Additional changes for Ardupilot PR #1387

AirLib/AirLib.vcxproj

@@ -172,7 +172,6 @@
   <ItemGroup>
     <ClCompile Include="src\api\RpcLibClientBase.cpp" />
     <ClCompile Include="src\api\RpcLibServerBase.cpp" />
-    <ClCompile Include="src\vehicles\multirotor\MultiRotorParamsFactory.cpp" />
     <ClCompile Include="src\vehicles\multirotor\api\MultirotorApiBase.cpp" />
     <ClCompile Include="src\safety\ObstacleMap.cpp" />
     <ClCompile Include="src\safety\SafetyEval.cpp" />

AirLib/AirLib.vcxproj.filters

@@ -485,11 +485,5 @@
     <ClCompile Include="src\vehicles\multirotor\api\MultirotorApiBase.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="src\vehicles\multirotor\MultiRotorParamsFactory.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="src\vehicles\MultiRotorParamsFactory.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
   </ItemGroup>
 </Project>

AirLib/include/physics/FastPhysicsEngine.hpp

@@ -100,11 +100,10 @@ class FastPhysicsEngine : public PhysicsEngineBase {
         body.kinematicsUpdated();
 
 
-		////// (FIXME this is from PhysicsBody, where it's commented out - it appears that we need it here to ensure that GPS sensing functions properly)
 		//TODO: this is now being done in PawnSimApi::update. We need to re-think this sequence
-		body.getEnvironment().setPosition(next.pose.position);
-		body.getEnvironment().update();
-		////// (End FIXME)
+        //with below commented out - Arducopter GPS may not work.
+		//body.getEnvironment().setPosition(next.pose.position);
+		//body.getEnvironment().update();
 
 	}
 

AirLib/include/vehicles/multirotor/MultiRotorParamsFactory.hpp

@@ -4,26 +4,41 @@
 #ifndef msr_airlib_vehicles_MultiRotorParamsFactory_hpp
 #define msr_airlib_vehicles_MultiRotorParamsFactory_hpp
 
-#include "vehicles/multirotor/MultiRotorParams.hpp"
-#include "common/AirSimSettings.hpp"
-#include "sensors/SensorFactory.hpp"
+#include "vehicles/multirotor/firmwares/mavlink/MavLinkMultirotorApi.hpp"
+#include "vehicles/multirotor/firmwares/mavlink/Px4MultiRotorParams.hpp"
+#include "vehicles/multirotor/firmwares/simple_flight/SimpleFlightQuadXParams.hpp"
+#include "vehicles/multirotor/firmwares/mavlink/ArduCopterSoloParams.hpp"
 
 
 namespace msr { namespace airlib {
 
 class MultiRotorParamsFactory {
 public:
-
-	static void reset();
-
-	static std::unique_ptr<MultiRotorParams> createConfig(const AirSimSettings::VehicleSetting* vehicle_setting,
-		std::shared_ptr<const SensorFactory> sensor_factory);
-
-private:
-
-	// Simple zero-based ID for ArduCopterSolo vehicles
-	static int next_solo_id_;
-
+    static std::unique_ptr<MultiRotorParams> createConfig(const AirSimSettings::VehicleSetting* vehicle_setting, 
+        std::shared_ptr<const SensorFactory> sensor_factory)
+    {
+        std::unique_ptr<MultiRotorParams> config;
+
+        if (vehicle_setting->vehicle_type == AirSimSettings::kVehicleTypePX4) {
+            config.reset(new Px4MultiRotorParams(*static_cast<const AirSimSettings::MavLinkVehicleSetting*>(vehicle_setting),
+                sensor_factory));
+        }
+        else if (vehicle_setting->vehicle_type == AirSimSettings::kVehicleTypeArduCopterSolo) {
+            config.reset(new ArduCopterSoloParams(*static_cast<const AirSimSettings::MavLinkVehicleSetting*>(vehicle_setting), sensor_factory));
+        }
+        else if (vehicle_setting->vehicle_type == "" || //default config
+            vehicle_setting->vehicle_type == AirSimSettings::kVehicleTypeSimpleFlight) {
+            config.reset(new SimpleFlightQuadXParams(vehicle_setting, sensor_factory));
+        }
+        else
+            throw std::runtime_error(Utils::stringf(
+                "Cannot create vehicle config because vehicle name '%s' is not recognized",
+                vehicle_setting->vehicle_name.c_str()));
+
+        config->initialize();
+
+        return config;
+    }
 };
 
 }} //namespace

AirLib/include/vehicles/multirotor/firmwares/mavlink/ArduCopterSoloParams.hpp

@@ -12,10 +12,10 @@ namespace msr { namespace airlib {
 		class ArduCopterSoloParams : public MultiRotorParams {
 
 		public:
-			ArduCopterSoloParams(const AirSimSettings::MavLinkVehicleSetting& vehicle_settings, std::shared_ptr<const SensorFactory> sensor_factory, int instance_id)
+			ArduCopterSoloParams(const AirSimSettings::MavLinkVehicleSetting& vehicle_settings, std::shared_ptr<const SensorFactory> sensor_factory)
 				: sensor_factory_(sensor_factory)
 			{
-				connection_info_ = getConnectionInfo(vehicle_settings, instance_id);
+				connection_info_ = getConnectionInfo(vehicle_settings);
 			}
 
 			virtual ~ArduCopterSoloParams() = default;
@@ -74,13 +74,9 @@ namespace msr { namespace airlib {
 				computeInertiaMatrix(params.inertia, params.body_box, params.rotor_poses, box_mass, motor_assembly_weight);
 			}
 
-			static const AirSimSettings::MavLinkConnectionInfo getConnectionInfo(const AirSimSettings::MavLinkVehicleSetting& vehicle_setting, int instance_id)
+			static const AirSimSettings::MavLinkConnectionInfo getConnectionInfo(const AirSimSettings::MavLinkVehicleSetting& vehicle_setting)
 			{
 				AirSimSettings::MavLinkConnectionInfo result = vehicle_setting.connection_info;
-
-				result.sitl_ip_port += 10 * instance_id;
-				result.ip_port += 10 * instance_id;
-
 				return result;
 			}
 

AirLib/include/vehicles/multirotor/firmwares/mavlink/MavLinkMultirotorApi.hpp

@@ -1178,6 +1178,8 @@ class MavLinkMultirotorApi : public MultirotorApiBase
 
 protected: //variables
 
+    //TODO: below was made protected from private to support Ardupilot
+    //implementation but we need to review this and avoid having protected variables
 	static const int RotorControlsCount = 8;
 
 	const SensorCollection* sensors_;

Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp

@@ -7,7 +7,6 @@
 #include "Kismet/GameplayStatics.h"
 #include "Misc/OutputDeviceNull.h"
 #include "Engine/World.h"
-#include "vehicles/multirotor/MultiRotorParamsFactory.hpp"
 
 #include <memory>
 #include "AirBlueprintLib.h"
@@ -438,8 +437,6 @@ void ASimModeBase::setupVehiclesAndCamera()
         camera_director_position_uu);
     initializeCameraDirector(camera_transform, camera_director_setting.follow_distance);
 
-	MultiRotorParamsFactory::reset();
-
     //find all vehicle pawns
     {
         TArray<AActor*> pawns;