tracked with an angle level controllers.
-            That angle level setpoint is itself tracked with and angle rate controller.
-        - This function should only be called if the default angle rate control PID gains need to be modified.
-
-        Args:
-            angle_rate_gains (AngleRateControllerGains):
-                - Correspond to the roll, pitch, yaw axes, defined in the body frame.
-                - Pass AngleRateControllerGains() to reset gains to default recommended values.
-            vehicle_name (str, optional): Name of the multirotor to send this command to
-        """
-        self.client.call('setAngleRateControllerGains', *(angle_rate_gains.to_lists()+(vehicle_name,)))
-
-    def setAngleLevelControllerGains(self, angle_level_gains=AngleLevelControllerGains(), vehicle_name = ''):
-        """
-        - Sets angle level controller gains (used by any API setting angle references - for ex: moveByRollPitchYawZAsync(), moveByRollPitchYawThrottleAsync(), etc)
-        - Modifying these gains will also affect the behaviour of moveByVelocityAsync() API.
-            This is because the AirSim flight controller will track velocity setpoints by converting them to angle set points.
-        - This function should only be called if the default angle level control PID gains need to be modified.
-        - Passing AngleLevelControllerGains() sets gains to default airsim values.
-
-        Args:
-            angle_level_gains (AngleLevelControllerGains):
-                - Correspond to the roll, pitch, yaw axes, defined in the body frame.
-                - Pass AngleLevelControllerGains() to reset gains to default recommended values.
-            vehicle_name (str, optional): Name of the multirotor to send this command to
-        """
-        self.client.call('setAngleLevelControllerGains', *(angle_level_gains.to_lists()+(vehicle_name,)))
-
-    def setVelocityControllerGains(self, velocity_gains=VelocityControllerGains(), vehicle_name = ''):
-        """
-        - Sets velocity controller gains for moveByVelocityAsync().
-        - This function should only be called if the default velocity control PID gains need to be modified.
-        - Passing VelocityControllerGains() sets gains to default airsim values.
-
-        Args:
-            velocity_gains (VelocityControllerGains):
-                - Correspond to the world X, Y, Z axes.
-                - Pass VelocityControllerGains() to reset gains to default recommended values.
-                - Modifying velocity controller gains will have an affect on the behaviour of moveOnSplineAsync() and moveOnSplineVelConstraintsAsync(), as they both use velocity control to track the trajectory.
-            vehicle_name (str, optional): Name of the multirotor to send this command to
-        """
-        self.client.call('setVelocityControllerGains', *(velocity_gains.to_lists()+(vehicle_name,)))
-
-
-    def setPositionControllerGains(self, position_gains=PositionControllerGains(), vehicle_name = ''):
-        """
-        Sets position controller gains for moveByPositionAsync.
-        This function should only be called if the default position control PID gains need to be modified.
-
-        Args:
-            position_gains (PositionControllerGains):
-                - Correspond to the X, Y, Z axes.
-                - Pass PositionControllerGains() to reset gains to default recommended values.
-            vehicle_name (str, optional): Name of the multirotor to send this command to
-        """
-        self.client.call('setPositionControllerGains', *(position_gains.to_lists()+(vehicle_name,)))
-
-    # query vehicle state
-    def getMultirotorState(self, vehicle_name = ''):
-        """
-        Args:
-            vehicle_name (str, optional): Vehicle to get the state of
-
-        Returns:
-            MultirotorState:
-        """
-        return MultirotorState.from_msgpack(self.client.call('getMultirotorState', vehicle_name))
-    getMultirotorState.__annotations__ = {'return': MultirotorState}
-
-
-# -----------------------------------  Car APIs ---------------------------------------------
-class CarClient(VehicleClient, object):
-    def __init__(self, ip = "", port = 41451, timeout_value = 3600):
-        super(CarClient, self).__init__(ip, port, timeout_value)
-
-    def setCarControls(self, controls, vehicle_name = ''):
-        """
-        Control the car using throttle, steering, brake, etc.
-
-        Args:
-            controls (CarControls): Struct containing control values
-            vehicle_name (str, optional): Name of vehicle to be controlled
-        """
-        self.client.call('setCarControls', controls, vehicle_name)
-
-    def getCarState(self, vehicle_name = ''):
-        """
-        Args:
-            vehicle_name (str, optional): Name of vehicle
-
-        Returns:
-            CarState:
-        """
-        state_raw = self.client.call('getCarState', vehicle_name)
-        return CarState.from_msgpack(state_raw)
-
-    def getCarControls(self, vehicle_name=''):
-        """
-        Args:
-            vehicle_name (str, optional): Name of vehicle
-
-        Returns:
-            CarControls:
-        """
-        controls_raw = self.client.call('getCarControls', vehicle_name)
-        return CarControls.from_msgpack(controls_raw)
diff --git a/auto/airsim/client.pyc b/auto/airsim/client.pyc
deleted file mode 100644
index 563d74ae6848577e465b205facc163b7693ef3d8..0000000000000000000000000000000000000000
GIT binary patch
diff --git a/auto/airsim/pfm.py b/auto/airsim/pfm.py
deleted file mode 100644
index 6f9f963a8a..0000000000
--- a/auto/airsim/pfm.py
+++ /dev/null
@@ -1,85 +0,0 @@
-import numpy as np
-import matplotlib.pyplot as plt
-import re
-import sys
-import pdb
-
-
-def read_pfm(file):
-    """ Read a pfm file """
-    file = open(file, 'rb')
-
-    color = None
-    width = None
-    height = None
-    scale = None
-    endian = None
-
-    header = file.readline().rstrip()
-    header = str(bytes.decode(header, encoding='utf-8'))
-    if header == 'PF':
-        color = True
-    elif header == 'Pf':
-        color = False
-    else:
-        raise Exception('Not a PFM file.')
-
-    pattern = r'^(\d+)\s(\d+)\s$'
-    temp_str = str(bytes.decode(file.readline(), encoding='utf-8'))
-    dim_match = re.match(pattern, temp_str)
-    if dim_match:
-        width, height = map(int, dim_match.groups())
-    else:
-        temp_str += str(bytes.decode(file.readline(), encoding='utf-8'))
-        dim_match = re.match(pattern, temp_str)
-        if dim_match:
-            width, height = map(int, dim_match.groups())
-        else:
-            raise Exception('Malformed PFM header: width, height cannot be found')
-
-    scale = float(file.readline().rstrip())
-    if scale < 0: # little-endian
-        endian = '<'
-        scale = -scale
-    else:
-        endian = '>' # big-endian
-
-    data = np.fromfile(file, endian + 'f')
-    shape = (height, width, 3) if color else (height, width)
-
-    data = np.reshape(data, shape)
-    # DEY: I don't know why this was there.
-    file.close()
-    
-    return data, scale
-
-
-def write_pfm(file, image, scale=1):
-    """ Write a pfm file """
-    file = open(file, 'wb')
-
-    color = None
-
-    if image.dtype.name != 'float32':
-        raise Exception('Image dtype must be float32.')
-
-    if len(image.shape) == 3 and image.shape[2] == 3: # color image
-        color = True
-    elif len(image.shape) == 2 or len(image.shape) == 3 and image.shape[2] == 1: # greyscale
-        color = False
-    else:
-        raise Exception('Image must have H x W x 3, H x W x 1 or H x W dimensions.')
-
-    file.write(bytes('PF\n', 'UTF-8') if color else bytes('Pf\n', 'UTF-8'))
-    temp_str = '%d %d\n' % (image.shape[1], image.shape[0])
-    file.write(bytes(temp_str, 'UTF-8'))
-
-    endian = image.dtype.byteorder
-
-    if endian == '<' or endian == '=' and sys.byteorder == 'little':
-        scale = -scale
-
-    temp_str = '%f\n' % scale
-    file.write(bytes(temp_str, 'UTF-8'))
-
-    image.tofile(file)
diff --git a/auto/airsim/types.py b/auto/airsim/types.py
deleted file mode 100644
index 867efd15b6..0000000000
--- a/auto/airsim/types.py
+++ /dev/null
@@ -1,507 +0,0 @@
-from __future__ import print_function
-import msgpackrpc #install as admin: pip install msgpack-rpc-python
-import numpy as np #pip install numpy
-
-class MsgpackMixin:
-    def __repr__(self):
-        from pprint import pformat
-        return "<" + type(self).__name__ + "> " + pformat(vars(self), indent=4, width=1)
-
-    def to_msgpack(self, *args, **kwargs):
-        return self.__dict__
-
-    @classmethod
-    def from_msgpack(cls, encoded):
-        obj = cls()
-        #obj.__dict__ = {k.decode('utf-8'): (from_msgpack(v.__class__, v) if hasattr(v, "__dict__") else v) for k, v in encoded.items()}
-        obj.__dict__ = { k : (v if not isinstance(v, dict) else getattr(getattr(obj, k).__class__, "from_msgpack")(v)) for k, v in encoded.items()}
-        #return cls(**msgpack.unpack(encoded))
-        return obj
-
-
-class ImageType:
-    Scene = 0
-    DepthPlanner = 1
-    DepthPerspective = 2
-    DepthVis = 3
-    DisparityNormalized = 4
-    Segmentation = 5
-    SurfaceNormals = 6
-    Infrared = 7
-
-class DrivetrainType:
-    MaxDegreeOfFreedom = 0
-    ForwardOnly = 1
-
-class LandedState:
-    Landed = 0
-    Flying = 1
-
-class WeatherParameter:
-    Rain = 0
-    Roadwetness = 1
-    Snow = 2
-    RoadSnow = 3
-    MapleLeaf = 4
-    RoadLeaf = 5
-    Dust = 6
-    Fog = 7
-    Enabled = 8
-
-class Vector3r(MsgpackMixin):
-    x_val = 0.0
-    y_val = 0.0
-    z_val = 0.0
-
-    def __init__(self, x_val = 0.0, y_val = 0.0, z_val = 0.0):
-        self.x_val = x_val
-        self.y_val = y_val
-        self.z_val = z_val
-
-    @staticmethod
-    def nanVector3r():
-        return Vector3r(np.nan, np.nan, np.nan)
-
-    def __add__(self, other):
-        return Vector3r(self.x_val + other.x_val, self.y_val + other.y_val, self.z_val + other.z_val)
-
-    def __sub__(self, other):
-        return Vector3r(self.x_val - other.x_val, self.y_val - other.y_val, self.z_val - other.z_val)
-
-    def __truediv__(self, other):
-        if type(other) in [int, float] + np.sctypes['int'] + np.sctypes['uint'] + np.sctypes['float']:
-            return Vector3r( self.x_val / other, self.y_val / other, self.z_val / other)
-        else:
-            raise TypeError('unsupported operand type(s) for /: %s and %s' % ( str(type(self)), str(type(other))) )
-
-    def __mul__(self, other):
-        if type(other) in [int, float] + np.sctypes['int'] + np.sctypes['uint'] + np.sctypes['float']:
-            return Vector3r(self.x_val*other, self.y_val*other, self.z_val*other)
-        else:
-            raise TypeError('unsupported operand type(s) for *: %s and %s' % ( str(type(self)), str(type(other))) )
-
-    def dot(self, other):
-        if type(self) == type(other):
-            return self.x_val*other.x_val + self.y_val*other.y_val + self.z_val*other.z_val
-        else:
-            raise TypeError('unsupported operand type(s) for \'dot\': %s and %s' % ( str(type(self)), str(type(other))) )
-
-    def cross(self, other):
-        if type(self) == type(other):
-            cross_product = np.cross(self.to_numpy_array(), other.to_numpy_array())
-            return Vector3r(cross_product[0], cross_product[1], cross_product[2])
-        else:
-            raise TypeError('unsupported operand type(s) for \'cross\': %s and %s' % ( str(type(self)), str(type(other))) )
-
-    def get_length(self):
-        return ( self.x_val**2 + self.y_val**2 + self.z_val**2 )**0.5
-
-    def distance_to(self, other):
-        return ( (self.x_val-other.x_val)**2 + (self.y_val-other.y_val)**2 + (self.z_val-other.z_val)**2 )**0.5
-
-    def to_Quaternionr(self):
-        return Quaternionr(self.x_val, self.y_val, self.z_val, 0)
-
-    def to_numpy_array(self):
-        return np.array([self.x_val, self.y_val, self.z_val], dtype=np.float32)
-
-
-class Quaternionr(MsgpackMixin):
-    w_val = 0.0
-    x_val = 0.0
-    y_val = 0.0
-    z_val = 0.0
-
-    def __init__(self, x_val = 0.0, y_val = 0.0, z_val = 0.0, w_val = 1.0):
-        self.x_val = x_val
-        self.y_val = y_val
-        self.z_val = z_val
-        self.w_val = w_val
-
-    @staticmethod
-    def nanQuaternionr():
-        return Quaternionr(np.nan, np.nan, np.nan, np.nan)
-
-    def __add__(self, other):
-        if type(self) == type(other):
-            return Quaternionr( self.x_val+other.x_val, self.y_val+other.y_val, self.z_val+other.z_val, self.w_val+other.w_val )
-        else:
-            raise TypeError('unsupported operand type(s) for +: %s and %s' % ( str(type(self)), str(type(other))) )
-
-    def __mul__(self, other):
-        if type(self) == type(other):
-            t, x, y, z = self.w_val, self.x_val, self.y_val, self.z_val
-            a, b, c, d = other.w_val, other.x_val, other.y_val, other.z_val
-            return Quaternionr( w_val = a*t - b*x - c*y - d*z,
-                                x_val = b*t + a*x + d*y - c*z,
-                                y_val = c*t + a*y + b*z - d*x,
-                                z_val = d*t + z*a + c*x - b*y)
-        else:
-            raise TypeError('unsupported operand type(s) for *: %s and %s' % ( str(type(self)), str(type(other))) )
-
-    def __truediv__(self, other):
-        if type(other) == type(self):
-            return self * other.inverse()
-        elif type(other) in [int, float] + np.sctypes['int'] + np.sctypes['uint'] + np.sctypes['float']:
-            return Quaternionr( self.x_val / other, self.y_val / other, self.z_val / other, self.w_val / other)
-        else:
-            raise TypeError('unsupported operand type(s) for /: %s and %s' % ( str(type(self)), str(type(other))) )
-
-    def dot(self, other):
-        if type(self) == type(other):
-            return self.x_val*other.x_val + self.y_val*other.y_val + self.z_val*other.z_val + self.w_val*other.w_val
-        else:
-            raise TypeError('unsupported operand type(s) for \'dot\': %s and %s' % ( str(type(self)), str(type(other))) )
-
-    def cross(self, other):
-        if type(self) == type(other):
-            return (self * other - other * self) / 2
-        else:
-            raise TypeError('unsupported operand type(s) for \'cross\': %s and %s' % ( str(type(self)), str(type(other))) )
-
-    def outer_product(self, other):
-        if type(self) == type(other):
-            return ( self.inverse()*other - other.inverse()*self ) / 2
-        else:
-            raise TypeError('unsupported operand type(s) for \'outer_product\': %s and %s' % ( str(type(self)), str(type(other))) )
-
-    def rotate(self, other):
-        if type(self) == type(other):
-            if other.get_length() == 1:
-                return other * self * other.inverse()
-            else:
-                raise ValueError('length of the other Quaternionr must be 1')
-        else:
-            raise TypeError('unsupported operand type(s) for \'rotate\': %s and %s' % ( str(type(self)), str(type(other))) )
-
-    def conjugate(self):
-        return Quaternionr(-self.x_val, -self.y_val, -self.z_val, self.w_val)
-
-    def star(self):
-        return self.conjugate()
-
-    def inverse(self):
-        return self.star() / self.dot(self)
-
-    def sgn(self):
-        return self/self.get_length()
-
-    def get_length(self):
-        return ( self.x_val**2 + self.y_val**2 + self.z_val**2 + self.w_val**2 )**0.5
-
-    def to_numpy_array(self):
-        return np.array([self.x_val, self.y_val, self.z_val, self.w_val], dtype=np.float32)
-
-
-class Pose(MsgpackMixin):
-    position = Vector3r()
-    orientation = Quaternionr()
-
-    def __init__(self, position_val = None, orientation_val = None):
-        position_val = position_val if position_val != None else Vector3r()
-        orientation_val = orientation_val if orientation_val != None else Quaternionr()
-        self.position = position_val
-        self.orientation = orientation_val
-
-    @staticmethod
-    def nanPose():
-        return Pose(Vector3r.nanVector3r(), Quaternionr.nanQuaternionr())
-
-
-class CollisionInfo(MsgpackMixin):
-    has_collided = False
-    normal = Vector3r()
-    impact_point = Vector3r()
-    position = Vector3r()
-    penetration_depth = 0.0
-    time_stamp = 0.0
-    object_name = ""
-    object_id = -1
-
-class GeoPoint(MsgpackMixin):
-    latitude = 0.0
-    longitude = 0.0
-    altitude = 0.0
-
-class YawMode(MsgpackMixin):
-    is_rate = True
-    yaw_or_rate = 0.0
-    def __init__(self, is_rate = True, yaw_or_rate = 0.0):
-        self.is_rate = is_rate
-        self.yaw_or_rate = yaw_or_rate
-
-class RCData(MsgpackMixin):
-    timestamp = 0
-    pitch, roll, throttle, yaw = (0.0,)*4 #init 4 variable to 0.0
-    switch1, switch2, switch3, switch4 = (0,)*4
-    switch5, switch6, switch7, switch8 = (0,)*4
-    is_initialized = False
-    is_valid = False
-    def __init__(self, timestamp = 0, pitch = 0.0, roll = 0.0, throttle = 0.0, yaw = 0.0, switch1 = 0,
-                 switch2 = 0, switch3 = 0, switch4 = 0, switch5 = 0, switch6 = 0, switch7 = 0, switch8 = 0, is_initialized = False, is_valid = False):
-        self.timestamp = timestamp
-        self.pitch = pitch
-        self.roll = roll
-        self.throttle = throttle
-        self.yaw = yaw
-        self.switch1 = switch1
-        self.switch2 = switch2
-        self.switch3 = switch3
-        self.switch4 = switch4
-        self.switch5 = switch5
-        self.switch6 = switch6
-        self.switch7 = switch7
-        self.switch8 = switch8
-        self.is_initialized = is_initialized
-        self.is_valid = is_valid
-
-class ImageRequest(MsgpackMixin):
-    camera_name = '0'
-    image_type = ImageType.Scene
-    pixels_as_float = False
-    compress = False
-
-    def __init__(self, camera_name, image_type, pixels_as_float = False, compress = True):
-        # todo: in future remove str(), it's only for compatibility to pre v1.2
-        self.camera_name = str(camera_name)
-        self.image_type = image_type
-        self.pixels_as_float = pixels_as_float
-        self.compress = compress
-
-
-class ImageResponse(MsgpackMixin):
-    image_data_uint8 = np.uint8(0)
-    image_data_float = 0.0
-    camera_position = Vector3r()
-    camera_orientation = Quaternionr()
-    time_stamp = np.uint64(0)
-    message = ''
-    pixels_as_float = 0.0
-    compress = True
-    width = 0
-    height = 0
-    image_type = ImageType.Scene
-
-class CarControls(MsgpackMixin):
-    throttle = 0.0
-    steering = 0.0
-    brake = 0.0
-    handbrake = False
-    is_manual_gear = False
-    manual_gear = 0
-    gear_immediate = True
-
-    def __init__(self, throttle = 0, steering = 0, brake = 0,
-        handbrake = False, is_manual_gear = False, manual_gear = 0, gear_immediate = True):
-        self.throttle = throttle
-        self.steering = steering
-        self.brake = brake
-        self.handbrake = handbrake
-        self.is_manual_gear = is_manual_gear
-        self.manual_gear = manual_gear
-        self.gear_immediate = gear_immediate
-
-
-    def set_throttle(self, throttle_val, forward):
-        if (forward):
-            self.is_manual_gear = False
-            self.manual_gear = 0
-            self.throttle = abs(throttle_val)
-        else:
-            self.is_manual_gear = False
-            self.manual_gear = -1
-            self.throttle = - abs(throttle_val)
-
-class KinematicsState(MsgpackMixin):
-    position = Vector3r()
-    orientation = Quaternionr()
-    linear_velocity = Vector3r()
-    angular_velocity = Vector3r()
-    linear_acceleration = Vector3r()
-    angular_acceleration = Vector3r()
-
-class EnvironmentState(MsgpackMixin):
-    position = Vector3r()
-    geo_point = GeoPoint()
-    gravity = Vector3r()
-    air_pressure = 0.0
-    temperature = 0.0
-    air_density = 0.0
-
-class CarState(MsgpackMixin):
-    speed = 0.0
-    gear = 0
-    rpm = 0.0
-    maxrpm = 0.0
-    handbrake = False
-    collision = CollisionInfo()
-    kinematics_estimated = KinematicsState()
-    timestamp = np.uint64(0)
-
-class MultirotorState(MsgpackMixin):
-    collision = CollisionInfo()
-    kinematics_estimated = KinematicsState()
-    gps_location = GeoPoint()
-    timestamp = np.uint64(0)
-    landed_state = LandedState.Landed
-    rc_data = RCData()
-    ready = False
-    ready_message = ""
-    can_arm = False
-
-class ProjectionMatrix(MsgpackMixin):
-    matrix = []
-
-class CameraInfo(MsgpackMixin):
-    pose = Pose()
-    fov = -1
-    proj_mat = ProjectionMatrix()
-
-class LidarData(MsgpackMixin):
-    point_cloud = 0.0
-    time_stamp = np.uint64(0)
-    pose = Pose()
-
-class ImuData(MsgpackMixin):
-    time_stamp = np.uint64(0)
-    orientation = Quaternionr()
-    angular_velocity = Vector3r()
-    linear_acceleration = Vector3r()
-
-class BarometerData(MsgpackMixin):
-    time_stamp = np.uint64(0)
-    altitude = Quaternionr()
-    pressure = Vector3r()
-    qnh = Vector3r()
-
-class MagnetometerData(MsgpackMixin):
-    time_stamp = np.uint64(0)
-    magnetic_field_body = Vector3r()
-    magnetic_field_covariance = 0.0
-
-class GnssFixType(MsgpackMixin):
-    GNSS_FIX_NO_FIX = 0
-    GNSS_FIX_TIME_ONLY = 1
-    GNSS_FIX_2D_FIX = 2
-    GNSS_FIX_3D_FIX = 3
-
-class GnssReport(MsgpackMixin):
-    geo_point = GeoPoint()
-    eph = 0.0
-    epv = 0.0
-    velocity = Vector3r()
-    fix_type = GnssFixType()
-    time_utc = np.uint64(0)
-
-class GpsData(MsgpackMixin):
-    time_stamp = np.uint64(0)
-    gnss = GnssReport()
-    is_valid = False
-
-class DistanceSensorData(MsgpackMixin):
-    time_stamp = np.uint64(0)
-    distance = 0.0
-    min_distance = 0.0
-    max_distance = 0.0
-    relative_pose = Pose()
-
-class PIDGains():
-    """
-    Struct to store values of PID gains. Used to transmit controller gain values while instantiating
-    AngleLevel/AngleRate/Velocity/PositionControllerGains objects.
-
-    Attributes:
-        kP (float): Proportional gain
-        kI (float): Integrator gain
-        kD (float): Derivative gain
-    """
-    def __init__(self, kp, ki, kd):
-        self.kp = kp
-        self.ki = ki
-        self.kd = kd
-
-    def to_list(self):
-        return [self.kp, self.ki, self.kd]
-
-class AngleRateControllerGains():
-    """
-    Struct to contain controller gains used by angle level PID controller
-
-    Attributes:
-        roll_gains (PIDGains): kP, kI, kD for roll axis
-        pitch_gains (PIDGains): kP, kI, kD for pitch axis
-        yaw_gains (PIDGains): kP, kI, kD for yaw axis
-    """
-    def __init__(self, roll_gains = PIDGains(0.25, 0, 0),
-                       pitch_gains = PIDGains(0.25, 0, 0),
-                       yaw_gains = PIDGains(0.25, 0, 0)):
-        self.roll_gains = roll_gains
-        self.pitch_gains = pitch_gains
-        self.yaw_gains = yaw_gains
-
-    def to_lists(self):
-        return [self.roll_gains.kp, self.pitch_gains.kp, self.yaw_gains.kp], [self.roll_gains.ki, self.pitch_gains.ki, self.yaw_gains.ki], [self.roll_gains.kd, self.pitch_gains.kd, self.yaw_gains.kd]
-
-class AngleLevelControllerGains():
-    """
-    Struct to contain controller gains used by angle rate PID controller
-
-    Attributes:
-        roll_gains (PIDGains): kP, kI, kD for roll axis
-        pitch_gains (PIDGains): kP, kI, kD for pitch axis
-        yaw_gains (PIDGains): kP, kI, kD for yaw axis
-    """
-    def __init__(self, roll_gains = PIDGains(2.5, 0, 0),
-                       pitch_gains = PIDGains(2.5, 0, 0),
-                       yaw_gains = PIDGains(2.5, 0, 0)):
-        self.roll_gains = roll_gains
-        self.pitch_gains = pitch_gains
-        self.yaw_gains = yaw_gains
-
-    def to_lists(self):
-        return [self.roll_gains.kp, self.pitch_gains.kp, self.yaw_gains.kp], [self.roll_gains.ki, self.pitch_gains.ki, self.yaw_gains.ki], [self.roll_gains.kd, self.pitch_gains.kd, self.yaw_gains.kd]
-
-class VelocityControllerGains():
-    """
-    Struct to contain controller gains used by velocity PID controller
-
-    Attributes:
-        x_gains (PIDGains): kP, kI, kD for X axis
-        y_gains (PIDGains): kP, kI, kD for Y axis
-        z_gains (PIDGains): kP, kI, kD for Z axis
-    """
-    def __init__(self, x_gains = PIDGains(0.2, 0, 0),
-                       y_gains = PIDGains(0.2, 0, 0),
-                       z_gains = PIDGains(2.0, 2.0, 0)):
-        self.x_gains = x_gains
-        self.y_gains = y_gains
-        self.z_gains = z_gains
-
-    def to_lists(self):
-        return [self.x_gains.kp, self.y_gains.kp, self.z_gains.kp], [self.x_gains.ki, self.y_gains.ki, self.z_gains.ki], [self.x_gains.kd, self.y_gains.kd, self.z_gains.kd]
-
-class PositionControllerGains():
-    """
-    Struct to contain controller gains used by position PID controller
-
-    Attributes:
-        x_gains (PIDGains): kP, kI, kD for X axis
-        y_gains (PIDGains): kP, kI, kD for Y axis
-        z_gains (PIDGains): kP, kI, kD for Z axis
-    """
-    def __init__(self, x_gains = PIDGains(0.25, 0, 0),
-                       y_gains = PIDGains(0.25, 0, 0),
-                       z_gains = PIDGains(0.25, 0, 0)):
-        self.x_gains = x_gains
-        self.y_gains = y_gains
-        self.z_gains = z_gains
-
-    def to_lists(self):
-        return [self.x_gains.kp, self.y_gains.kp, self.z_gains.kp], [self.x_gains.ki, self.y_gains.ki, self.z_gains.ki], [self.x_gains.kd, self.y_gains.kd, self.z_gains.kd]
-
-class MeshPositionVertexBuffersResponse(MsgpackMixin):
-    position = Vector3r()
-    orientation = Quaternionr()
-    vertices = 0.0
-    indices = 0.0
-    name = ''
diff --git a/auto/airsim/types.pyc b/auto/airsim/types.pyc
deleted file mode 100644
index 7ea22487d96b8443577bffb67633b33959a30eb1..0000000000000000000000000000000000000000
GIT binary patch
diff --git a/auto/airsim/utils.py b/auto/airsim/utils.py
deleted file mode 100644
index cd56292417..0000000000
--- a/auto/airsim/utils.py
+++ /dev/null
@@ -1,222 +0,0 @@
-import numpy as np #pip install numpy
-import math
-import time
-import sys
-import os
-import inspect
-import types
-import re
-
-from .types import *
-
-
-def string_to_uint8_array(bstr):
-    return np.fromstring(bstr, np.uint8)
-    
-def string_to_float_array(bstr):
-    return np.fromstring(bstr, np.float32)
-    
-def list_to_2d_float_array(flst, width, height):
-    return np.reshape(np.asarray(flst, np.float32), (height, width))
-    
-def get_pfm_array(response):
-    return list_to_2d_float_array(response.image_data_float, response.width, response.height)
-
-    
-def get_public_fields(obj):
-    return [attr for attr in dir(obj)
-                            if not (attr.startswith("_") 
-                            or inspect.isbuiltin(attr)
-                            or inspect.isfunction(attr)
-                            or inspect.ismethod(attr))]
-
-
-    
-def to_dict(obj):
-    return dict([attr, getattr(obj, attr)] for attr in get_public_fields(obj))
-
-    
-def to_str(obj):
-    return str(to_dict(obj))
-
-    
-def write_file(filename, bstr):
-    with open(filename, 'wb') as afile:
-        afile.write(bstr)
-
-# helper method for converting getOrientation to roll/pitch/yaw
-# https:#en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
-    
-def to_eularian_angles(q):
-    z = q.z_val
-    y = q.y_val
-    x = q.x_val
-    w = q.w_val
-    ysqr = y * y
-
-    # roll (x-axis rotation)
-    t0 = +2.0 * (w*x + y*z)
-    t1 = +1.0 - 2.0*(x*x + ysqr)
-    roll = math.atan2(t0, t1)
-
-    # pitch (y-axis rotation)
-    t2 = +2.0 * (w*y - z*x)
-    if (t2 > 1.0):
-        t2 = 1
-    if (t2 < -1.0):
-        t2 = -1.0
-    pitch = math.asin(t2)
-
-    # yaw (z-axis rotation)
-    t3 = +2.0 * (w*z + x*y)
-    t4 = +1.0 - 2.0 * (ysqr + z*z)
-    yaw = math.atan2(t3, t4)
-
-    return (pitch, roll, yaw)
-
-    
-def to_quaternion(pitch, roll, yaw):
-    t0 = math.cos(yaw * 0.5)
-    t1 = math.sin(yaw * 0.5)
-    t2 = math.cos(roll * 0.5)
-    t3 = math.sin(roll * 0.5)
-    t4 = math.cos(pitch * 0.5)
-    t5 = math.sin(pitch * 0.5)
-
-    q = Quaternionr()
-    q.w_val = t0 * t2 * t4 + t1 * t3 * t5 #w
-    q.x_val = t0 * t3 * t4 - t1 * t2 * t5 #x
-    q.y_val = t0 * t2 * t5 + t1 * t3 * t4 #y
-    q.z_val = t1 * t2 * t4 - t0 * t3 * t5 #z
-    return q
-
-    
-def wait_key(message = ''):
-    ''' Wait for a key press on the console and return it. '''
-    if message != '':
-        print (message)
-
-    result = None
-    if os.name == 'nt':
-        import msvcrt
-        result = msvcrt.getch()
-    else:
-        import termios
-        fd = sys.stdin.fileno()
-
-        oldterm = termios.tcgetattr(fd)
-        newattr = termios.tcgetattr(fd)
-        newattr[3] = newattr[3] & ~termios.ICANON & ~termios.ECHO
-        termios.tcsetattr(fd, termios.TCSANOW, newattr)
-
-        try:
-            result = sys.stdin.read(1)
-        except IOError:
-            pass
-        finally:
-            termios.tcsetattr(fd, termios.TCSAFLUSH, oldterm)
-
-    return result
-
-    
-def read_pfm(file):
-    """ Read a pfm file """
-    file = open(file, 'rb')
-
-    color = None
-    width = None
-    height = None
-    scale = None
-    endian = None
-
-    header = file.readline().rstrip()
-    header = str(bytes.decode(header, encoding='utf-8'))
-    if header == 'PF':
-        color = True
-    elif header == 'Pf':
-        color = False
-    else:
-        raise Exception('Not a PFM file.')
-
-    temp_str = str(bytes.decode(file.readline(), encoding='utf-8'))
-    dim_match = re.match(r'^(\d+)\s(\d+)\s$', temp_str)
-    if dim_match:
-        width, height = map(int, dim_match.groups())
-    else:
-        raise Exception('Malformed PFM header.')
-
-    scale = float(file.readline().rstrip())
-    if scale < 0: # little-endian
-        endian = '<'
-        scale = -scale
-    else:
-        endian = '>' # big-endian
-
-    data = np.fromfile(file, endian + 'f')
-    shape = (height, width, 3) if color else (height, width)
-
-    data = np.reshape(data, shape)
-    # DEY: I don't know why this was there.
-    file.close()
-    
-    return data, scale
-
-    
-def write_pfm(file, image, scale=1):
-    """ Write a pfm file """
-    file = open(file, 'wb')
-
-    color = None
-
-    if image.dtype.name != 'float32':
-        raise Exception('Image dtype must be float32.')
-
-    if len(image.shape) == 3 and image.shape[2] == 3: # color image
-        color = True
-    elif len(image.shape) == 2 or len(image.shape) == 3 and image.shape[2] == 1: # grayscale
-        color = False
-    else:
-        raise Exception('Image must have H x W x 3, H x W x 1 or H x W dimensions.')
-
-    file.write('PF\n'.encode('utf-8')  if color else 'Pf\n'.encode('utf-8'))
-    temp_str = '%d %d\n' % (image.shape[1], image.shape[0])
-    file.write(temp_str.encode('utf-8'))
-
-    endian = image.dtype.byteorder
-
-    if endian == '<' or endian == '=' and sys.byteorder == 'little':
-        scale = -scale
-
-    temp_str = '%f\n' % scale
-    file.write(temp_str.encode('utf-8'))
-
-    image.tofile(file)
-
-    
-def write_png(filename, image):
-    """ image must be numpy array H X W X channels
-    """
-    import zlib, struct
-
-    buf = image.flatten().tobytes()
-    width = image.shape[1]
-    height = image.shape[0]
-
-    # reverse the vertical line order and add null bytes at the start
-    width_byte_3 = width * 3
-    raw_data = b''.join(b'\x00' + buf[span:span + width_byte_3]
-                        for span in range((height - 1) * width_byte_3, -1, - width_byte_3))
-
-    def png_pack(png_tag, data):
-        chunk_head = png_tag + data
-        return (struct.pack("!I", len(data)) +
-                chunk_head +
-                struct.pack("!I", 0xFFFFFFFF & zlib.crc32(chunk_head)))
-
-    png_bytes = b''.join([
-        b'\x89PNG\r\n\x1a\n',
-        png_pack(b'IHDR', struct.pack("!2I5B", width, height, 8, 6, 0, 0, 0)),
-        png_pack(b'IDAT', zlib.compress(raw_data, 9)),
-        png_pack(b'IEND', b'')])
-
-    write_file(filename, png_bytes)
diff --git a/auto/airsim/utils.pyc b/auto/airsim/utils.pyc
deleted file mode 100644
index b306b9caa59a6637690817cce8f80027fdb4fe9a..0000000000000000000000000000000000000000
GIT binary patch
diff --git a/auto/python/airsim_helper.py b/auto/python/airsim_helper.py
deleted file mode 100644
index ea19af063b..0000000000
--- a/auto/python/airsim_helper.py
+++ /dev/null
@@ -1,260 +0,0 @@
-import setup_path
-import airsim
-import cv2
-import json
-import platform
-import rospy
-import numpy as np
-import math
-import tf2_ros
-import tf2_geometry_msgs
-import atexit
-import time
-import threading
-import subprocess
-import os
-import roslaunch
-from os import environ
-from os.path import expanduser
-from sensor_msgs.msg import Image,CameraInfo
-from tf2_msgs.msg import TFMessage
-from geometry_msgs.msg import TransformStamped, Vector3, Quaternion, PoseStamped, Point
-from cv_bridge import CvBridge
-from tf.transformations import quaternion_from_matrix, quaternion_from_euler, euler_from_quaternion, quaternion_conjugate
-
-class AirSimHelper(threading.Thread):
-
-	def severConnection(self,ASP):
-		for robot in ASP.robots:
-			ASP.client.cancelLastTask(robot.name)
-			ASP.client.reset()
-			if (not robot.sitl):
-				robot.px4.communicate('shutdown')
-				print('waiting for '+robot.name+' px4_sitl to shutdown')
-			print('Severed connection with '+robot.name)
-		print('waiting for all processes to finish...')
-		time.sleep(1)
-
-	def __init__(self):
-		if (platform.system() == "Windows"):
-			home = environ['USERPROFILE']
-			settings_path = home + "Documents\AirSim\settings.json"
-		else:
-			home = expanduser("~")
-			settings_path = home + "/Documents/AirSim/settings.json"
-		with open(settings_path) as f:
-			airsim_settings = json.load(f)
-
-       		threading.Thread.__init__(self)
-
-		#initialize the airsim wrapper
-		ASP = AirSimPublisher()
-		atexit.register(self.severConnection, ASP=ASP)
-		ASP.client.confirmConnection()
-		
-
-		launch = roslaunch.scriptapi.ROSLaunch()
-		launch.start()	
-		uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
-		roslaunch.configure_logging(uuid)
-
-		#Init Rospy and TF
-		#rospy.init_node('airsim_publisher', anonymous=True)
-		static_br = tf2_ros.StaticTransformBroadcaster()
-
-		vehicles = airsim_settings['Vehicles'].keys()
-		for vehicle in vehicles:
-
-			robot = Robot(vehicle)
-
-			cameras = airsim_settings['Vehicles'][vehicle]['Cameras']
-			robot.addCameras(cameras)
-			try:
-				robot.setAddress(airsim_settings['Vehicles'][vehicle]['LocalHostIp'])
-				robot.setPort(airsim_settings['Vehicles'][vehicle]['TcpPort'])
-				robot.setSITL(airsim_settings['Vehicles'][vehicle]['UseSerial'])
-			except (RuntimeError, TypeError, NameError):
-				print('Error reading LocalHostIP, TcpPort, or UseSerial in settings.json for robot '+vehicle)	
-
-			if (not robot.sitl):
-				print('Starting px4_sitl for '+vehicle)
-				robot.setPX4(subprocess.Popen(["make","px4_sitl_default","none_iris"], stdout=subprocess.PIPE, stderr=subprocess.PIPE, cwd="../px4/Firmware"))
-			transforms = ASP.getTransforms(airsim_settings['Vehicles'][vehicle], robot)	
-			static_br.sendTransform(transforms)
-			ASP.addRobot(robot)
-
-		#Begin Loop
-		rate = rospy.Rate(30)  # 30hz
-		while not rospy.is_shutdown():
-			#TODO: multithreading
-			ASP.updateTime()
-			for robot in ASP.robots:
-				transforms = ASP.updateData(robot)		
-			rate.sleep()
-
-class Robot:
-	def __init__(self, name):
-		self.name = name
-		self.address = '0.0.0.0'
-		self.port = '0'
-		self.sitl = False
-		self.px4 = []
-		self.MAVROS = []
-		self.sensors = {}
-		self.cameras = {}
-		self.publishers = {}
-		self.publishers['truepose'] = rospy.Publisher('airsim/' + self.name + "/truepose", PoseStamped, queue_size=10)	
-
-	def setAddress(self, address):
-		self.address = address
-
-	def setPort(self, port):
-		self.port = port
-
-	def setSITL(self, enable):
-		if (enable == 'True' or enable == 'true'):
-			self.sitl = True
-
-	def setPX4(self, subprocess):
-		self.px4 = subprocess
-
-	def setMAVROS(self, ros_process):
-		self.MAVROS = ros_process
-
-	def addCameras(self, cameras):
-		camera_dict = {}
-		for camera in cameras:
-			camera_params = cameras[camera]['CaptureSettings'][0]
-			if ('PublishToRos' in camera_params and camera_params['PublishToRos'] == 1):			
-				camera_dict[camera] = cameras[camera]
-				self.publishers[camera] = rospy.Publisher('airsim/' + self.name + "/" + camera + "/image_raw", Image, queue_size=30)
-				self.publishers[camera + "_info"] = rospy.Publisher('airsim/' + self.name + "/" + camera, CameraInfo, queue_size=30)
-		self.cameras = camera_dict
-
-class AirSimPublisher:
-	def __init__(self):
-		self.robots = []
-		self.client = airsim.MultirotorClient()
-		self.time = rospy.Time.now()
-		self.bridge = CvBridge()
-		self.tfBuffer = tf2_ros.Buffer()
-    		listener = tf2_ros.TransformListener(self.tfBuffer)
-
-	def updateTime(self):
-		self.time = rospy.Time.now()
-
-	def addRobot(self, robot):
-		self.robots.append(robot)
-
-	def getCameraInfoMsg(self,camera,robot):
-		cam_params = robot.cameras[camera]['CaptureSettings'][0]
-		height = cam_params['Height']
-		width = cam_params['Width']
-		fx = abs((width/2)/math.tan(cam_params['FOV_Degrees']/2*math.pi/180))
-		fy = fx		
-		#fy = abs((height/2)/math.tan(cam_params['FOV_Degrees']/2*math.pi/180))
-		cx = width/2
-		cy = height/2		
-		cam_msg = CameraInfo()
-		cam_msg.header.stamp = self.time
-		cam_msg.header.frame_id = str(camera)
-		cam_msg.height = height
-		cam_msg.width = width
-		cam_msg.distortion_model = "plumb_bob"
-		cam_msg.D = (0, 0, 0, 0, 0)
-		cam_msg.K = (fx, 0, cx, 0, fy, cy, 0, 0, 1)
-		return cam_msg
-
-	def getImageMsg(self,image,camera,robot):
-		cam_params = robot.cameras[camera]['CaptureSettings'][0]
-		height = cam_params['Height']
-		width = cam_params['Width']
-
-		img_msg = Image()
-		img_msg.header.stamp = self.time
-		img_msg.header.frame_id = str(camera)
-		img_msg.encoding = "bgr8"
-		img_msg.height = height
-		img_msg.width = width
-		img_msg.data = image
-		img_msg.is_bigendian = 0
-		img_msg.step = img_msg.width * 3
-		return img_msg
-
-	def getPoseMsg(self,robot):
-		#FOR SIMULATION ONLY
-		pose_data = self.client.simGetVehiclePose(robot.name)
-		pose_msg = PoseStamped()
-		pose_msg.header.stamp = self.time
-		pose_msg.header.frame_id = robot.name
-		#convert to REP-103 ENU
-		pose_msg.pose.position = Point(pose_data.position.y_val, pose_data.position.x_val, -pose_data.position.z_val)
-		pose_msg.pose.orientation = Quaternion(pose_data.orientation.y_val, pose_data.orientation.x_val, -pose_data.orientation.z_val, pose_data.orientation.w_val)
-		return pose_msg
-
-	def getTransforms(self, settings, robot):
-		#https://github.com/methylDragon/ros-sensor-fusion-tutorial/blob/master/01%20-%20ROS%20and%20Sensor%20Fusion%20Tutorial.md#3.1
-		cameras = settings['Cameras']
-		transforms = []
-		for camera in cameras:
-			#gimbal cameras are not going to be static transforms
-			if not ('Gimbal' in cameras[camera]):
-				transforms.append(self.staticTransform(cameras[camera], str(camera), robot.name))
-		robot_2_map = TransformStamped()
-		robot_2_map.header.stamp = self.time
-		robot_2_map.header.frame_id = 'map'
-		robot_2_map.child_frame_id = robot.name
-		robot_2_map.transform.rotation = Quaternion(0,0,0,1)
-		transforms.append(robot_2_map)
-		return transforms
-
-	def staticTransform(self, sensor, child, parent):
-		x = sensor['X'] if ('X' in sensor) else 0
-		y = sensor['Y'] if ('Y' in sensor) else 0
-		z = sensor['Z'] if ('Z' in sensor) else 0
-		roll = sensor['Roll']/(180/math.pi) if ('Roll' in sensor) else 0
-		pitch = sensor['Pitch']/(180/math.pi) if ('Pitch' in sensor) else 0
-		yaw = sensor['Yaw']/(180/math.pi) if ('Yaw' in sensor) else 0
-
-		transform = TransformStamped()
-		transform.header.stamp = self.time
-		transform.header.frame_id = str(parent)
-		transform.child_frame_id = child + '_pose'
-		#transform.transform.rotation = Quaternion(q[0],q[1],q[2],q[3])
-		q = quaternion_from_euler(roll, pitch, yaw)
-		#invert to get transform from sensor to base_link
-		q = quaternion_conjugate(q)
-		transform.transform.translation = Point(-x,-y,-z)
-		transform.transform.rotation = Quaternion(q[0],q[1],q[2],q[3])	
-		t_euler = euler_from_quaternion([transform.transform.rotation.x,transform.transform.rotation.y,transform.transform.rotation.z,transform.transform.rotation.w])
-		print(t_euler)
-		print(transform)
-		return transform
-
-	def updateData(self, robot):
-		img_pub = []
-		cam_pub = []
-		img_requests = []		
-		transforms = []
-		for camera in robot.cameras:
-			img_pub.append(robot.publishers[camera])
-			cam_pub = robot.publishers[camera + "_info"]
-			cam_pub.publish(self.getCameraInfoMsg(camera,robot))	
-			img_type = robot.cameras[camera]['CaptureSettings'][0]['ImageType']
-			img_requests.append(airsim.ImageRequest(camera, img_type, False, False))
-			#TODO publish gimbal transform			
-			#if ('Gimbal' in robot.cameras[camera]):			
-			
-		#get images
-		responses = self.client.simGetImages(img_requests, robot.name)
-		if len(responses) != len(robot.cameras):
-			print("Error receiving images from AirSim")
-		else:
-			for i in range(len(responses)):
-				img_pub[i].publish(self.getImageMsg(responses[i].image_data_uint8,robot.cameras.keys()[i],robot))
-		#update true pose
-		pub = robot.publishers['truepose']
-		pub.publish(self.getPoseMsg(robot))
-
-
-
diff --git a/auto/python/airsim_helper.pyc b/auto/python/airsim_helper.pyc
deleted file mode 100644
index fc2360d730a92a1f5980510ffeddc66342e30e4a..0000000000000000000000000000000000000000
GIT binary patch
diff --git a/auto/python/autonomy.py b/auto/python/autonomy.py
deleted file mode 100644
index 9d2e7d4db0..0000000000
--- a/auto/python/autonomy.py
+++ /dev/null
@@ -1,49 +0,0 @@
-import rospy
-import time
-from sensor_msgs.msg import Image,CameraInfo
-from std_msgs.msg import Float32
-from tf2_msgs.msg import TFMessage
-from geometry_msgs.msg import TransformStamped, Vector3, Quaternion, PoseWithCovarianceStamped, PoseStamped
-from sensor_msgs.msg import PointCloud2
-from cv_bridge import CvBridge
-from tf.transformations import quaternion_from_euler
-from airsim2ros.msg import Barometer, Distance
-from nav_msgs.msg import Odometry
-from multiprocessing import Process
-
-from tf.transformations import quaternion_from_matrix, rotation_matrix, quaternion_matrix
-
-from pad_detection import PadDetector
-from airsim_helper import AirSimHelper
-
-import setup_path
-import airsim
-import cv2
-import time
-import numpy as np
-import roslaunch
-import atexit
-import sys
-import tf2_ros
-import tf2_geometry_msgs
-from threading import Thread
-
-class Autonomy:
-
-	def __init__(self):
-
-		rospy.init_node('autonomy', anonymous=True)
-
-		#Helper function to setup 'True' Drone pose and Video ROS Topics
-		#Not intended for actual drone use
-		AirSim = AirSimHelper()
-		AirSim.daemon = True
-		AirSim.start()
-		
-		rospy.spin()
-
-
-if __name__ == "__main__":
-	Autonomy()
-
-
diff --git a/auto/python/backup b/auto/python/backup
deleted file mode 100644
index 18054a6f64..0000000000
--- a/auto/python/backup
+++ /dev/null
@@ -1,152 +0,0 @@
-import rospy
-import glob
-import json
-import math
-import os
-import px4tools
-import sys
-import time
-import actionlib
-import roslaunch
-import numpy as np
-import tf2_ros
-import tf2_geometry_msgs
-
-from mavros import mavlink
-from mavros_msgs.msg import Mavlink, Waypoint, WaypointReached, GlobalPositionTarget, State, TakeoffAction, TakeoffGoal, LandAction, LandGoal, WaypointsAction, WaypointsGoal, HomePosition
-from mavros_msgs.srv import CommandBool, SetMode, CommandTOL, WaypointPush, WaypointClear, CommandHome
-from sensor_msgs.msg import NavSatFix
-from nav_msgs.msg import Odometry
-from geometry_msgs.msg import Pose, PoseWithCovariance, PoseStamped, PoseWithCovarianceStamped
-from mavros_test_common import MavrosTestCommon
-from pymavlink import mavutil
-
-class companion():
-
-	def __init__(self):
-
-		#Initialize ROSLaunch
-		launch = roslaunch.scriptapi.ROSLaunch()
-		launch.start()	
-		uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
-		roslaunch.configure_logging(uuid)
-
-		#Launch MAVROS
-		cli_args = ('mavros', 'px4.launch')
-		roslaunch_file = [(roslaunch.rlutil.resolve_launch_arguments(cli_args)[0])]
-		mavros = roslaunch.parent.ROSLaunchParent(uuid, roslaunch_file)
-		mavros.start()
-
-		#Launch ORBSLAM
-		cli_args = ('orb_slam2_ros', 'orb_slam2_mono.launch')
-		roslaunch_file = [(roslaunch.rlutil.resolve_launch_arguments(cli_args)[0])]
-		orbslam = roslaunch.parent.ROSLaunchParent(uuid, roslaunch_file)
-		orbslam.start()
-
-   		rospy.init_node('companion_node', anonymous=True)
-
-		self.local_pose = Pose()
-		self.slam_pose = PoseStamped()
-		self.raw_slam_pose = PoseStamped()
-		self.calib_init_slam = Pose()
-		self.calib_init_local = Pose()
-		self.slam_calibrated = False
-		self.slam_offset_x = 0
-		self.slam_offset_y = 0
-		self.slam_offset_z = 0
-		self.slam_scale = 1
-
-		self.timer = 0
-		self.calibration_check_interval = 128 #in px4 freq
-
-		rospy.Subscriber('/mavros/global_position/local', Odometry, self.local_pose_callback)
-		rospy.Subscriber('/orb_slam2_mono/pose', PoseStamped, self.slamCallback)
-		self.slam_pub = rospy.Publisher('/mavros/vision_pose/pose', PoseStamped, queue_size=50)
-
-		self.tfBuffer = tf2_ros.Buffer()
-    		listener = tf2_ros.TransformListener(self.tfBuffer)
-
-		rospy.spin()
-
-		#Code to scale and publish orbslam pose to px4
-
-	def local_pose_callback(self,data):
-		self.local_pose = data.pose.pose
-		self.timer
-		if (self.timer == self.calibration_check_interval):
-			self.timer = 0
-			self.runCalibration()
-		else:
-			self.timer += 1
-		
-	def slamCallback(self,data):
-		pose_converted = self.convertFRD(data)
-		
-		if (self.raw_slam_pose.header.stamp.secs < pose_converted.header.stamp.secs - 1) or (self.calib_init_slam.position.x == 0) :
-			self.calib_init_slam = pose_converted.pose
-			self.calib_init_local = self.local_pose
-			#print(self.calib_init_slam.position,self.calib_init_local.position)
-			self.slam_calibrated = False
-
-		self.raw_slam_pose = pose_converted
-		if (self.slam_calibrated):
-
-			#print('bfore: ', self.raw_slam_pose.pose.position.x,self.raw_slam_pose.pose.position.y,self.raw_slam_pose.pose.position.z)
-			#transform SLAM pose
-			self.slam_pose.pose.position.x = self.raw_slam_pose.pose.position.x * self.slam_scale + self.slam_offset_x
-			self.slam_pose.pose.position.y = self.raw_slam_pose.pose.position.y * self.slam_scale + self.slam_offset_y
-			self.slam_pose.pose.position.z = self.raw_slam_pose.pose.position.z * self.slam_scale + self.slam_offset_z
-
-			self.slam_pose.pose.orientation = self.raw_slam_pose.pose.orientation
-			#print('after: ', self.slam_pose.pose.position.x,self.slam_pose.pose.position.y,self.slam_pose.pose.position.z)
-
-			self.slam_pose.header.stamp = self.raw_slam_pose.header.stamp
-			self.slam_pose.header.frame_id = 'Drone1'   	
-
-			self.slam_pub.publish(self.slam_pose)
-		else:
-			self.runCalibration()
-
-	def runCalibration(self):
-			#check for sufficient calibration movement
-			#TODO Check data timeliness
-			x = self.local_pose.position.x - self.calib_init_local.position.x
-			y = self.local_pose.position.y - self.calib_init_local.position.y
-			x_slam = self.raw_slam_pose.pose.position.x - self.calib_init_slam.position.x
-			y_slam = self.raw_slam_pose.pose.position.y - self.calib_init_slam.position.y
-			if (math.sqrt(x*x+y*y) > 5.0):
-				self.slam_scale = math.sqrt(x*x+y*y)/math.sqrt(x_slam*x_slam+y_slam*y_slam)
-				#print('scale', self.slam_scale)
-				self.slam_offset_x = (self.calib_init_local.position.x-self.slam_scale*self.calib_init_slam.position.x)
-				self.slam_offset_y = (self.calib_init_local.position.y-self.slam_scale*self.calib_init_slam.position.y)
-				self.slam_offset_z = (self.calib_init_local.position.z-self.slam_scale*self.calib_init_slam.position.z)
-				self.slam_calibrated = True
-
-	def convertFRD(self, data):
-		
-		#apply gimbal rotation (this is (mostly) working Dec 15th)
-		try:
-			transform = self.tfBuffer.lookup_transform('main','Drone1',rospy.Time(0),rospy.Duration(1.0))
-			data = tf2_geometry_msgs.do_transform_pose(data, transform)
-		except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException):
-			print('Error loading gimbal transform')	
-
-		#convert to px4 coord system  (this is working Dec 15th)
-		converted = PoseStamped()
-		converted.header = data.header
-		converted.pose.position.x = -data.pose.position.y
-		converted.pose.position.y = data.pose.position.x
-		converted.pose.position.z = data.pose.position.z
-		
-		converted.pose.orientation.x = -data.pose.orientation.y
-		converted.pose.orientation.y = data.pose.orientation.x
-		converted.pose.orientation.z = data.pose.orientation.z
-		converted.pose.orientation.w = data.pose.orientation.w
-		#print(converted.pose.orientation)
-
-		return converted
-
-
-if __name__ == '__main__':
-	companion()
-
diff --git a/auto/python/companion.py b/auto/python/companion.py
deleted file mode 100644
index 43b1fbdf54..0000000000
--- a/auto/python/companion.py
+++ /dev/null
@@ -1,232 +0,0 @@
-import rospy
-import glob
-import json
-import math
-import os
-import px4tools
-import sys
-import time
-import actionlib
-import roslaunch
-import numpy as np
-import tf2_ros
-import tf2_geometry_msgs
-import cv2
-import shutil
-
-from cv_bridge import CvBridge, CvBridgeError
-
-from mavros import mavlink
-from mavros_msgs.msg import Mavlink, Waypoint, WaypointReached, GlobalPositionTarget, State, TakeoffAction, TakeoffGoal, LandAction, LandGoal, WaypointsAction, WaypointsGoal, HomePosition
-from mavros_msgs.srv import CommandBool, SetMode, CommandTOL, WaypointPush, WaypointClear, CommandHome
-from orb_slam2_ros.msg import KeyFrames, Observations
-from sensor_msgs.msg import NavSatFix, Image, PointCloud2
-from std_msgs.msg import Header
-from nav_msgs.msg import Odometry
-from geometry_msgs.msg import Pose, PoseWithCovariance, PoseStamped, PoseWithCovarianceStamped
-from mavros_test_common import MavrosTestCommon
-from pymavlink import mavutil
-
-class KeyFrame(object):
-	empty = []
-
-	def __init__(self):
-		self.image_id = ""
-		self.latitude = 0.0
-		self.longitude = 0.0
-		self.altitude = 0.0
-		self.orientation = [0.0,0.0,0.0,0.0]
-		self.image = ""	
-
-class companion():
-
-	def __init__(self):
-
-		#Initialize ROSLaunch
-		launch = roslaunch.scriptapi.ROSLaunch()
-		launch.start()	
-		uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
-		roslaunch.configure_logging(uuid)
-
-		#Launch MAVROS
-		cli_args = ('mavros', 'px4.launch')
-		roslaunch_file = [(roslaunch.rlutil.resolve_launch_arguments(cli_args)[0])]
-		mavros = roslaunch.parent.ROSLaunchParent(uuid, roslaunch_file)
-		mavros.start()
-
-		#Launch ORBSLAM
-		cli_args = ('orb_slam2_ros', 'orb_slam2_mono.launch')
-		roslaunch_file = [(roslaunch.rlutil.resolve_launch_arguments(cli_args)[0])]
-		orbslam = roslaunch.parent.ROSLaunchParent(uuid, roslaunch_file)
-		orbslam.start()
-
-   		rospy.init_node('companion_node', anonymous=True)
-		
-		#clear old images
-		shutil.rmtree('img')
-		os.mkdir('img')		
-
-		self.local_pose = Pose()
-		self.slam_pose = PoseStamped()
-		self.raw_slam_pose = PoseStamped()
-		self.calib_init_slam = Pose()
-		self.calib_init_local = Pose()
-		self.slam_calibrated = False
-		self.slam_offset_x = 0
-		self.slam_offset_y = 0
-		self.slam_offset_z = 0
-		self.slam_scale = 1
-		self.state = "SYSTEM_NOT_READY"
-		self.last_state = "SYSTEM_NOT_READY"
-
-			#States:
-			#"SYSTEM_NOT_READY"
-			#"NO_IMAGES_YET"
-			#"NOT_INITIALIZED"
-			#"OK"
-			#"LOST"
-
-		self.keyframes = []
-		self.image_buffer = []
-		self.bridge = CvBridge()
-
-		rospy.Subscriber('/mavros/local_position/pose', PoseStamped, self.local_pose_callback)
-		rospy.Subscriber('/orb_slam2_mono/pose', PoseStamped, self.slamCallback)
-		rospy.Subscriber('/orb_slam2_mono/state', Header, self.stateCallback)
-		rospy.Subscriber('/orb_slam2_mono/map_points', PointCloud2, self.pointcloudCallback)
-		rospy.Subscriber('/orb_slam2_mono/observations', Observations, self.observationsCallback)
-		rospy.Subscriber('/orb_slam2_mono/keyframes', KeyFrames, self.keyframesCallback)
-		rospy.Subscriber('/airsim/base_link/camera/image_raw', Image, self.imageBuffer)
-		#rospy.Subscriber('/orb_slam2_mono/keyframes', KeyFrames, self.keyframesCallback)
-		self.slam_pub = rospy.Publisher('/mavros/vision_pose/pose', PoseStamped, queue_size=50)
-
-		rospy.spin()
-
-		#Code to scale and publish orbslam pose to px4
-
-	def local_pose_callback(self,data):
-		#TODO Ensure this data is up to date!!
-		self.local_pose = data.pose
-		
-	def stateCallback(self,data):
-		#Check for state change
-		self.state = data.frame_id
-		if (self.last_state != self.state):
-			self.slam_calibrated = False
-			if (self.state == "OK"):
-				self.calib_init_slam = self.raw_slam_pose.pose
-				self.calib_init_local = self.local_pose
-		self.last_state = self.state
-
-	def slamCallback(self,data):
-
-		self.raw_slam_pose = self.convertFRD(data)
-		self.runCalibration()
-		if (self.slam_calibrated):
-			#transform SLAM pose
-			self.slam_pose.pose.position.x = self.raw_slam_pose.pose.position.x * self.slam_scale + self.slam_offset_x
-			self.slam_pose.pose.position.y = self.raw_slam_pose.pose.position.y * self.slam_scale + self.slam_offset_y
-			self.slam_pose.pose.position.z = self.raw_slam_pose.pose.position.z * self.slam_scale + self.slam_offset_z
-			self.slam_pose.pose.orientation = self.raw_slam_pose.pose.orientation
-			self.slam_pose.header = self.raw_slam_pose.header
-
-			self.slam_pub.publish(self.slam_pose)
-		#else:
-			#if (self.state == "OK"):
-
-			
-
-	def runCalibration(self):
-			#check for sufficient calibration movement
-			x = self.local_pose.position.x - self.calib_init_local.position.x
-			y = self.local_pose.position.y - self.calib_init_local.position.y
-			x_slam = self.raw_slam_pose.pose.position.x - self.calib_init_slam.position.x
-			y_slam = self.raw_slam_pose.pose.position.y - self.calib_init_slam.position.y
-			if (math.sqrt(x*x+y*y) > 5.0 and x_slam != 0):
-				self.slam_scale = math.sqrt(x*x+y*y)/math.sqrt(x_slam*x_slam+y_slam*y_slam)			
-				self.slam_offset_x = (self.calib_init_local.position.x-self.slam_scale*self.calib_init_slam.position.x)
-				self.slam_offset_y = (self.calib_init_local.position.y-self.slam_scale*self.calib_init_slam.position.y)
-				self.slam_offset_z = (self.calib_init_local.position.z-self.slam_scale*self.calib_init_slam.position.z)
-				#print('offset', self.slam_offset_x, self.slam_offset_y, self.slam_offset_z)
-				self.slam_calibrated = True
-
-	def convertFRD(self, data):
-
-		#convert to px4 coord system  (this is working Dec 15th)
-		converted = PoseStamped()
-		converted.header.frame_id = 'map'
-		converted.pose.position.x = -data.pose.position.y
-		converted.pose.position.y = data.pose.position.z
-		converted.pose.position.z = -data.pose.position.x
-		
-		converted.pose.orientation.x = -data.pose.orientation.y
-		converted.pose.orientation.y = data.pose.orientation.z
-		converted.pose.orientation.z = -data.pose.orientation.x
-		converted.pose.orientation.w = data.pose.orientation.w
-
-		return converted
-
-	def imageBuffer(self, data):
-		buffer_size = 50
-		if (len(self.image_buffer) > buffer_size):
-			self.image_buffer.pop()
-		self.image_buffer.insert(0,data)
-
-	def keyframesCallback(self,data):
-		#TODO not currently capturing all keyframes
-		#print(len(data.keyframes),len(self.keyframes))
-		#check for new keyframes
-		data = list(data.keyframes)
-		if (len(self.keyframes) == 0):
-			for kf in data:
-				self.addKeyFrame(kf)
-		else:
-			#check for removed keyframes
-			for old_kf in self.keyframes:
-				found = False
-				for new_kf in data:
-					if (old_kf.image_id == new_kf.header.stamp.to_sec()):
-						found = True
-						break
-				#print(found)				
-				if (not found):
-					self.removeKeyFrame(old_kf)
-			#Add new kfs
-			latest = self.keyframes[-1].image_id
-			for new_kf in data:
-				if (new_kf.header.stamp.to_sec() > latest):
-					self.addKeyFrame(new_kf)		
-
-	def removeKeyFrame(self, data):
-		#print('remove frame '+data.image)
-		self.keyframes.remove(data)
-		if os.path.exists(data.image):
- 			os.remove(data.image)
-
-	def addKeyFrame(self, data):
-		kf = KeyFrame()
-		found = False
-		for img in self.image_buffer:
-			#print(img.header.stamp, data.header.stamp)
-			if (img.header.stamp.to_sec() == data.header.stamp.to_sec()):
-				#print('add frame')
-				kf.image_id = data.header.stamp.to_sec()
-				cv_img = self.bridge.imgmsg_to_cv2(img, "passthrough")
-				kf.image = 'img/'+str(kf.image_id)+'.png'
-				cv2.imwrite(kf.image, cv_img)
-				self.keyframes.append(kf)
-				found = True
-				return
-		print('Image not found, consider increasing image buffer size')
-			
-	def pointcloudCallback(self, data):
-		self.pointcloud = data
-
-	def observationsCallback(self, data):
-		data = list(data.observations)
-		print(self.pointcloud.width, len(data))
-		
-		
-if __name__ == '__main__':
-	companion()
-
diff --git a/auto/python/companion.pyc b/auto/python/companion.pyc
deleted file mode 100644
index a4bd2f35d8c7f62bcc6c84c6821a1e0906ff5cb8..0000000000000000000000000000000000000000
GIT binary patch
diff --git a/auto/python/companion2.py b/auto/python/companion2.py
deleted file mode 100644
index 8b5b39e6a2..0000000000
--- a/auto/python/companion2.py
+++ /dev/null
@@ -1,158 +0,0 @@
-import rospy
-import glob
-import json
-import math
-import os
-import px4tools
-import sys
-import time
-import actionlib
-import roslaunch
-import numpy as np
-import tf2_ros
-import tf2_geometry_msgs
-
-from mavros import mavlink
-from mavros_msgs.msg import Mavlink, Waypoint, WaypointReached, GlobalPositionTarget, State, TakeoffAction, TakeoffGoal, LandAction, LandGoal, WaypointsAction, WaypointsGoal, HomePosition
-from mavros_msgs.srv import CommandBool, SetMode, CommandTOL, WaypointPush, WaypointClear, CommandHome
-from sensor_msgs.msg import NavSatFix
-from nav_msgs.msg import Odometry
-from geometry_msgs.msg import Pose, PoseWithCovariance, PoseStamped, PoseWithCovarianceStamped
-from mavros_test_common import MavrosTestCommon
-from pymavlink import mavutil
-
-class companion():
-
-	def __init__(self):
-
-		#Initialize ROSLaunch
-		launch = roslaunch.scriptapi.ROSLaunch()
-		launch.start()	
-		uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
-		roslaunch.configure_logging(uuid)
-
-		#Launch MAVROS
-		cli_args = ('mavros', 'px4.launch')
-		roslaunch_file = [(roslaunch.rlutil.resolve_launch_arguments(cli_args)[0])]
-		mavros = roslaunch.parent.ROSLaunchParent(uuid, roslaunch_file)
-		mavros.start()
-
-		#Launch ORBSLAM
-		cli_args = ('orb_slam2_ros', 'orb_slam2_mono.launch')
-		roslaunch_file = [(roslaunch.rlutil.resolve_launch_arguments(cli_args)[0])]
-		orbslam = roslaunch.parent.ROSLaunchParent(uuid, roslaunch_file)
-		orbslam.start()
-
-   		rospy.init_node('companion_node', anonymous=True)
-
-		self.local_pose = Pose()
-		self.slam_pose = PoseStamped()
-		self.raw_slam_pose = PoseStamped()
-		self.calib_init_slam = Pose()
-		self.calib_init_local = Pose()
-		self.slam_calibrated = False
-		self.slam_offset_x = 0
-		self.slam_offset_y = 0
-		self.slam_offset_z = 0
-		self.slam_scale = 1
-
-		self.timer = 0
-		self.calibration_check_interval = 128 #in px4 freq
-
-		rospy.Subscriber('/mavros/local_position/pose', PoseStamped, self.local_pose_callback)
-		rospy.Subscriber('/orb_slam2_mono/pose', PoseStamped, self.slamCallback)
-		self.slam_pub = rospy.Publisher('/mavros/vision_pose/pose', PoseStamped, queue_size=50)
-
-		self.tfBuffer = tf2_ros.Buffer()
-    		listener = tf2_ros.TransformListener(self.tfBuffer)
-
-		self.cam_t = self.tfBuffer.lookup_transform('base_link','camera_pose',rospy.Time(0),rospy.Duration(1.0))
-
-		rospy.spin()
-
-		#Code to scale and publish orbslam pose to px4
-
-	def local_pose_callback(self,data):
-		self.local_pose = data.pose
-		self.timer
-		if (self.timer == self.calibration_check_interval):
-			self.timer = 0
-			self.runCalibration()
-		else:
-			self.timer += 1
-		
-	def slamCallback(self,data):
-		pose_converted = self.convertFRD(data)
-		
-		if (self.raw_slam_pose.header.stamp.secs < pose_converted.header.stamp.secs - 1) or (self.calib_init_slam.position.x == 0) :
-			self.calib_init_slam = pose_converted.pose
-			self.calib_init_local = self.local_pose
-			print(self.calib_init_slam.position,self.calib_init_local.position)
-			self.slam_calibrated = False
-
-		self.raw_slam_pose = pose_converted
-		if (self.slam_calibrated):
-
-			#print('bfore: ', self.raw_slam_pose.pose.position.x,self.raw_slam_pose.pose.position.y,self.raw_slam_pose.pose.position.z)
-			#transform SLAM pose
-			self.slam_pose.pose.position.x = self.raw_slam_pose.pose.position.x * self.slam_scale + self.slam_offset_x + self.cam_t.transform.translation.x
-			self.slam_pose.pose.position.y = self.raw_slam_pose.pose.position.y * self.slam_scale + self.slam_offset_y + self.cam_t.transform.translation.y
-			self.slam_pose.pose.position.z = self.raw_slam_pose.pose.position.z * self.slam_scale + self.slam_offset_z + self.cam_t.transform.translation.z
-
-			self.slam_pose.pose.orientation = self.raw_slam_pose.pose.orientation
-			
-			self.slam_pose.header = self.raw_slam_pose.header
-
-			self.slam_pub.publish(self.slam_pose)
-		else:
-			self.runCalibration()
-
-	def runCalibration(self):
-			#check for sufficient calibration movement
-			#TODO Check data timeliness
-			x = self.local_pose.position.x - self.calib_init_local.position.x
-			y = self.local_pose.position.y - self.calib_init_local.position.y
-			x_slam = self.raw_slam_pose.pose.position.x - self.calib_init_slam.position.x
-			y_slam = self.raw_slam_pose.pose.position.y - self.calib_init_slam.position.y
-			if (math.sqrt(x*x+y*y) > 5.0):
-				self.slam_scale = math.sqrt(x*x+y*y)/math.sqrt(x_slam*x_slam+y_slam*y_slam)
-				print('scale', self.slam_scale)				
-				self.slam_offset_x = (self.calib_init_local.position.x-self.slam_scale*self.calib_init_slam.position.x)
-				self.slam_offset_y = (self.calib_init_local.position.y-self.slam_scale*self.calib_init_slam.position.y)
-				self.slam_offset_z = (self.calib_init_local.position.z-self.slam_scale*self.calib_init_slam.position.z)
-				self.slam_calibrated = True
-
-	def convertFRD(self, data):
-
-		temp = data
-		#data.pose.position.x = temp.pose.position.z
-		#data.pose.position.y = temp.pose.position.x
-		#data.pose.position.z = temp.pose.position.y
-
-		#apply transform from camera pose to robot frame
-		transform = self.cam_t
-		transform.transform.translation.x = 0.0
-		transform.transform.translation.y = 0.0
-		transform.transform.translation.z = 0.0
-		data = tf2_geometry_msgs.do_transform_pose(data, transform)
-
-		#convert to px4 coord system  (this is working Dec 15th)
-		converted = PoseStamped()
-		converted.header.frame_id = 'base_link'
-		converted.pose.position.x = -data.pose.position.y
-		converted.pose.position.y = data.pose.position.x
-		converted.pose.position.z = data.pose.position.z
-		
-		converted.pose.orientation.x = -data.pose.orientation.y
-		converted.pose.orientation.y = data.pose.orientation.x
-		converted.pose.orientation.z = data.pose.orientation.z
-		converted.pose.orientation.w = data.pose.orientation.w
-		#print(converted.pose.orientation)
-		
-		#return data
-		return converted
-
-
-if __name__ == '__main__':
-	companion()
-
diff --git a/auto/python/disable_gps.py b/auto/python/disable_gps.py
deleted file mode 100644
index 6597602360..0000000000
--- a/auto/python/disable_gps.py
+++ /dev/null
@@ -1,21 +0,0 @@
-import rospy
-import px4tools
-
-from mavros import mavlink
-from mavros_msgs.msg import Mavlink, Waypoint, WaypointReached, GlobalPositionTarget, State, TakeoffAction, TakeoffGoal, LandAction, LandGoal, WaypointsAction, WaypointsGoal, HomePosition, ParamValue
-from mavros_msgs.srv import CommandBool, SetMode, CommandTOL, WaypointPush, WaypointClear, CommandHome, ParamSet
-
-
-rospy.init_node('disable_gps', anonymous=True)
-
-rospy.wait_for_service('/mavros/param/set')
-print('connected to ParamSet Service')
-param_set = rospy.ServiceProxy('/mavros/param/set', ParamSet)
-
-param = ParamValue()
-param_set
-
-
-rospy.spin()
-
-
diff --git a/auto/python/frames.gv b/auto/python/frames.gv
deleted file mode 100644
index 43a84fa2c5..0000000000
--- a/auto/python/frames.gv
+++ /dev/null
@@ -1,21 +0,0 @@
-digraph G {
-"map" -> "map_ned"[label="Broadcaster: /mavros\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1608106089.618 sec old)\nBuffer length: 0.000 sec\n"];
-"odom" -> "odom_ned"[label="Broadcaster: /mavros\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1608106089.618 sec old)\nBuffer length: 0.000 sec\n"];
-"base_link" -> "base_link_frd"[label="Broadcaster: /mavros\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1608106089.618 sec old)\nBuffer length: 0.000 sec\n"];
-"map" -> "base_link"[label="Broadcaster: /autonomy_11715_1608104044344\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1608106089.618 sec old)\nBuffer length: 0.000 sec\n"];
-"Drone1" -> "color"[label="Broadcaster: /autonomy_11715_1608104044344\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1608106089.618 sec old)\nBuffer length: 0.000 sec\n"];
-"Drone1" -> "depth"[label="Broadcaster: /autonomy_11715_1608104044344\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1608106089.618 sec old)\nBuffer length: 0.000 sec\n"];
-"base_link" -> "main"[label="Broadcaster: /autonomy_11715_1608104044344\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1608106089.618 sec old)\nBuffer length: 0.000 sec\n"];
-edge [style=invis];
- subgraph cluster_legend { style=bold; color=black; label ="view_frames Result";
-"Recorded at time: 1608106089.618"[ shape=plaintext ] ;
- }->"map";
-edge [style=invis];
- subgraph cluster_legend { style=bold; color=black; label ="view_frames Result";
-"Recorded at time: 1608106089.618"[ shape=plaintext ] ;
- }->"odom";
-edge [style=invis];
- subgraph cluster_legend { style=bold; color=black; label ="view_frames Result";
-"Recorded at time: 1608106089.618"[ shape=plaintext ] ;
- }->"Drone1";
-}
\ No newline at end of file
diff --git a/auto/python/frames.pdf b/auto/python/frames.pdf
deleted file mode 100644
index 5b41792d0d440780273cb0502022d90228d1fcd4..0000000000000000000000000000000000000000
GIT binary patch
diff --git a/auto/python/ground.py b/auto/python/ground.py
deleted file mode 100644
index 5b59d6e78b..0000000000
--- a/auto/python/ground.py
+++ /dev/null
@@ -1,112 +0,0 @@
-import rospy
-import glob
-import json
-import math
-import os
-import px4tools
-import sys
-import time
-import actionlib
-import roslaunch
-from mavros import mavlink
-from mavros import action_server2
-from mavros_msgs.msg import Mavlink, Waypoint, WaypointReached, GlobalPositionTarget, State, TakeoffAction, TakeoffGoal, LandAction, LandGoal, WaypointsAction, WaypointsGoal, HomePosition
-from mavros_msgs.srv import CommandBool, SetMode, CommandTOL, WaypointPush, WaypointClear, CommandHome
-from sensor_msgs.msg import NavSatFix
-from geometry_msgs.msg import PoseStamped
-from mavros_test_common import MavrosTestCommon
-from pymavlink import mavutil
-from threading import Thread
-
-# Brings in the SimpleActionClient
-import actionlib
-
-class ground_station():
-
-		state_sub = rospy.Subscriber('mavros/state', State, self.state_callback)
-		self.state = State
-		#PUBLISHERS
-		local_pos_pub = rospy.Publisher('mavros/setpoint_position/local', PoseStamped, queue_size=10)
-		#global_pos_pub = rospy.Publisher('mavros/setpoint_position/global', GlobalPositionTarget, queue_size=10)
-		local_pos_sub = rospy.Subscriber('/mavros/global_position/global', NavSatFix, self.global_pos_callback)
-		home_pos_sub = rospy.Subscriber('/mavros/home_position/home', HomePosition, self.home_pos_callback)
-
-		#ACTIONS
-		#init actionlib servers
-		server = Thread(target=action_server2.ActionServer)
-		server.setDaemon(True)
-		server.start()
-		takeoff_client = actionlib.SimpleActionClient('takeoff', TakeoffAction)
-		land_client = actionlib.SimpleActionClient('land', LandAction)
-		waypoints_client = actionlib.SimpleActionClient('waypoints', WaypointsAction)
-
-		# need to simulate heartbeat to prevent datalink loss detection
-		hb_mav_msg = mavutil.mavlink.MAVLink_heartbeat_message(mavutil.mavlink.MAV_TYPE_GCS, 0, 0, 0, 0, 0)
-		hb_mav_msg.pack(mavutil.mavlink.MAVLink('', 2, 1))
-		hb_ros_msg = mavlink.convert_to_rosmsg(hb_mav_msg)
-		hb_thread = Thread(target=self.send_heartbeat, args=(hb_ros_msg))
-		hb_thread.setDaemon(True)
-
-		#PREFLIGHT CHECK
-
-		rate = rospy.Rate(30)
-		while (not self.state.connected):
-			print('Waiting on Connection')
-			rate.sleep()
-		print('Connected')
-
-		time.sleep(5)
-
-		goal = TakeoffGoal()
-		goal.height = 10
-	
-		print('Actionlib started')
-
-		takeoff_client.send_goal(goal)
-		takeoff_client.wait_for_result()
-
-		wps = []
-		wp1 = Waypoint()
-		wp2 = Waypoint()
-		wp1.command = 16
-		wp1.x_lat = self.home_pos.geo.latitude - 0.00050
-		wp1.y_long = self.home_pos.geo.longitude
-		wp1.z_alt = 10
-		wp1.autocontinue = True
-
-		wp2.command = 16
-		wp2.x_lat = self.home_pos.geo.latitude
-		wp2.y_long = self.home_pos.geo.longitude
-		wp2.z_alt = 10
-		wp2.autocontinue = True
-
-		goal = WaypointsGoal()
-		goal.waypoints.append(wp1)
-		goal.waypoints.append(wp2)
-		print(goal)
-		waypoints_client.send_goal(goal)
-		waypoints_client.wait_for_result(rospy.Duration.from_sec(45.0))
-
-		time.sleep(5)
-
-		goal = LandGoal()
-		goal.x_lat = self.home_pos.geo.latitude
-		goal.y_long = self.home_pos.geo.longitude
-		goal.z_alt = 0.0
-
-		print('Actionlib started')
-
-		land_client.send_goal(goal)
-		land_client.wait_for_result(rospy.Duration.from_sec(30.0))
-		sys.exit()
-		
-
-	# Heartbeat must be sent to px4 at 2Hz or else auto disconnect
-	def send_heartbeat(self, hb_ros_msg):
-		rate = rospy.Rate(2)  # Hz
-		while not rospy.is_shutdown():
-			self.mavlink_pub.publish(hb_ros_msg)
-			try:  # prevent garbage in console output when thread is killed
-				rate.sleep()
-			except rospy.ROSInterruptException:
-				pass
diff --git a/auto/python/mapping.py b/auto/python/mapping.py
deleted file mode 100644
index aafa515302..0000000000
--- a/auto/python/mapping.py
+++ /dev/null
@@ -1,227 +0,0 @@
-import rospy
-import tf2_ros
-import tf2_geometry_msgs
-import cv2
-import numpy as np
-import math
-import struct
-
-from cv_bridge import CvBridge
-from sensor_msgs.msg import Image, CameraInfo, PointCloud2, PointField
-from sensor_msgs import point_cloud2
-from tf2_msgs.msg import TFMessage
-from geometry_msgs.msg import PoseStamped, Quaternion, TransformStamped
-from nav_msgs.msg import Odometry
-
-from sfm import getColors
-from sfm import triangulate
-from sfm import triangulate_int
-from sfm import drawTracks
-from sfm import getTrackLength
-from sfm import getObjectPointsEssential
-from sfm import eliminateDuplicateObjects
-from sfm import baFun
-from sfm import bundle_adjustment_sparsity
-
-from scipy.sparse import lil_matrix
-from scipy.optimize import least_squares
-
-from tf.transformations import quaternion_matrix, euler_from_quaternion, quaternion_multiply
-
-class mapping():
-
-	def __init__(self):
-
-   		rospy.init_node('mapping', anonymous=True)
-
-		self.bridge = CvBridge()
-		self.tfBuffer = tf2_ros.Buffer()
-    		listener = tf2_ros.TransformListener(self.tfBuffer)
-
-		self.image = []
-		self.pose = PoseStamped()
-		self.K = []
-		self.d = []
-		self.cam_width =  []
-		self.cam_height = []
-		self.rotation = []
-		self.translation = []
-		self.tracking = False
-
-		self.img_curr = []
-		self.img_prev = []
-
-		self.features_orig = []
-		self.features_prev = []
-
-		self.obj_mask = []
-
-		self.reset = True
-
-		#INITIALIZE FEATURE MATCHING PARAMETERS#
-		self.maxCorners = 500 #Maximum number of corners to return. If there are more corners than are found, the strongest of them is returned
-		self.qualityLevel = 0.01 #For example, if best corner has measure = 1500, and qualityLevel=0.01 , then corners with quality<15 are rejected.
-		self.minDistance = 10 #Minimum possible Euclidean distance between the returned corners.
-		self.lk_params = dict(winSize = (15,15), maxLevel = 2, criteria = (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 0.03))
-
-		#rospy.Subscriber('/mavros/local_position/pose', PoseStamped, self.poseCallback)
-		rospy.Subscriber('orb_slam2_mono/pose', PoseStamped, self.poseCallback)
-		rospy.Subscriber('/airsim/base_link/camera/image_raw', Image, self.imageCallback)
-		rospy.Subscriber('/airsim/base_link/camera', CameraInfo, self.camInfoCallback)
-		self.cloud_pub = rospy.Publisher("cloud", PointCloud2, queue_size=10)
-		self.test_pose = rospy.Publisher("test_pose", PoseStamped, queue_size=10)
-
-		print('waiting on topics...')
-		rospy.wait_for_message('/airsim/base_link/camera', Image)
-		#self.cam_width = self.img_curr.shape[0]
-		#self.cam_height = self.img_curr.shape[1]
-		print('K: ', self.K)
-		print('D: ', self.D)
-		rospy.wait_for_message('/mavros/local_position/pose', PoseStamped)
-		print('connected')
-
-		rospy.spin()
-
-	def poseCallback(self, data):
-		pose_stamped = PoseStamped()
-		pose_stamped.pose = data.pose
-		pose_stamped.header = data.header
-		self.pose.header = pose_stamped.header
-		self.pose = data
-		try:
-			t = self.tfBuffer.lookup_transform('camera_pose','base_link',rospy.Time(0),rospy.Duration(1.0))
-			#self.pose = tf2_geometry_msgs.do_transform_pose(self.pose, t)
-			#self.pose.pose.position.x = pose_stamped.pose.position.x + t.transform.translation.x
-			#self.pose.pose.position.y = pose_stamped.pose.position.y + t.transform.translation.y
-			#self.pose.pose.position.z = pose_stamped.pose.position.z + t.transform.translation.z
-			#q0 = (pose_stamped.pose.orientation.x,pose_stamped.pose.orientation.y,pose_stamped.pose.orientation.z,pose_stamped.pose.orientation.w)
-			#q1 = (self.pose.pose.orientation.x,self.pose.pose.orientation.y,self.pose.pose.orientation.z,self.pose.pose.orientation.w)
-			#q = quaternion_multiply(q1,q0)
-			#self.pose.pose.orientation.x = q[0]
-			#self.pose.pose.orientation.y = q[1]
-			#self.pose.pose.orientation.z = q[2]
-			#self.pose.pose.orientation.w = q[3]
-			self.test_pose.publish(self.pose)
-		except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException):
-			print('Error loading gimbal transform')
-		q = (self.pose.pose.orientation.x,self.pose.pose.orientation.y,self.pose.pose.orientation.z,self.pose.pose.orientation.w)
-		r = quaternion_matrix(q)
-		self.rotation = r[0:3,0:3]
-		self.translation = np.array(([self.pose.pose.position.x],[self.pose.pose.position.y],[self.pose.pose.position.z]))
-		#print(self.translation)
-		
-	def imageCallback(self, data):
-		self.header = data.header
-		self.img_curr = self.bridge.imgmsg_to_cv2(data, desired_encoding='passthrough')
-
-		P1 = np.hstack((self.rotation,self.translation))
-
-		grey_curr = cv2.cvtColor(self.img_curr, cv2.COLOR_RGB2GRAY)
-
-		#check if we are currently tracking flow, if no, we need to initialize and wait for next image
-		if (self.reset or ):
-			#Get first set of features to track
-			self.features_orig = cv2.goodFeaturesToTrack(grey_curr, self.maxCorners, self.qualityLevel, self.minDistance)
-			self.features_prev = self.features_orig
-			self.P0 = P1
-			self.obj_mask = np.full((len(self.features_orig), 4),-1)
-			self.reset = False
-			self.img_prev = self.img_curr
-			return
-
-		grey_prev = cv2.cvtColor(self.img_prev, cv2.COLOR_RGB2GRAY)
-
-		#GET NEW FEATURE LOCATIONS#
-		next, status, error = cv2.calcOpticalFlowPyrLK(grey_prev, grey_curr , self.features_prev, None, **self.lk_params)
-		if (not next.any()):
-			self.reset = True
-			return
-
-		#Filter out the points with high error 
-		error = error[status[:,0] == 1]
-		new = next[status[:,0] == 1]
-		new = new[error[:,0] < 10]
-
-		#Update the original list of features to reflect pixels that have been lost in the flow
-		self.features_orig = self.features_orig[status[:,0] == 1]
-		self.features_orig = self.features_orig[error[:,0] < 10]
-
-		# Updates previous good feature points
-		self.features_prev = new.reshape(-1, 1, 2) 
-
-		#Optional visualization
-		output = drawTracks(self.features_orig.astype(int), new, self.img_curr, (0, 255, 0))
-		cv2.imshow('Tracks',output)
-		self.img_prev = self.img_curr
-		key = cv2.waitKey(1) & 0xFF;
-
-		#Check sufficient parallax# 
-		avg_track_len = getTrackLength(self.features_orig,new)
-		if (avg_track_len < 30):
-			#not enough parrallax
-			return
-
-		#Attempt to calculate SFM
-		orig_pts = self.features_orig.reshape(len(self.features_orig),2)
-
-		new_pts = new.reshape(len(new),2)
-		mask_inf = np.zeros(len(new_pts))
-
-		#TODO filter out points with low parallax
-
-		print(len(orig_pts))
-		#Check quality of pts
-		if (len(orig_pts) < 10):
-			#Not enough quality points, reset
-			self.reset = True
-			return
-
-		#SolvePNP
-		#Get 3d world points and associated pixel values for the second image
-		print(np.reshape(self.P0[:,3],(1,3)),np.reshape(P1[:,2],(1,3)))
-		print(P1,(self.pose.pose.position.x,self.pose.pose.position.y,self.pose.pose.position.z))
-		obj_pts, prev_pts, new_pts, P = getObjectPointsEssential(orig_pts,new_pts,self.P0,self.K, self.D)
-
-        	#obj_pts, mask_tri, error = triangulate(orig_pts, self.P0, new_pts, P1, self.K, self.D)
-		
-		#Get colors from detected pixels for coloring pointcloud
-
-		#pixel_pts = new_pts[mask_tri[:,0]==1]
-		colors = getColors(new_pts,self.img_curr.copy())		
-
-		self.publishPoints(obj_pts, colors)
-		self.reset = True
-
-		return
-
-	def camInfoCallback(self,data):
-		self.K = np.reshape(data.K,(3,3))
-		self.D = np.reshape(data.D,(1,5))
-
-	def publishPoints(self, obj_pts, colors):
-		points = []		
-		for i in range(len(obj_pts)):
-			x = obj_pts[i,0]
-			y = obj_pts[i,1]
-			z = obj_pts[i,2]
-			#print(obj_pts[i])
-			r = colors[i,0]
-			g = colors[i,1]
-			b = colors[i,2]
-			a = 255
-			rgb = struct.unpack('I', struct.pack('BBBB', b, g, r, a))[0]
-			pt = [x, y, z, rgb]			
-			points.append(pt)
-		fields = [PointField('x', 0, PointField.FLOAT32, 1),
-			  PointField('y', 4, PointField.FLOAT32, 1),
-			  PointField('z', 8, PointField.FLOAT32, 1),
-			  PointField('rgba', 12, PointField.UINT32, 1),
-			  ]
-		#Raytracing (clearing of free space) is always done from the origin of this frame_id at the time of the point cloud
-		header = self.header
-		header.frame_id = 'map'
-		cloud = point_cloud2.create_cloud(header, fields, points)
-		self.cloud_pub.publish(cloud)
-
-if __name__ == '__main__':
-	mapping()
diff --git a/auto/python/mapping2.py b/auto/python/mapping2.py
deleted file mode 100644
index 7d1adb64f9..0000000000
--- a/auto/python/mapping2.py
+++ /dev/null
@@ -1,229 +0,0 @@
-import rospy
-import tf2_ros
-import tf2_geometry_msgs
-import cv2
-import numpy as np
-import math
-import struct
-
-from cv_bridge import CvBridge
-from sensor_msgs.msg import Image, CameraInfo, PointCloud2, PointField
-from sensor_msgs import point_cloud2
-from tf2_msgs.msg import TFMessage
-from geometry_msgs.msg import PoseStamped, Quaternion, TransformStamped
-from nav_msgs.msg import Odometry
-
-from sfm import getColors
-from sfm import triangulate
-from sfm import triangulate_int
-from sfm import drawTracks
-from sfm import getTrackLength
-from sfm import getObjectPointsEssential
-from sfm import eliminateDuplicateObjects
-from sfm import baFun
-from sfm import bundle_adjustment_sparsity
-
-from scipy.sparse import lil_matrix
-from scipy.optimize import least_squares
-
-from tf.transformations import quaternion_matrix, euler_from_quaternion, quaternion_multiply, quaternion_from_matrix
-
-class mapping():
-
-	def __init__(self):
-
-   		rospy.init_node('mapping', anonymous=True)
-
-		self.bridge = CvBridge()
-		self.tfBuffer = tf2_ros.Buffer()
-    		listener = tf2_ros.TransformListener(self.tfBuffer)
-
-		self.image = []
-		self.pose = PoseStamped()
-		self.K = []
-		self.d = []
-		self.cam_width =  []
-		self.cam_height = []
-		self.rotation = []
-		self.translation = []
-		self.tracking = False
-
-		self.img_curr = []
-		self.img_prev = []
-
-		self.features_orig = []
-		self.features_prev = []
-
-		self.obj_mask = []
-
-		self.reset = True
-
-		#INITIALIZE FEATURE MATCHING PARAMETERS#
-		self.maxCorners = 500 #Maximum number of corners to return. If there are more corners than are found, the strongest of them is returned
-		self.qualityLevel = 0.01 #For example, if best corner has measure = 1500, and qualityLevel=0.01 , then corners with quality<15 are rejected.
-		self.minDistance = 10 #Minimum possible Euclidean distance between the returned corners.
-		self.lk_params = dict(winSize = (15,15), maxLevel = 2, criteria = (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 0.03))
-
-		#rospy.Subscriber('/mavros/local_position/pose', PoseStamped, self.poseCallback)
-		rospy.Subscriber('orb_slam2_mono/pose', PoseStamped, self.poseCallback)
-		rospy.Subscriber('/airsim/base_link/camera/image_raw', Image, self.imageCallback)
-		rospy.Subscriber('/airsim/base_link/camera', CameraInfo, self.camInfoCallback)
-		self.cloud_pub = rospy.Publisher("cloud", PointCloud2, queue_size=10)
-		self.test_pose = rospy.Publisher("test_pose", PoseStamped, queue_size=10)
-
-		print('waiting on topics...')
-		rospy.wait_for_message('/airsim/base_link/camera/image_raw', Image)
-
-		#self.cam_width = self.img_curr.shape[0]
-		#self.cam_height = self.img_curr.shape[1]
-		print('K: ', self.K)
-		print('D: ', self.D)
-		rospy.wait_for_message('/mavros/local_position/pose', PoseStamped)
-		print('connected')
-		print(float(self.pose.header.stamp.secs)+float(self.pose.header.stamp.nsecs)/1000000000.0,float(self.header.stamp.secs)+float(self.header.stamp.nsecs)/1000000000.0)
-		rospy.spin()
-
-	def poseCallback(self, data):
-		self.pose = data
-		#self.test_pose.publish(self.pose)
-		q = (self.pose.pose.orientation.x,self.pose.pose.orientation.y,self.pose.pose.orientation.z,self.pose.pose.orientation.w)
-		r = quaternion_matrix(q)
-		#print(r)
-		self.rotation = r[0:3,0:3]
-		self.translation = np.array(([self.pose.pose.position.x],[self.pose.pose.position.y],[self.pose.pose.position.z]))
-		#print(self.translation)
-		
-	def imageCallback(self, data):
-		self.header = data.header
-		self.img_curr = self.bridge.imgmsg_to_cv2(data, desired_encoding='passthrough')
-
-		P1 = np.hstack((self.rotation,self.translation))
-		
-
-		grey_curr = cv2.cvtColor(self.img_curr, cv2.COLOR_RGB2GRAY)
-
-		#check if we are currently tracking flow, if no, we need to initialize and wait for next image
-		if (self.reset and P1 != []):
-			#Get first set of features to track
-			self.features_orig = cv2.goodFeaturesToTrack(grey_curr, self.maxCorners, self.qualityLevel, self.minDistance)
-			self.features_prev = self.features_orig
-			self.P0 = P1
-			self.obj_mask = np.full((len(self.features_orig), 4),-1)
-			self.reset = False
-			self.img_prev = self.img_curr
-			return
-
-		grey_prev = cv2.cvtColor(self.img_prev, cv2.COLOR_RGB2GRAY)
-
-		#GET NEW FEATURE LOCATIONS#
-		next, status, error = cv2.calcOpticalFlowPyrLK(grey_prev, grey_curr , self.features_prev, None, **self.lk_params)
-		if (not next.any()):
-			self.reset = True
-			return
-
-		#Filter out the points with high error 
-		error = error[status[:,0] == 1]
-		new = next[status[:,0] == 1]
-		new = new[error[:,0] < 10]
-
-		#Update the original list of features to reflect pixels that have been lost in the flow
-		self.features_orig = self.features_orig[status[:,0] == 1]
-		self.features_orig = self.features_orig[error[:,0] < 10]
-
-		# Updates previous good feature points
-		self.features_prev = new.reshape(-1, 1, 2) 
-
-		#Check sufficient parallax# 
-		avg_track_len = getTrackLength(self.features_orig,new)
-		if (avg_track_len < 30):
-			#not enough parrallax
-			return
-
-		#Attempt to calculate SFM
-		orig_pts = self.features_orig.reshape(len(self.features_orig),2)
-
-		new_pts = new.reshape(len(new),2)
-		mask_inf = np.zeros(len(new_pts))
-
-		#TODO filter out points with low parallax
-
-		print(len(orig_pts))
-		#Check quality of pts
-		if (len(orig_pts) < 10):
-			#Not enough quality points, reset
-			self.reset = True
-			return
-
-		#Optional visualization
-		output = drawTracks(orig_pts.astype(int), new_pts.astype(int, self.img_curr, (0, 255, 0))
-		cv2.imshow('Tracks',output)
-		self.img_prev = self.img_curr
-		key = cv2.waitKey(1) & 0xFF;
-
-		#SolvePNP
-		#Get 3d world points and associated pixel values for the second image
-		print('1', )
-		#obj_pts, prev_pts, new_pts, P = getObjectPointsEssential(orig_pts,new_pts,self.P0,self.K, self.D)
-
-        	obj_pts, mask_tri, error = triangulate(orig_pts, self.P0, new_pts, P1, self.K, self.D)
-	
-		test = PoseStamped()
-		test.header.stamp = data.header.stamp
-		test.header.frame_id = self.pose.header.frame_id
-		test.pose.position.x = P1[0,3]
-		test.pose.position.y = P1[1,3]
-		test.pose.position.z = P1[2,3]
-
-		orient = np.hstack((P1[0:3,0:3],[[0],[0],[0]]))
-		print(orient)
-		orient = np.vstack((orient,[0,0,0,1]))
-		orient = quaternion_from_matrix(orient)
-
-		test.pose.orientation.x = orient[0]
-		test.pose.orientation.y = orient[1]
-		test.pose.orientation.z = orient[2]
-		test.pose.orientation.w = orient[3]
-
-		self.test_pose.publish(test)
-
-		#Get colors from detected pixels for coloring pointcloud
-
-		new_pts = new_pts[mask_tri[:,0]==1]
-		colors = getColors(new_pts,self.img_curr.copy())		
-
-		self.publishPoints(obj_pts, colors)
-		self.reset = True
-
-		return
-
-	def camInfoCallback(self,data):
-		self.K = np.reshape(data.K,(3,3))
-		self.D = np.reshape(data.D,(1,5))
-
-	def publishPoints(self, obj_pts, colors):
-		points = []		
-		for i in range(len(obj_pts)):
-			x = obj_pts[i,0]
-			y = obj_pts[i,1]
-			z = obj_pts[i,2]
-			#print(obj_pts[i])
-			r = colors[i,0]
-			g = colors[i,1]
-			b = colors[i,2]
-			a = 255
-			rgb = struct.unpack('I', struct.pack('BBBB', b, g, r, a))[0]
-			pt = [x, y, z, rgb]			
-			points.append(pt)
-		fields = [PointField('x', 0, PointField.FLOAT32, 1),
-			  PointField('y', 4, PointField.FLOAT32, 1),
-			  PointField('z', 8, PointField.FLOAT32, 1),
-			  PointField('rgba', 12, PointField.UINT32, 1),
-			  ]
-		#Raytracing (clearing of free space) is always done from the origin of this frame_id at the time of the point cloud
-		header = self.header
-		header.frame_id = 'map'
-		cloud = point_cloud2.create_cloud(header, fields, points)
-		self.cloud_pub.publish(cloud)
-
-if __name__ == '__main__':
-	mapping()
diff --git a/auto/python/mapping3.py b/auto/python/mapping3.py
deleted file mode 100644
index eaca36799a..0000000000
--- a/auto/python/mapping3.py
+++ /dev/null
@@ -1,164 +0,0 @@
-import rospy
-import tf2_ros
-import tf2_geometry_msgs
-import cv2
-import numpy as np
-import math
-import struct
-
-from cv_bridge import CvBridge
-from sensor_msgs.msg import Image, CameraInfo, PointCloud2, PointField, NavSatFix 
-from sensor_msgs import point_cloud2
-from tf2_msgs.msg import TFMessage
-from geometry_msgs.msg import PoseStamped, Quaternion, TransformStamped, Point
-from nav_msgs.msg import Odometry
-
-from sfm import getColors
-from sfm import triangulate
-from sfm import triangulate_int
-from sfm import drawTracks
-from sfm import getTrackLength
-from sfm import getObjectPointsEssential
-from sfm import eliminateDuplicateObjects
-from sfm import baFun
-from sfm import bundle_adjustment_sparsity
-
-from scipy.sparse import lil_matrix
-from scipy.optimize import least_squares
-
-from tf.transformations import quaternion_matrix, euler_from_quaternion, quaternion_multiply, quaternion_from_matrix
-
-bowExtractor = cv2.BOWImgDescriptorExtractor()
-orb = cv2.ORB_create()
-
-class frame():
-
-	def __init__(self, image):
-		self.image = image
-		kp = orb.detect(self.image, None)
-		kp, desc = orb.compute(self.image,kp)
-		
-	def computeBOW(self):
-		self.BoW = bowExtractor.compute(self.image, kps, desc)
-
-class mapping():
-
-	def gpsCallback(self, data):
-		if (not self.gpsInitialized):
-			self.initialGPS = data
-			self.gpsInitialized = True
-		else:
-			self.curr_pose.header = data.header
-			self.curr_pose.frame_id = "map"
-			self.curr_pose.position = self.ecef_to_enu(self.gps_to_ecef(data),self.gps_to_ecef(self.initialGPS))
-			self.test_pose.publish(self.curr_pose)
-
-	def gps_to_ecef(self, gps):
-		lat = data.latitude
-		lon = data.longitude
-		alt = data.altitude
-		rad_lat = lat * (math.pi / 180.0)
-		rad_lon = lon * (math.pi / 180.0)
-
-		a = 6378137.0
-		finv = 298.257223563
-		f = 1 / finv
-		e2 = 1 - (1 - f) * (1 - f)
-		v = a / math.sqrt(1 - e2 * math.sin(rad_lat) * math.sin(rad_lat))
-
-		x = (v + alt) * math.cos(rad_lat) * math.cos(rad_lon)
-		y = (v + alt) * math.cos(rad_lat) * math.sin(rad_lon)
-		z = (v * (1 - e2) + alt) * math.sin(rad_lat)
-
-		position = Point()
-		position.x = x
-		position.y = y
-		position.z = z
-
-		return position
-
-	def ecef_to_enu(self, point, origin):
-		enu = Point()
-		enu.x = point.x - origin.x
-		enu.y = point.y - origin.y
-		enu.z = point.z - origin.z
-		return enu
-
-	def imageCallback(self, data):
-		self.header = data.header
-		self.img_curr = self.bridge.imgmsg_to_cv2(data, desired_encoding='passthrough')
-
-	def camInfoCallback(self,data):
-		self.K = np.reshape(data.K,(3,3))
-		self.D = np.reshape(data.D,(1,5))
-
-	def publishPoints(self, obj_pts, colors):
-		points = []		
-		for i in range(len(obj_pts)):
-			x = obj_pts[i,0]
-			y = obj_pts[i,1]
-			z = obj_pts[i,2]
-			#print(obj_pts[i])
-			r = colors[i,0]
-			g = colors[i,1]
-			b = colors[i,2]
-			a = 255
-			rgb = struct.unpack('I', struct.pack('BBBB', b, g, r, a))[0]
-			pt = [x, y, z, rgb]			
-			points.append(pt)
-		fields = [PointField('x', 0, PointField.FLOAT32, 1),
-			  PointField('y', 4, PointField.FLOAT32, 1),
-			  PointField('z', 8, PointField.FLOAT32, 1),
-			  PointField('rgba', 12, PointField.UINT32, 1),
-			  ]
-		#Raytracing (clearing of free space) is always done from the origin of this frame_id at the time of the point cloud
-		header = self.header
-		header.frame_id = 'map'
-		cloud = point_cloud2.create_cloud(header, fields, points)
-		self.cloud_pub.publish(cloud)
-
-	def __init__(self):
-
-   		rospy.init_node('mapping', anonymous=True)
-
-		self.bridge = CvBridge()
-		self.tfBuffer = tf2_ros.Buffer()
-    		listener = tf2_ros.TransformListener(self.tfBuffer)
-
-		self.img_curr = []
-		self.curr_pose = PoseStamped()
-		self.K = []
-		self.d = []
-
-		self.gpsInitialized = False
-		self.initialGPS = NavSatFix()
-
-		rospy.Subscriber('/mavros/global_position/global', NavSatFix , self.gpsCallback)
-		rospy.Subscriber('/airsim/base_link/camera/image_raw', Image, self.imageCallback)
-		rospy.Subscriber('/airsim/base_link/camera', CameraInfo, self.camInfoCallback)
-		self.cloud_pub = rospy.Publisher("cloud", PointCloud2, queue_size=10)
-		self.test_pose = rospy.Publisher("test_pose", PoseStamped, queue_size=10)
-
-		print('waiting on topics...')
-		rospy.wait_for_message('/airsim/base_link/camera/image_raw', Image)
-		print('K: ', self.K)
-		print('D: ', self.D)
-		rospy.wait_for_message('/mavros/global_position/global', PoseStamped)
-		
-		self.run()
-
-	def run(self):
-
-		
-		if (self.state != "initialized"):
-			self.initialize()
-
-	def initialize(self):
-		
-		
-
-
-if __name__ == '__main__':
-	mapping()
-
-
diff --git a/auto/python/mavros_test_common.py b/auto/python/mavros_test_common.py
deleted file mode 100644
index b9d9c9ffa7..0000000000
--- a/auto/python/mavros_test_common.py
+++ /dev/null
@@ -1,417 +0,0 @@
-#!/usr/bin/env python2
-from __future__ import division
-
-import unittest
-import rospy
-import math
-from geometry_msgs.msg import PoseStamped
-from mavros_msgs.msg import Altitude, ExtendedState, HomePosition, State, \
-                            WaypointList
-from mavros_msgs.srv import CommandBool, ParamGet, SetMode, WaypointClear, \
-                            WaypointPush
-from pymavlink import mavutil
-from sensor_msgs.msg import NavSatFix
-
-
-class MavrosTestCommon(unittest.TestCase):
-    def __init__(self, *args):
-        super(MavrosTestCommon, self).__init__(*args)
-
-    def setUp(self):
-        self.altitude = Altitude()
-        self.extended_state = ExtendedState()
-        self.global_position = NavSatFix()
-        self.home_position = HomePosition()
-        self.local_position = PoseStamped()
-        self.mission_wp = WaypointList()
-        self.state = State()
-        self.mav_type = None
-
-        self.sub_topics_ready = {
-            key: False
-            for key in [
-                'alt', 'ext_state', 'global_pos', 'home_pos', 'local_pos',
-                'mission_wp', 'state'
-            ]
-        }
-
-        # ROS services
-        service_timeout = 30
-        rospy.loginfo("waiting for ROS services")
-        try:
-            rospy.wait_for_service('mavros/param/get', service_timeout)
-            rospy.wait_for_service('mavros/cmd/arming', service_timeout)
-            rospy.wait_for_service('mavros/mission/push', service_timeout)
-            rospy.wait_for_service('mavros/mission/clear', service_timeout)
-            rospy.wait_for_service('mavros/set_mode', service_timeout)
-            rospy.loginfo("ROS services are up")
-        except rospy.ROSException:
-            self.fail("failed to connect to services")
-        self.get_param_srv = rospy.ServiceProxy('mavros/param/get', ParamGet)
-        self.set_arming_srv = rospy.ServiceProxy('mavros/cmd/arming',
-                                                 CommandBool)
-        self.set_mode_srv = rospy.ServiceProxy('mavros/set_mode', SetMode)
-        self.wp_clear_srv = rospy.ServiceProxy('mavros/mission/clear',
-                                               WaypointClear)
-        self.wp_push_srv = rospy.ServiceProxy('mavros/mission/push',
-                                              WaypointPush)
-
-        # ROS subscribers
-        self.alt_sub = rospy.Subscriber('mavros/altitude', Altitude,
-                                        self.altitude_callback)
-        self.ext_state_sub = rospy.Subscriber('mavros/extended_state',
-                                              ExtendedState,
-                                              self.extended_state_callback)
-        self.global_pos_sub = rospy.Subscriber('mavros/global_position/global',
-                                               NavSatFix,
-                                               self.global_position_callback)
-        self.home_pos_sub = rospy.Subscriber('mavros/home_position/home',
-                                             HomePosition,
-                                             self.home_position_callback)
-        self.local_pos_sub = rospy.Subscriber('mavros/local_position/pose',
-                                              PoseStamped,
-                                              self.local_position_callback)
-        self.mission_wp_sub = rospy.Subscriber(
-            'mavros/mission/waypoints', WaypointList, self.mission_wp_callback)
-        self.state_sub = rospy.Subscriber('mavros/state', State,
-                                          self.state_callback)
-
-    def tearDown(self):
-        self.log_topic_vars()
-
-    #
-    # Callback functions
-    #
-    def altitude_callback(self, data):
-        self.altitude = data
-
-        # amsl has been observed to be nan while other fields are valid
-        if not self.sub_topics_ready['alt'] and not math.isnan(data.amsl):
-            self.sub_topics_ready['alt'] = True
-
-    def extended_state_callback(self, data):
-        if self.extended_state.vtol_state != data.vtol_state:
-            rospy.loginfo("VTOL state changed from {0} to {1}".format(
-                mavutil.mavlink.enums['MAV_VTOL_STATE']
-                [self.extended_state.vtol_state].name, mavutil.mavlink.enums[
-                    'MAV_VTOL_STATE'][data.vtol_state].name))
-
-        if self.extended_state.landed_state != data.landed_state:
-            rospy.loginfo("landed state changed from {0} to {1}".format(
-                mavutil.mavlink.enums['MAV_LANDED_STATE']
-                [self.extended_state.landed_state].name, mavutil.mavlink.enums[
-                    'MAV_LANDED_STATE'][data.landed_state].name))
-
-        self.extended_state = data
-
-        if not self.sub_topics_ready['ext_state']:
-            self.sub_topics_ready['ext_state'] = True
-
-    def global_position_callback(self, data):
-        self.global_position = data
-
-        if not self.sub_topics_ready['global_pos']:
-            self.sub_topics_ready['global_pos'] = True
-
-    def home_position_callback(self, data):
-        self.home_position = data
-
-        if not self.sub_topics_ready['home_pos']:
-            self.sub_topics_ready['home_pos'] = True
-
-    def local_position_callback(self, data):
-        self.local_position = data
-
-        if not self.sub_topics_ready['local_pos']:
-            self.sub_topics_ready['local_pos'] = True
-
-    def mission_wp_callback(self, data):
-        if self.mission_wp.current_seq != data.current_seq:
-            rospy.loginfo("current mission waypoint sequence updated: {0}".
-                          format(data.current_seq))
-
-        self.mission_wp = data
-
-        if not self.sub_topics_ready['mission_wp']:
-            self.sub_topics_ready['mission_wp'] = True
-
-    def state_callback(self, data):
-        if self.state.armed != data.armed:
-            rospy.loginfo("armed state changed from {0} to {1}".format(
-                self.state.armed, data.armed))
-
-        if self.state.connected != data.connected:
-            rospy.loginfo("connected changed from {0} to {1}".format(
-                self.state.connected, data.connected))
-
-        if self.state.mode != data.mode:
-            rospy.loginfo("mode changed from {0} to {1}".format(
-                self.state.mode, data.mode))
-
-        if self.state.system_status != data.system_status:
-            rospy.loginfo("system_status changed from {0} to {1}".format(
-                mavutil.mavlink.enums['MAV_STATE'][
-                    self.state.system_status].name, mavutil.mavlink.enums[
-                        'MAV_STATE'][data.system_status].name))
-
-        self.state = data
-
-        # mavros publishes a disconnected state message on init
-        if not self.sub_topics_ready['state'] and data.connected:
-            self.sub_topics_ready['state'] = True
-
-    #
-    # Helper methods
-    #
-    def set_arm(self, arm, timeout):
-        """arm: True to arm or False to disarm, timeout(int): seconds"""
-        rospy.loginfo("setting FCU arm: {0}".format(arm))
-        old_arm = self.state.armed
-        loop_freq = 1  # Hz
-        rate = rospy.Rate(loop_freq)
-        arm_set = False
-        for i in xrange(timeout * loop_freq):
-            if self.state.armed == arm:
-                arm_set = True
-                rospy.loginfo("set arm success | seconds: {0} of {1}".format(
-                    i / loop_freq, timeout))
-                break
-            else:
-                try:
-                    res = self.set_arming_srv(arm)
-                    if not res.success:
-                        rospy.logerr("failed to send arm command")
-                except rospy.ServiceException as e:
-                    rospy.logerr(e)
-
-            try:
-                rate.sleep()
-            except rospy.ROSException as e:
-                self.fail(e)
-
-        self.assertTrue(arm_set, (
-            "failed to set arm | new arm: {0}, old arm: {1} | timeout(seconds): {2}".
-            format(arm, old_arm, timeout)))
-
-    def set_mode(self, mode, timeout):
-        """mode: PX4 mode string, timeout(int): seconds"""
-        rospy.loginfo("setting FCU mode: {0}".format(mode))
-        old_mode = self.state.mode
-        loop_freq = 1  # Hz
-        rate = rospy.Rate(loop_freq)
-        mode_set = False
-        for i in xrange(timeout * loop_freq):
-            if self.state.mode == mode:
-                mode_set = True
-                rospy.loginfo("set mode success | seconds: {0} of {1}".format(
-                    i / loop_freq, timeout))
-                break
-            else:
-                try:
-                    res = self.set_mode_srv(0, mode)  # 0 is custom mode
-                    if not res.mode_sent:
-                        rospy.logerr("failed to send mode command")
-                except rospy.ServiceException as e:
-                    rospy.logerr(e)
-
-            try:
-                rate.sleep()
-            except rospy.ROSException as e:
-                self.fail(e)
-
-        self.assertTrue(mode_set, (
-            "failed to set mode | new mode: {0}, old mode: {1} | timeout(seconds): {2}".
-            format(mode, old_mode, timeout)))
-
-    def wait_for_topics(self, timeout):
-        """wait for simulation to be ready, make sure we're getting topic info
-        from all topics by checking dictionary of flag values set in callbacks,
-        timeout(int): seconds"""
-        rospy.loginfo("waiting for subscribed topics to be ready")
-        loop_freq = 1  # Hz
-        rate = rospy.Rate(loop_freq)
-        simulation_ready = False
-        for i in xrange(timeout * loop_freq):
-            if all(value for value in self.sub_topics_ready.values()):
-                simulation_ready = True
-                rospy.loginfo("simulation topics ready | seconds: {0} of {1}".
-                              format(i / loop_freq, timeout))
-                break
-
-            try:
-                rate.sleep()
-            except rospy.ROSException as e:
-                self.fail(e)
-
-        self.assertTrue(simulation_ready, (
-            "failed to hear from all subscribed simulation topics | topic ready flags: {0} | timeout(seconds): {1}".
-            format(self.sub_topics_ready, timeout)))
-
-    def wait_for_landed_state(self, desired_landed_state, timeout, index):
-        rospy.loginfo("waiting for landed state | state: {0}, index: {1}".
-                      format(mavutil.mavlink.enums['MAV_LANDED_STATE'][
-                          desired_landed_state].name, index))
-        loop_freq = 10  # Hz
-        rate = rospy.Rate(loop_freq)
-        landed_state_confirmed = False
-        for i in xrange(timeout * loop_freq):
-            if self.extended_state.landed_state == desired_landed_state:
-                landed_state_confirmed = True
-                rospy.loginfo("landed state confirmed | seconds: {0} of {1}".
-                              format(i / loop_freq, timeout))
-                break
-
-            try:
-                rate.sleep()
-            except rospy.ROSException as e:
-                self.fail(e)
-
-        self.assertTrue(landed_state_confirmed, (
-            "landed state not detected | desired: {0}, current: {1} | index: {2}, timeout(seconds): {3}".
-            format(mavutil.mavlink.enums['MAV_LANDED_STATE'][
-                desired_landed_state].name, mavutil.mavlink.enums[
-                    'MAV_LANDED_STATE'][self.extended_state.landed_state].name,
-                   index, timeout)))
-
-    def wait_for_vtol_state(self, transition, timeout, index):
-        """Wait for VTOL transition, timeout(int): seconds"""
-        rospy.loginfo(
-            "waiting for VTOL transition | transition: {0}, index: {1}".format(
-                mavutil.mavlink.enums['MAV_VTOL_STATE'][
-                    transition].name, index))
-        loop_freq = 10  # Hz
-        rate = rospy.Rate(loop_freq)
-        transitioned = False
-        for i in xrange(timeout * loop_freq):
-            if transition == self.extended_state.vtol_state:
-                rospy.loginfo("transitioned | seconds: {0} of {1}".format(
-                    i / loop_freq, timeout))
-                transitioned = True
-                break
-
-            try:
-                rate.sleep()
-            except rospy.ROSException as e:
-                self.fail(e)
-
-        self.assertTrue(transitioned, (
-            "transition not detected | desired: {0}, current: {1} | index: {2} timeout(seconds): {3}".
-            format(mavutil.mavlink.enums['MAV_VTOL_STATE'][transition].name,
-                   mavutil.mavlink.enums['MAV_VTOL_STATE'][
-                       self.extended_state.vtol_state].name, index, timeout)))
-
-    def clear_wps(self, timeout):
-        """timeout(int): seconds"""
-        loop_freq = 1  # Hz
-        rate = rospy.Rate(loop_freq)
-        wps_cleared = False
-        for i in xrange(timeout * loop_freq):
-            if not self.mission_wp.waypoints:
-                wps_cleared = True
-                rospy.loginfo("clear waypoints success | seconds: {0} of {1}".
-                              format(i / loop_freq, timeout))
-                break
-            else:
-                try:
-                    res = self.wp_clear_srv()
-                    if not res.success:
-                        rospy.logerr("failed to send waypoint clear command")
-                except rospy.ServiceException as e:
-                    rospy.logerr(e)
-
-            try:
-                rate.sleep()
-            except rospy.ROSException as e:
-                self.fail(e)
-
-        self.assertTrue(wps_cleared, (
-            "failed to clear waypoints | timeout(seconds): {0}".format(timeout)
-        ))
-
-    def send_wps(self, waypoints, timeout):
-        """waypoints, timeout(int): seconds"""
-        rospy.loginfo("sending mission waypoints")
-        if self.mission_wp.waypoints:
-            rospy.loginfo("FCU already has mission waypoints")
-
-        loop_freq = 1  # Hz
-        rate = rospy.Rate(loop_freq)
-        wps_sent = False
-        wps_verified = False
-        for i in xrange(timeout * loop_freq):
-            if not wps_sent:
-                try:
-                    res = self.wp_push_srv(start_index=0, waypoints=waypoints)
-                    wps_sent = res.success
-                    if wps_sent:
-                        rospy.loginfo("waypoints successfully transferred")
-                except rospy.ServiceException as e:
-                    rospy.logerr(e)
-            else:
-                if len(waypoints) == len(self.mission_wp.waypoints):
-                    rospy.loginfo("number of waypoints transferred: {0}".
-                                  format(len(waypoints)))
-                    wps_verified = True
-
-            if wps_sent and wps_verified:
-                rospy.loginfo("send waypoints success | seconds: {0} of {1}".
-                              format(i / loop_freq, timeout))
-                break
-
-            try:
-                rate.sleep()
-            except rospy.ROSException as e:
-                self.fail(e)
-
-        self.assertTrue((
-            wps_sent and wps_verified
-        ), "mission could not be transferred and verified | timeout(seconds): {0}".
-                        format(timeout))
-
-    def wait_for_mav_type(self, timeout):
-        """Wait for MAV_TYPE parameter, timeout(int): seconds"""
-        rospy.loginfo("waiting for MAV_TYPE")
-        loop_freq = 1  # Hz
-        rate = rospy.Rate(loop_freq)
-        res = False
-        for i in xrange(timeout * loop_freq):
-            try:
-                res = self.get_param_srv('MAV_TYPE')
-                if res.success:
-                    self.mav_type = res.value.integer
-                    rospy.loginfo(
-                        "MAV_TYPE received | type: {0} | seconds: {1} of {2}".
-                        format(mavutil.mavlink.enums['MAV_TYPE'][self.mav_type]
-                               .name, i / loop_freq, timeout))
-                    break
-            except rospy.ServiceException as e:
-                rospy.logerr(e)
-
-            try:
-                rate.sleep()
-            except rospy.ROSException as e:
-                self.fail(e)
-
-        self.assertTrue(res.success, (
-            "MAV_TYPE param get failed | timeout(seconds): {0}".format(timeout)
-        ))
-
-    def log_topic_vars(self):
-        """log the state of topic variables"""
-        rospy.loginfo("========================")
-        rospy.loginfo("===== topic values =====")
-        rospy.loginfo("========================")
-        rospy.loginfo("altitude:\n{}".format(self.altitude))
-        rospy.loginfo("========================")
-        rospy.loginfo("extended_state:\n{}".format(self.extended_state))
-        rospy.loginfo("========================")
-        rospy.loginfo("global_position:\n{}".format(self.global_position))
-        rospy.loginfo("========================")
-        rospy.loginfo("home_position:\n{}".format(self.home_position))
-        rospy.loginfo("========================")
-        rospy.loginfo("local_position:\n{}".format(self.local_position))
-        rospy.loginfo("========================")
-        rospy.loginfo("mission_wp:\n{}".format(self.mission_wp))
-        rospy.loginfo("========================")
-        rospy.loginfo("state:\n{}".format(self.state))
-        rospy.loginfo("========================")
diff --git a/auto/python/mavros_test_common.pyc b/auto/python/mavros_test_common.pyc
deleted file mode 100644
index 4fef7677ecc194bfd3614b5d4e50a8b8011256b1..0000000000000000000000000000000000000000
GIT binary patch
diff --git a/auto/python/mavtest.py b/auto/python/mavtest.py
deleted file mode 100644
index a13a9a4a25..0000000000
--- a/auto/python/mavtest.py
+++ /dev/null
@@ -1,204 +0,0 @@
-import rospy
-import glob
-import json
-import math
-import os
-import px4tools
-import sys
-from mavros import mavlink
-from mavros_msgs.msg import Mavlink, Waypoint, WaypointReached, GlobalPositionTarget, State
-from mavros_msgs.srv import CommandBool, SetMode, CommandTOL, WaypointPush, WaypointClear
-from sensor_msgs.msg import NavSatFix
-from geometry_msgs.msg import PoseStamped
-from mavros_test_common import MavrosTestCommon
-from pymavlink import mavutil
-from threading import Thread
-
-class mavrostest():
-
-	def state_callback(self, data):
-		self.state = data
-
-	def wp_reached_callback(self, data):
-		self.wp_reached = data
-
-	def global_pos_callback(self, data):
-		self.global_pos = data
-
-	def __init__(self):
-
-   		rospy.init_node('test_node', anonymous=True)
-		self.state = State()
-		self.wp_reached = 0
-		self.global_pos = NavSatFix()
-		
-		#SUBSCRIBERS
-		state_sub = rospy.Subscriber('mavros/state', State, self.state_callback)
-		#global_pos_sub = rospy.Subscriber('/mavros/global_position/global', State, self.state_callback)
-		local_pos_sub = rospy.Subscriber('/mavros/global_position/global', NavSatFix, self.global_pos_callback)
-		wp_reached_sub = rospy.Subscriber('/mavros/mission/reached', WaypointReached, self.state_callback)
-
-		#PUBLISHERS
-		local_pos_pub = rospy.Publisher('mavros/setpoint_position/local', PoseStamped, queue_size=10)
-		#global_pos_pub = rospy.Publisher('mavros/setpoint_position/global', GlobalPositionTarget, queue_size=10)
-
-		#SERVICES
-		arm_client = rospy.ServiceProxy('mavros/cmd/arming', CommandBool)
-		takeoff_client = rospy.ServiceProxy('mavros/cmd/takeoff', CommandTOL)
-		land_client = rospy.ServiceProxy('mavros/cmd/land', CommandTOL)
-		mode_client = rospy.ServiceProxy('mavros/set_mode', SetMode)
-		mission_push_client = rospy.ServiceProxy('mavros/mission/push', WaypointPush)
-		mission_clear_client = rospy.ServiceProxy('mavros/mission/clear', WaypointClear)
-
-		rate = rospy.Rate(20)
-
-		while (not self.state.connected):
-			print('Waiting on Connection')
-			rate.sleep()
-		print('Connected')
-
-		# need to simulate heartbeat to prevent datalink loss detection
-		hb_mav_msg = mavutil.mavlink.MAVLink_heartbeat_message(mavutil.mavlink.MAV_TYPE_GCS, 0, 0, 0, 0, 0)
-		hb_mav_msg.pack(mavutil.mavlink.MAVLink('', 2, 1))
-		hb_ros_msg = mavlink.convert_to_rosmsg(hb_mav_msg)
-		hb_thread = Thread(target=self.send_heartbeat, args=(hb_ros_msg))
-
-		last_request = rospy.Time.now()
-		# Disarm
-		ack = False
-		while (not ack):
-			try:
-				ack = arm_client(False).success
-			except rospy.ServiceException as e:
-				print("Disarming Failed: %s" %e)
-			rate.sleep()
-		print('Disarmed')
-
-		# Set Mode
-		mode = "AUTO.LOITER"
-		ack = False
-		while (not ack):
-			try:
-				ack = mode_client(0, "AUTO.LOITER").mode_sent  # 0 is custom mode
-			except rospy.ServiceException as e:
-				print("Mode Change Failed: %s" %e)
-			rate.sleep()
-		print('Mode set to ', mode)
-
-		# Arm
-		ack = False
-		while (not ack):
-			try:
-				ack = arm_client(True).success
-			except rospy.ServiceException as e:
-				print("Arming Failed: %s" %e)
-			rate.sleep()
-		print('Armed')
-
-		#Clear any old missions
-		ack = False
-		while (not ack):
-			try:
-				ack = mission_clear_client().success
-			except rospy.ServiceException as e:
-				print("Mission Clear Failed: %s" %e)
-			rate.sleep()
-		print('old missions cleared')
-
-		#Create and execute Mission
-
-		home_lat = self.global_pos.latitude
-		home_long = self.global_pos.longitude
-
-		waypoints = []
-		takeoff = Waypoint()
-		takeoff.frame = 3
-		takeoff.command = mavutil.mavlink.MAV_CMD_NAV_TAKEOFF
-		takeoff.is_current = True
-		takeoff.autocontinue = True
-		takeoff.param1 = 0.0
-		takeoff.param2 = 0.0
-		takeoff.param3 = 0.3
-		takeoff.param4 = 0.0
-		takeoff.x_lat = home_lat
-		takeoff.y_long = home_long
-		takeoff.z_alt = 8.0
-
-		wp1 = Waypoint()
-		wp1.frame = 3
-		wp1.command = mavutil.mavlink.MAV_CMD_NAV_WAYPOINT
-		wp1.is_current = True
-		wp1.autocontinue = True
-		wp1.param1 = 0.0
-		wp1.param2 = 0.0
-		wp1.param3 = 0.3
-		wp1.param4 = 0.0
-		wp1.x_lat = home_lat + 0.00005
-		wp1.y_long = home_long
-		wp1.z_alt = 8.0
-
-		waypoints.append(wp1)
-
-		rtl = Waypoint()
-		rtl.frame = 3
-		rtl.command = 20
-		rtl.is_current = True
-		rtl.autocontinue = True
-		rtl.param1 = 0.0
-		rtl.param2 = 0.0
-		rtl.param3 = 0.0
-		rtl.param4 = 0.0
-		rtl.x_lat = 0.0
-		rtl.y_long = 0.0
-		rtl.z_alt = 0.0
-		waypoints.append(rtl)
-
-	
-		ack = False
-		while (not ack):	
-			try:
-				ack = mission_push_client(start_index=0, waypoints=waypoints).success
-			except rospy.ServiceException as e:
-				print("Mission Push Failed: %s" %e)
-			rate.sleep()
-
-		print('Mission Loaded')
-
-		# Set Mode
-		mode = "AUTO.MISSION"
-		ack = False
-		while (not ack):
-			try:
-				ack = mode_client(5, mode).mode_sent  # 0 is custom mode
-			except rospy.ServiceException as e:
-				print("Mode Change Failed: %s" %e)
-			rate.sleep()
-
-		print('Beginning Mission')
-
-		while (self.wp_reached != 3):
-			rate.sleep()
-
-#		print "\nTaking off"
-#		try:
-#			response = takeoff_client(altitude=10, latitude=0, longitude=0, min_pitch=0, yaw=0)
-#			rospy.loginfo(response)
-#		except rospy.ServiceException as e:
-#			print("Takeoff failed: %s" %e)
-
-
-	#
-	# Helper methods
-	#
-	def send_heartbeat(self, hb_ros_msg):
-		rate = rospy.Rate(2)  # Hz
-		while not rospy.is_shutdown():
-			self.mavlink_pub.publish(hb_ros_msg)
-			try:  # prevent garbage in console output when thread is killed
-				rate.sleep()
-			except rospy.ROSInterruptException:
-				pass
-
-if __name__ == '__main__':
-	mavrostest()
-
diff --git a/auto/python/navigation.py b/auto/python/navigation.py
deleted file mode 100644
index e065240df0..0000000000
--- a/auto/python/navigation.py
+++ /dev/null
@@ -1,146 +0,0 @@
-import rospy
-import glob
-import json
-import math
-import os
-import px4tools
-import sys
-import time
-import actionlib
-import roslaunch
-from mavros import mavlink
-from mavros import action_server
-from mavros_msgs.msg import Mavlink, Waypoint, WaypointReached, GlobalPositionTarget, State, TakeoffAction, TakeoffGoal, LandAction, LandGoal, WaypointsAction, WaypointsGoal, HomePosition
-from mavros_msgs.srv import CommandBool, SetMode, CommandTOL, WaypointPush, WaypointClear, CommandHome
-from sensor_msgs.msg import NavSatFix
-from geometry_msgs.msg import PoseStamped
-from mavros_test_common import MavrosTestCommon
-from pymavlink import mavutil
-from threading import Thread
-
-# Brings in the SimpleActionClient
-import actionlib
-
-class offboard():
-
-	def state_callback(self, data):
-		self.state = data
-
-	def wp_reached_callback(self, data):
-		self.wp_reached = data
-
-	def home_pos_callback(self, data):
-		self.home_pos = data
-		#print(self.home_pos.geo)
-
-	def global_pos_callback(self, data):
-		self.global_pos = data
-
-	def __init__(self):
-
-   		rospy.init_node('guidance_node', anonymous=True)
-
-		state_sub = rospy.Subscriber('mavros/state', State, self.state_callback)
-		self.state = State
-		#PUBLISHERS
-		local_pos_pub = rospy.Publisher('mavros/setpoint_position/local', PoseStamped, queue_size=10)
-		#global_pos_pub = rospy.Publisher('mavros/setpoint_position/global', GlobalPositionTarget, queue_size=10)
-		local_pos_sub = rospy.Subscriber('/mavros/global_position/global', NavSatFix, self.global_pos_callback)
-		home_pos_sub = rospy.Subscriber('/mavros/home_position/home', HomePosition, self.home_pos_callback)
-
-		#ACTIONS
-		#init actionlib servers
-		server = Thread(target=action_server.ActionServer)
-		server.setDaemon(True)
-		server.start()
-		takeoff_client = actionlib.SimpleActionClient('takeoff', TakeoffAction)
-		land_client = actionlib.SimpleActionClient('land', LandAction)
-		waypoints_client = actionlib.SimpleActionClient('waypoints', WaypointsAction)
-
-		# need to simulate heartbeat to prevent datalink loss detection
-		hb_mav_msg = mavutil.mavlink.MAVLink_heartbeat_message(mavutil.mavlink.MAV_TYPE_GCS, 0, 0, 0, 0, 0)
-		hb_mav_msg.pack(mavutil.mavlink.MAVLink('', 2, 1))
-		hb_ros_msg = mavlink.convert_to_rosmsg(hb_mav_msg)
-		hb_thread = Thread(target=self.send_heartbeat, args=(hb_ros_msg))
-		hb_thread.setDaemon(True)
-
-		#PREFLIGHT CHECK
-
-		rate = rospy.Rate(30)
-		while (not self.state.connected):
-			print('Waiting on Connection')
-			rate.sleep()
-		print('Connected')
-
-		time.sleep(5)
-
-		goal = TakeoffGoal()
-		goal.height = 10
-	
-		print('Actionlib started')
-
-		takeoff_client.send_goal(goal)
-		takeoff_client.wait_for_result()
-
-		wps = []
-		wp1 = Waypoint()
-		wp2 = Waypoint()
-		wp3 = Waypoint()
-		wp1.command = 16
-		wp1.x_lat = self.home_pos.geo.latitude - 0.00050
-		wp1.y_long = self.home_pos.geo.longitude
-		wp1.z_alt = 10
-		wp1.autocontinue = True
-
-		wp2.command = 16
-		wp2.x_lat = self.home_pos.geo.latitude - 0.00050
-		wp2.y_long = self.home_pos.geo.longitude - 0.00050
-		wp2.z_alt = 10
-		wp2.autocontinue = True
-
-
-		wp3.command = 16
-		wp3.x_lat = self.home_pos.geo.latitude
-		wp3.y_long = self.home_pos.geo.longitude
-		wp3.z_alt = 10
-		wp3.autocontinue = True
-
-		goal = WaypointsGoal()
-		goal.waypoints.append(wp1)
-		goal.waypoints.append(wp2)
-		goal.waypoints.append(wp3)
-		print(goal)
-		waypoints_client.send_goal(goal)
-		waypoints_client.wait_for_result(rospy.Duration.from_sec(45.0))
-
-		time.sleep(5)
-
-		goal = LandGoal()
-		goal.x_lat = self.home_pos.geo.latitude
-		goal.y_long = self.home_pos.geo.longitude
-		goal.z_alt = 0.0
-
-		print('Actionlib started')
-
-		land_client.send_goal(goal)
-		land_client.wait_for_result(rospy.Duration.from_sec(30.0))
-		sys.exit()
-		
-
-	# Heartbeat must be sent to px4 at 2Hz or else auto disconnect
-	def send_heartbeat(self, hb_ros_msg):
-		rate = rospy.Rate(2)  # Hz
-		while not rospy.is_shutdown():
-			self.mavlink_pub.publish(hb_ros_msg)
-			try:  # prevent garbage in console output when thread is killed
-				rate.sleep()
-			except rospy.ROSInterruptException:
-				pass
-
-
-if __name__ == '__main__':
-	offboard()
-
-
-
-
diff --git a/auto/python/offboard.py b/auto/python/offboard.py
deleted file mode 100644
index 32d9887c85..0000000000
--- a/auto/python/offboard.py
+++ /dev/null
@@ -1,165 +0,0 @@
-import rospy
-import glob
-import json
-import math
-import os
-import px4tools
-import sys
-import time
-import actionlib
-import roslaunch
-from mavros import mavlink
-from mavros import action_server
-from mavros_msgs.msg import Mavlink, Waypoint, WaypointReached, GlobalPositionTarget, State, TakeoffAction, TakeoffGoal, LandAction, LandGoal, WaypointsAction, WaypointsGoal
-from mavros_msgs.srv import CommandBool, SetMode, CommandTOL, WaypointPush, WaypointClear
-from sensor_msgs.msg import NavSatFix
-from geometry_msgs.msg import PoseStamped
-from mavros_test_common import MavrosTestCommon
-from pymavlink import mavutil
-from threading import Thread
-
-# Brings in the SimpleActionClient
-import actionlib
-
-class offboard(MavrosTestCommon):
-
-	def state_callback(self, data):
-		self.state = data
-
-	def wp_reached_callback(self, data):
-		self.wp_reached = data
-
-	def global_pos_callback(self, data):
-		self.global_pos = data
-
-	def __init__(self):
-
-		#Initialize ROSLaunch
-		launch = roslaunch.scriptapi.ROSLaunch()
-		launch.start()	
-		uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
-		roslaunch.configure_logging(uuid)
-
-		#Launch MAVROS
-		cli_args = ('mavros', 'px4.launch')
-		roslaunch_file = [(roslaunch.rlutil.resolve_launch_arguments(cli_args)[0])]
-		mavros = roslaunch.parent.ROSLaunchParent(uuid, roslaunch_file)
-		mavros.start()	
-
-   		rospy.init_node('test_node', anonymous=True)
-
-		print('got here')
-		
-		#SUBSCRIBERS
-		state_sub = rospy.Subscriber('mavros/state', State, self.state_callback)
-		#global_pos_sub = rospy.Subscriber('/mavros/global_position/global', State, self.state_callback)
-		local_pos_sub = rospy.Subscriber('/mavros/global_position/global', NavSatFix, self.global_pos_callback)
-		#wp_reached_sub = rospy.Subscriber('/mavros/mission/reached', WaypointReached, self.wp_reached_callback)
-
-		#PUBLISHERS
-		local_pos_pub = rospy.Publisher('mavros/setpoint_position/local', PoseStamped, queue_size=10)
-		#global_pos_pub = rospy.Publisher('mavros/setpoint_position/global', GlobalPositionTarget, queue_size=10)
-
-		#SERVICES
-		arm_client = rospy.ServiceProxy('mavros/cmd/arming', CommandBool)
-		#takeoff_client = rospy.ServiceProxy('mavros/cmd/takeoff', CommandTOL)
-		#land_client = rospy.ServiceProxy('mavros/cmd/land', CommandTOL)
-		mode_client = rospy.ServiceProxy('mavros/set_mode', SetMode)
-		#mission_push_client = rospy.ServiceProxy('mavros/mission/push', WaypointPush)
-		mission_clear_client = rospy.ServiceProxy('mavros/mission/clear', WaypointClear)
-
-		#ACTIONS
-		#init actionlib servers
-		server = Thread(target=action_server.ActionServer)
-		server.setDaemon(True)
-		server.start()
-		takeoff_client = actionlib.SimpleActionClient('takeoff', TakeoffAction)
-		land_client = actionlib.SimpleActionClient('land', LandAction)
-		waypoints_client = actionlib.SimpleActionClient('waypoints', WaypointsAction)
-
-		self.state = State()
-		self.wp_reached = 0
-		self.global_pos = NavSatFix()
-
-		rate = rospy.Rate(30)
-		while (not self.state.connected):
-			print('Waiting on Connection')
-			rate.sleep()
-		print('Connected')
-
-		# need to simulate heartbeat to prevent datalink loss detection
-		hb_mav_msg = mavutil.mavlink.MAVLink_heartbeat_message(mavutil.mavlink.MAV_TYPE_GCS, 0, 0, 0, 0, 0)
-		hb_mav_msg.pack(mavutil.mavlink.MAVLink('', 2, 1))
-		hb_ros_msg = mavlink.convert_to_rosmsg(hb_mav_msg)
-		hb_thread = Thread(target=self.send_heartbeat, args=(hb_ros_msg))
-		hb_thread.setDaemon(True)
-
-		#PREFLIGHT CHECK
-
-		time.sleep(5)
-
-		#Clear any old missions
-		ack = False
-		while (not ack):
-			try:
-				ack = mission_clear_client().success
-			except rospy.ServiceException as e:
-				print("Mission Clear Failed: %s" %e)
-			rate.sleep()
-		print('old missions cleared')
-
-		time.sleep(5)
-
-		# Arm
-		self.set_arm(True, 5)
-
-		goal = TakeoffGoal()
-		goal.height = 10
-	
-		print('Actionlib started')
-
-		takeoff_client.send_goal(goal)
-		takeoff_client.wait_for_result()
-
-		wp1 = Waypoint()
-		wp2 = Waypoint()
-		wp1.x_lat = self.global_pos.latitude + 0.00110
-		wp1.y_long = self.global_pos.longitude + 0.00110
-		wp1.z_alt = 10
-
-		wp2.x_lat = self.global_pos.latitude
-		wp2.y_long = self.global_pos.longitude
-		wp2.z_alt = 10
-
-		goal = WaypointsGoal()
-		goal.waypoints = [wp1, wp2]
-		#waypoints_client.send_goal(goal)
-		#waypoints_client.wait_for_result(rospy.Duration.from_sec(45.0))
-
-		goal = LandGoal()
-		goal.height = 0.0
-	
-		print('Actionlib started')
-
-		land_client.send_goal(goal)
-		land_client.wait_for_result(rospy.Duration.from_sec(30.0))
-		sys.exit()
-		
-
-	# Heartbeat must be sent to px4 at 2Hz or else auto disconnect
-	def send_heartbeat(self, hb_ros_msg):
-		rate = rospy.Rate(2)  # Hz
-		while not rospy.is_shutdown():
-			self.mavlink_pub.publish(hb_ros_msg)
-			try:  # prevent garbage in console output when thread is killed
-				rate.sleep()
-			except rospy.ROSInterruptException:
-				pass
-
-
-if __name__ == '__main__':
-	offboard()
-
-
-
-
diff --git a/auto/python/offboard2.py b/auto/python/offboard2.py
deleted file mode 100644
index 20a810a414..0000000000
--- a/auto/python/offboard2.py
+++ /dev/null
@@ -1,151 +0,0 @@
-import rospy
-import glob
-import json
-import math
-import os
-import px4tools
-import sys
-import time
-import actionlib
-import roslaunch
-from mavros import mavlink
-from mavros import action_server2
-from mavros_msgs.msg import Mavlink, Waypoint, WaypointReached, GlobalPositionTarget, State, TakeoffAction, TakeoffGoal, LandAction, LandGoal, WaypointsAction, WaypointsGoal, HomePosition
-from mavros_msgs.srv import CommandBool, SetMode, CommandTOL, WaypointPush, WaypointClear, CommandHome
-from sensor_msgs.msg import NavSatFix
-from geometry_msgs.msg import PoseStamped
-from mavros_test_common import MavrosTestCommon
-from pymavlink import mavutil
-from threading import Thread
-
-# Brings in the SimpleActionClient
-import actionlib
-
-class offboard():
-
-	def state_callback(self, data):
-		self.state = data
-
-	def wp_reached_callback(self, data):
-		self.wp_reached = data
-
-	def home_pos_callback(self, data):
-		self.home_pos = data
-		#print(self.home_pos.geo)
-
-	def global_pos_callback(self, data):
-		self.global_pos = data
-
-	def __init__(self):
-
-		#Initialize ROSLaunch
-		launch = roslaunch.scriptapi.ROSLaunch()
-		launch.start()	
-		uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
-		roslaunch.configure_logging(uuid)
-
-		#Launch MAVROS
-		cli_args = ('mavros', 'px4.launch')
-		roslaunch_file = [(roslaunch.rlutil.resolve_launch_arguments(cli_args)[0])]
-		mavros = roslaunch.parent.ROSLaunchParent(uuid, roslaunch_file)
-		mavros.start()	
-
-   		rospy.init_node('test_node', anonymous=True)
-
-		print('got here')
-
-		state_sub = rospy.Subscriber('mavros/state', State, self.state_callback)
-		self.state = State
-		#PUBLISHERS
-		local_pos_pub = rospy.Publisher('mavros/setpoint_position/local', PoseStamped, queue_size=10)
-		#global_pos_pub = rospy.Publisher('mavros/setpoint_position/global', GlobalPositionTarget, queue_size=10)
-		local_pos_sub = rospy.Subscriber('/mavros/global_position/global', NavSatFix, self.global_pos_callback)
-		home_pos_sub = rospy.Subscriber('/mavros/home_position/home', HomePosition, self.home_pos_callback)
-
-		#ACTIONS
-		#init actionlib servers
-		server = Thread(target=action_server2.ActionServer)
-		server.setDaemon(True)
-		server.start()
-		takeoff_client = actionlib.SimpleActionClient('takeoff', TakeoffAction)
-		land_client = actionlib.SimpleActionClient('land', LandAction)
-		waypoints_client = actionlib.SimpleActionClient('waypoints', WaypointsAction)
-
-		# need to simulate heartbeat to prevent datalink loss detection
-		hb_mav_msg = mavutil.mavlink.MAVLink_heartbeat_message(mavutil.mavlink.MAV_TYPE_GCS, 0, 0, 0, 0, 0)
-		hb_mav_msg.pack(mavutil.mavlink.MAVLink('', 2, 1))
-		hb_ros_msg = mavlink.convert_to_rosmsg(hb_mav_msg)
-		hb_thread = Thread(target=self.send_heartbeat, args=(hb_ros_msg))
-		hb_thread.setDaemon(True)
-
-		#PREFLIGHT CHECK
-
-		rate = rospy.Rate(30)
-		while (not self.state.connected):
-			print('Waiting on Connection')
-			rate.sleep()
-		print('Connected')
-
-		time.sleep(5)
-
-		goal = TakeoffGoal()
-		goal.height = 10
-	
-		print('Actionlib started')
-
-		takeoff_client.send_goal(goal)
-		takeoff_client.wait_for_result()
-
-		wps = []
-		wp1 = Waypoint()
-		wp2 = Waypoint()
-		wp1.command = 16
-		wp1.x_lat = self.home_pos.geo.latitude - 0.00050
-		wp1.y_long = self.home_pos.geo.longitude
-		wp1.z_alt = 10
-		wp1.autocontinue = True
-
-		wp2.command = 16
-		wp2.x_lat = self.home_pos.geo.latitude
-		wp2.y_long = self.home_pos.geo.longitude
-		wp2.z_alt = 10
-		wp2.autocontinue = True
-
-		goal = WaypointsGoal()
-		goal.waypoints.append(wp1)
-		goal.waypoints.append(wp2)
-		print(goal)
-		waypoints_client.send_goal(goal)
-		waypoints_client.wait_for_result(rospy.Duration.from_sec(45.0))
-
-		time.sleep(5)
-
-		goal = LandGoal()
-		goal.x_lat = self.home_pos.geo.latitude
-		goal.y_long = self.home_pos.geo.longitude
-		goal.z_alt = 0.0
-
-		print('Actionlib started')
-
-		land_client.send_goal(goal)
-		land_client.wait_for_result(rospy.Duration.from_sec(30.0))
-		sys.exit()
-		
-
-	# Heartbeat must be sent to px4 at 2Hz or else auto disconnect
-	def send_heartbeat(self, hb_ros_msg):
-		rate = rospy.Rate(2)  # Hz
-		while not rospy.is_shutdown():
-			self.mavlink_pub.publish(hb_ros_msg)
-			try:  # prevent garbage in console output when thread is killed
-				rate.sleep()
-			except rospy.ROSInterruptException:
-				pass
-
-
-if __name__ == '__main__':
-	offboard()
-
-
-
-
diff --git a/auto/python/offboard3.py b/auto/python/offboard3.py
deleted file mode 100644
index eef9eb1d3b..0000000000
--- a/auto/python/offboard3.py
+++ /dev/null
@@ -1,146 +0,0 @@
-import rospy
-import glob
-import json
-import math
-import os
-import px4tools
-import sys
-import time
-import actionlib
-import roslaunch
-from mavros import mavlink
-from mavros import action_server2
-from mavros_msgs.msg import Mavlink, Waypoint, WaypointReached, GlobalPositionTarget, State, TakeoffAction, TakeoffGoal, LandAction, LandGoal, WaypointsAction, WaypointsGoal, HomePosition
-from mavros_msgs.srv import CommandBool, SetMode, CommandTOL, WaypointPush, WaypointClear, CommandHome
-from sensor_msgs.msg import NavSatFix
-from geometry_msgs.msg import PoseStamped
-from mavros_test_common import MavrosTestCommon
-from pymavlink import mavutil
-from threading import Thread
-
-# Brings in the SimpleActionClient
-import actionlib
-
-class offboard():
-
-	def state_callback(self, data):
-		self.state = data
-
-	def wp_reached_callback(self, data):
-		self.wp_reached = data
-
-	def home_pos_callback(self, data):
-		self.home_pos = data
-		#print(self.home_pos.geo)
-
-	def global_pos_callback(self, data):
-		self.global_pos = data
-
-	def __init__(self):
-
-   		rospy.init_node('guidance_node', anonymous=True)
-
-		state_sub = rospy.Subscriber('mavros/state', State, self.state_callback)
-		self.state = State
-		#PUBLISHERS
-		local_pos_pub = rospy.Publisher('mavros/setpoint_position/local', PoseStamped, queue_size=10)
-		#global_pos_pub = rospy.Publisher('mavros/setpoint_position/global', GlobalPositionTarget, queue_size=10)
-		local_pos_sub = rospy.Subscriber('/mavros/global_position/global', NavSatFix, self.global_pos_callback)
-		home_pos_sub = rospy.Subscriber('/mavros/home_position/home', HomePosition, self.home_pos_callback)
-
-		#ACTIONS
-		#init actionlib servers
-		server = Thread(target=action_server2.ActionServer)
-		server.setDaemon(True)
-		server.start()
-		takeoff_client = actionlib.SimpleActionClient('takeoff', TakeoffAction)
-		land_client = actionlib.SimpleActionClient('land', LandAction)
-		waypoints_client = actionlib.SimpleActionClient('waypoints', WaypointsAction)
-
-		# need to simulate heartbeat to prevent datalink loss detection
-		hb_mav_msg = mavutil.mavlink.MAVLink_heartbeat_message(mavutil.mavlink.MAV_TYPE_GCS, 0, 0, 0, 0, 0)
-		hb_mav_msg.pack(mavutil.mavlink.MAVLink('', 2, 1))
-		hb_ros_msg = mavlink.convert_to_rosmsg(hb_mav_msg)
-		hb_thread = Thread(target=self.send_heartbeat, args=(hb_ros_msg))
-		hb_thread.setDaemon(True)
-
-		#PREFLIGHT CHECK
-
-		rate = rospy.Rate(30)
-		while (not self.state.connected):
-			print('Waiting on Connection')
-			rate.sleep()
-		print('Connected')
-
-		time.sleep(5)
-
-		goal = TakeoffGoal()
-		goal.height = 10
-	
-		print('Actionlib started')
-
-		takeoff_client.send_goal(goal)
-		takeoff_client.wait_for_result()
-
-		wps = []
-		wp1 = Waypoint()
-		wp2 = Waypoint()
-		wp3 = Waypoint()
-		wp1.command = 16
-		wp1.x_lat = self.home_pos.geo.latitude - 0.00050
-		wp1.y_long = self.home_pos.geo.longitude
-		wp1.z_alt = 10
-		wp1.autocontinue = True
-
-		wp2.command = 16
-		wp2.x_lat = self.home_pos.geo.latitude - 0.00050
-		wp2.y_long = self.home_pos.geo.longitude - 0.00050
-		wp2.z_alt = 10
-		wp2.autocontinue = True
-
-
-		wp3.command = 16
-		wp3.x_lat = self.home_pos.geo.latitude
-		wp3.y_long = self.home_pos.geo.longitude
-		wp3.z_alt = 10
-		wp3.autocontinue = True
-
-		goal = WaypointsGoal()
-		goal.waypoints.append(wp1)
-		goal.waypoints.append(wp2)
-		goal.waypoints.append(wp3)
-		print(goal)
-		waypoints_client.send_goal(goal)
-		waypoints_client.wait_for_result(rospy.Duration.from_sec(45.0))
-
-		time.sleep(5)
-
-		goal = LandGoal()
-		goal.x_lat = self.home_pos.geo.latitude
-		goal.y_long = self.home_pos.geo.longitude
-		goal.z_alt = 0.0
-
-		print('Actionlib started')
-
-		land_client.send_goal(goal)
-		land_client.wait_for_result(rospy.Duration.from_sec(30.0))
-		sys.exit()
-		
-
-	# Heartbeat must be sent to px4 at 2Hz or else auto disconnect
-	def send_heartbeat(self, hb_ros_msg):
-		rate = rospy.Rate(2)  # Hz
-		while not rospy.is_shutdown():
-			self.mavlink_pub.publish(hb_ros_msg)
-			try:  # prevent garbage in console output when thread is killed
-				rate.sleep()
-			except rospy.ROSInterruptException:
-				pass
-
-
-if __name__ == '__main__':
-	offboard()
-
-
-
-
diff --git a/auto/python/out.ply b/auto/python/out.ply
deleted file mode 100644
index fea14b6142..0000000000
--- a/auto/python/out.ply
+++ /dev/null
@@ -1,5692 +0,0 @@
-ply
-format ascii 1.0
-element vertex 9977
-property float x
-property float y
-property float z
-property uchar red
-property uchar green
-property uchar blue
-end_header
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-3.562500 4.500000 -6.712797 122 155 191 
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-5.937500 4.500000 -6.712797 104 132 166 
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-6.062500 4.500000 -6.712797 104 131 164 
-6.125000 4.500000 -6.712797 102 129 163 
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-7.625000 4.500000 -6.712797 85 112 144 
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-0.624569 -0.082664 -0.986496 180 167 145 
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-0.530559 -0.104031 -1.117345 182 169 148 
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-0.551724 -0.104099 -1.118072 180 167 147 
-0.598389 -0.092060 -0.988766 167 153 132 
-0.607246 -0.092007 -0.988198 167 152 131 
-0.616446 -0.092007 -0.988198 168 154 132 
-0.624928 -0.091901 -0.987063 168 154 131 
-0.633754 -0.091848 -0.986496 170 155 132 
-0.642939 -0.091848 -0.986496 168 153 131 
-0.261843 -0.151593 -1.480169 200 189 171 
-0.275150 -0.151333 -1.477623 200 188 171 
-0.288412 -0.151073 -1.475087 200 188 170 
-0.420455 -0.125000 -1.220509 191 178 160 
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-0.440056 -0.124118 -1.211901 192 178 159 
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-0.261168 -0.206186 -1.476354 192 180 163 
-0.27397
\ No newline at end of file
diff --git a/auto/python/pad_detection.py b/auto/python/pad_detection.py
deleted file mode 100644
index 8c63623699..0000000000
--- a/auto/python/pad_detection.py
+++ /dev/null
@@ -1,136 +0,0 @@
-import rospy
-from sensor_msgs.msg import Image,CameraInfo
-from std_msgs.msg import Float32
-from tf2_msgs.msg import TFMessage
-from geometry_msgs.msg import TransformStamped, Vector3, Quaternion, PoseWithCovarianceStamped, PoseStamped, Point
-from cv_bridge import CvBridge
-from airsim2ros.msg import Barometer, Distance
-from nav_msgs.msg import Odometry
-from multiprocessing import Process
-from tf import TransformListener
-
-from cv_bridge import CvBridge, CvBridgeError
-
-from tf.transformations import quaternion_from_matrix, rotation_matrix, euler_from_quaternion, quaternion_multiply
-
-import setup_path
-import airsim
-import cv2
-import math
-import numpy as np
-import roslaunch
-import tf2_ros
-import tf2_geometry_msgs
-from matplotlib import pyplot as plt
-import threading
-
-MIN_MATCH_COUNT = 10
-
-BOARD_SIZE = 1.00
-
-class PadDetector():
-
-	# Define a callback for the Image message
-	def imageCallback(self, img_msg):
-		self.curr_time = img_msg.header.stamp
-		# Try to convert the ROS Image message to a CV2 Image
-		try:
-			self.curr_image = self.bridge.imgmsg_to_cv2(img_msg, "passthrough")
-		except CvBridgeError, e:
-			rospy.logerr("CvBridge Error: {0}".format(e))
-
-	def camInfoCallback(self, cam_info):
-		# Try to convert the ROS Image message to a CV2 Image
-		self.K = np.reshape(cam_info.K,(3,3)).astype(np.float32)
-		self.D = np.reshape(cam_info.D,(1,5)).astype(np.float32)
-
-	def buildPoseMsg(self, rvec, tvec):
-
-		pose_msg = PoseStamped()
-		pose_msg.header.stamp = self.curr_time
-		pose_msg.header.frame_id = 'Drone1'
-		#get 3x3 mat
-		rmat, _jac = cv2.Rodrigues(rvec)
-
-		#transform board frame to camera frame
-		R = rmat.transpose()
-		t = -R.dot(tvec)
-
-		#Switch x and y coordinates going from image to camera frame?
-		t = np.array([t[1]-BOARD_SIZE/2,-t[0]+BOARD_SIZE/2,-t[2]])
-		P = np.hstack((R,t))
-
-		#Transform from camera frame to REP-103
-		cam_2_ned = np.array(	[[1,0,0],
-					 [0,1,0],
-					 [0,0,-1]])
-		P = cam_2_ned.dot(P)
-		R = P[0:3,0:3]
-		R = np.vstack((R,[0,0,0]))
-		R = np.hstack((R,[[0],[0],[0],[1]]))
-		t = P[0:3,3]
-		#convert to quaternion and build msg
-		q = quaternion_from_matrix(R)
-
-		pose_msg.pose.position = Point(t[0],t[1],t[2])
-		pose_msg.pose.orientation = Quaternion(q[0],q[1],q[2],q[3])
-
-		return pose_msg		
-
-	# Override the run() function of Thread class
-	def run(self):
-		rate = rospy.Rate(30)  # 30hz
-		# Load the predefined dictionary
-		dictionary = cv2.aruco.Dictionary_get(cv2.aruco.DICT_6X6_250)
-		# Generate the board
-		board = cv2.aruco.GridBoard_create(2,2, 0.46, 0.08, dictionary)
-		# Initialize the detector parameters using default values
-		parameters =  cv2.aruco.DetectorParameters_create()
-		while not rospy.is_shutdown():
-			img1 = self.curr_image;
-			# Detect the markers in the image
-			markerCorners, markerIds, rejectedCandidates = cv2.aruco.detectMarkers(img1, dictionary, parameters=parameters)
-			try:
-				_ret, rvec, tvec = cv2.aruco.estimatePoseBoard(markerCorners, markerIds, board, self.K, self.D)
-				self.pose_pub.publish(self.buildPoseMsg(rvec,tvec))
-			except:
-				continue
-			rate.sleep()
-
-	def stopped(self):
-        	return self._stop_event.is_set()
-
-	def __init__(self):
-		rospy.init_node('autonomy', anonymous=True)
-		rospy.Subscriber('/airsim/Drone1/main/image_raw', Image, self.imageCallback)
-		rospy.Subscriber('/airsim/Drone1/main', CameraInfo, self.camInfoCallback)
-       		self._stop_event = threading.Event()
-
-		rate = rospy.Rate(30)  # 30hz
-		self.curr_image = np.array([])
-		self.curr_time = 0
-		self.bridge = CvBridge()
-		self.K = np.array([])
-		self.D = np.array([])
-		self.transformer = TransformListener()
-		self.tfBuffer = tf2_ros.Buffer()
-    		listener = tf2_ros.TransformListener(self.tfBuffer)
-
-		self.pose_pub = rospy.Publisher('mavros/vision_pose/pose', PoseStamped, queue_size=10)
-
-		if (len(self.curr_image) == 0):
-			rospy.wait_for_message('/airsim/Drone1/main/image_raw',Image)
-		print('got image')
-
-		if (len(self.K) == 0):
-			rospy.wait_for_message('/airsim/Drone1/main',CameraInfo)
-		print('got camInfo')
-
-
-if __name__ == "__main__":
-	pd = PadDetector()
-	pd.run()
-
-
-
-
diff --git a/auto/python/pad_detection.pyc b/auto/python/pad_detection.pyc
deleted file mode 100644
index 8a4ff0004306ef1a5a8004704c525d3e30ba9162..0000000000000000000000000000000000000000
GIT binary patch
diff --git a/auto/python/setup_path.py b/auto/python/setup_path.py
deleted file mode 100644
index c547acd8ea..0000000000
--- a/auto/python/setup_path.py
+++ /dev/null
@@ -1,52 +0,0 @@
-# Import this module to automatically setup path to local airsim module
-# This module first tries to see if airsim module is installed via pip
-# If it does then we don't do anything else
-# Else we look up grand-parent folder to see if it has airsim folder
-#    and if it does then we add that in sys.path
-
-import os,sys,logging
-
-#this class simply tries to see if airsim 
-class SetupPath:
-    @staticmethod
-    def getDirLevels(path):
-        path_norm = os.path.normpath(path)
-        return len(path_norm.split(os.sep))
-
-    @staticmethod
-    def getCurrentPath():
-        cur_filepath = __file__
-        return os.path.dirname(cur_filepath)
-
-    @staticmethod
-    def getGrandParentDir():
-        cur_path = SetupPath.getCurrentPath()
-        if SetupPath.getDirLevels(cur_path) >= 2:
-            return os.path.dirname(os.path.dirname(cur_path))
-        return ''
-
-    @staticmethod
-    def getParentDir():
-        cur_path = SetupPath.getCurrentPath()
-        if SetupPath.getDirLevels(cur_path) >= 1:
-            return os.path.dirname(cur_path)
-        return ''
-
-    @staticmethod
-    def addAirSimModulePath():
-        # if airsim module is installed then don't do anything else
-        #import pkgutil
-        #airsim_loader = pkgutil.find_loader('airsim')
-        #if airsim_loader is not None:
-        #    return
-
-        parent = SetupPath.getParentDir()
-        if parent !=  '':
-            airsim_path = os.path.join(parent, 'airsim')
-            client_path = os.path.join(airsim_path, 'client.py')
-            if os.path.exists(client_path):
-                sys.path.insert(0, parent)
-        else:
-            logging.warning("airsim module not found in parent folder. Using installed package (pip install airsim).")
-
-SetupPath.addAirSimModulePath()
diff --git a/auto/python/setup_path.pyc b/auto/python/setup_path.pyc
deleted file mode 100644
index 37d00da3d686264aacf3092317687719011af89e..0000000000000000000000000000000000000000
GIT binary patch
diff --git a/auto/python/sfm.py b/auto/python/sfm.py
deleted file mode 100644
index d6538c97d8..0000000000
--- a/auto/python/sfm.py
+++ /dev/null
@@ -1,254 +0,0 @@
-import setup_path
-import airsim
-import numpy as np
-import time
-import math
-import cv2
-import open3d as o3d #pip install open3d; conda install "tornado<4.5.3"
-
-from scipy.sparse import lil_matrix
-from scipy.optimize import least_squares
-
-
-
-def getColors(pixel_coords, image):
-    color = []
-    for i in range(len(pixel_coords)):
-        x, y = pixel_coords[i].ravel()
-        x = min(image.shape[1]-1,max(0,x))  
-        y = min(image.shape[0]-1,max(0,y))   
-        BGR = ((image[int(y),int(x)].astype(float))/255)
-        color.append([BGR[2],BGR[1],BGR[0]])
-    color = np.reshape(color,(len(color),3))
-    return color
-    
-def triangulate(pts1, P0, pts2, P1, K, d):
-    #initialize lists
-    obj_pts = []
-    mask = []
-    total = 0
-    count = 0
-
-    #convert to weird array format that undistort points needs (N, 1, 2) DEPENDS ON OPENCV version
-    pts1 = np.reshape(pts1,(len(pts1),1,2))
-    pts2 = np.reshape(pts2,(len(pts2),1,2))
-
-    #Normalize and undistort, this will convert the pts from pixel coordinates to camera coordinates (i.e. [-1 > 0 < 1])
-    pts1_norm = cv2.undistortPoints(pts1, K, d)
-    pts2_norm = cv2.undistortPoints(pts2, K, d)
-    pts1_norm = np.reshape(pts1_norm,(len(pts1),2))
-    pts2_norm = np.reshape(pts2_norm,(len(pts2),2))
-    #pull out Rotation and translation from P1 matrix for reprojection test
-    R = np.reshape(P1[:,0:3],(3,3))
-    t = np.reshape(P1[:,3],(3,1))
-
-    #for all points
-    points3d = []
-    for i in range(len(pts1_norm)):
-        #triangulate
-        point = triangulate_int(pts1_norm[i],P0,pts2_norm[i],P1)
-	points3d.append(point)
-    points3d = np.reshape(points3d,(len(points3d),3))
-    #do a reprojection
-    reproj_pts, ret = cv2.projectPoints(points3d,R,t,K,d)
-    for i in range(len(reproj_pts)):
-	    rx, ry = reproj_pts[i].ravel()
-	    ox, oy = pts2[i].ravel() 
-	    #get distance between projected and original points
-	    distance = math.sqrt((rx-ox)**2+(ry-oy)**2)
-	    #test if distance is above threshold
-	    if (distance < 5):
-		#add point to cloud
-		obj_pts.append(points3d[i])
-		print(points3d[i])
-		count = count + 1
-		mask.append([1])
-		#aggregate distance for average calculation
-		total = total + distance
-	    else:
-		mask.append([0])
-
-    obj_pts = np.reshape(obj_pts,(len(obj_pts),3))
-    mask = np.reshape(mask,(len(mask),1))
-    error = total/(len(obj_pts)+1)
-    print('Triangulated points',count,'out of',len(pts1_norm),'=',int(count/len(pts1_norm)*100),'%')
-    print('Average reprojection error',int(error),'pixel(s)')  
-    
-    return obj_pts, mask, error
-    
-def triangulate_int(pix_pt1,P0,pix_pt2,P1):
-    #code taken from 'Mastering OpenCV with Practical Computer Vision Projects' Chapter 4
-    #https://www.cs.ccu.edu.tw/~damon/photo/,OpenCV/,Mastering_OpenCV.pdf
-    #build A matrix
-    A = np.array([[pix_pt1[0]*P0[2,0]-P0[0,0],pix_pt1[0]*P0[2,1]-P0[0,1],pix_pt1[0]*P0[2,2]-P0[0,2]],
-    [pix_pt1[1]*P0[2,0]-P0[1,0],pix_pt1[1]*P0[2,1]-P0[1,1],pix_pt1[1]*P0[2,2]-P0[1,2]],
-    [pix_pt2[0]*P1[2,0]-P1[0,0], pix_pt2[0]*P1[2,1]-P1[0,1],pix_pt2[0]*P1[2,2]-P1[0,2]],
-    [pix_pt2[1]*P1[2,0]-P1[1,0], pix_pt2[1]*P1[2,1]-P1[1,1],pix_pt2[1]*P1[2,2]-P1[1,2]]])
-    #build B vector
-    B = np.array([[-1*(pix_pt1[0]*P0[2,3]-P0[0,3])],
-    [-1*(pix_pt1[1]*P0[2,3]-P0[1,3])],
-    [-1*(pix_pt2[0]*P1[2,3]-P1[0,3])],
-    [-1*(pix_pt2[1]*P1[2,3]-P1[1,3])]])
-    #solve for X
-    ret, X = cv2.solve(A,B,flags=cv2.DECOMP_SVD)
-    #print(X)
-    return X
-
-def drawTracks(orig, next, img, color):   
-    # Draws the optical flow tracks
-    output = img.copy()
-    mask = np.zeros_like(output)
-    for i, (new, old) in enumerate(zip(next, orig)):
-        # Returns a contiguous flattened array as (x, y) coordinates for new point
-        a, b = new.ravel()
-        # Returns a contiguous flattened array as (x, y) coordinates for old point
-        c, d = old.ravel()
-        # Draws line between new and old position with green color and 2 thickness
-        mask = cv2.line(mask, (a, b), (c, d), color, 2)
-        # Draws filled circle (thickness of -1) at new position with green color and radius of 3
-        output = cv2.circle(output, (a, b), 3, color, -1)    
-    # Overlays the optical flow tracks on the original frame
-    output = cv2.add(output, mask)
-    return output
-    
-def getTrackLength(orig,new):
-    num_samples  = 10
-    rand_pts = np.random.choice(len(new),num_samples,replace=False)
-    total = 0
-    for i in range(num_samples):
-        j = rand_pts[i]
-        x1, y1 = orig[j].ravel()
-        x2, y2 = new[j].ravel() 
-        #get distance between new and original points
-        distance = math.sqrt((x1-x2)*(x1-x2)+(y1-y2)*(y1-y2))
-        total = total + distance
-    avg_dist = total/num_samples
-    return avg_dist
-    
-def getObjectPointsEssential(prev_pts,new_pts,P0,K,d):
-    #Get essential matrix to derive R, t, and F
-    E, mask_e = cv2.findEssentialMat(prev_pts,new_pts, K, method=cv2.RANSAC, prob=0.999, threshold = 1.0)
-    print ("Essential matrix: used ", np.sum(mask_e) ," of total ",len(new_pts),"matches")
-    prev_pts = prev_pts[mask_e[:,0]==1]
-    new_pts = new_pts[mask_e[:,0]==1]
-   
-    R1, R2, t1 = cv2.decomposeEssentialMat(E)
-    t2 = -1*t1
-    
-    P1 = []
-    #These are the four possible Projection Matrices, only one produces the most correct points
-    P1.append(np.hstack((R1,t1))*P0)
-    P1.append(np.hstack((R1,t2))*P0)
-    P1.append(np.hstack((R2,t1))*P0)
-    P1.append(np.hstack((R2,t2))*P0)
-    best_obj_pts = []
-    best_error = 1000
-    for i in range(4):
-        #Get 3d world points and associated pixel values for the second image
-        obj_pts, mask_tri, error = triangulate(prev_pts, P0, new_pts, P1[i], K, d)
-        if(len(obj_pts) > len(best_obj_pts)):            
-            best_error = error
-            best_obj_pts = obj_pts
-            best_mask_tri = mask_tri
-            best_P1 = P1[i]
-        elif(len(obj_pts) == len(best_obj_pts) & (error < best_error)):
-            best_error = error
-            best_obj_pts = obj_pts
-            best_mask_tri = mask_tri
-            best_P1 = P1[i]
-    
-    prev_pts = prev_pts[best_mask_tri[:,0]==1]
-    new_pts = new_pts[best_mask_tri[:,0]==1]
-    
-    return best_obj_pts, prev_pts, new_pts, best_P1
-    
-def getObjectPointsPnP(obj_pts,new_pts,P0,K,d,rvec,tvec):
-    #SolvePNP
-    _, rvec, tvec, inliers  = cv2.solvePnPRansac(obj_pts, pixel_pts, K, d, rvec, tvec, useExtrinsicGuess = True)
-    print('SolvePnP used',len(inliers),'points of total', len(pixel_pts),'=',int(len(inliers)/len(pixel_pts)*100),'%')
-    #convert pnp rotation to (3x3) with rodrigues method
-    R, _ = cv2.Rodrigues(rvec)
-    t = tvec 
-
-    #Create second projection matrix
-    #P1 = np.dot(K,np.hstack((R, t)))
-    P1 = np.hstack((R, t))
-
-    #Now we need to get the full set of matches to apply this projection matrix to
-    #Get 3d world points and associated pixel values for the second image
-    obj_pts, mask_tri = triangulate(pts1, P0, pts2, P1, K, d)
-    
-    return obj_pts, mask_tri, P1
-    
-def eliminateDuplicateObjects(prev_objs, new_features):
-    #get all objects and pixel coords from the last image
-    prev_objs = np.reshape(prev_objs,(-1,6))
-    #a new mask to check for last images objects in the new features
-    mask_1 = np.full((len(new_features),4),-1)
-    #a new mask to remove these duplicates from the pre_objs_array
-    mask_2 = np.ones(len(prev_objs[:,0]))
-    count = 0
-    for i in range(len(new_features)):
-        x,y = new_features[i].ravel()
-        for j in range(len(prev_objs)):
-            #checks distance between new features and existing object pixels
-            if(math.isclose(prev_objs[j,4],x,rel_tol=0.02) & math.isclose(prev_objs[j,5],y,rel_tol=0.03)):
-                if (mask_2[j] == 1):    
-                    count += 1
-                    mask_1[i] = prev_objs[j,0:4]
-                    mask_2[j] = 0
-                break                          
-    #eliminate duplicate objects contained in the pre_objs array
-    prev_objs = prev_objs[mask_2==1]
-    #create the overall mask
-    mask_3 = np.vstack((mask_1,prev_objs[:,0:4]))
-    #create a total list of pixel coords consisting of new features and previous pixel coordinates,
-    #must be the same length as the object index mask
-    new_features = new_features.reshape(len(new_features),2)
-    orig = np.vstack((new_features,prev_objs[:,4:6])).reshape(-1, 1, 2).astype(np.float32)
-    
-    return orig, mask_3
-    
-def baFun(params, n_cameras, n_points, camera_indices, points_2d):
-    """Compute residuals.   
-    `params` contains camera parameters and 3-D coordinates.
-    """
-    cam_list = []
-    for i in range(n_cameras):
-        begin = (i*6)
-        end = (i*6+6)
-        cam_list.append(params[begin:end].ravel())
-        
-    points_3d = []
-    for i in range(n_points):
-        begin = i*3+(n_cameras*6)
-        end = i*3+3+(n_cameras*6)
-        points_3d.append(params[begin:end])
-    
-    proj_list = []  
-    for i in range(n_points):
-        camera = cam_list[camera_indices[i]]
-        R = np.reshape(camera[0:3],(1,3))
-        t = np.reshape(camera[3:6],(1,3))
-        R, _ = cv2.Rodrigues(R)
-        point_proj, ret = cv2.projectPoints(points_3d[i],R,t,K,d)
-        proj_list.append(point_proj)
-    proj_list = np.reshape(proj_list,(-1,2))
-    points_2d = np.reshape(points_2d,(-1,2))
-    return (proj_list - points_2d).ravel()
-    
-def bundle_adjustment_sparsity(n_cameras, n_points, camera_indices, point_indices):
-    m = camera_indices.size * 2
-    n = n_cameras * 6 + n_points * 3
-    A = lil_matrix((m, n), dtype=int)
-
-    i = np.arange(camera_indices.size)
-    for s in range(6):
-        A[2 * i, camera_indices * 6 + s] = 1
-        A[2 * i + 1, camera_indices * 6 + s] = 1
-
-    for s in range(3):
-        A[2 * i, n_cameras * 6 + point_indices * 3 + s] = 1
-        A[2 * i + 1, n_cameras * 6 + point_indices * 3 + s] = 1
-
-    return A
diff --git a/auto/python/sfm.pyc b/auto/python/sfm.pyc
deleted file mode 100644
index aa7c2b5d757d5c546269615c5eac67ea9fed8b59..0000000000000000000000000000000000000000
GIT binary patch
diff --git a/auto/python/sfm_ros.py b/auto/python/sfm_ros.py
deleted file mode 100644
index b93d4308f5..0000000000
--- a/auto/python/sfm_ros.py
+++ /dev/null
@@ -1,304 +0,0 @@
-import rospy
-import tf2_ros
-import tf2_geometry_msgs
-import cv2
-import numpy as np
-import math
-import struct
-
-from cv_bridge import CvBridge
-from sensor_msgs.msg import Image, CameraInfo, PointCloud2, PointField
-from sensor_msgs import point_cloud2
-from tf2_msgs.msg import TFMessage
-from geometry_msgs.msg import PoseStamped, Quaternion, TransformStamped
-from nav_msgs.msg import Odometry
-
-from sfm import getColors
-from sfm import triangulate
-from sfm import triangulate_int
-from sfm import drawTracks
-from sfm import getTrackLength
-from sfm import getObjectPointsEssential
-from sfm import eliminateDuplicateObjects
-from sfm import baFun
-from sfm import bundle_adjustment_sparsity
-
-from scipy.sparse import lil_matrix
-from scipy.optimize import least_squares
-
-from tf.transformations import quaternion_matrix, euler_from_quaternion, quaternion_multiply, quaternion_from_matrix
-
-class mapping():
-
-	def __init__(self):
-
-   		rospy.init_node('mapping', anonymous=True)
-
-		self.bridge = CvBridge()
-		self.tfBuffer = tf2_ros.Buffer()
-			listener = tf2_ros.TransformListener(self.tfBuffer)
-
-		self.image = []
-		self.pose = PoseStamped()
-		self.K = []
-		self.d = []
-		self.cam_width =  []
-		self.cam_height = []
-		self.rotation = []
-		self.translation = []
-		self.tracking = False
-
-		self.img_curr = []
-		self.img_prev = []
-
-		self.features_orig = []
-		self.features_prev = []
-
-		self.obj_mask = []
-
-		self.reset = True
-
-		#INITIALIZE FEATURE MATCHING PARAMETERS#
-		self.maxCorners = 500 #Maximum number of corners to return. If there are more corners than are found, the strongest of them is returned
-		self.qualityLevel = 0.01 #For example, if best corner has measure = 1500, and qualityLevel=0.01 , then corners with quality<15 are rejected.
-		self.minDistance = 10 #Minimum possible Euclidean distance between the returned corners.
-		self.lk_params = dict(winSize = (15,15), maxLevel = 2, criteria = (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 0.03))
-
-		#rospy.Subscriber('/mavros/local_position/pose', PoseStamped, self.poseCallback)
-		rospy.Subscriber('orb_slam2_mono/pose', PoseStamped, self.poseCallback)
-		rospy.Subscriber('/airsim/base_link/camera/image_raw', Image, self.imageCallback)
-		rospy.Subscriber('/airsim/base_link/camera', CameraInfo, self.camInfoCallback)
-		self.cloud_pub = rospy.Publisher("cloud", PointCloud2, queue_size=10)
-		self.test_pose = rospy.Publisher("test_pose", PoseStamped, queue_size=10)
-
-		print('waiting on topics...')
-		rospy.wait_for_message('/airsim/base_link/camera/image_raw', Image)
-
-		#self.cam_width = self.img_curr.shape[0]
-		#self.cam_height = self.img_curr.shape[1]
-		print('K: ', self.K)
-		print('D: ', self.D)
-		rospy.wait_for_message('/mavros/local_position/pose', PoseStamped)
-		print('connected')
-		print(float(self.pose.header.stamp.secs)+float(self.pose.header.stamp.nsecs)/1000000000.0,float(self.header.stamp.secs)+float(self.header.stamp.nsecs)/1000000000.0)
-		self.run()
-
-	def poseCallback(self, data):
-		self.pose = data
-		#self.test_pose.publish(self.pose)
-		q = (self.pose.pose.orientation.x,self.pose.pose.orientation.y,self.pose.pose.orientation.z,self.pose.pose.orientation.w)
-		r = quaternion_matrix(q)
-		#print(r)
-		self.rotation = r[0:3,0:3]
-		self.translation = np.array(([self.pose.pose.position.x],[self.pose.pose.position.y],[self.pose.pose.position.z]))
-		#print(self.translation)
-		
-	def imageCallback(self, data):
-		self.header = data.header
-		self.img_curr = self.bridge.imgmsg_to_cv2(data, desired_encoding='passthrough')
-
-	def run(self):
-		#TAKE NEW IMAGE#
-		rawImage2 = self.img_curr
-		if (rawImage2 == None):
-			print("Camera is not returning image, please check airsim for error messages")
-			sys.exit(0)
-		else:
-			img2 = self.img_curr
-			gray2 = cv2.cvtColor(img2, cv2.COLOR_RGB2GRAY)
-
-		#GET NEW FEATURE LOCATIONS#
-		next, status, error = cv2.calcOpticalFlowPyrLK(gray, gray2, prev, None, **lk_params)
-		error = error[status[:,0] == 1]
-		#First, filter out the points with high error 
-		new = next[status[:,0] == 1]
-		new = new[error[:,0] < 10]
-		#Update the original list of features to reflect pixels that have been lost in the flow
-		orig = orig[status[:,0] == 1]
-		orig = orig[error[:,0] < 10]
-		#update the object mask
-		obj_mask = obj_mask[status[:,0] == 1]
-		obj_mask = obj_mask[error[:,0] < 10]
-		
-		# Updates previous good feature points
-		prev = new.reshape(-1, 1, 2) 
-		
-		#Optional visualization
-		output = drawTracks(orig.astype(int), new, img2, (0, 255, 0))
-		cv2.imshow('Tracks',output)
-		gray = gray2
-		
-		#IF SIGNIFICANT CHANGE FROM PREVIOUS IMAGE# 
-		avg_track_len = getTrackLength(orig,new)
-		if (avg_track_len > (img.shape[0]/5) or (len(orig)/orig_count < 0.8)):
-			print('update, image #:',img_idx)
-			#Time to calculate SFM
-			
-			prev_pts = orig.reshape(len(orig),2)
-			new_pts = new.reshape(len(new),2)
-			mask_inf = np.zeros(len(new_pts))
-			'''Lets check for infiniti points'''
-			for i in range(len(new_pts)):
-				x1, y1 = prev_pts[i].ravel()
-				x2, y2 = new_pts[i].ravel() 
-				#get distance between new and original points
-				distance = math.sqrt((x1-x2)*(x1-x2)+(y1-y2)*(y1-y2))
-				if (distance >= 5):
-					mask_inf[i] = 1
-			
-			new_pts = new_pts[mask_inf==1] 
-			obj_mask = obj_mask[mask_inf==1] 
-			print(len(prev_pts)-len(new_pts),'"infinite" eliminated')
-			prev_pts = prev_pts[mask_inf==1]	   
-
-			#Is this the first calculation?
-			if (img_idx == 0):
-				#initial P0
-				P0 = np.hstack((np.eye(3, 3), np.zeros((3, 1))))
-				#get first set of objects from essential matrix
-				obj_pts, prev_pts, new_pts, P = getObjectPointsEssential(prev_pts,new_pts,P0,K,d)
-
-				#Check quality of pts
-				if (len(obj_pts) > 15):
-					cam_objs = []
-					for i in range(len(obj_pts)):
-						cam_objs.append(np.hstack((i,obj_pts[i].ravel(),prev_pts[i].ravel())))
-					all_objs.append(cam_objs)								
-					cam_objs = []
-					for i in range(len(obj_pts)):
-						cam_objs.append(np.hstack((i,obj_pts[i].ravel(),new_pts[i].ravel())))
-						obj_idx += 1
-					all_objs.append(cam_objs)
-					img_idx += 1			   
-					all_P_mats.append(P0)
-					all_P_mats.append(P)
-					P0 = P
-					#get a new set of features to track
-					new_features = cv2.goodFeaturesToTrack(gray, maxCorners, qualityLevel, minDistance)
-					orig, obj_mask = eliminateDuplicateObjects(all_objs[img_idx],new_features)
-					t = np.reshape(P0[:,3],(1,3))
-					t = t * np.array([1,-1,1])
-					#Get colors from detected pixels for coloring pointcloud
-					colors = getColors(new_pts,img2.copy())
-					all_pts = obj_pts
-					all_colors = colors
-					all_pts = np.vstack((all_pts,np.reshape(t,(1,3))))
-					all_colors = np.vstack((all_colors,np.array([0.,1.,0.])))
-				else:	
-					orig = cv2.goodFeaturesToTrack(gray, maxCorners, qualityLevel, minDistance)
-				
-				
-					
-			else:#get camera matrices from PNP
-				#SolvePNP
-				masked_objs = obj_mask[obj_mask[:,0]!=-1]
-				pixel_pts = new_pts[obj_mask[:,0]!=-1]
-				obj_pts = masked_objs[:,1:4]
-				
-				_, rvec, tvec, inliers  = cv2.solvePnPRansac(obj_pts, pixel_pts, K, d, flags=cv2.SOLVEPNP_EPNP)
-				print('SolvePnP used',len(inliers),'points of total', len(pixel_pts),'=',int(len(inliers)/len(pixel_pts)*100),'%')
-				#convert pnp rotation to (3x3) with rodrigues method
-				P1 = np.hstack((cv2.Rodrigues(rvec)[0], tvec))
-	   
-				#Now we need to get the full set of matches to apply this projection matrix to
-				#Get 3d world points and associated pixel values for the second image
-				new_objs, mask_tri, error = triangulate(prev_pts, P0, new_pts, P1, K, d)
-				
-				obj_mask = obj_mask[mask_tri[:,0]==1]
-				prev_pts = prev_pts[mask_tri[:,0]==1]
-				new_pts = new_pts[mask_tri[:,0]==1]
-			   
-				cam_objs = []
-				for i in range(len(new_objs)):
-					if (obj_mask[i,0] != -1):
-						cam_objs.append(np.hstack((obj_mask[i,0],new_objs[i].ravel(),new_pts[i].ravel())))  
-					else:
-						cam_objs.append(np.hstack((obj_idx,new_objs[i].ravel(),new_pts[i].ravel())))	
-						obj_idx += 1			   
-				all_objs.append(cam_objs)
-				img_idx += 1
-				all_P_mats.append(P1)
-				P0 = P1
-				#get a new set of features to track
-				new_features = cv2.goodFeaturesToTrack(gray, maxCorners, qualityLevel, minDistance)
-				orig, obj_mask = eliminateDuplicateObjects(all_objs[img_idx],new_features)
-				t = np.reshape(P0[:,3],(1,3))
-				t = t * np.array([1,-1,1])
-				#Get colors from detected pixels for coloring pointcloud
-				colors = getColors(new_pts,img2.copy())
-				all_pts = np.vstack((all_pts,new_objs))
-				all_colors = np.vstack((all_colors,colors))
-				all_pts = np.vstack((all_pts,np.reshape(t,(1,3))))
-				all_colors = np.vstack((all_colors,np.array([1.,0.,0.])))
-			
-			print('colro\points',len(all_pts),len(all_colors))
-			pcd = o3d.geometry.PointCloud()
-			pcd.points = o3d.utility.Vector3dVector(all_pts)
-			pcd.colors = o3d.utility.Vector3dVector(all_colors.astype(float))
-			o3d.io.write_point_cloud("pointcloud.ply", pcd)	
-			
-			frames = 3
-			if (False):
-			#if ((img_idx > frames) & ((img_idx-1) % frames == 0)):
-				#Lets do bundle adjustment
-				
-				n_cameras = frames
-
-				ba_objs = []			
-				camera_params = []			
-				for i in range(frames):
-					ba_objs.extend(np.reshape(all_objs[(img_idx-frames-1+i)],(-1,6)))
-					P = all_P_mats[(img_idx-frames-1+i)]
-					R, _ = cv2.Rodrigues(P[:,0:3])
-					t = np.reshape(P[:,3],(1,3))
-					camera_params.extend(np.hstack((R.ravel(),t.ravel())))
-				ba_objs = np.reshape(ba_objs,(-1,6))
-				camera_params = np.reshape(camera_params,(-1,6))
-				print(camera_params)
-
-				camera_indices = np.empty_like(ba_objs[:,0]).astype(int)
-				next = 0
-				prev = 0
-				for i in range(frames):
-					next += len(all_objs[(img_idx-frames-1+i)])
-					camera_indices[prev:next] = i
-					prev = next
-					
-				points_3d = np.reshape(ba_objs[:,1:4],(-1,3))
-				points_2d = np.reshape(ba_objs[:,4:6],(-1,2))
-				point_indices = np.reshape(ba_objs[:,0],(-1,1))
-	  
-				n_points = len(points_3d)
-
-				n = 6 * n_cameras + 3 * n_points
-				m = 2 * n_points
-
-				print("n_cameras: {}".format(n_cameras))
-				print("n_points: {}".format(n_points))
-				print("Total number of parameters: {}".format(n))
-				print("Total number of residuals: {}".format(m))
-				
-				#ba_thread = myThread(1,"thread1",n_cameras,n_points, camera_indices, point_indices)
-				
-				x0 = np.hstack((camera_params.ravel(), points_3d.ravel()))
-				f0 = baFun(x0, n_cameras, n_points, camera_indices, points_2d)
-				
-				plt.plot(f0)
-				#plt.show()
-
-				A = bundle_adjustment_sparsity(n_cameras, n_points, camera_indices, point_indices)
-				res = least_squares(baFun, x0, jac_sparsity=A, verbose=2, x_scale='jac', ftol=1e-4, method='trf',
-						args=(n_cameras, n_points, camera_indices, points_2d))
-				
-				plt.plot(res.fun)
-				plt.show()
-			prev = orig
-			orig_count = len(orig)
-		  
-		 
-		key = cv2.waitKey(1) & 0xFF;
-		if (key == 27 or key == ord('q') or key == ord('x')):
-			break;  
-
-if __name__ == '__main__':
-	mapping()
diff --git a/auto/python/stereo.py b/auto/python/stereo.py
deleted file mode 100644
index 486858d908..0000000000
--- a/auto/python/stereo.py
+++ /dev/null
@@ -1,129 +0,0 @@
-#!/usr/bin/env python
-
-# Python 2/3 compatibility
-from __future__ import print_function
-
-import numpy as np
-import cv2
-
-import struct
-
-import rospy
-from sensor_msgs import point_cloud2
-from sensor_msgs.msg import Image,CameraInfo, PointCloud2, PointField
-from std_msgs.msg import Header
-
-from cv_bridge import CvBridge, CvBridgeError
-
-ply_header = '''ply
-format ascii 1.0
-element vertex %(vert_num)d
-property float x
-property float y
-property float z
-property uchar red
-property uchar green
-property uchar blue
-end_header
-'''
-
-class Stereo():
-
-	def depthCallback(self,data):
-		try:
-			self.depth_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
-		except CvBridgeError as e:
-			print(e)
-
-	def colorCallback(self,data):
-		try:
-			self.color_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
-		except CvBridgeError as e:
-			print(e)
-
-	def infoCallback(self, data):
-		self.img_height = data.height
-		self.img_width = data.width
-		self.frame = data.header.frame_id
-		self.time = data.header.stamp
-		self.D = np.reshape(data.D,(1,5))
-		self.K = np.reshape(data.K,(3,3))
-
-	def array2pointcloud(self, xyz_pts, colors, stamp=None, frame_id=None):
-		points = []
-		for i in range(xyz_pts.shape[0]):
-		    rgb = struct.unpack('I', struct.pack('BBBB', colors[i,0], colors[i,1], colors[i,2], 255))[0]
-		    pt = [xyz_pts[i,0],xyz_pts[i,1],xyz_pts[i,2], rgb]
-		    points.append(pt)
-
-		fields = [PointField('x', 0, PointField.FLOAT32, 1),
-			  PointField('y', 4, PointField.FLOAT32, 1),
-			  PointField('z', 8, PointField.FLOAT32, 1),
-			  # PointField('rgb', 12, PointField.UINT32, 1),
-			  PointField('rgba', 12, PointField.UINT32, 1),
-			  ]
-
-		header = Header()
-		header.frame_id = frame_id
-		header.stamp = stamp
-		pc2 = point_cloud2.create_cloud(header, fields, points)
-		self.pc_pub.publish(pc2)
-
-
-	def __init__(self):
-
-		rospy.init_node('stereo', anonymous=True)
-
-		self.bridge = CvBridge()
-		self.color_sub = rospy.Subscriber("airsim/Drone1/color/image_raw",Image,self.colorCallback)
-		self.depth_sub = rospy.Subscriber("airsim/Drone1/depth/image_raw",Image,self.depthCallback)
-		self.info_sub = rospy.Subscriber("airsim/Drone1/depth",CameraInfo,self.infoCallback)
-		self.pc_pub = rospy.Publisher("airsim/Drone1/stereo", PointCloud2, queue_size=2)
-		self.color_image = np.array(0)
-		self.depth_image = np.array(0)
-		self.img_height = 0
-		self.img_width = 0
-		self.time = 0
-		self.frame = ""
-		self.D = np.array(0)
-		self.K = np.array(0)
-
-		rospy.wait_for_message('/airsim/Drone1/depth/image_raw',Image)
-		print('got depth image')
-
-		rospy.wait_for_message('/airsim/Drone1/color/image_raw',Image)
-		print('got color image')
-
-		rospy.wait_for_message('/airsim/Drone1/depth', CameraInfo)
-		print('got camera info')
-		
-		rate = rospy.Rate(10)  # 30hz
-		h, w = self.img_height, self.img_width
-		f = self.K[0,0]          #focal length  
-
-		Q = np.array([	[0,-1,0, -320],
-				[1,0,0, -240],
-				[0,0,1, 204],
-				[0,0,33, 0]])
-
-		while(True):
-
-			disp = np.array(cv2.cvtColor(self.depth_image, cv2.COLOR_BGR2GRAY)).astype(np.float32) / 16.0
-			points = cv2.reprojectImageTo3D(disp, Q)
-			colors = cv2.cvtColor(self.color_image, cv2.COLOR_BGR2RGB)
-			mask = disp > disp.min()
-			out_points = points[mask]
-			out_colors = colors[mask]
-
-			self.array2pointcloud(out_points, out_colors, self.time, self.frame)
-
-			#cv2.imshow('left', self.left_image)
-			cv2.imshow('disparity', (disp))
-			cv2.waitKey(1)
-			rate.sleep()
-
-
-if __name__ == '__main__':
-	Stereo()
-	exit()
-

From baba01efa944cccb8c4b6dafabc2d3639f51f2d3 Mon Sep 17 00:00:00 2001
From: Erik Vroon <erik.vroon22@gmail.com>
Date: Mon, 22 Mar 2021 14:39:05 +0100
Subject: [PATCH 09/17] Improve formatting

---
 AirLib/include/common/AirSimSettings.hpp | 113 +++++++++++------------
 docs/build_linux.md                      |   8 +-
 2 files changed, 58 insertions(+), 63 deletions(-)

diff --git a/AirLib/include/common/AirSimSettings.hpp b/AirLib/include/common/AirSimSettings.hpp
index f33806734c..f239b8138c 100644
--- a/AirLib/include/common/AirSimSettings.hpp
+++ b/AirLib/include/common/AirSimSettings.hpp
@@ -197,75 +197,71 @@ struct AirSimSettings {
     };
 
     struct BarometerSetting : SensorSetting {
-	real_T qnh = EarthUtils::SeaLevelPressure / 100.0f; // hPa
-	real_T pressure_factor_sigma = 0.0365f / 20;
-	real_T pressure_factor_tau = 3600;
-	real_T unnorrelated_noise_sigma = 0.027f * 100;
-	real_T update_latency = 0.0f;    //sec
-	real_T update_frequency = 50;    //Hz
-	real_T startup_delay = 0;        //sec
+        real_T qnh = EarthUtils::SeaLevelPressure / 100.0f; // hPa
+        real_T pressure_factor_sigma = 0.0365f / 20;
+        real_T pressure_factor_tau = 3600;
+        real_T unnorrelated_noise_sigma = 0.027f * 100;
+        real_T update_latency = 0.0f;    //sec
+        real_T update_frequency = 50;    //Hz
+        real_T startup_delay = 0;        //sec
         Vector3r position = VectorMath::nanVector();
         Rotation rotation = Rotation::nanRotation();
     };
 
     struct ImuSetting : SensorSetting {
-	//angule random walk (ARW)
-	real_T gyro_arw = 0.30f / sqrt(3600.0f) * M_PIf / 180; //deg/sqrt(hour) converted to rad/sqrt(sec)
-	//Bias Stability (tau = 500s)
-	real_T gyro_tau = 500;
-	real_T gyro_bias_stability = 4.6f / 3600 * M_PIf / 180; //deg/hr converted to rad/sec
-	Vector3r gyro_turn_on_bias = Vector3r::Zero(); //assume calibration is done
-
-	//velocity random walk (ARW)
-	real_T accel_vrw = 0.24f * EarthUtils::Gravity / 1.0E3f; //mg converted to m/s^2
-	//Bias Stability (tau = 800s)
-	real_T accel_tau = 800;
-	real_T accel_bias_stability = 36.0f * 1E-6f * 9.80665f; //ug converted to m/s^2
-	Vector3r accel_turn_on_bias = Vector3r::Zero(); //assume calibration is done
+        // Angular random walk (ARW)
+        real_T gyro_arw = 0.30f / sqrt(3600.0f) * M_PIf / 180; //deg/sqrt(hour) converted to rad/sqrt(sec)
+        // Bias Stability (tau = 500s)
+        real_T gyro_tau = 500;
+        real_T gyro_bias_stability = 4.6f / 3600 * M_PIf / 180; //deg/hr converted to rad/sec
+        Vector3r gyro_turn_on_bias = Vector3r::Zero(); //assume calibration is done
+
+        // Velocity random walk (VRW)
+        real_T accel_vrw = 0.24f * EarthUtils::Gravity / 1.0E3f; //mg converted to m/s^2
+        // Bias Stability (tau = 800s)
+        real_T accel_tau = 800;
+        real_T accel_bias_stability = 36.0f * 1E-6f * 9.80665f; //ug converted to m/s^2
+        Vector3r accel_turn_on_bias = Vector3r::Zero(); //assume calibration is done
         Vector3r position = VectorMath::nanVector();
         Rotation rotation = Rotation::nanRotation();
-
     };
 
     struct GpsSetting : SensorSetting {
+        real_T eph_time_constant = 0.9f, epv_time_constant = 0.9f;
+        real_T eph_initial = 100.0f, epv_initial = 100.0f;   //initially fully diluted positions
+        real_T eph_final = 0.3f, epv_final = 0.4f;
+        real_T eph_min_3d = 3.0f, eph_min_2d = 4.0f;
 
-	real_T eph_time_constant = 0.9f, epv_time_constant = 0.9f;
-	real_T eph_initial = 100.0f, epv_initial = 100.0f;   //initially fully diluted positions
-	real_T eph_final = 0.3f, epv_final = 0.4f;
-	real_T eph_min_3d = 3.0f, eph_min_2d = 4.0f;
-
-	real_T update_latency = 0.2f;    //sec
-	real_T update_frequency = 50;    //Hz
-	real_T startup_delay = 1;        //sec
-
-	Vector3r position = VectorMath::nanVector();
-	Rotation rotation = Rotation::nanRotation();
+        real_T update_latency = 0.2f;    //sec
+        real_T update_frequency = 50;    //Hz
+        real_T startup_delay = 1;        //sec
 
+        Vector3r position = VectorMath::nanVector();
+        Rotation rotation = Rotation::nanRotation();
     };
 
     struct MagnetometerSetting : SensorSetting {
-	Vector3r noise_sigma = Vector3r(0.005f, 0.005f, 0.005f); //5 mgauss as per specs sheet (RMS is same as stddev) https://goo.gl/UOz6FT
-	real_T scale_factor = 1.0f;
-	Vector3r noise_bias = Vector3r(0.0f, 0.0f, 0.0f); //no offset as per specsheet (zero gauss level) https://goo.gl/UOz6FT
-	float ref_update_frequency = 0.2f;    //Hz
-
-	//use dipole model if there is enough compute power available
-	bool dynamic_reference_source = true;
-	// ref_source 0==ConstantModel; 1==DipoleModel
-	int ref_source = 1;
-
-	//see PX4 param reference for EKF: https://dev.px4.io/en/advanced/parameter_reference.html
-	real_T update_latency = 0.0f;    //sec: from PX4 doc
-	real_T update_frequency = 50;    //Hz
-	real_T startup_delay = 0;        //sec
-
-	Vector3r position = VectorMath::nanVector();
-	Rotation rotation = Rotation::nanRotation();
+        Vector3r noise_sigma = Vector3r(0.005f, 0.005f, 0.005f); //5 mgauss as per specs sheet (RMS is same as stddev) https://goo.gl/UOz6FT
+        real_T scale_factor = 1.0f;
+        Vector3r noise_bias = Vector3r(0.0f, 0.0f, 0.0f); //no offset as per specsheet (zero gauss level) https://goo.gl/UOz6FT
+        float ref_update_frequency = 0.2f;    //Hz
+
+        //use dipole model if there is enough compute power available
+        bool dynamic_reference_source = true;
+        // ref_source 0==ConstantModel; 1==DipoleModel
+        int ref_source = 1;
+
+        //see PX4 param reference for EKF: https://dev.px4.io/en/advanced/parameter_reference.html
+        real_T update_latency = 0.0f;    //sec: from PX4 doc
+        real_T update_frequency = 50;    //Hz
+        real_T startup_delay = 0;        //sec
 
+        Vector3r position = VectorMath::nanVector();
+        Rotation rotation = Rotation::nanRotation();
     };
 
     struct DistanceSetting : SensorSetting {
-        //nan means keep the default values set in components
+        // nan means keep the default values set in components
         Vector3r position = VectorMath::nanVector();
         Rotation rotation = Rotation::nanRotation();
 
@@ -280,7 +276,6 @@ struct AirSimSettings {
     };
 
     struct LidarSetting : SensorSetting {
-
         // shared defaults
         uint number_of_channels = 16;
         real_T range = 10000.0f / 100;                    // meters
@@ -300,11 +295,11 @@ struct AirSimSettings {
     };
 
     struct VehicleSetting {
-        //required
+        // Required
         std::string vehicle_name;
         std::string vehicle_type;
 
-        //optional
+        // Optional
         std::string default_vehicle_state;
         std::string pawn_path;
         bool allow_api_always = true;
@@ -314,7 +309,7 @@ struct AirSimSettings {
         bool enable_collisions = true;
         bool is_fpv_vehicle = false;
 
-        //nan means use player start
+        // nan means use player start
         Vector3r position = VectorMath::nanVector(); //in global NED
         Rotation rotation = Rotation::nanRotation();
 
@@ -329,7 +324,7 @@ struct AirSimSettings {
 
         bool use_serial = true; // false means use UDP or TCP instead
 
-        //Used to connect via HITL: needed only if use_serial = true
+        // Used to connect via HITL: needed only if use_serial = true
         std::string serial_port = "*";
         int baud_rate = 115200;
 
@@ -357,7 +352,7 @@ struct AirSimSettings {
         int qgc_ip_port = 0;
         std::string qgc_ip_address = "";
 
-        // mavlink vehicle identifiers
+        // Mavlink vehicle identifiers
         uint8_t sim_sysid = 142;
         int sim_compid = 42;
         uint8_t offboard_sysid = 134;
@@ -365,9 +360,9 @@ struct AirSimSettings {
         uint8_t vehicle_sysid = 135;
         int vehicle_compid = 1;
 
-        // if you want to select a specific local network adapter so you can reach certain remote machines (e.g. wifi versus ethernet)
-        // then you will want to change the LocalHostIp accordingly.  This default only works when log viewer and QGC are also on the
-        // same machine.  Whatever network you choose it has to be the same one for external
+        // If you want to select a specific local network adapter so you can reach certain remote machines (e.g. wifi versus ethernet),
+        // then you will want to change the LocalHostIp accordingly. This default only works when log viewer and QGC are also on the
+        // same machine. Whatever network you choose, it has to be the same one for external.
         std::string local_host_ip = "127.0.0.1";
 
         std::string model = "Generic";
diff --git a/docs/build_linux.md b/docs/build_linux.md
index 12753e2c48..7cdde48cd2 100644
--- a/docs/build_linux.md
+++ b/docs/build_linux.md
@@ -93,14 +93,14 @@ Alternatively, you can use [APIs](apis.md) for programmatic control or use the s
 ## FAQs
 
 - I'm getting error `<MyProject> could not be compiled. Try rebuilding from source manually`.
-  * This could either happen because of compile error or the fact that your gch files are outdated. Look in to your console window. Do you see something like below?
+* This could either happen because of compile error or the fact that your gch files are outdated. Look in to your console window. Do you see something like below?
 
 `fatal error: file '/usr/include/linux/version.h''/usr/include/linux/version.h' has been modified since the precompiled header`
 
-  * If this is the case then look for *.gch file(s) that follows after that message, delete them and try again. Here's [relevant thread](https://answers.unrealengine.com/questions/412349/linux-ue4-build-precompiled-header-fatal-error.html) on Unreal Engine forums.
+* If this is the case then look for *.gch file(s) that follows after that message, delete them and try again. Here's [relevant thread](https://answers.unrealengine.com/questions/412349/linux-ue4-build-precompiled-header-fatal-error.html) on Unreal Engine forums.
 
-  * If you see other compile errors in console then open up those source files and see if it is due to changes you made. If not, then report it as issue on GitHub.
-  * Additionally, if you are having trouble rebuilding the plugin in UE4 after making changes to the AirSim library, you may need to manually delete the binaries and intermediate folders in both your Unreal Project folder, and in the UnrealProject/Plugin/AirSim folder. This can be done by running [clean.sh](https://github.com/microsoft/AirSim/blob/master/Unreal/Environments/Blocks/clean.sh). This will force clang to recompile both the UE4 project and plugin and may resolve issues of "clang could not find file x".
+* If you see other compile errors in console then open up those source files and see if it is due to changes you made. If not, then report it as issue on GitHub.
+* Additionally, if you are having trouble rebuilding the plugin in UE4 after making changes to the AirSim library, you may need to manually delete the binaries and intermediate folders in both your Unreal Project folder, and in the UnrealProject/Plugin/AirSim folder. This can be done by running [clean.sh](https://github.com/microsoft/AirSim/blob/master/Unreal/Environments/Blocks/clean.sh). This will force clang to recompile both the UE4 project and plugin and may resolve issues of "clang could not find file x".
 
 - Unreal crashed! How do I know what went wrong?
     * Go to the `MyUnrealProject/Saved/Crashes` folder and search for the file `MyProject.log` within its subdirectories. At the end of this file you will see the stack trace and messages.

From a13c763dac17468ac71274433ccc7dcd51e03f9b Mon Sep 17 00:00:00 2001
From: Erik Vroon <erik.vroon22@gmail.com>
Date: Mon, 22 Mar 2021 14:45:36 +0100
Subject: [PATCH 10/17] Minor improvements

---
 AirLib/include/sensors/imu/ImuSimpleParams.hpp     | 4 ++--
 AirLib/include/sensors/lidar/LidarSimpleParams.hpp | 2 +-
 docs/build_linux.md                                | 2 +-
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/AirLib/include/sensors/imu/ImuSimpleParams.hpp b/AirLib/include/sensors/imu/ImuSimpleParams.hpp
index b23119baca..308e068250 100644
--- a/AirLib/include/sensors/imu/ImuSimpleParams.hpp
+++ b/AirLib/include/sensors/imu/ImuSimpleParams.hpp
@@ -27,7 +27,7 @@ struct ImuSimpleParams {
     Pose relative_pose;
 
     struct Gyroscope {
-        //angule random walk (ARW)
+        //angular random walk (ARW)
         real_T arw = 0.30f / sqrt(3600.0f) * M_PIf / 180; //deg/sqrt(hour) converted to rad/sqrt(sec)
         //Bias Stability (tau = 500s)
         real_T tau = 500;
@@ -36,7 +36,7 @@ struct ImuSimpleParams {
     } gyro;
 
     struct Accelerometer {
-        //velocity random walk (ARW)
+        //velocity random walk (VRW)
         real_T vrw = 0.24f * EarthUtils::Gravity / 1.0E3f; //mg converted to m/s^2
         //Bias Stability (tau = 800s)
         real_T tau = 800;
diff --git a/AirLib/include/sensors/lidar/LidarSimpleParams.hpp b/AirLib/include/sensors/lidar/LidarSimpleParams.hpp
index 9701d9a808..2d5d230803 100644
--- a/AirLib/include/sensors/lidar/LidarSimpleParams.hpp
+++ b/AirLib/include/sensors/lidar/LidarSimpleParams.hpp
@@ -29,7 +29,7 @@ struct LidarSimpleParams {
     Pose relative_pose {
         Vector3r(0,0,-1),                     // position - a little above vehicle (especially for cars) or Vector3r::Zero()
         Quaternionr::Identity()               // orientation - by default Quaternionr(1, 0, 0, 0)
-        };
+    };
 
     bool draw_debug_points = false;
     std::string data_frame = AirSimSettings::kVehicleInertialFrame;
diff --git a/docs/build_linux.md b/docs/build_linux.md
index 7cdde48cd2..8b433e75f4 100644
--- a/docs/build_linux.md
+++ b/docs/build_linux.md
@@ -93,7 +93,7 @@ Alternatively, you can use [APIs](apis.md) for programmatic control or use the s
 ## FAQs
 
 - I'm getting error `<MyProject> could not be compiled. Try rebuilding from source manually`.
-* This could either happen because of compile error or the fact that your gch files are outdated. Look in to your console window. Do you see something like below?
+    * This could either happen because of compile error or the fact that your gch files are outdated. Look in to your console window. Do you see something like below?
 
 `fatal error: file '/usr/include/linux/version.h''/usr/include/linux/version.h' has been modified since the precompiled header`
 

From 9e6edf87b805d6511ce1473138e00241f2b8059a Mon Sep 17 00:00:00 2001
From: Erik Vroon <erik.vroon22@gmail.com>
Date: Thu, 25 Mar 2021 16:34:37 +0100
Subject: [PATCH 11/17] Remove unused barometer code

---
 AirLib/include/common/AirSimSettings.hpp      |  1 -
 .../barometer/BarometerSimpleParams.hpp       | 19 -------------------
 2 files changed, 20 deletions(-)

diff --git a/AirLib/include/common/AirSimSettings.hpp b/AirLib/include/common/AirSimSettings.hpp
index f239b8138c..467fe4ad81 100644
--- a/AirLib/include/common/AirSimSettings.hpp
+++ b/AirLib/include/common/AirSimSettings.hpp
@@ -205,7 +205,6 @@ struct AirSimSettings {
         real_T update_frequency = 50;    //Hz
         real_T startup_delay = 0;        //sec
         Vector3r position = VectorMath::nanVector();
-        Rotation rotation = Rotation::nanRotation();
     };
 
     struct ImuSetting : SensorSetting {
diff --git a/AirLib/include/sensors/barometer/BarometerSimpleParams.hpp b/AirLib/include/sensors/barometer/BarometerSimpleParams.hpp
index 14d6803e9a..867d8d6ed8 100644
--- a/AirLib/include/sensors/barometer/BarometerSimpleParams.hpp
+++ b/AirLib/include/sensors/barometer/BarometerSimpleParams.hpp
@@ -47,8 +47,6 @@ struct BarometerSimpleParams {
     real_T update_frequency = 50;    //Hz
     real_T startup_delay = 0;        //sec
 
-    Pose relative_pose;
-
     void initializeFromSettings(const AirSimSettings::BarometerSetting& settings)
     {
         qnh = settings.qnh;
@@ -59,23 +57,6 @@ struct BarometerSimpleParams {
         update_frequency = settings.update_frequency;
         startup_delay = settings.startup_delay;
 
-        relative_pose.position = settings.position;
-        if (std::isnan(relative_pose.position.x()))
-            relative_pose.position.x() = 0;
-        if (std::isnan(relative_pose.position.y()))
-            relative_pose.position.y() = 0;
-        if (std::isnan(relative_pose.position.z()))
-            relative_pose.position.z() = 0;
-
-        float pitch, roll, yaw;
-        pitch = !std::isnan(settings.rotation.pitch) ? settings.rotation.pitch : 0;
-        roll = !std::isnan(settings.rotation.roll) ? settings.rotation.roll : 0;
-        yaw = !std::isnan(settings.rotation.yaw) ? settings.rotation.yaw : 0;
-        relative_pose.orientation = VectorMath::toQuaternion(
-            Utils::degreesToRadians(pitch),   //pitch - rotation around Y axis
-            Utils::degreesToRadians(roll),    //roll  - rotation around X axis
-            Utils::degreesToRadians(yaw)     //yaw   - rotation around Z axis
-        );
     }
 };
 

From d113e1ae811599c8aa3598189f932ebd20d6547f Mon Sep 17 00:00:00 2001
From: Erik Vroon <erik.vroon22@gmail.com>
Date: Thu, 25 Mar 2021 16:35:08 +0100
Subject: [PATCH 12/17] Improve AirSimSettings readability

---
 AirLib/include/common/AirSimSettings.hpp | 18 +++++++++++-------
 1 file changed, 11 insertions(+), 7 deletions(-)

diff --git a/AirLib/include/common/AirSimSettings.hpp b/AirLib/include/common/AirSimSettings.hpp
index 467fe4ad81..ebe140baee 100644
--- a/AirLib/include/common/AirSimSettings.hpp
+++ b/AirLib/include/common/AirSimSettings.hpp
@@ -219,17 +219,21 @@ struct AirSimSettings {
         real_T accel_vrw = 0.24f * EarthUtils::Gravity / 1.0E3f; //mg converted to m/s^2
         // Bias Stability (tau = 800s)
         real_T accel_tau = 800;
-        real_T accel_bias_stability = 36.0f * 1E-6f * 9.80665f; //ug converted to m/s^2
+        real_T accel_bias_stability = 36.0f * 1E-6f * EarthUtils::Gravity; //ug converted to m/s^2
         Vector3r accel_turn_on_bias = Vector3r::Zero(); //assume calibration is done
         Vector3r position = VectorMath::nanVector();
         Rotation rotation = Rotation::nanRotation();
     };
 
     struct GpsSetting : SensorSetting {
-        real_T eph_time_constant = 0.9f, epv_time_constant = 0.9f;
-        real_T eph_initial = 100.0f, epv_initial = 100.0f;   //initially fully diluted positions
-        real_T eph_final = 0.3f, epv_final = 0.4f;
-        real_T eph_min_3d = 3.0f, eph_min_2d = 4.0f;
+        real_T eph_time_constant = 0.9f;
+        real_T epv_time_constant = 0.9f;
+        real_T eph_initial = 100.0f;
+        real_T epv_initial = 100.0f;   //initially fully diluted positions
+        real_T eph_final = 0.3f;
+        real_T epv_final = 0.4f;
+        real_T eph_min_3d = 3.0f;
+        real_T eph_min_2d = 4.0f;
 
         real_T update_latency = 0.2f;    //sec
         real_T update_frequency = 50;    //Hz
@@ -240,9 +244,9 @@ struct AirSimSettings {
     };
 
     struct MagnetometerSetting : SensorSetting {
-        Vector3r noise_sigma = Vector3r(0.005f, 0.005f, 0.005f); //5 mgauss as per specs sheet (RMS is same as stddev) https://goo.gl/UOz6FT
+        Vector3r noise_sigma(0.005f, 0.005f, 0.005f); //5 mgauss as per specs sheet (RMS is same as stddev) https://goo.gl/UOz6FT
         real_T scale_factor = 1.0f;
-        Vector3r noise_bias = Vector3r(0.0f, 0.0f, 0.0f); //no offset as per specsheet (zero gauss level) https://goo.gl/UOz6FT
+        Vector3r noise_bias(0.0f, 0.0f, 0.0f); //no offset as per specsheet (zero gauss level) https://goo.gl/UOz6FT
         float ref_update_frequency = 0.2f;    //Hz
 
         //use dipole model if there is enough compute power available

From aaa2b37912bc90025fd8421ace83a675ad71e2de Mon Sep 17 00:00:00 2001
From: Erik Vroon <erik.vroon22@gmail.com>
Date: Thu, 25 Mar 2021 16:43:26 +0100
Subject: [PATCH 13/17] Remove unused relative_pose

---
 AirLib/include/common/AirSimSettings.hpp      |  3 --
 .../include/sensors/gps/GpsSimpleParams.hpp   | 32 +++++--------------
 .../include/sensors/imu/ImuSimpleParams.hpp   | 19 -----------
 .../magnetometer/MagnetometerSimpleParams.hpp | 20 ------------
 4 files changed, 8 insertions(+), 66 deletions(-)

diff --git a/AirLib/include/common/AirSimSettings.hpp b/AirLib/include/common/AirSimSettings.hpp
index ebe140baee..f743f660ab 100644
--- a/AirLib/include/common/AirSimSettings.hpp
+++ b/AirLib/include/common/AirSimSettings.hpp
@@ -222,7 +222,6 @@ struct AirSimSettings {
         real_T accel_bias_stability = 36.0f * 1E-6f * EarthUtils::Gravity; //ug converted to m/s^2
         Vector3r accel_turn_on_bias = Vector3r::Zero(); //assume calibration is done
         Vector3r position = VectorMath::nanVector();
-        Rotation rotation = Rotation::nanRotation();
     };
 
     struct GpsSetting : SensorSetting {
@@ -240,7 +239,6 @@ struct AirSimSettings {
         real_T startup_delay = 1;        //sec
 
         Vector3r position = VectorMath::nanVector();
-        Rotation rotation = Rotation::nanRotation();
     };
 
     struct MagnetometerSetting : SensorSetting {
@@ -260,7 +258,6 @@ struct AirSimSettings {
         real_T startup_delay = 0;        //sec
 
         Vector3r position = VectorMath::nanVector();
-        Rotation rotation = Rotation::nanRotation();
     };
 
     struct DistanceSetting : SensorSetting {
diff --git a/AirLib/include/sensors/gps/GpsSimpleParams.hpp b/AirLib/include/sensors/gps/GpsSimpleParams.hpp
index 92014a9f7c..86a4b1fa0c 100644
--- a/AirLib/include/sensors/gps/GpsSimpleParams.hpp
+++ b/AirLib/include/sensors/gps/GpsSimpleParams.hpp
@@ -10,17 +10,19 @@
 namespace msr { namespace airlib {
 
 struct GpsSimpleParams {
-    real_T eph_time_constant = 0.9f, epv_time_constant = 0.9f;
-    real_T eph_initial = 100.0f, epv_initial = 100.0f;   //initially fully diluted positions
-    real_T eph_final = 0.3f, epv_final = 0.4f;
-    real_T eph_min_3d = 3.0f, eph_min_2d = 4.0f;
+    real_T eph_time_constant = 0.9f;
+    real_T epv_time_constant = 0.9f;
+    real_T eph_initial = 100.0f;
+    real_T epv_initial = 100.0f;   //initially fully diluted positions
+    real_T eph_final = 0.3f;
+    real_T epv_final = 0.4f;
+    real_T eph_min_3d = 3.0f;
+    real_T eph_min_2d = 4.0f;
 
     real_T update_latency = 0.2f;    //sec
     real_T update_frequency = 50;    //Hz
     real_T startup_delay = 1;        //sec
 
-    Pose relative_pose;
-
     void initializeFromSettings(const AirSimSettings::GpsSetting& settings)
     {
         eph_time_constant = settings.eph_time_constant;
@@ -35,24 +37,6 @@ struct GpsSimpleParams {
         update_latency = settings.update_latency;
         update_frequency = settings.update_frequency;
         startup_delay = settings.startup_delay;
-
-        relative_pose.position = settings.position;
-        if (std::isnan(relative_pose.position.x()))
-            relative_pose.position.x() = 0;
-        if (std::isnan(relative_pose.position.y()))
-            relative_pose.position.y() = 0;
-        if (std::isnan(relative_pose.position.z()))
-	    relative_pose.position.z() = 0;
-
-        float pitch, roll, yaw;
-        pitch = !std::isnan(settings.rotation.pitch) ? settings.rotation.pitch : 0;
-        roll = !std::isnan(settings.rotation.roll) ? settings.rotation.roll : 0;
-        yaw = !std::isnan(settings.rotation.yaw) ? settings.rotation.yaw : 0;
-        relative_pose.orientation = VectorMath::toQuaternion(
-            Utils::degreesToRadians(pitch),   //pitch - rotation around Y axis
-            Utils::degreesToRadians(roll),    //roll  - rotation around X axis
-            Utils::degreesToRadians(yaw)      //yaw   - rotation around Z axis
-        );
     }
 };
 
diff --git a/AirLib/include/sensors/imu/ImuSimpleParams.hpp b/AirLib/include/sensors/imu/ImuSimpleParams.hpp
index 308e068250..d3e9316190 100644
--- a/AirLib/include/sensors/imu/ImuSimpleParams.hpp
+++ b/AirLib/include/sensors/imu/ImuSimpleParams.hpp
@@ -24,7 +24,6 @@ struct ImuSimpleParams {
     https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Datasheet1.pdf
     For Allan Variance/Deviation plots see http://www.invensense.com/wp-content/uploads/2015/02/MPU-3300-Datasheet.pdf
     */
-    Pose relative_pose;
 
     struct Gyroscope {
         //angular random walk (ARW)
@@ -57,24 +56,6 @@ struct ImuSimpleParams {
         accel.tau = settings.accel_tau;
         accel.bias_stability = settings.accel_bias_stability;
         accel.turn_on_bias = settings.accel_turn_on_bias;
-
-        relative_pose.position = settings.position;
-        if (std::isnan(relative_pose.position.x()))
-            relative_pose.position.x() = 0;
-        if (std::isnan(relative_pose.position.y()))
-            relative_pose.position.y() = 0;
-        if (std::isnan(relative_pose.position.z()))
-	    relative_pose.position.z() = 0;
-
-        float pitch, roll, yaw;
-        pitch = !std::isnan(settings.rotation.pitch) ? settings.rotation.pitch : 0;
-        roll = !std::isnan(settings.rotation.roll) ? settings.rotation.roll : 0;
-        yaw = !std::isnan(settings.rotation.yaw) ? settings.rotation.yaw : 0;
-        relative_pose.orientation = VectorMath::toQuaternion(
-            Utils::degreesToRadians(pitch),   //pitch - rotation around Y axis
-            Utils::degreesToRadians(roll),    //roll  - rotation around X axis
-            Utils::degreesToRadians(yaw)      //yaw   - rotation around Z axis
-        );
     }
 };
 
diff --git a/AirLib/include/sensors/magnetometer/MagnetometerSimpleParams.hpp b/AirLib/include/sensors/magnetometer/MagnetometerSimpleParams.hpp
index 320d84607b..dd17f0d0c9 100644
--- a/AirLib/include/sensors/magnetometer/MagnetometerSimpleParams.hpp
+++ b/AirLib/include/sensors/magnetometer/MagnetometerSimpleParams.hpp
@@ -33,8 +33,6 @@ struct MagnetometerSimpleParams {
     real_T update_frequency = 50;    //Hz
     real_T startup_delay = 0;        //sec
 
-    Pose relative_pose;
-
     void initializeFromSettings(const AirSimSettings::MagnetometerSetting& settings)
     {
         noise_sigma = settings.noise_sigma;
@@ -50,24 +48,6 @@ struct MagnetometerSimpleParams {
         update_latency = settings.update_latency;
         update_frequency = settings.update_frequency;
         startup_delay = settings.startup_delay;
-
-        relative_pose.position = settings.position;
-        if (std::isnan(relative_pose.position.x()))
-            relative_pose.position.x() = 0;
-        if (std::isnan(relative_pose.position.y()))
-            relative_pose.position.y() = 0;
-        if (std::isnan(relative_pose.position.z()))
-	    relative_pose.position.z() = 0;
-
-        float pitch, roll, yaw;
-        pitch = !std::isnan(settings.rotation.pitch) ? settings.rotation.pitch : 0;
-        roll = !std::isnan(settings.rotation.roll) ? settings.rotation.roll : 0;
-        yaw = !std::isnan(settings.rotation.yaw) ? settings.rotation.yaw : 0;
-        relative_pose.orientation = VectorMath::toQuaternion(
-            Utils::degreesToRadians(pitch),   //pitch - rotation around Y axis
-            Utils::degreesToRadians(roll),    //roll  - rotation around X axis
-            Utils::degreesToRadians(yaw)      //yaw   - rotation around Z axis
-        );
     }
 };
 

From 03afe1cba0a650cfe87ea86744b28ab605b36f83 Mon Sep 17 00:00:00 2001
From: Erik Vroon <erik.vroon22@gmail.com>
Date: Thu, 25 Mar 2021 16:48:37 +0100
Subject: [PATCH 14/17] Remove unused JSON rotation settings

---
 AirLib/include/common/AirSimSettings.hpp | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/AirLib/include/common/AirSimSettings.hpp b/AirLib/include/common/AirSimSettings.hpp
index f743f660ab..2544f0e324 100644
--- a/AirLib/include/common/AirSimSettings.hpp
+++ b/AirLib/include/common/AirSimSettings.hpp
@@ -1291,7 +1291,6 @@ struct AirSimSettings {
         barometer_setting.update_frequency = settings_json.getFloat("UpdateFrequency", barometer_setting.update_frequency);
         barometer_setting.startup_delay = settings_json.getFloat("StartupDelay", barometer_setting.startup_delay);
         barometer_setting.position = createVectorSetting(settings_json, barometer_setting.position);
-        barometer_setting.rotation = createRotationSetting(settings_json, barometer_setting.rotation);
     }
 
     static void initializeImuSetting(ImuSetting& imu_setting, const Settings& settings_json)
@@ -1307,7 +1306,6 @@ struct AirSimSettings {
         imu_setting.accel_turn_on_bias = createAccelBiasSetting(settings_json, imu_setting.accel_turn_on_bias);
 
         imu_setting.position = createVectorSetting(settings_json, imu_setting.position);
-        imu_setting.rotation = createRotationSetting(settings_json, imu_setting.rotation);
     }
 
     static void initializeGpsSetting(GpsSetting& gps_setting, const Settings& settings_json)
@@ -1324,7 +1322,6 @@ struct AirSimSettings {
         gps_setting.update_frequency = settings_json.getFloat("UpdateFrequency", gps_setting.update_frequency);
         gps_setting.startup_delay = settings_json.getFloat("StartupDelay", gps_setting.startup_delay);
         gps_setting.position = createVectorSetting(settings_json, gps_setting.position);
-        gps_setting.rotation = createRotationSetting(settings_json, gps_setting.rotation);
 
     }
 
@@ -1339,7 +1336,6 @@ struct AirSimSettings {
         magnetometer_setting.update_frequency = settings_json.getFloat("UpdateFrequency", magnetometer_setting.update_frequency);
         magnetometer_setting.startup_delay = settings_json.getFloat("StartupDelay", magnetometer_setting.startup_delay);
         magnetometer_setting.position = createVectorSetting(settings_json, magnetometer_setting.position);
-        magnetometer_setting.rotation = createRotationSetting(settings_json, magnetometer_setting.rotation);
     }
 
     static void initializeDistanceSetting(DistanceSetting& distance_setting, const Settings& settings_json)

From fc4ca52075a4e3b87709b6e9063b8ae94ef539b5 Mon Sep 17 00:00:00 2001
From: Erik Vroon <erik.vroon22@gmail.com>
Date: Thu, 25 Mar 2021 16:55:59 +0100
Subject: [PATCH 15/17] Fix Vector3r constructor syntax

---
 AirLib/include/common/AirSimSettings.hpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/AirLib/include/common/AirSimSettings.hpp b/AirLib/include/common/AirSimSettings.hpp
index 2544f0e324..da11c6d1c3 100644
--- a/AirLib/include/common/AirSimSettings.hpp
+++ b/AirLib/include/common/AirSimSettings.hpp
@@ -242,9 +242,9 @@ struct AirSimSettings {
     };
 
     struct MagnetometerSetting : SensorSetting {
-        Vector3r noise_sigma(0.005f, 0.005f, 0.005f); //5 mgauss as per specs sheet (RMS is same as stddev) https://goo.gl/UOz6FT
+        Vector3r noise_sigma{0.005f, 0.005f, 0.005f}; //5 mgauss as per specs sheet (RMS is same as stddev) https://goo.gl/UOz6FT
         real_T scale_factor = 1.0f;
-        Vector3r noise_bias(0.0f, 0.0f, 0.0f); //no offset as per specsheet (zero gauss level) https://goo.gl/UOz6FT
+        Vector3r noise_bias{0.0f, 0.0f, 0.0f}; //no offset as per specsheet (zero gauss level) https://goo.gl/UOz6FT
         float ref_update_frequency = 0.2f;    //Hz
 
         //use dipole model if there is enough compute power available

From f1f94aef5ada54f22c9231c502c49ef587defb65 Mon Sep 17 00:00:00 2001
From: Erik Vroon <erik.vroon22@gmail.com>
Date: Fri, 26 Mar 2021 14:08:05 +0100
Subject: [PATCH 16/17] Remove unused positions

---
 AirLib/include/common/AirSimSettings.hpp | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/AirLib/include/common/AirSimSettings.hpp b/AirLib/include/common/AirSimSettings.hpp
index da11c6d1c3..20b2952845 100644
--- a/AirLib/include/common/AirSimSettings.hpp
+++ b/AirLib/include/common/AirSimSettings.hpp
@@ -204,7 +204,6 @@ struct AirSimSettings {
         real_T update_latency = 0.0f;    //sec
         real_T update_frequency = 50;    //Hz
         real_T startup_delay = 0;        //sec
-        Vector3r position = VectorMath::nanVector();
     };
 
     struct ImuSetting : SensorSetting {
@@ -221,7 +220,6 @@ struct AirSimSettings {
         real_T accel_tau = 800;
         real_T accel_bias_stability = 36.0f * 1E-6f * EarthUtils::Gravity; //ug converted to m/s^2
         Vector3r accel_turn_on_bias = Vector3r::Zero(); //assume calibration is done
-        Vector3r position = VectorMath::nanVector();
     };
 
     struct GpsSetting : SensorSetting {
@@ -237,8 +235,6 @@ struct AirSimSettings {
         real_T update_latency = 0.2f;    //sec
         real_T update_frequency = 50;    //Hz
         real_T startup_delay = 1;        //sec
-
-        Vector3r position = VectorMath::nanVector();
     };
 
     struct MagnetometerSetting : SensorSetting {
@@ -256,8 +252,6 @@ struct AirSimSettings {
         real_T update_latency = 0.0f;    //sec: from PX4 doc
         real_T update_frequency = 50;    //Hz
         real_T startup_delay = 0;        //sec
-
-        Vector3r position = VectorMath::nanVector();
     };
 
     struct DistanceSetting : SensorSetting {

From b476d5780a48cd30331c0ed8df0f38afd6fed412 Mon Sep 17 00:00:00 2001
From: Erik Vroon <erik.vroon22@gmail.com>
Date: Fri, 26 Mar 2021 14:11:40 +0100
Subject: [PATCH 17/17] Remove unused position JSON fields

---
 AirLib/include/common/AirSimSettings.hpp | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/AirLib/include/common/AirSimSettings.hpp b/AirLib/include/common/AirSimSettings.hpp
index 20b2952845..b70b289b0a 100644
--- a/AirLib/include/common/AirSimSettings.hpp
+++ b/AirLib/include/common/AirSimSettings.hpp
@@ -1284,7 +1284,6 @@ struct AirSimSettings {
         barometer_setting.update_latency = settings_json.getFloat("UpdateLatency", barometer_setting.update_latency);
         barometer_setting.update_frequency = settings_json.getFloat("UpdateFrequency", barometer_setting.update_frequency);
         barometer_setting.startup_delay = settings_json.getFloat("StartupDelay", barometer_setting.startup_delay);
-        barometer_setting.position = createVectorSetting(settings_json, barometer_setting.position);
     }
 
     static void initializeImuSetting(ImuSetting& imu_setting, const Settings& settings_json)
@@ -1298,8 +1297,6 @@ struct AirSimSettings {
         imu_setting.accel_tau = settings_json.getFloat("AccelerometerBiasTau", imu_setting.accel_tau);
         imu_setting.accel_bias_stability = settings_json.getFloat("AccelerometerBiasStability", imu_setting.accel_bias_stability);
         imu_setting.accel_turn_on_bias = createAccelBiasSetting(settings_json, imu_setting.accel_turn_on_bias);
-
-        imu_setting.position = createVectorSetting(settings_json, imu_setting.position);
     }
 
     static void initializeGpsSetting(GpsSetting& gps_setting, const Settings& settings_json)
@@ -1315,7 +1312,6 @@ struct AirSimSettings {
         gps_setting.update_latency = settings_json.getFloat("UpdateLatency", gps_setting.update_latency);
         gps_setting.update_frequency = settings_json.getFloat("UpdateFrequency", gps_setting.update_frequency);
         gps_setting.startup_delay = settings_json.getFloat("StartupDelay", gps_setting.startup_delay);
-        gps_setting.position = createVectorSetting(settings_json, gps_setting.position);
 
     }
 
@@ -1329,7 +1325,6 @@ struct AirSimSettings {
         magnetometer_setting.update_latency = settings_json.getFloat("UpdateLatency", magnetometer_setting.update_latency);
         magnetometer_setting.update_frequency = settings_json.getFloat("UpdateFrequency", magnetometer_setting.update_frequency);
         magnetometer_setting.startup_delay = settings_json.getFloat("StartupDelay", magnetometer_setting.startup_delay);
-        magnetometer_setting.position = createVectorSetting(settings_json, magnetometer_setting.position);
     }
 
     static void initializeDistanceSetting(DistanceSetting& distance_setting, const Settings& settings_json)
