diff --git a/404.html b/404.html
index 09e8ec1e..3aa07790 100755
--- a/404.html
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@@ -95,7 +95,9 @@
     
       
 
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@@ -440,12 +246,10 @@
                     
 
 
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diff --git a/CHANGELOG.html b/CHANGELOG.html
index ea6fbc08..d69df6b9 100755
--- a/CHANGELOG.html
+++ b/CHANGELOG.html
@@ -104,7 +104,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
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@@ -451,12 +255,10 @@
                     
 
 
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+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
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@@ -3644,7 +3422,7 @@ <h2 id="feb-2017">Feb 2017<a class="headerlink" href="#feb-2017" title="Permanen
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diff --git a/CONTRIBUTING.html b/CONTRIBUTING.html
index baed1a17..df54d3e7 100755
--- a/CONTRIBUTING.html
+++ b/CONTRIBUTING.html
@@ -104,7 +104,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -240,204 +242,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
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-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
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-  Home
-
-      </a>
-    </li>
-  
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-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
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-  Changelog
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-        
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-  
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-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
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-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
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-    
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-      
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-    
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-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
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-  External Flight Controllers
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-  
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-    
-  
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-  
-    
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-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
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-        </a>
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-    
-  
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-      
-        
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-  
-  
-    
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-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
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-  Contributed Tutorials
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-  
-  
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-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
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-  
-  
-    
-    
-      <li class="md-tabs__item md-tabs__item--active">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
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-        </a>
-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -451,12 +255,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -532,10 +334,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -545,7 +344,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -749,10 +548,7 @@
     
     
     
-      
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-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -762,7 +558,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_4" >
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1396,10 +1192,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1409,7 +1202,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1613,10 +1406,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1626,7 +1416,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_6" >
         
           
-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2113,10 +1903,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2126,7 +1913,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_7" >
         
           
-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2225,10 +2012,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2238,7 +2022,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_8" >
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2526,10 +2310,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2539,7 +2320,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2766,10 +2547,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--active md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
@@ -2777,7 +2555,7 @@
         <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_10" checked>
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3097,7 +2875,7 @@ <h2 id="checklist">Checklist<a class="headerlink" href="#checklist" title="Perma
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/SUPPORT.html b/SUPPORT.html
index 7f6f241b..bffb6b56 100755
--- a/SUPPORT.html
+++ b/SUPPORT.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,204 +244,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
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-      </li>
-    
-  
-
-      
-        
-  
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-  
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-      
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
-
-    
-  
-
-      
-        
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-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
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-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
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-  Contributed Tutorials
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-      
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-        <a href="custom_drone.md" class="md-tabs__link">
-          
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-    
-    
-      <li class="md-tabs__item md-tabs__item--active">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
-
-        </a>
-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -453,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -534,10 +336,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -547,7 +346,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -751,10 +550,7 @@
     
     
     
-      
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-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -764,7 +560,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_4" >
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1398,10 +1194,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1411,7 +1204,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1615,10 +1408,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1628,7 +1418,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_6" >
         
           
-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2115,10 +1905,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2128,7 +1915,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_7" >
         
           
-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2227,10 +2014,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2240,7 +2024,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_8" >
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2528,10 +2312,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2541,7 +2322,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2768,10 +2549,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--active md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
@@ -2779,7 +2557,7 @@
         <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_10" checked>
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3055,7 +2833,7 @@ <h1 id="support">Support<a class="headerlink" href="#support" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/apis.html b/apis.html
index ffbe4b56..b7f79e7c 100755
--- a/apis.html
+++ b/apis.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,204 +244,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-    
-  
-  
-    
-    
-      <li class="md-tabs__item md-tabs__item--active">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
-
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
-  
-  Misc
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
-
-        </a>
-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -453,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -534,10 +336,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -547,7 +346,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -753,10 +552,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--active md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
@@ -764,7 +560,7 @@
         <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" checked>
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1801,10 +1597,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1814,7 +1607,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2018,10 +1811,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2031,7 +1821,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_6" >
         
           
-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2518,10 +2308,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2531,7 +2318,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_7" >
         
           
-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2630,10 +2417,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2643,7 +2427,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_8" >
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2931,10 +2715,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2944,7 +2725,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3169,10 +2950,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -3182,7 +2960,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3676,7 +3454,7 @@ <h4 id="typeerror-unsupported-operand-types-for-asyncioloop-and-float">TypeError
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/apis_cpp.html b/apis_cpp.html
index e88055bc..26d3b6ad 100755
--- a/apis_cpp.html
+++ b/apis_cpp.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,204 +244,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-    
-  
-  
-    
-    
-      <li class="md-tabs__item md-tabs__item--active">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
-
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
-  
-  Misc
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
-
-        </a>
-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -453,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -534,10 +336,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -547,7 +346,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -753,10 +552,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--active md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
@@ -764,7 +560,7 @@
         <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" checked>
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1489,10 +1285,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1502,7 +1295,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1706,10 +1499,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1719,7 +1509,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_6" >
         
           
-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2206,10 +1996,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2219,7 +2006,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_7" >
         
           
-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2318,10 +2105,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2331,7 +2115,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_8" >
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2619,10 +2403,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2632,7 +2413,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2857,10 +2638,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2870,7 +2648,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3210,7 +2988,7 @@ <h2 id="see-also">See Also<a class="headerlink" href="#see-also" title="Permanen
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/apis_image.html b/apis_image.html
index a3bc99f9..6bb8dae1 100755
--- a/apis_image.html
+++ b/apis_image.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,204 +244,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-    
-  
-  
-    
-    
-      <li class="md-tabs__item md-tabs__item--active">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
-
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
-  
-  Misc
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
-
-        </a>
-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -453,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -534,10 +336,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -547,7 +346,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -753,10 +552,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--active md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
@@ -764,7 +560,7 @@
         <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" checked>
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1807,10 +1603,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1820,7 +1613,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2024,10 +1817,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2037,7 +1827,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_6" >
         
           
-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2524,10 +2314,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2537,7 +2324,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_7" >
         
           
-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2636,10 +2423,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2649,7 +2433,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_8" >
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2937,10 +2721,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2950,7 +2731,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3175,10 +2956,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -3188,7 +2966,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3671,7 +3449,7 @@ <h2 id="example-code">Example Code<a class="headerlink" href="#example-code" tit
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/apis_new.html b/apis_new.html
index af150f4a..4d21736a 100755
--- a/apis_new.html
+++ b/apis_new.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,204 +244,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-    
-  
-  
-    
-    
-      <li class="md-tabs__item md-tabs__item--active">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
-
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
-  
-  Misc
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
-
-        </a>
-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -453,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -534,10 +336,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -547,7 +346,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -751,10 +550,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -764,7 +560,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_4" >
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1400,10 +1196,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--active md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
@@ -1411,7 +1204,7 @@
         <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_5" checked>
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1715,10 +1508,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1728,7 +1518,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_6" >
         
           
-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2215,10 +2005,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2228,7 +2015,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_7" >
         
           
-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2327,10 +2114,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2340,7 +2124,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_8" >
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2628,10 +2412,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2641,7 +2422,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2866,10 +2647,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2879,7 +2657,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3175,7 +2953,7 @@ <h2 id="testing">Testing<a class="headerlink" href="#testing" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/apis_upgrading.html b/apis_upgrading.html
index 3485fc61..6881e446 100755
--- a/apis_upgrading.html
+++ b/apis_upgrading.html
@@ -102,7 +102,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -238,202 +240,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
-
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
-  
-  Misc
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
-
-        </a>
-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -447,12 +253,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -528,10 +332,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -541,7 +342,7 @@
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-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -745,10 +546,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -758,7 +556,7 @@
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-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1392,10 +1190,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1405,7 +1200,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1609,10 +1404,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1622,7 +1414,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_6" >
         
           
-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2109,10 +1901,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2122,7 +1911,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_7" >
         
           
-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2221,10 +2010,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2234,7 +2020,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_8" >
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2522,10 +2308,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2535,7 +2318,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2760,10 +2543,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2773,7 +2553,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3095,7 +2875,7 @@ <h2 id="state-information">State Information<a class="headerlink" href="#state-i
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/azure.html b/azure.html
index 48fa2ebf..39fb7b1c 100755
--- a/azure.html
+++ b/azure.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,204 +244,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-    
-  
-  
-    
-    
-      <li class="md-tabs__item md-tabs__item--active">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
-
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
-  
-  Misc
-
-        </a>
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-    
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-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
-
-        </a>
-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -453,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -536,10 +338,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--active md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
@@ -547,7 +346,7 @@
         <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" checked>
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -875,10 +674,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -888,7 +684,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_4" >
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1522,10 +1318,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1535,7 +1328,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1739,10 +1532,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1752,7 +1542,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_6" >
         
           
-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2239,10 +2029,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2252,7 +2039,7 @@
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-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2351,10 +2138,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2364,7 +2148,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_8" >
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2652,10 +2436,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2665,7 +2446,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2890,10 +2671,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2903,7 +2681,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3242,7 +3020,7 @@ <h2 id="maintaining-the-development-environment">Maintaining the development env
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/build_docs.html b/build_docs.html
index 4266a19f..19d273c6 100755
--- a/build_docs.html
+++ b/build_docs.html
@@ -102,7 +102,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -238,202 +240,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
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-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
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-
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-    
-  
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-        
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-  
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-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
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-  
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-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
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-
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-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -447,12 +253,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -528,10 +332,7 @@
     
     
     
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-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -541,7 +342,7 @@
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-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -745,10 +546,7 @@
     
     
     
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@@ -758,7 +556,7 @@
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   <span class="md-ellipsis">
@@ -1392,10 +1190,7 @@
     
     
     
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-      
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@@ -1405,7 +1200,7 @@
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-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
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   <span class="md-ellipsis">
@@ -1609,10 +1404,7 @@
     
     
     
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   <span class="md-ellipsis">
@@ -2109,10 +1901,7 @@
     
     
     
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-    
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-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2221,10 +2010,7 @@
     
     
     
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-      
-    
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2234,7 +2020,7 @@
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-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2522,10 +2308,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2535,7 +2318,7 @@
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-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2760,10 +2543,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2773,7 +2553,7 @@
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-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3026,7 +2806,7 @@ <h2 id="build-and-deploy-documentation">Build and Deploy Documentation<a class="
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+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/build_faq.html b/build_faq.html
index a7c0a6e1..ebfd4b11 100755
--- a/build_faq.html
+++ b/build_faq.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
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     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,204 +244,6 @@
       
         
           
-            
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-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
-      </a>
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-  
-
-      
-        
-  
-  
-    
-  
-  
-    
-    
-      <li class="md-tabs__item md-tabs__item--active">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
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-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
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-  
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-      
-        
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-  
-  
-    
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-          
-  
-  Design
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-  
-  
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-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
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-  
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-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
-
-        </a>
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-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
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-  Misc
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-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
-
-        </a>
-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -453,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -536,10 +338,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--active md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
@@ -547,7 +346,7 @@
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-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -998,10 +797,7 @@
     
     
     
-      
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-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1011,7 +807,7 @@
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-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1645,10 +1441,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1658,7 +1451,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1862,10 +1655,7 @@
     
     
     
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-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1875,7 +1665,7 @@
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-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2362,10 +2152,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2375,7 +2162,7 @@
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-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2474,10 +2261,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2487,7 +2271,7 @@
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-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2775,10 +2559,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2788,7 +2569,7 @@
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-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3013,10 +2794,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -3026,7 +2804,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3433,7 +3211,7 @@ <h3 id="packaging-a-binary-including-the-autonomysim-plugin">Packaging a binary
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/build_linux.html b/build_linux.html
index d16c8c37..ea55bacd 100755
--- a/build_linux.html
+++ b/build_linux.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,204 +244,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-    
-  
-  
-    
-    
-      <li class="md-tabs__item md-tabs__item--active">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
-
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
-
-        </a>
-      </li>
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-  
-
-      
-        
-  
-  
-  
-    
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-  
-  Contributed Tutorials
-
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-  
-
-      
-        
-  
-  
-  
-    
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-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
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-  Misc
-
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-  
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-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
-
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-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -453,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
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@@ -536,10 +338,7 @@
     
     
     
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-    <li class="md-nav__item md-nav__item--active md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
@@ -547,7 +346,7 @@
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@@ -881,10 +680,7 @@
     
     
     
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@@ -1745,10 +1538,7 @@
     
     
     
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@@ -2245,10 +2035,7 @@
     
     
     
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   <span class="md-ellipsis">
@@ -2357,10 +2144,7 @@
     
     
     
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-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
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@@ -2658,10 +2442,7 @@
     
     
     
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-    
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2671,7 +2452,7 @@
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-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2896,10 +2677,7 @@
     
     
     
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-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2909,7 +2687,7 @@
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-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3223,7 +3001,7 @@ <h3 id="optional-setup-remote-control-multirotor-only">[Optional] Setup Remote C
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+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/build_macos.html b/build_macos.html
index 94c53c13..ce6aeacf 100755
--- a/build_macos.html
+++ b/build_macos.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
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@@ -242,204 +244,6 @@
       
         
           
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-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
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-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
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-      
-        
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-    
-  
-  
-    
-    
-      <li class="md-tabs__item md-tabs__item--active">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
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-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
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-  
-
-      
-        
-  
-  
-  
-    
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-      <li class="md-tabs__item">
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-          
-  
-  Design
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-        
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-  
-  
-    
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-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
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-
-    
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-      
-        
-  
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-  
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-    
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-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
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-        </a>
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-  
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-  
-  
-    
-    
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-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
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-
-      
-        
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-  
-  
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-    
-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
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-  Misc
-
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-  
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-      
-        
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-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
-
-        </a>
-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -453,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -536,10 +338,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--active md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
@@ -547,7 +346,7 @@
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-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -881,10 +680,7 @@
     
     
     
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-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -894,7 +690,7 @@
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-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1528,10 +1324,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1541,7 +1334,7 @@
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-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
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   <span class="md-ellipsis">
@@ -1745,10 +1538,7 @@
     
     
     
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-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1758,7 +1548,7 @@
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-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2245,10 +2035,7 @@
     
     
     
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-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
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-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2357,10 +2144,7 @@
     
     
     
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2370,7 +2154,7 @@
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-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2658,10 +2442,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2671,7 +2452,7 @@
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-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2896,10 +2677,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2909,7 +2687,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3218,7 +2996,7 @@ <h3 id="optional-setup-remote-control-multirotor-only">[Optional] Setup Remote C
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-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/build_windows.html b/build_windows.html
index 4c3353f3..ee6c7b00 100755
--- a/build_windows.html
+++ b/build_windows.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,204 +244,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-    
-  
-  
-    
-    
-      <li class="md-tabs__item md-tabs__item--active">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
-        </a>
-      </li>
-    
-  
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-      
-        
-  
-  
-  
-    
-    
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-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
-
-    
-  
-
-      
-        
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-  
-  
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-    
-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
-
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-  
-
-      
-        
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-  
-  
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-    
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-        <a href="custom_drone.md" class="md-tabs__link">
-          
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-  Misc
-
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-    
-  
-
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-        
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-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
-
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-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -453,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -536,10 +338,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--active md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
@@ -547,7 +346,7 @@
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-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -845,10 +644,7 @@
     
     
     
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-      
-    
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -858,7 +654,7 @@
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-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1492,10 +1288,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1505,7 +1298,7 @@
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-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1709,10 +1502,7 @@
     
     
     
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-      
-    
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1722,7 +1512,7 @@
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-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2209,10 +1999,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
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-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
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   <span class="md-ellipsis">
@@ -2321,10 +2108,7 @@
     
     
     
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-      
-    
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2334,7 +2118,7 @@
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-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2622,10 +2406,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2635,7 +2416,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2860,10 +2641,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2873,7 +2651,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3218,7 +2996,7 @@ <h2 id="how-to-use-autonomysim">How to Use AutonomySim<a class="headerlink" href
     </div>
     
     
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+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/camera_views.html b/camera_views.html
index 6d62e757..c7142929 100755
--- a/camera_views.html
+++ b/camera_views.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,204 +244,6 @@
       
         
           
-            
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-    <ul class="md-tabs__list">
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-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-    
-  
-  
-    
-    
-      <li class="md-tabs__item md-tabs__item--active">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
-        </a>
-      </li>
-    
-  
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-      
-        
-  
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-  
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-      
-  
-  
-  
-    
-    
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-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
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-  
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-      
-        
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-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
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-      </li>
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-  
-
-      
-        
-  
-  
-  
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-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
-  
-  Misc
-
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-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
-
-        </a>
-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -453,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -534,10 +336,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -547,7 +346,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -753,10 +552,7 @@
     
     
     
-      
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-    
-    <li class="md-nav__item md-nav__item--active md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
@@ -764,7 +560,7 @@
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-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1474,10 +1270,7 @@
     
     
     
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-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1487,7 +1280,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1691,10 +1484,7 @@
     
     
     
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-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1704,7 +1494,7 @@
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-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2191,10 +1981,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2204,7 +1991,7 @@
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-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2303,10 +2090,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2316,7 +2100,7 @@
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-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2604,10 +2388,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2617,7 +2398,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2842,10 +2623,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2855,7 +2633,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3173,7 +2951,7 @@ <h2 id="performance-impact">Performance Impact<a class="headerlink" href="#perfo
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/cmake_linux.html b/cmake_linux.html
index 899dde88..2befeadc 100755
--- a/cmake_linux.html
+++ b/cmake_linux.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,204 +244,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
-
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-  
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-      
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-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
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-  
-
-      
-        
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-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
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-  Contributed Tutorials
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-          
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-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
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       <main class="md-main" data-md-component="main">
@@ -453,12 +257,10 @@
                     
 
 
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-
 
   
 
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diff --git a/controller_remote.html b/controller_remote.html
index 206c0e01..24339b09 100755
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+++ b/controller_remote.html
@@ -102,7 +102,9 @@
     
       
 
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@@ -447,12 +253,10 @@
                     
 
 
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-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
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+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
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@@ -3045,7 +2825,7 @@ <h3 id="the-rc-controller-is-not-working-with-px4">The RC controller is not work
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diff --git a/controller_robot.html b/controller_robot.html
index 932f3e8c..8bb8d986 100755
--- a/controller_robot.html
+++ b/controller_robot.html
@@ -102,7 +102,9 @@
     
       
 
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+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
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@@ -238,202 +240,6 @@
       
         
           
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-    
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-  Home
-
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-    <li class="md-tabs__item">
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@@ -447,12 +253,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
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@@ -528,10 +332,7 @@
     
     
     
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@@ -541,7 +342,7 @@
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-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -745,10 +546,7 @@
     
     
     
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-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -758,7 +556,7 @@
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-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1392,10 +1190,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1405,7 +1200,7 @@
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-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
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   <span class="md-ellipsis">
@@ -1609,10 +1404,7 @@
     
     
     
-      
-      
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-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1622,7 +1414,7 @@
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-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2109,10 +1901,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2122,7 +1911,7 @@
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-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2221,10 +2010,7 @@
     
     
     
-      
-      
-    
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2234,7 +2020,7 @@
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-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2522,10 +2308,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2535,7 +2318,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2760,10 +2543,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2773,7 +2553,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3105,7 +2885,7 @@ <h2 id="using-autonomysim-without-flight-controller">Using AutonomySim Without F
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/controller_wheel.html b/controller_wheel.html
index 6ca8175c..20a42fa3 100755
--- a/controller_wheel.html
+++ b/controller_wheel.html
@@ -102,7 +102,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -238,202 +240,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
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-  Changelog
-
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-    </li>
-  
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-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
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-      </li>
-    
-  
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-      
-        
-  
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-  
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-      
-  
-  
-  
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-    
-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
-
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-  
-
-      
-        
-  
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-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
-
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-      </li>
-    
-  
-
-      
-        
-  
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-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
-  
-  Misc
-
-        </a>
-      </li>
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-  
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-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
-
-        </a>
-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -447,12 +253,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -528,10 +332,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -541,7 +342,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -745,10 +546,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -758,7 +556,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_4" >
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1392,10 +1190,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1405,7 +1200,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1609,10 +1404,7 @@
     
     
     
-      
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-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1622,7 +1414,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_6" >
         
           
-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2109,10 +1901,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2122,7 +1911,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_7" >
         
           
-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2221,10 +2010,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2234,7 +2020,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_8" >
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2522,10 +2308,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2535,7 +2318,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2760,10 +2543,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2773,7 +2553,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3049,7 +2829,7 @@ <h3 id="pay-attention">Pay Attention<a class="headerlink" href="#pay-attention"
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/controller_wired.html b/controller_wired.html
index ab639074..70d21592 100755
--- a/controller_wired.html
+++ b/controller_wired.html
@@ -102,7 +102,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -238,202 +240,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
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-  
-  Changelog
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
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-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
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-  Design
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-      
-        
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-      
-  
-  
-  
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-        <a href="px4_setup.html" class="md-tabs__link">
-          
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-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
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-        
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-      <li class="md-tabs__item">
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-          
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-    
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-      
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-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
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-  Contributed Tutorials
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-    
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       <main class="md-main" data-md-component="main">
@@ -447,12 +253,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -528,10 +332,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -541,7 +342,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -745,10 +546,7 @@
     
     
     
-      
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-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
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-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
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   <span class="md-ellipsis">
@@ -1392,10 +1190,7 @@
     
     
     
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   <span class="md-ellipsis">
@@ -1609,10 +1404,7 @@
     
     
     
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-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
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@@ -2109,10 +1901,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
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-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
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   <span class="md-ellipsis">
@@ -2221,10 +2010,7 @@
     
     
     
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-      
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-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
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@@ -2522,10 +2308,7 @@
     
     
     
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@@ -2535,7 +2318,7 @@
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-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2760,10 +2543,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2773,7 +2553,7 @@
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-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3036,7 +2816,7 @@ <h3 id="other-options">Other Options<a class="headerlink" href="#other-options"
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+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/convert_pointcloud.html b/convert_pointcloud.html
index 1bc22d59..0e392180 100755
--- a/convert_pointcloud.html
+++ b/convert_pointcloud.html
@@ -102,7 +102,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -238,202 +240,6 @@
       
         
           
-            
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-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
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-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
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-  
-  Changelog
-
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-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
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-      
-        
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-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
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-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
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-  Design
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-        
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-      
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
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-
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
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-        </a>
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-  
-  
-    
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-          
-  
-  Contributed Tutorials
-
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-      
-        
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-  
-  
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-    
-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
-  
-  Misc
-
-        </a>
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-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
-
-        </a>
-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -447,12 +253,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -528,10 +332,7 @@
     
     
     
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-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -541,7 +342,7 @@
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-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -745,10 +546,7 @@
     
     
     
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-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -758,7 +556,7 @@
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-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1392,10 +1190,7 @@
     
     
     
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-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1405,7 +1200,7 @@
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-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1609,10 +1404,7 @@
     
     
     
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-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1622,7 +1414,7 @@
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-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2109,10 +1901,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2122,7 +1911,7 @@
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-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2221,10 +2010,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2234,7 +2020,7 @@
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-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2522,10 +2308,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2535,7 +2318,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2760,10 +2543,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2773,7 +2553,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3006,7 +2786,7 @@ <h1 id="convert-depth-images-to-point-clouds">Convert Depth Images to Point Clou
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+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/create_issues.html b/create_issues.html
index 4dcd4a61..57435b3a 100755
--- a/create_issues.html
+++ b/create_issues.html
@@ -102,7 +102,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -238,202 +240,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
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-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
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-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
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-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
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-  
-
-      
-        
-  
-  
-  
-    
-    
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-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
-
-    
-  
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-      
-        
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-  
-  
-    
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-      <li class="md-tabs__item">
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-          
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-  
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-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
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-  Contributed Tutorials
-
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-  
-
-      
-        
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-        <a href="custom_drone.md" class="md-tabs__link">
-          
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-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
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-  Support
-
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-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -447,12 +253,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -528,10 +332,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -541,7 +342,7 @@
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-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -745,10 +546,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -758,7 +556,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_4" >
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1392,10 +1190,7 @@
     
     
     
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-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1405,7 +1200,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1609,10 +1404,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1622,7 +1414,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_6" >
         
           
-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2109,10 +1901,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2122,7 +1911,7 @@
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-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2221,10 +2010,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2234,7 +2020,7 @@
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-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2522,10 +2308,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2535,7 +2318,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2760,10 +2543,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2773,7 +2553,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3014,7 +2794,7 @@ <h2 id="bad-practices">Bad Practices<a class="headerlink" href="#bad-practices"
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/data_capture.html b/data_capture.html
index 88ab22d2..c82e1a3a 100755
--- a/data_capture.html
+++ b/data_capture.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,204 +244,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
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-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-    
-  
-  
-    
-    
-      <li class="md-tabs__item md-tabs__item--active">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
-
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
-  
-  Misc
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
-
-        </a>
-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -453,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -534,10 +336,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -547,7 +346,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -751,10 +550,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -764,7 +560,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_4" >
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1400,10 +1196,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--active md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
@@ -1411,7 +1204,7 @@
         <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_5" checked>
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1664,10 +1457,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1677,7 +1467,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_6" >
         
           
-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2164,10 +1954,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2177,7 +1964,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_7" >
         
           
-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2276,10 +2063,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2289,7 +2073,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_8" >
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2577,10 +2361,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2590,7 +2371,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2815,10 +2596,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2828,7 +2606,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3130,7 +2908,7 @@ <h2 id="code-changes">Code Changes<a class="headerlink" href="#code-changes" tit
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/development_workflow.html b/development_workflow.html
index 35963c46..bea4b43d 100755
--- a/development_workflow.html
+++ b/development_workflow.html
@@ -102,7 +102,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -238,202 +240,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
-
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
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-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
-
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-    
-  
-
-      
-        
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-  
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-    
-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
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-
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-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
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-  Support
-
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-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -447,12 +253,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -528,10 +332,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -541,7 +342,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -745,10 +546,7 @@
     
     
     
-      
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-    
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -758,7 +556,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_4" >
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1392,10 +1190,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1405,7 +1200,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1609,10 +1404,7 @@
     
     
     
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-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
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-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
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   <span class="md-ellipsis">
@@ -2109,10 +1901,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
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-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
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   <span class="md-ellipsis">
@@ -2221,10 +2010,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
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-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
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@@ -2522,10 +2308,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2535,7 +2318,7 @@
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-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2760,10 +2543,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2773,7 +2553,7 @@
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-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3040,7 +2820,7 @@ <h3 id="how-do-i-contribute-back-to-autonomysim">How do I contribute back to Aut
     </div>
     
     
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+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/distance_sensor.html b/distance_sensor.html
index d577e0de..4ea0a03d 100755
--- a/distance_sensor.html
+++ b/distance_sensor.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,204 +244,6 @@
       
         
           
-            
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-  
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-      <a href="../README.md" class="md-tabs__link">
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-  
-    
-  
-  Home
-
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-
-      
-        
-  
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-  
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-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
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-  Changelog
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-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
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-
-      
-        
-  
-  
-    
-  
-  
-    
-    
-      <li class="md-tabs__item md-tabs__item--active">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
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-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
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-  Design
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-      
-        
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-  
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-      
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
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-  
-
-    
-  
-
-      
-        
-  
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-  
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-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
-
-        </a>
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-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
-
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-  
-
-      
-        
-  
-  
-  
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-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
-  
-  Misc
-
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-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
-
-        </a>
-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -453,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -534,10 +336,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -547,7 +346,7 @@
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-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -753,10 +552,7 @@
     
     
     
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-    <li class="md-nav__item md-nav__item--active md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
@@ -764,7 +560,7 @@
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-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1447,10 +1243,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1460,7 +1253,7 @@
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-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1664,10 +1457,7 @@
     
     
     
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
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-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2164,10 +1954,7 @@
     
     
     
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-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
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   <span class="md-ellipsis">
@@ -2276,10 +2063,7 @@
     
     
     
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-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2289,7 +2073,7 @@
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-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2577,10 +2361,7 @@
     
     
     
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-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2590,7 +2371,7 @@
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-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2815,10 +2596,7 @@
     
     
     
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-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2828,7 +2606,7 @@
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-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3133,7 +2911,7 @@ <h2 id="configurable-parameters">Configurable Parameters<a class="headerlink" hr
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+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/docker_ubuntu.html b/docker_ubuntu.html
index 83e2e0ac..591d86a6 100755
--- a/docker_ubuntu.html
+++ b/docker_ubuntu.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,204 +244,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
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-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-    
-  
-  
-    
-    
-      <li class="md-tabs__item md-tabs__item--active">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
-
-    
-  
-
-      
-        
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-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
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-  Upgrading
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-      
-        
-  
-  
-  
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-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
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-  Contributed Tutorials
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-  
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-          
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-
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-    
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-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -453,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
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@@ -536,10 +338,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--active md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
@@ -547,7 +346,7 @@
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-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -926,10 +725,7 @@
     
     
     
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
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-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
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+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
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+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2290,10 +2080,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2303,7 +2090,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_7" >
         
           
-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2402,10 +2189,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2415,7 +2199,7 @@
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-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2703,10 +2487,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2716,7 +2497,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2941,10 +2722,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2954,7 +2732,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3393,7 +3171,7 @@ <h4 id="autonomysim_source-docker-image"><code>autonomysim_source</code> docker
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/faq.html b/faq.html
index 267444d4..10511c24 100755
--- a/faq.html
+++ b/faq.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,204 +244,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
-
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
-  
-  Misc
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-    
-  
-  
-    
-    
-      <li class="md-tabs__item md-tabs__item--active">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
-
-        </a>
-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -453,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -534,10 +336,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -547,7 +346,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -751,10 +550,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -764,7 +560,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_4" >
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1398,10 +1194,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1411,7 +1204,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1615,10 +1408,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1628,7 +1418,7 @@
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-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2115,10 +1905,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2128,7 +1915,7 @@
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-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2227,10 +2014,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2240,7 +2024,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_8" >
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2528,10 +2312,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2541,7 +2322,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2768,10 +2549,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--active md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
@@ -2779,7 +2557,7 @@
         <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_10" checked>
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3347,7 +3125,7 @@ <h2 id="others">Others<a class="headerlink" href="#others" title="Permanent link
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-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/format_pfm.html b/format_pfm.html
index cc88a012..cdc53f9a 100755
--- a/format_pfm.html
+++ b/format_pfm.html
@@ -102,7 +102,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -238,202 +240,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
-
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
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-  Upgrading
-
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-      </li>
-    
-  
-
-      
-        
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-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
-
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-    
-  
-
-      
-        
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-  
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-        <a href="custom_drone.md" class="md-tabs__link">
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-        <a href="faq.html" class="md-tabs__link">
-          
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-  Support
-
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-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -447,12 +253,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -528,10 +332,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -541,7 +342,7 @@
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-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -745,10 +546,7 @@
     
     
     
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -758,7 +556,7 @@
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-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1392,10 +1190,7 @@
     
     
     
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1405,7 +1200,7 @@
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-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1609,10 +1404,7 @@
     
     
     
-      
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
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-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2109,10 +1901,7 @@
     
     
     
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
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         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_7" >
         
           
-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2221,10 +2010,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2234,7 +2020,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_8" >
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2522,10 +2308,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2535,7 +2318,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2760,10 +2543,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2773,7 +2553,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2998,7 +2778,7 @@ <h1 id="pfm-image-file-format">PFM Image File Format<a class="headerlink" href="
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/getting_started.html b/getting_started.html
index 60a3cf1e..17bb0e7d 100755
--- a/getting_started.html
+++ b/getting_started.html
@@ -102,7 +102,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -238,202 +240,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
-
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
-  
-  Misc
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
-
-        </a>
-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -447,12 +253,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -528,10 +332,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -541,7 +342,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -745,10 +546,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -758,7 +556,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_4" >
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1392,10 +1190,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1405,7 +1200,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1609,10 +1404,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1622,7 +1414,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_6" >
         
           
-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2109,10 +1901,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2122,7 +1911,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_7" >
         
           
-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2221,10 +2010,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2234,7 +2020,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_8" >
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2522,10 +2308,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2535,7 +2318,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2760,10 +2543,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2773,7 +2553,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2996,7 +2776,7 @@ <h1 id="getting-started">Getting Started<a class="headerlink" href="#getting-sta
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/hello_drone.html b/hello_drone.html
index c9928969..ebfedb13 100755
--- a/hello_drone.html
+++ b/hello_drone.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,204 +244,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-    
-  
-  
-    
-    
-      <li class="md-tabs__item md-tabs__item--active">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
-
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
-  
-  Misc
-
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-      
-        
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-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
-
-        </a>
-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -453,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -534,10 +336,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -547,7 +346,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -751,10 +550,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -764,7 +560,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_4" >
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1400,10 +1196,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--active md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
@@ -1411,7 +1204,7 @@
         <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_5" checked>
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1664,10 +1457,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1677,7 +1467,7 @@
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-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2164,10 +1954,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2177,7 +1964,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_7" >
         
           
-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2276,10 +2063,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2289,7 +2073,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_8" >
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2577,10 +2361,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2590,7 +2371,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2815,10 +2596,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2828,7 +2606,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3090,7 +2868,7 @@ <h2 id="how-does-hello-drone-work">How does Hello Drone work?<a class="headerlin
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/index.html b/index.html
index 74051d61..3f0fa276 100755
--- a/index.html
+++ b/index.html
@@ -102,7 +102,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -238,202 +240,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
-
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
-  
-  Misc
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
-
-        </a>
-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -447,12 +253,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -528,10 +332,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -541,7 +342,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -745,10 +546,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -758,7 +556,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_4" >
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1392,10 +1190,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1405,7 +1200,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1609,10 +1404,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1622,7 +1414,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_6" >
         
           
-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2109,10 +1901,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2122,7 +1911,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_7" >
         
           
-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2221,10 +2010,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2234,7 +2020,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_8" >
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2522,10 +2308,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2535,7 +2318,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2760,10 +2543,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2773,7 +2553,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3013,7 +2793,7 @@ <h2 id="repository">Repository<a class="headerlink" href="#repository" title="Pe
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/language_guidelines.html b/language_guidelines.html
index 8d1ad0e7..3955a42b 100755
--- a/language_guidelines.html
+++ b/language_guidelines.html
@@ -102,7 +102,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -238,202 +240,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
-
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
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-  Misc
-
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-      
-        
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-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
-
-        </a>
-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -447,12 +253,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -528,10 +332,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -541,7 +342,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -745,10 +546,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -758,7 +556,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_4" >
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1392,10 +1190,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1405,7 +1200,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1609,10 +1404,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1622,7 +1414,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_6" >
         
           
-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2109,10 +1901,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2122,7 +1911,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_7" >
         
           
-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2221,10 +2010,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2234,7 +2020,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_8" >
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2522,10 +2308,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2535,7 +2318,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2760,10 +2543,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2773,7 +2553,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3115,7 +2895,7 @@ <h2 id="on-brevity">On Brevity<a class="headerlink" href="#on-brevity" title="Pe
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/lidar.html b/lidar.html
index 37ac3309..d6a98ff7 100755
--- a/lidar.html
+++ b/lidar.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,204 +244,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-    
-  
-  
-    
-    
-      <li class="md-tabs__item md-tabs__item--active">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
-
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
-  
-  Misc
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
-
-        </a>
-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -453,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -534,10 +336,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -547,7 +346,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -753,10 +552,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--active md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
@@ -764,7 +560,7 @@
         <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" checked>
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1498,10 +1294,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1511,7 +1304,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1715,10 +1508,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1728,7 +1518,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_6" >
         
           
-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2215,10 +2005,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2228,7 +2015,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_7" >
         
           
-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2327,10 +2114,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2340,7 +2124,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_8" >
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2628,10 +2412,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2641,7 +2422,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2866,10 +2647,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2879,7 +2657,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3300,7 +3078,7 @@ <h2 id="coming-soon">Coming soon<a class="headerlink" href="#coming-soon" title=
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/log_viewer.html b/log_viewer.html
index d1cff7a8..0283e1c5 100755
--- a/log_viewer.html
+++ b/log_viewer.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,206 +244,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-    
-  
-  
-    
-    
-      
-  
-  
-    
-  
-  
-    
-    
-      <li class="md-tabs__item md-tabs__item--active">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
-
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
-  
-  Misc
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
-
-        </a>
-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -455,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -536,10 +336,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -549,7 +346,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -753,10 +550,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -766,7 +560,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_4" >
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1400,10 +1194,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1413,7 +1204,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1619,10 +1410,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--active md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
@@ -1630,7 +1418,7 @@
         <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_6" checked>
         
           
-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2202,10 +1990,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2215,7 +2000,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_7" >
         
           
-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2314,10 +2099,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2327,7 +2109,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_8" >
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2615,10 +2397,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2628,7 +2407,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2853,10 +2632,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2866,7 +2642,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3161,7 +2937,7 @@ <h2 id="debugging">Debugging<a class="headerlink" href="#debugging" title="Perma
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/manuscripts.html b/manuscripts.html
index 23144c2f..137c5eee 100755
--- a/manuscripts.html
+++ b/manuscripts.html
@@ -102,7 +102,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -238,202 +240,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
-
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
-  
-  Misc
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
-
-        </a>
-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -447,12 +253,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -528,10 +332,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -541,7 +342,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -745,10 +546,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -758,7 +556,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_4" >
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1392,10 +1190,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1405,7 +1200,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1609,10 +1404,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1622,7 +1414,7 @@
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-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2109,10 +1901,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2122,7 +1911,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_7" >
         
           
-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2221,10 +2010,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2234,7 +2020,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_8" >
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2522,10 +2308,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2535,7 +2318,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2760,10 +2543,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2773,7 +2553,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3010,7 +2790,7 @@ <h1 id="architecture">Architecture<a class="headerlink" href="#architecture" tit
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/mavlink_comm.html b/mavlink_comm.html
index 2b19c155..3a885952 100755
--- a/mavlink_comm.html
+++ b/mavlink_comm.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,206 +244,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-    
-  
-  
-    
-    
-      
-  
-  
-    
-  
-  
-    
-    
-      <li class="md-tabs__item md-tabs__item--active">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
-
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
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-  Misc
-
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-
-      
-        
-  
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-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
-
-        </a>
-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -455,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -536,10 +336,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -549,7 +346,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -753,10 +550,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -766,7 +560,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_4" >
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1400,10 +1194,7 @@
     
     
     
-      
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-    
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1413,7 +1204,7 @@
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-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1619,10 +1410,7 @@
     
     
     
-      
-      
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-    <li class="md-nav__item md-nav__item--active md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
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-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2289,10 +2077,7 @@
     
     
     
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
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-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2401,10 +2186,7 @@
     
     
     
-      
-      
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2414,7 +2196,7 @@
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-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2702,10 +2484,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2715,7 +2494,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2940,10 +2719,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2953,7 +2729,7 @@
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-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3356,7 +3132,7 @@ <h2 id="advanced-connections">Advanced Connections<a class="headerlink" href="#a
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/mavlink_mocap.html b/mavlink_mocap.html
index c7325063..36c65c03 100755
--- a/mavlink_mocap.html
+++ b/mavlink_mocap.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,206 +244,6 @@
       
         
           
-            
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-  <div class="md-grid">
-    <ul class="md-tabs__list">
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-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
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-  Changelog
-
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-    </li>
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
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-      </li>
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-
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-  
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-    
-  
-  
-    
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-    
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-  
-    
-    
-      <li class="md-tabs__item md-tabs__item--active">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
-
-    
-  
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-      
-        
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-  
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-    
-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
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-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
-
-        </a>
-      </li>
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-  
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-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
-  
-  Misc
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
-
-        </a>
-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -455,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -536,10 +336,7 @@
     
     
     
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-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -549,7 +346,7 @@
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-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -753,10 +550,7 @@
     
     
     
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -766,7 +560,7 @@
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-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1400,10 +1194,7 @@
     
     
     
-      
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1413,7 +1204,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1619,10 +1410,7 @@
     
     
     
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+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
@@ -1630,7 +1418,7 @@
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-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2190,10 +1978,7 @@
     
     
     
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-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2203,7 +1988,7 @@
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-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2302,10 +2087,7 @@
     
     
     
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-      
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-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2315,7 +2097,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_8" >
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2603,10 +2385,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2616,7 +2395,7 @@
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-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2841,10 +2620,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2854,7 +2630,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3132,7 +2908,7 @@ <h3 id="mavlinktest">MavLinkTest<a class="headerlink" href="#mavlinktest" title=
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/mavlink_playback.html b/mavlink_playback.html
index a81b341a..9a4c2e62 100755
--- a/mavlink_playback.html
+++ b/mavlink_playback.html
@@ -102,7 +102,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -238,202 +240,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
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-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
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-  
-  Changelog
-
-      </a>
-    </li>
-  
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-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
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-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
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-  Design
-
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-      </li>
-    
-  
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-      
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-  
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-  
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-          
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-      </li>
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-          
         
       
       <main class="md-main" data-md-component="main">
@@ -447,12 +253,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -528,10 +332,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -541,7 +342,7 @@
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-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
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@@ -745,10 +546,7 @@
     
     
     
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -758,7 +556,7 @@
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-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
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@@ -1392,10 +1190,7 @@
     
     
     
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-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
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-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
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+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
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@@ -2221,10 +2010,7 @@
     
     
     
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-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
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@@ -2522,10 +2308,7 @@
     
     
     
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
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-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
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@@ -2760,10 +2543,7 @@
     
     
     
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
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         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3022,7 +2802,7 @@ <h2 id="parameters">Parameters<a class="headerlink" href="#parameters" title="Pe
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/mesh_access.html b/mesh_access.html
index 83c359aa..154c317f 100755
--- a/mesh_access.html
+++ b/mesh_access.html
@@ -102,7 +102,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -238,202 +240,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
-
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
-  
-  Misc
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
-
-        </a>
-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -447,12 +253,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -528,10 +332,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -541,7 +342,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -745,10 +546,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -758,7 +556,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_4" >
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1392,10 +1190,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1405,7 +1200,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1609,10 +1404,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1622,7 +1414,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_6" >
         
           
-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2109,10 +1901,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2122,7 +1911,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_7" >
         
           
-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2221,10 +2010,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2234,7 +2020,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_8" >
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2522,10 +2308,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2535,7 +2318,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2760,10 +2543,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2773,7 +2553,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3060,7 +2840,7 @@ <h2 id="methods">Methods<a class="headerlink" href="#methods" title="Permanent l
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/object_detection.html b/object_detection.html
index 7050a3dd..f8878394 100755
--- a/object_detection.html
+++ b/object_detection.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,204 +244,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
-
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-    
-  
-  
-    
-    
-      <li class="md-tabs__item md-tabs__item--active">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
-
-        </a>
-      </li>
-    
-  
-
-      
-        
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-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
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-  Misc
-
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-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
-
-        </a>
-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -453,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -534,10 +336,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -547,7 +346,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -751,10 +550,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -764,7 +560,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_4" >
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1398,10 +1194,7 @@
     
     
     
-      
-      
-    
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1411,7 +1204,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1615,10 +1408,7 @@
     
     
     
-      
-      
-    
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1628,7 +1418,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_6" >
         
           
-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2115,10 +1905,7 @@
     
     
     
-      
-      
-    
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2128,7 +1915,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_7" >
         
           
-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2229,10 +2016,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--active md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
@@ -2240,7 +2024,7 @@
         <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_8" checked>
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2595,10 +2379,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2608,7 +2389,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2833,10 +2614,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2846,7 +2624,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3196,7 +2974,7 @@ <h2 id="usage">Usage<a class="headerlink" href="#usage" title="Permanent link">#
     </div>
     
     
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+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/orbit.html b/orbit.html
index c31510d4..0dc3a2d0 100755
--- a/orbit.html
+++ b/orbit.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,204 +244,6 @@
       
         
           
-            
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-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
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-      <a href="CHANGELOG.html" class="md-tabs__link">
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-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
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-        <a href="apis.html" class="md-tabs__link">
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-  Using AutonomySim
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-  Contributed Tutorials
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       <main class="md-main" data-md-component="main">
@@ -453,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
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@@ -547,7 +346,7 @@
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-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
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-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
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-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
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   <span class="md-ellipsis">
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-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
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@@ -2115,10 +1905,7 @@
     
     
     
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-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
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-      
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+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
@@ -2240,7 +2024,7 @@
         <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_8" checked>
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2538,10 +2322,7 @@
     
     
     
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@@ -2551,7 +2332,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2776,10 +2557,7 @@
     
     
     
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@@ -2789,7 +2567,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3059,7 +2837,7 @@ <h1 id="orbital-trajectories">Orbital Trajectories<a class="headerlink" href="#o
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/performance_hardware.html b/performance_hardware.html
index 0f464893..412456c7 100755
--- a/performance_hardware.html
+++ b/performance_hardware.html
@@ -102,7 +102,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -238,202 +240,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
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-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
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-      <a href="CHANGELOG.html" class="md-tabs__link">
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-          
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-  Building AutonomySim
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-        <a href="apis.html" class="md-tabs__link">
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-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
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-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
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@@ -3017,7 +2797,7 @@ <h2 id="ideal-runtime-performance">Ideal Runtime performance<a class="headerlink
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diff --git a/performance_software.html b/performance_software.html
index 39d57b9c..c3443ac4 100755
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@@ -102,7 +102,9 @@
     
       
 
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+  
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@@ -2996,7 +2776,7 @@ <h1 id="software-performance">Software Performance<a class="headerlink" href="#s
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diff --git a/project_binaries.html b/project_binaries.html
index 34b5b1e1..b4b5408f 100755
--- a/project_binaries.html
+++ b/project_binaries.html
@@ -102,7 +102,9 @@
     
       
 
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+<header class="md-header md-header--shadow" data-md-component="header">
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@@ -238,202 +240,6 @@
       
         
           
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@@ -3034,7 +2814,7 @@ <h2 id="dont-have-good-gpu">Don't Have Good GPU?<a class="headerlink" href="#don
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+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/project_structure.html b/project_structure.html
index 197cfc49..ac6ec2fe 100755
--- a/project_structure.html
+++ b/project_structure.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,204 +244,6 @@
       
         
           
-            
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-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
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-      <a href="CHANGELOG.html" class="md-tabs__link">
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-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
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-      </li>
-    
-  
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-        <a href="apis.html" class="md-tabs__link">
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-  Using AutonomySim
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-  
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-          
         
       
       <main class="md-main" data-md-component="main">
@@ -453,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -534,10 +336,7 @@
     
     
     
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -547,7 +346,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -751,10 +550,7 @@
     
     
     
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@@ -764,7 +560,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_4" >
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1400,10 +1196,7 @@
     
     
     
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@@ -1411,7 +1204,7 @@
         <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_5" checked>
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1718,10 +1511,7 @@
     
     
     
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@@ -1731,7 +1521,7 @@
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-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2218,10 +2008,7 @@
     
     
     
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@@ -2231,7 +2018,7 @@
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-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2330,10 +2117,7 @@
     
     
     
-      
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2343,7 +2127,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_8" >
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2631,10 +2415,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2644,7 +2425,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2869,10 +2650,7 @@
     
     
     
-      
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2882,7 +2660,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3174,7 +2952,7 @@ <h2 id="contributing">Contributing<a class="headerlink" href="#contributing" tit
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/px4_build.html b/px4_build.html
index b2cc1364..4915483d 100755
--- a/px4_build.html
+++ b/px4_build.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,206 +244,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
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-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
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-      <a href="CHANGELOG.html" class="md-tabs__link">
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-          
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-  Building AutonomySim
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-      </li>
-    
-  
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-        
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-        <a href="apis.html" class="md-tabs__link">
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@@ -455,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
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+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
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-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
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@@ -3231,7 +3007,7 @@ <h2 id="using-bashonwindows">Using BashOnWindows<a class="headerlink" href="#usi
     </div>
     
     
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+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/px4_lockstep.html b/px4_lockstep.html
index cebc4dfd..db5c81c0 100755
--- a/px4_lockstep.html
+++ b/px4_lockstep.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,206 +244,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
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-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
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-  Home
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-      <a href="CHANGELOG.html" class="md-tabs__link">
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-    
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-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
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-  
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-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
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-      </li>
-    
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-      <li class="md-tabs__item md-tabs__item--active">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
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-  
-
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-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
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-  Upgrading
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-    
-  
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-      
-        
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-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
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-  Contributed Tutorials
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-  
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-      
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-  
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-        <a href="custom_drone.md" class="md-tabs__link">
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-  Misc
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-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
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-  Support
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-      </li>
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-  
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-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -455,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -536,10 +336,7 @@
     
     
     
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-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -549,7 +346,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -753,10 +550,7 @@
     
     
     
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -766,7 +560,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_4" >
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1400,10 +1194,7 @@
     
     
     
-      
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-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
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@@ -1413,7 +1204,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1619,10 +1410,7 @@
     
     
     
-      
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-    <li class="md-nav__item md-nav__item--active md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
@@ -1630,7 +1418,7 @@
         <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_6" checked>
         
           
-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2127,10 +1915,7 @@
     
     
     
-      
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2140,7 +1925,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_7" >
         
           
-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2239,10 +2024,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2252,7 +2034,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_8" >
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2540,10 +2322,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2553,7 +2332,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2778,10 +2557,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2791,7 +2567,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3098,7 +2874,7 @@ <h1 id="disabling-lockstep-mode">Disabling Lockstep Mode<a class="headerlink" hr
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/px4_logging.html b/px4_logging.html
index b6dc597d..4bfd54df 100755
--- a/px4_logging.html
+++ b/px4_logging.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,206 +244,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
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-  
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-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
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-    
-  
-  Home
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-        
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-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
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-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
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-        </a>
-      </li>
-    
-  
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-      
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-  External Flight Controllers
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@@ -455,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -536,10 +336,7 @@
     
     
     
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -549,7 +346,7 @@
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-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
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@@ -753,10 +550,7 @@
     
     
     
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-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
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-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
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+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
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-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
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+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
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-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
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-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
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-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
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@@ -3169,7 +2945,7 @@ <h2 id="debugging-a-bad-flight">Debugging a bad flight<a class="headerlink" href
     </div>
     
     
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+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/px4_multivehicle.html b/px4_multivehicle.html
index 82d8d5ec..900046e7 100755
--- a/px4_multivehicle.html
+++ b/px4_multivehicle.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,206 +244,6 @@
       
         
           
-            
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-      <a href="../README.md" class="md-tabs__link">
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-      <a href="CHANGELOG.html" class="md-tabs__link">
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-          
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-          
         
       
       <main class="md-main" data-md-component="main">
@@ -455,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -536,10 +336,7 @@
     
     
     
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@@ -549,7 +346,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -753,10 +550,7 @@
     
     
     
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@@ -766,7 +560,7 @@
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-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1400,10 +1194,7 @@
     
     
     
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@@ -1413,7 +1204,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1619,10 +1410,7 @@
     
     
     
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@@ -1630,7 +1418,7 @@
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-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
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@@ -2175,10 +1963,7 @@
     
     
     
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@@ -2188,7 +1973,7 @@
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-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2287,10 +2072,7 @@
     
     
     
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-      
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2300,7 +2082,7 @@
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-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2588,10 +2370,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2601,7 +2380,7 @@
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-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2826,10 +2605,7 @@
     
     
     
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2839,7 +2615,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3205,7 +2981,7 @@ <h2 id="starting-sitl-instances-with-px4-console">Starting SITL instances with P
     </div>
     
     
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+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/px4_setup.html b/px4_setup.html
index c9ef822e..01bcb23b 100755
--- a/px4_setup.html
+++ b/px4_setup.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,206 +244,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
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-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
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-  Building AutonomySim
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@@ -455,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
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-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
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@@ -753,10 +550,7 @@
     
     
     
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-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
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-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
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+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
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+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
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-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
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-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
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-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
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@@ -3267,7 +3043,7 @@ <h3 id="i-get-message-length-mismatches-errors">I get message length mismatches
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/px4_sitl.html b/px4_sitl.html
index 5d291182..f9de3639 100755
--- a/px4_sitl.html
+++ b/px4_sitl.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,206 +244,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
-
-        </a>
-      </li>
-    
-  
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-      
-        
-  
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-    
-  
-  
-    
-    
-      
-  
-  
-    
-  
-  
-    
-    
-      <li class="md-tabs__item md-tabs__item--active">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
-
-        </a>
-      </li>
-    
-  
-
-    
-  
-
-      
-        
-  
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-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
-  
-  Misc
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
-
-        </a>
-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -455,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -536,10 +336,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -549,7 +346,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -753,10 +550,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -766,7 +560,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_4" >
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1400,10 +1194,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1413,7 +1204,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1619,10 +1410,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--active md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
@@ -1630,7 +1418,7 @@
         <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_6" checked>
         
           
-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2238,10 +2026,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2251,7 +2036,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_7" >
         
           
-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2350,10 +2135,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2363,7 +2145,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_8" >
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2651,10 +2433,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2664,7 +2443,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2889,10 +2668,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2902,7 +2678,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3304,7 +3080,7 @@ <h2 id="remote-controller">Remote Controller<a class="headerlink" href="#remote-
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/px4_sitl_wsl2.html b/px4_sitl_wsl2.html
index a9d76aab..8f0f546b 100755
--- a/px4_sitl_wsl2.html
+++ b/px4_sitl_wsl2.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,206 +244,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
-    
-  
-  Changelog
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-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
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-        </a>
-      </li>
-    
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-      <li class="md-tabs__item md-tabs__item--active">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
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-      </li>
-    
-  
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-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
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-  Upgrading
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-      </li>
-    
-  
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-      
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-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
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-      </li>
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-  
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-  
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-        <a href="custom_drone.md" class="md-tabs__link">
-          
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-  Misc
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-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
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-  Support
-
-        </a>
-      </li>
-    
-  
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-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -455,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -536,10 +336,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -549,7 +346,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -753,10 +550,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -766,7 +560,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_4" >
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1400,10 +1194,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1413,7 +1204,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1619,10 +1410,7 @@
     
     
     
-      
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-    <li class="md-nav__item md-nav__item--active md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
@@ -1630,7 +1418,7 @@
         <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_6" checked>
         
           
-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2127,10 +1915,7 @@
     
     
     
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2140,7 +1925,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_7" >
         
           
-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2239,10 +2024,7 @@
     
     
     
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2252,7 +2034,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_8" >
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2540,10 +2322,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2553,7 +2332,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2778,10 +2557,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2791,7 +2567,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3125,7 +2901,7 @@ <h1 id="px4-software-in-the-loop-sitl-on-wsl2">PX4 Software-in-the-loop (SITL) o
     </div>
     
     
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diff --git a/real_vehicles.html b/real_vehicles.html
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-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
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@@ -3036,7 +2816,7 @@ <h2 id="how-does-this-work">How Does This Work?<a class="headerlink" href="#how-
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diff --git a/reinforcement_learning.html b/reinforcement_learning.html
index bc978ef8..9323400e 100755
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@@ -106,7 +106,9 @@
     
       
 
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diff --git a/ros_pkgs.html b/ros_pkgs.html
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@@ -106,7 +106,9 @@
     
       
 
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@@ -453,12 +257,10 @@
                     
 
 
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-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
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@@ -3611,7 +3389,7 @@ <h3 id="using-ros-with-docker">Using ROS with Docker<a class="headerlink" href="
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diff --git a/ros_pkgs_tutorial.html b/ros_pkgs_tutorial.html
index ef223d21..92ff9844 100755
--- a/ros_pkgs_tutorial.html
+++ b/ros_pkgs_tutorial.html
@@ -106,7 +106,9 @@
     
       
 
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@@ -242,204 +244,6 @@
       
         
           
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@@ -3191,7 +2969,7 @@ <h3 id="twenty-five-drones-in-a-square-pattern">Twenty-five drones in a square p
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diff --git a/sensors.html b/sensors.html
index 8ef25710..fd07823e 100755
--- a/sensors.html
+++ b/sensors.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
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@@ -242,204 +244,6 @@
       
         
           
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       <main class="md-main" data-md-component="main">
@@ -453,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
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   <span class="md-ellipsis">
@@ -753,10 +552,7 @@
     
     
     
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   <span class="md-ellipsis">
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   <span class="md-ellipsis">
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   <span class="md-ellipsis">
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-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3423,7 +3201,7 @@ <h3 id="lidar">LiDAR<a class="headerlink" href="#lidar" title="Permanent link">#
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+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
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diff --git a/sensors_image.html b/sensors_image.html
index 655a4294..f726f35a 100755
--- a/sensors_image.html
+++ b/sensors_image.html
@@ -102,7 +102,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
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     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -238,202 +240,6 @@
       
         
           
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-      <a href="../README.md" class="md-tabs__link">
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-  Building AutonomySim
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-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
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-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
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@@ -3064,7 +2844,7 @@ <h3 id="usage">Usage<a class="headerlink" href="#usage" title="Permanent link">#
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/settings.html b/settings.html
index 03837f1f..b8ea4882 100755
--- a/settings.html
+++ b/settings.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,204 +244,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
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-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
-  
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-  
-  Changelog
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-  
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-      
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-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
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-      
-        
-  
-  
-    
-  
-  
-    
-    
-      <li class="md-tabs__item md-tabs__item--active">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
-
-        </a>
-      </li>
-    
-  
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-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
-  
-  Design
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-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
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-        </a>
-      </li>
-    
-  
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-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
-  
-  Upgrading
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-        </a>
-      </li>
-    
-  
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-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
-  
-  Contributed Tutorials
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-        </a>
-      </li>
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-  
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-  
-  
-  
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-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
-  
-  Misc
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-        </a>
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-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
-  
-  Support
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-        </a>
-      </li>
-    
-  
-
-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -453,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -534,10 +336,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -547,7 +346,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -753,10 +552,7 @@
     
     
     
-      
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-    <li class="md-nav__item md-nav__item--active md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
@@ -764,7 +560,7 @@
         <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" checked>
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1801,10 +1597,7 @@
     
     
     
-      
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-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
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@@ -1814,7 +1607,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2018,10 +1811,7 @@
     
     
     
-      
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2031,7 +1821,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_6" >
         
           
-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2518,10 +2308,7 @@
     
     
     
-      
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-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2531,7 +2318,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_7" >
         
           
-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2630,10 +2417,7 @@
     
     
     
-      
-      
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-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2643,7 +2427,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_8" >
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2931,10 +2715,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2944,7 +2725,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3169,10 +2950,7 @@
     
     
     
-      
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-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -3182,7 +2960,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3883,7 +3661,7 @@ <h3 id="speedunitlabel">SpeedUnitLabel<a class="headerlink" href="#speedunitlabe
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/simple_flight.html b/simple_flight.html
index 8c2f72c0..f99b6298 100755
--- a/simple_flight.html
+++ b/simple_flight.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,204 +244,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
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-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
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-  
-  Changelog
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-      </a>
-    </li>
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
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-        </a>
-      </li>
-    
-  
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-  
-  
-    
-  
-  
-    
-    
-      <li class="md-tabs__item md-tabs__item--active">
-        <a href="design.md" class="md-tabs__link">
-          
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-  Design
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-      </li>
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-  
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-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
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-  External Flight Controllers
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-      </li>
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-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
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-  Upgrading
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-  
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-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
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-</nav>
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       <main class="md-main" data-md-component="main">
@@ -453,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -534,10 +336,7 @@
     
     
     
-      
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -547,7 +346,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -764,7 +560,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_4" >
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
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+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
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-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
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-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
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-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
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-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
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         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
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         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
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@@ -3183,7 +2961,7 @@ <h2 id="configuration">Configuration<a class="headerlink" href="#configuration"
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/sitemap.xml.gz b/sitemap.xml.gz
index e6b55f66..c04e843f 100755
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diff --git a/surveying.html b/surveying.html
index 20fb2e5f..eecadcfd 100755
--- a/surveying.html
+++ b/surveying.html
@@ -102,7 +102,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -238,202 +240,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
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-  
-  Home
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-      </a>
-    </li>
-  
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-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
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-  Changelog
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-  
-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
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-  
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-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
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-        </a>
-      </li>
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-  
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-  
-  
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-    
-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
-          
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-  Design
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-  
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-    
-      <li class="md-tabs__item">
-        <a href="px4_setup.html" class="md-tabs__link">
-          
-  
-  External Flight Controllers
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-        </a>
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-  
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-      <li class="md-tabs__item">
-        <a href="unreal_upgrade.md" class="md-tabs__link">
-          
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-  Upgrading
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-  
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-  
-  
-    
-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
-          
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-  Contributed Tutorials
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-  
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-      <li class="md-tabs__item">
-        <a href="custom_drone.md" class="md-tabs__link">
-          
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-  Misc
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-  
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-  
-  
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-      <li class="md-tabs__item">
-        <a href="faq.html" class="md-tabs__link">
-          
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-  Support
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-      </li>
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-  
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-      
-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -447,12 +253,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -528,10 +332,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -541,7 +342,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -745,10 +546,7 @@
     
     
     
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@@ -758,7 +556,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_4" >
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1392,10 +1190,7 @@
     
     
     
-      
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-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1405,7 +1200,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1609,10 +1404,7 @@
     
     
     
-      
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1622,7 +1414,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_6" >
         
           
-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2109,10 +1901,7 @@
     
     
     
-      
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-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2122,7 +1911,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_7" >
         
           
-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2221,10 +2010,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2234,7 +2020,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_8" >
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2522,10 +2308,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2535,7 +2318,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2760,10 +2543,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2773,7 +2553,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3050,7 +2830,7 @@ <h1 id="surveying">Surveying<a class="headerlink" href="#surveying" title="Perma
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/texture_swapping.html b/texture_swapping.html
index 3015d2aa..4119f16f 100755
--- a/texture_swapping.html
+++ b/texture_swapping.html
@@ -102,7 +102,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -238,202 +240,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
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-        
-  
-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
-  
-    
-  
-  Home
-
-      </a>
-    </li>
-  
-
-      
-        
-  
-  
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-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
-        
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-  Changelog
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-      </a>
-    </li>
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-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-  
-    
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-      <li class="md-tabs__item">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
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-      </li>
-    
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-  
-  
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-      <li class="md-tabs__item">
-        <a href="design.md" class="md-tabs__link">
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-  Design
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-    
-  
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-        <a href="px4_setup.html" class="md-tabs__link">
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-  External Flight Controllers
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-        </a>
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-        <a href="unreal_upgrade.md" class="md-tabs__link">
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-    
-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
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-  Support
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-          
         
       
       <main class="md-main" data-md-component="main">
@@ -447,12 +253,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
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-      
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-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
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-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
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-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
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-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
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-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
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-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
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         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
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         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
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@@ -3036,7 +2816,7 @@ <h2 id="how-to-swap-textures-from-the-api">How to Swap Textures from the API<a c
     </div>
     
     
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diff --git a/unreal_blocks.html b/unreal_blocks.html
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@@ -106,7 +106,9 @@
     
       
 
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@@ -242,204 +244,6 @@
       
         
           
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@@ -453,12 +257,10 @@
                     
 
 
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-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
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@@ -3187,7 +2965,7 @@ <h4 id="i-see-warnings-about-like-_buitdata-file-is-missing">I see warnings abou
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diff --git a/unreal_custenv.html b/unreal_custenv.html
index d489b637..b82b873c 100755
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+++ b/unreal_custenv.html
@@ -106,7 +106,9 @@
     
       
 
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@@ -3314,7 +3092,7 @@ <h3 id="i-already-have-my-own-unreal-project-how-do-i-use-autonomysim-with-it">I
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+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/unreal_plugins.html b/unreal_plugins.html
index ba23d34a..a03bdd90 100755
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@@ -102,7 +102,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -238,202 +240,6 @@
       
         
           
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-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
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     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
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-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
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@@ -745,10 +546,7 @@
     
     
     
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-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
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-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
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@@ -2221,10 +2010,7 @@
     
     
     
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-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2522,10 +2308,7 @@
     
     
     
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@@ -2535,7 +2318,7 @@
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-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
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         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
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@@ -3001,7 +2781,7 @@ <h1 id="unreal-plugin-contents">Unreal Plugin Contents<a class="headerlink" href
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+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/unreal_projects.html b/unreal_projects.html
index 0f588a39..bc3923e1 100755
--- a/unreal_projects.html
+++ b/unreal_projects.html
@@ -102,7 +102,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -238,202 +240,6 @@
       
         
           
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+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
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@@ -3004,7 +2784,7 @@ <h2 id="changing-code-and-development-workflow">Changing Code and Development Wo
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       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/unreal_upgrading.html b/unreal_upgrading.html
index 6a8dfc13..27b1ed53 100755
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@@ -102,7 +102,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
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+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -238,202 +240,6 @@
       
         
           
-            
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@@ -447,12 +253,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
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-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
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@@ -745,10 +546,7 @@
     
     
     
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-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
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-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
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-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
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-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2522,10 +2308,7 @@
     
     
     
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@@ -2535,7 +2318,7 @@
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-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
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         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3048,7 +2828,7 @@ <h5 id="last">Last<a class="headerlink" href="#last" title="Permanent link">#</a
     </div>
     
     
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+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
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diff --git a/upgrade_settings.html b/upgrade_settings.html
index 3b654066..122fbf67 100755
--- a/upgrade_settings.html
+++ b/upgrade_settings.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,204 +244,6 @@
       
         
           
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-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
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@@ -3174,7 +2952,7 @@ <h3 id="additionalcameras">AdditionalCameras<a class="headerlink" href="#additio
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diff --git a/usage_rover.html b/usage_rover.html
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@@ -102,7 +102,9 @@
     
       
 
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+  
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+<header class="md-header md-header--shadow" data-md-component="header">
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@@ -447,12 +253,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
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@@ -3010,7 +2790,7 @@ <h2 id="cameras">Cameras<a class="headerlink" href="#cameras" title="Permanent l
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diff --git a/userbase.html b/userbase.html
index 2c136c34..8315d3ca 100755
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+++ b/userbase.html
@@ -102,7 +102,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
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     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -238,202 +240,6 @@
       
         
           
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+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
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@@ -3029,7 +2809,7 @@ <h2 id="would-you-like-to-see-your-own-group-or-project-here">Would you like to
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+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/vehicles_multiple.html b/vehicles_multiple.html
index 677436b0..9b2d7a5f 100755
--- a/vehicles_multiple.html
+++ b/vehicles_multiple.html
@@ -102,7 +102,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -238,202 +240,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
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-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
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-  Home
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-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
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-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
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-  
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-        <a href="apis.html" class="md-tabs__link">
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-  Using AutonomySim
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-  Design
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-        <a href="px4_setup.html" class="md-tabs__link">
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-  External Flight Controllers
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-  Upgrading
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-      <li class="md-tabs__item">
-        <a href="reinforcement_learning.html" class="md-tabs__link">
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-  Contributed Tutorials
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-        <a href="custom_drone.md" class="md-tabs__link">
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-  Misc
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-  Support
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-  
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-    </ul>
-  </div>
-</nav>
-          
         
       
       <main class="md-main" data-md-component="main">
@@ -447,12 +253,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -528,10 +332,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -541,7 +342,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -745,10 +546,7 @@
     
     
     
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -758,7 +556,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_4" >
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1392,10 +1190,7 @@
     
     
     
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-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1405,7 +1200,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -1609,10 +1404,7 @@
     
     
     
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -1622,7 +1414,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_6" >
         
           
-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2109,10 +1901,7 @@
     
     
     
-      
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-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2122,7 +1911,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_7" >
         
           
-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2221,10 +2010,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2234,7 +2020,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_8" >
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2522,10 +2308,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2535,7 +2318,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -2760,10 +2543,7 @@
     
     
     
-      
-      
-    
-    <li class="md-nav__item md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2773,7 +2553,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -3061,7 +2841,7 @@ <h3 id="creating-vehicles-at-runtime-through-api">Creating vehicles at runtime t
     </div>
     
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>
diff --git a/voxel_grid.html b/voxel_grid.html
index cf717b7a..6bdff6a2 100755
--- a/voxel_grid.html
+++ b/voxel_grid.html
@@ -106,7 +106,9 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="Header">
     <a href="." title="AutonomySim" class="md-header__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -242,204 +244,6 @@
       
         
           
-            
-<nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-grid">
-    <ul class="md-tabs__list">
-      
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-  
-  
-    <li class="md-tabs__item">
-      <a href="../README.md" class="md-tabs__link">
-        
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-  Home
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-    </li>
-  
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-      
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-    <li class="md-tabs__item">
-      <a href="CHANGELOG.html" class="md-tabs__link">
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-  Changelog
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-    </li>
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-    
-    
-      <li class="md-tabs__item">
-        <a href="use_precompiled.md" class="md-tabs__link">
-          
-  
-  Building AutonomySim
-
-        </a>
-      </li>
-    
-  
-
-      
-        
-  
-  
-    
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-  
-    
-    
-      <li class="md-tabs__item md-tabs__item--active">
-        <a href="apis.html" class="md-tabs__link">
-          
-  
-  Using AutonomySim
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-  Design
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-  External Flight Controllers
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       <main class="md-main" data-md-component="main">
@@ -453,12 +257,10 @@
                     
 
 
-  
-
 
   
 
-<nav class="md-nav md-nav--primary md-nav--lifted md-nav--integrated" aria-label="Navigation" data-md-level="0">
+<nav class="md-nav md-nav--primary md-nav--integrated" aria-label="Navigation" data-md-level="0">
   <label class="md-nav__title" for="__drawer">
     <a href="." title="AutonomySim" class="md-nav__button md-logo" aria-label="AutonomySim" data-md-component="logo">
       
@@ -534,10 +336,7 @@
     
     
     
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -547,7 +346,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_3" >
         
           
-          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="">
+          <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
             
   
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+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
         
         
@@ -764,7 +560,7 @@
         <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" checked>
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
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@@ -1478,7 +1271,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_5" >
         
           
-          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="">
+          <label class="md-nav__link" for="__nav_5" id="__nav_5_label" tabindex="0">
             
   
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         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_6" >
         
           
-          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="">
+          <label class="md-nav__link" for="__nav_6" id="__nav_6_label" tabindex="0">
             
   
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-          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="">
+          <label class="md-nav__link" for="__nav_7" id="__nav_7_label" tabindex="0">
             
   
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
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         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_8" >
         
           
-          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="">
+          <label class="md-nav__link" for="__nav_8" id="__nav_8_label" tabindex="0">
             
   
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@@ -2595,10 +2379,7 @@
     
     
     
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2608,7 +2389,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_9" >
         
           
-          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="">
+          <label class="md-nav__link" for="__nav_9" id="__nav_9_label" tabindex="0">
             
   
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+    <li class="md-nav__item md-nav__item--nested">
       
         
         
@@ -2846,7 +2624,7 @@
         <input class="md-nav__toggle md-toggle md-toggle--indeterminate" type="checkbox" id="__nav_10" >
         
           
-          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="">
+          <label class="md-nav__link" for="__nav_10" id="__nav_10_label" tabindex="0">
             
   
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@@ -3144,7 +2922,7 @@ <h2 id="converion-to-octomap-format-visualized-in-rviz">Converion to Octomap for
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-    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.tabs", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["announce.dismiss", "content.code.annotate", "content.code.copy", "content.tabs.link", "navigation.expand", "navigation.top", "navigation.path", "navigation.footer", "search.suggest", "search.share", "toc.follow", "toc.integrate"], "search": "assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}, "version": {"default": "latest"}}</script>
     
     
       <script src="assets/javascripts/bundle.caa56a14.min.js"></script>