diff --git a/.github/workflows/test_windows.yml b/.github/workflows/test_windows.yml
index caa6d108..62d48390 100644
--- a/.github/workflows/test_windows.yml
+++ b/.github/workflows/test_windows.yml
@@ -62,4 +62,4 @@ jobs:
         shell: pwsh
         run: |
           # Set-PSDebug -Trace 1
-          .\scripts\build.ps1 -BuildMode 'Release' -IntegrateDeploy
+          .\scripts\build.ps1 -BuildMode 'Release' -Automate
diff --git a/scripts/build.sh b/scripts/build.sh
index 01b40043..7a834335 100644
--- a/scripts/build.sh
+++ b/scripts/build.sh
@@ -46,12 +46,19 @@ function version_less_than_equal_to {
 ### Variables
 ###
 
-# Static variables
+# Script directory.
+SCRIPT_DIR="$(realpath ${BASH_SOURCE[0]})"
+
+# Static variables.
 DEBUG='false'
 GCC='false'
+
+CMAKE_VERSION='3.10.2'
+EIGEN_VERSION='3.4.0'
 RPCLIB_VERSION='2.3.0'
+UNREAL_ASSET_VERSION='1.2.0'
 
-# Dynamic variables
+# Dynamic variables.
 SYSTEM_INFO="$(system_info)"
 SYSTEM_PLATFORM="$(system_architecture)"
 SYSTEM_CPU_MAX="$(( $(nproc) - 2 ))"
@@ -61,11 +68,9 @@ SYSTEM_OS_VERSION="$(system_os_version)"
 ### Main
 ###
 
-# change into directory containing this script.
-SCRIPT_DIR="$(realpath ${BASH_SOURCE[0]})"
-pushd "${SCRIPT_DIR}" > /dev/null  # push script directory onto the stack
+#pushd "${SCRIPT_DIR}" >/dev/null  # push script directory onto the stack
 
-# Parse command line arguments
+# Parse command line arguments.
 while [ $# -gt 0 ]; do
     key="$1"
     case $key in
@@ -80,14 +85,14 @@ while [ $# -gt 0 ]; do
     esac
 done
 
-# check for existing rpclib installation
+# Check for existing rpclib installation.
 if [ ! -d "./external/rpclib/rpclib-${RPCLIB_VERSION}" ]; then
     echo "ERROR: new version of AutonomySim requires newer rpclib."
     echo "please run setup.sh first and then run build.sh again."
     exit 1
 fi
 
-# check for local cmake build created by setup.sh
+# Check for local cmake build created by setup.sh.
 if [ -d "./cmake_build" ]; then
     if [ "$(uname)" = "Darwin" ]; then
         CMAKE="$(greadlink -f cmake_build/bin/cmake)"
@@ -98,14 +103,14 @@ else
     CMAKE="$(which cmake)"
 fi
 
-# variable for build output
+# Variable for build output.
 if [ "${DEBUG}" = 'true' ]; then
     build_dir='build_debug'
 else
     build_dir='build_release'
 fi
 
-# configure compiler
+# Configure compiler.
 if [ "$(uname)" = 'Darwin' ]; then
     export CC="$(brew --prefix)/opt/llvm/bin/clang"
     export CXX="$(brew --prefix)/opt/llvm/bin/clang++"
@@ -122,7 +127,7 @@ else
     exit 1
 fi
 
-# install Eigen3 C++ library
+# Install Eigen C++ library.
 if [ ! -d "./AutonomyLib/deps/eigen3/Eigen" ]; then
     echo 'ERROR: Eigen is not installed. Please run `setup.sh` first.'
     exit 1
@@ -130,16 +135,16 @@ fi
 
 echo "Moving build into ${build_dir} directory. To clean, delete the directory."
 
-# Ensure CMake files will be built in our build directory
+# Ensure CMake files will be built in our build directory.
 [ -f "./cmake/CMakeCache.txt" ] && rm "./cmake/CMakeCache.txt"
 [ -d "./cmake/CMakeFiles" ] && rm -rf "./cmake/CMakeFiles"
 [ ! -d "$build_dir" ] && mkdir -p "$build_dir"
 
-# Fix for Unreal on Apple/ARM silicon using x86_64 (Rosetta)
+# Fix for Unreal on Apple/ARM silicon using x86_64 (Rosetta).
 CMAKE_VARS=''
 [ "$(uname)" = 'Darwin' ] && CMAKE_VARS='-DCMAKE_APPLE_SILICON_PROCESSOR=x86_64'
 
-pushd "$build_dir" > /dev/null  # push directory onto stack
+pushd "$build_dir" >/dev/null  # push directory onto stack
 
 if [ "${DEBUG}" = 'true' ]; then
     folder_name='Debug'
@@ -149,18 +154,19 @@ else
     "$CMAKE" ../cmake -DCMAKE_BUILD_TYPE=Release $CMAKE_VARS || (popd && rm -r "$build_dir" && exit 1)
 fi
 
-#popd > /dev/null                # pop directory from stack
-#pushd "$build_dir" > /dev/null  # push directory onto stack
+#popd >/dev/null                # pop directory from stack
+#pushd "$build_dir" >/dev/null  # push directory onto stack
 
 # final linking of the binaries can fail due to a missing libc++abi library
 # (happens on Fedora, see https://bugzilla.redhat.com/show_bug.cgi?id=1332306).
 # So we only build the libraries here for now
 make -j"${SYSTEM_CPU_MAX}"
-popd > /dev/null # pop directory from stack
+popd > /dev/null  # pop directory from stack
 
 mkdir -p "AutonomyLib/lib/x64/${folder_name}"
 mkdir -p 'AutonomyLib/deps/rpclib/lib'
 mkdir -p 'AutonomyLib/deps/MavLinkCom/lib'
+
 cp "${build_dir}/output/lib/libAutonomyLib.a AutonomyLib/lib"
 cp "${build_dir}/output/lib/libMavLinkCom.a AutonomyLib/deps/MavLinkCom/lib"
 cp "${build_dir}/output/lib/librpc.a AutonomyLib/deps/rpclib/lib/librpc.a"
@@ -170,6 +176,7 @@ rsync -a --delete "${build_dir}/output/lib/ AutonomyLib/lib/x64/${folder_name}"
 rsync -a --delete "external/rpclib/rpclib-${RPCLIB_VERSION}/include AutonomyLib/deps/rpclib"
 rsync -a --delete 'MavLinkCom/include AutonomyLib/deps/MavLinkCom'
 rsync -a --delete 'AutonomyLib Unreal/Plugins/AutonomySim/Source'
+
 rm -rf 'Unreal/Plugins/AutonomySim/Source/AutonomyLib/src'
 
 # Update all environment projects
@@ -182,16 +189,14 @@ done
 
 set +x
 
-echo ''
 echo '-----------------------------------------------------------------------------------------'
 echo ' AutonomySim plugin built successfully.'
 echo '-----------------------------------------------------------------------------------------'
 echo ' All environments under Unreal/Environments have been updated.'
-echo ''
 echo ' For further info see:'
-echo ' https://github.com/nervosys/AutonomySim/blob/master/docs/build_linux.md'
+echo '   https://github.com/nervosys/AutonomySim/blob/master/docs/build_linux.md'
 echo '-----------------------------------------------------------------------------------------'
 
-popd > /dev/null # pop directory from stack
+popd >/dev/null  # pop directory from stack
 
 exit 0
diff --git a/scripts/setup.sh b/scripts/setup.sh
index 1b9f6ac7..8f01d83f 100644
--- a/scripts/setup.sh
+++ b/scripts/setup.sh
@@ -21,8 +21,8 @@
 # - Update: ensure script runs on recent Linux distributions, MacOS, Windows.
 #----------------------------------------------------------------------------------------
 
-set -x # print shell commands before executing (for debugging)
-set -e # exit on error return code
+set -x  # print shell commands before executing (for debugging)
+set -e  # exit on error return code
 
 ###
 ### Functions
@@ -38,22 +38,27 @@ function version_less_than_equal_to {
 }
 
 ###
-### Parameters
+### Variables
 ###
 
-# change into directory containing this script.
+# Script directory.
 SCRIPT_DIR="$(realpath ${BASH_SOURCE[0]})"
-pushd "${SCRIPT_DIR}" > /dev/null # push script directory onto the stack
 
-# download high-polycount SUV model
-HIGH_POLYCOUNT_SUV='false'
-
-# Ensure CMake supports CMAKE_APPLE_SILICON_PROCESSOR for MacOS
+# Ensure CMake supports CMAKE_APPLE_SILICON_PROCESSOR for MacOS.
 if [ "$(uname)" = 'Darwin' ]; then
-    MIN_CMAKE_VERSION='3.19.2'
+    CMAKE_VERSION_MIN='3.19.2'
 else
-    MIN_CMAKE_VERSION='3.10.0'
+    CMAKE_VERSION_MIN='3.10.0'
 fi
+CMAKE_VERSION_MIN_MAJ_MIN='3.10'
+
+CMAKE_VERSION='3.10.2'
+EIGEN_VERSION='3.4.0'
+RPCLIB_VERSION='2.3.0'
+UNREAL_ASSET_VERSION='1.2.0'
+
+# download high-polycount SUV model.
+HIGH_POLYCOUNT_SUV='false'
 
 DEBUG="${DEBUG:-false}"
 
@@ -61,6 +66,8 @@ DEBUG="${DEBUG:-false}"
 ### Main
 ###
 
+# pushd "${SCRIPT_DIR}" >/dev/null # push script directory onto the stack
+
 # Parse command-line interface (CLI) arguments.
 while [ $# -gt 0 ]; do
     key="$1"
@@ -90,7 +97,7 @@ else
         vulkan-utils
     VERSION=$(lsb_release -rs | cut -d. -f1)
     if [ "$VERSION" -lt '17' ]; then
-        wget -O - http://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
+        wget -O - 'http://apt.llvm.org/llvm-snapshot.gpg.key' | sudo apt-key add -
         sudo apt-get update
     fi
     sudo apt-get install -y clang-8 clang++-8 libc++-8-dev libc++abi-8-dev
@@ -104,8 +111,8 @@ else
 fi
 
 # Give user permissions to access USB port, not needed if not using PX4 HIL.
-# TODO: figure out how to do below in travis
-# Install additional tools, CMake if required
+# TODO: figure out how to do below in travis.
+# Install additional tools, CMake if required.
 if [ "$(uname)" = 'Darwin' ]; then
     if [ -n "${whoami}" ]; then # travis
         sudo dseditgroup -o edit -a "$(whoami)" -t user dialout
@@ -113,8 +120,8 @@ if [ "$(uname)" = 'Darwin' ]; then
     brew update
     brew_install wget
     brew_install coreutils
-    # Conditionally install lower CMake version
-    if version_less_than_equal_to "$cmake_ver" "$MIN_CMAKE_VERSION"; then
+    # Conditionally install lower CMake version.
+    if version_less_than_equal_to "$cmake_ver" "$CMAKE_VERSION_MIN"; then
         brew install cmake
     else
         echo "Compatible version of CMake already installed: $cmake_ver"
@@ -125,26 +132,23 @@ else
         sudo usermod -a -G dialout "$USER"
     fi
     sudo apt-get install -y build-essential unzip
-    if version_less_than_equal_to "$cmake_ver" "$MIN_CMAKE_VERSION"; then
+    if version_less_than_equal_to "$cmake_ver" "$CMAKE_VERSION_MIN"; then
         if [ "$(lsb_release -rs)" = "18.04" ]; then
-            sudo apt-get -y install \
-                apt-transport-https \
-                ca-certificates \
-                gnupg
-            wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /etc/apt/trusted.gpg.d/kitware.gpg >/dev/null
+            sudo apt-get -y install apt-transport-https ca-certificates gnupg
+            wget -O - 'https://apt.kitware.com/keys/kitware-archive-latest.asc' 2>/dev/null |
+                gpg --dearmor - |
+                sudo tee /etc/apt/trusted.gpg.d/kitware.gpg >/dev/null
             sudo apt-add-repository 'deb https://apt.kitware.com/ubuntu/ bionic main'
-            sudo apt-get -y install --no-install-recommends \
-                make \
-                cmake
+            sudo apt-get -y install --no-install-recommends make cmake
         else
-            # If CMake binary not found, build it from source
-            if [ ! -d "cmake_build/bin" ]; then
-                echo "Downloading CMake..."
-                wget https://cmake.org/files/v3.10/cmake-3.10.2.tar.gz -O cmake.tar.gz
-                tar -xzf cmake.tar.gz
-                rm cmake.tar.gz
+            # If CMake binary not found, build it from source.
+            if [ ! -d './cmake_build/bin' ]; then
+                echo 'Downloading CMake...'
+                wget "https://cmake.org/files/v${CMAKE_VERSION_MIN_MAJ_MIN}/cmake-${CMAKE_VERSION}.tar.gz" -O cmake.tar.gz
+                tar -xzf ./cmake.tar.gz
+                rm ./cmake.tar.gz
                 rm -rf ./cmake_build
-                mv ./cmake-3.10.2 ./cmake_build
+                mv "./cmake-${CMAKE_VERSION}" ./cmake_build
                 pushd cmake_build # push directory onto stack
                 ./bootstrap
                 make
@@ -157,65 +161,61 @@ else
 fi
 
 # Download and unpack RPCLib.
-if [ ! -d "external/rpclib/rpclib-2.3.0" ]; then
+if [ ! -d "./external/rpclib/rpclib-${RPCLIB_VERSION}" ]; then
     # remove previous versions and create empty directory
-    rm -rf "external/rpclib"
-    mkdir -p "external/rpclib"
-    echo ''
+    rm -rf "./external/rpclib"
+    mkdir -p "./external/rpclib"
     echo '-----------------------------------------------------------------------------------------'
     echo ' Downloading RPCLib...'
     echo '-----------------------------------------------------------------------------------------'
-    wget https://github.com/rpclib/rpclib/archive/v2.3.0.zip
-    unzip -q v2.3.0.zip -d external/rpclib
-    rm v2.3.0.zip
+    wget "https://github.com/rpclib/rpclib/archive/v${RPCLIB_VERSION}.zip"
+    unzip -q "v${RPCLIB_VERSION}.zip" -d ./external/rpclib
+    rm "v${RPCLIB_VERSION}.zip"
 fi
 
 # Download and unpack high-polycount SUV asset for Unreal Engine.
 if [ "${HIGH_POLYCOUNT_SUV}" = 'true' ]; then
-    if [ ! -d "Unreal/Plugins/AutonomySim/Content/VehicleAdv" ]; then
-        mkdir -p "Unreal/Plugins/AutonomySim/Content/VehicleAdv"
+    if [ ! -d './Unreal/Plugins/AutonomySim/Content/VehicleAdv' ]; then
+        mkdir -p './Unreal/Plugins/AutonomySim/Content/VehicleAdv'
     fi
-    if [ ! -d "Unreal/Plugins/AutonomySim/Content/VehicleAdv/SUV/v1.2.0" ]; then
-        echo ''
+    if [ ! -d "./Unreal/Plugins/AutonomySim/Content/VehicleAdv/SUV/v${UNREAL_ASSET_VERSION}" ]; then
         echo '-----------------------------------------------------------------------------------------'
-        echo ' Downloading high-polycount SUV asset...'
-        echo ' To install with this asset, re-run with `setup.sh --high-polycount-suv`'
+        echo ' Downloading Unreal high-polycount SUV asset...'
         echo '-----------------------------------------------------------------------------------------'
-        if [ -d "suv_download_tmp" ]; then
-            rm -rf "suv_download_tmp"
+        if [ -d ./suv_download_tmp ]; then
+            rm -rf ./suv_download_tmp
         fi
-        mkdir -p "suv_download_tmp"
+        mkdir -p ./suv_download_tmp
         cd suv_download_tmp
-        wget https://github.com/nervosys/AutonomySim/releases/download/v2.0.0-beta.0/car_assets.zip
-        if [ -d "../Unreal/Plugins/AutonomySim/Content/VehicleAdv/SUV" ]; then
-            rm -rf "../Unreal/Plugins/AutonomySim/Content/VehicleAdv/SUV"
+        wget 'https://github.com/microsoft/AirSim/releases/download/v2.0.0-beta.0/car_assets.zip'
+        if [ -d '../Unreal/Plugins/AutonomySim/Content/VehicleAdv/SUV' ]; then
+            rm -rf ../Unreal/Plugins/AutonomySim/Content/VehicleAdv/SUV
         fi
-        unzip -q car_assets.zip -d ../Unreal/Plugins/ASim/Content/VehicleAdv
+        unzip -q ./car_assets.zip -d ../Unreal/Plugins/ASim/Content/VehicleAdv
         cd ..
-        rm -rf "suv_download_tmp"
+        rm -rf ./suv_download_tmp
     fi
 else
-    echo "High-poly count SUV asset download skipped. The default Unreal Engine vehicle will be used."
+    echo "Skipped: Download of Unreal high-polycount SUV asset. The default Unreal Engine vehicle will be used."
 fi
 
 # Download and unpack Eigen3 C++ library.
-if [ ! -d "AutonomyLib/deps/eigen3" ]; then
+if [ ! -d './AutonomyLib/deps/eigen3' ]; then
     echo 'Installing Eigen3 C++ library. Downloading Eigen...'
-    wget -O eigen3.zip https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.zip
-    unzip -q eigen3.zip -d temp_eigen
-    mkdir -p AutonomyLib/deps/eigen3
-    mv temp_eigen/eigen*/Eigen AutonomyLib/deps/eigen3
+    wget -O eigen3.zip "https://gitlab.com/libeigen/eigen/-/archive/${EIGEN_VERSION}/eigen-${EIGEN_VERSION}.zip"
+    unzip -q eigen3.zip -d ./temp_eigen
+    mkdir -p ./AutonomyLib/deps/eigen3
+    mv ./temp_eigen/eigen*/Eigen ./AutonomyLib/deps/eigen3
     rm -rf temp_eigen
     rm eigen3.zip
 else
-    echo "Eigen3 is already installed."
+    echo "Skipped: Eigen is already installed."
 fi
 
-popd > /dev/null # pop script directory off of the stack
+# popd >/dev/null # pop script directory off of the stack
 
-set +x # disable printing shell commands before executing
+set +x  # disable printing shell commands before executing
 
-echo ''
 echo '-----------------------------------------------------------------------------------------'
-echo ' AutonomySim plugin setup successfully.'
+echo ' Success: AutonomySim setup complete.'
 echo '-----------------------------------------------------------------------------------------'