From a82c9f5ee029d9f144ca3567454e996cd52ace6d Mon Sep 17 00:00:00 2001
From: admercs <adam.michael.erickson@gmail.com>
Date: Wed, 6 Mar 2024 10:09:13 -0800
Subject: [PATCH] update linux build

---
 AutonomyLib/AutonomyLib.vcxproj               |  955 ++++++-------
 AutonomyLib/AutonomyLib.vcxproj.filters       |  981 +++++++-------
 AutonomyLib/include/common/WorkerThread.hpp   |    4 +-
 MavLinkCom/MavLinkCom.vcxproj                 | 1206 +++++++++--------
 MavLinkCom/MavLinkCom.vcxproj.filters         |  527 +++----
 MavLinkCom/MavLinkTest/MavLinkTest.vcxproj    |  885 ++++++------
 MavLinkCom/include/Semaphore.hpp              |    1 +
 MavLinkCom/src/MavLinkMessageBase.cpp         |    2 +-
 MavLinkCom/src/impl/AdHocConnectionImpl.hpp   |    2 +-
 MavLinkCom/src/impl/MavLinkConnectionImpl.hpp |    2 +-
 cmake/HelloCar/CMakeLists.txt                 |    2 +-
 cmake/HelloDrone/CMakeLists.txt               |    2 +-
 cmake/HelloSpawnedDrones/CMakeLists.txt       |    2 +-
 cmake/MavLinkCom/CMakeLists.txt               |    2 +-
 cmake/MavLinkCom/MavLinkTest/CMakeLists.txt   |    2 +-
 ros2/src/autonomysim_ros_pkgs/CMakeLists.txt  |    2 +-
 16 files changed, 2313 insertions(+), 2264 deletions(-)

diff --git a/AutonomyLib/AutonomyLib.vcxproj b/AutonomyLib/AutonomyLib.vcxproj
index b39932de..071e44c9 100644
--- a/AutonomyLib/AutonomyLib.vcxproj
+++ b/AutonomyLib/AutonomyLib.vcxproj
@@ -1,471 +1,488 @@
 <?xml version="1.0" encoding="utf-8"?>
-<Project DefaultTargets="Build" ToolsVersion="16.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
-  <Import Project="$([MSBuild]::GetDirectoryNameOfFileAbove($(MSBuildThisFileDirectory), AutonomySim.props))\AutonomySim.props" />
-  <PropertyGroup>
-    <ShowAllFiles>true</ShowAllFiles>
-  </PropertyGroup>
-  <ItemGroup Label="ProjectConfigurations">
-    <ProjectConfiguration Include="Debug|Win32">
-      <Configuration>Debug</Configuration>
-      <Platform>Win32</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="Release|Win32">
-      <Configuration>Release</Configuration>
-      <Platform>Win32</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="Debug|x64">
-      <Configuration>Debug</Configuration>
-      <Platform>x64</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="Release|x64">
-      <Configuration>Release</Configuration>
-      <Platform>x64</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="RelWithDebInfo|Win32">
-      <Configuration>RelWithDebInfo</Configuration>
-      <Platform>Win32</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="RelWithDebInfo|x64">
-      <Configuration>RelWithDebInfo</Configuration>
-      <Platform>x64</Platform>
-    </ProjectConfiguration>
-  </ItemGroup>
-  <ItemGroup>
-    <ClInclude Include="include\api\ApiProvider.hpp" />
-    <ClInclude Include="include\api\ApiServerBase.hpp" />
-    <ClInclude Include="include\api\RpcLibAdaptorsBase.hpp" />
-    <ClInclude Include="include\api\RpcLibClientBase.hpp" />
-    <ClInclude Include="include\api\RpcLibServerBase.hpp" />
-    <ClInclude Include="include\api\WorldSimApiBase.hpp" />
-    <ClInclude Include="include\api\VehicleApiBase.hpp" />
-    <ClInclude Include="include\api\VehicleSimApiBase.hpp" />
-    <ClInclude Include="include\api\WorldApiBase.hpp" />
-    <ClInclude Include="include\common\AutonomySimSettings.hpp" />
-    <ClInclude Include="include\common\CancelToken.hpp" />
-    <ClInclude Include="include\common\ClockBase.hpp" />
-    <ClInclude Include="include\common\Common.hpp" />
-    <ClInclude Include="include\common\CommonStructs.hpp" />
-    <ClInclude Include="include\common\ClockFactory.hpp" />
-    <ClInclude Include="include\common\common_utils\bitmap_image.hpp" />
-    <ClInclude Include="include\common\common_utils\ColorUtils.hpp" />
-    <ClInclude Include="include\common\common_utils\ctpl_stl.h" />
-    <ClInclude Include="include\common\common_utils\EnumFlags.hpp" />
-    <ClInclude Include="include\common\common_utils\ExceptionUtils.hpp" />
-    <ClInclude Include="include\common\common_utils\FileSystem.hpp" />
-    <ClInclude Include="include\common\common_utils\json.hpp" />
-    <ClInclude Include="include\common\common_utils\SmoothingFilter.hpp" />
-    <ClInclude Include="include\common\common_utils\UniqueValueMap.hpp" />
-    <ClInclude Include="include\common\common_utils\MedianFilter.hpp" />
-    <ClInclude Include="include\common\common_utils\MinWinDefines.hpp" />
-    <ClInclude Include="include\common\common_utils\OnlineStats.hpp" />
-    <ClInclude Include="include\common\common_utils\optional.hpp" />
-    <ClInclude Include="include\common\common_utils\prettyprint.hpp" />
-    <ClInclude Include="include\common\common_utils\ProsumerQueue.hpp" />
-    <ClInclude Include="include\common\common_utils\RandomGenerator.hpp" />
-    <ClInclude Include="include\common\common_utils\ScheduledExecutor.hpp" />
-    <ClInclude Include="include\common\common_utils\Signal.hpp" />
-    <ClInclude Include="include\common\common_utils\sincos.hpp" />
-    <ClInclude Include="include\common\common_utils\StrictMode.hpp" />
-    <ClInclude Include="include\common\common_utils\Timer.hpp" />
-    <ClInclude Include="include\common\common_utils\type_utils.hpp" />
-    <ClInclude Include="include\common\common_utils\Utils.hpp" />
-    <ClInclude Include="include\common\common_utils\WindowsApisCommonPost.hpp" />
-    <ClInclude Include="include\common\common_utils\WindowsApisCommonPre.hpp" />
-    <ClInclude Include="include\common\WorkerThread.hpp" />
-    <ClInclude Include="include\common\EarthCelestial.hpp" />
-    <ClInclude Include="include\common\SteppableClock.hpp" />
-    <ClInclude Include="include\common\DelayLine.hpp" />
-    <ClInclude Include="include\common\EarthUtils.hpp" />
-    <ClInclude Include="include\common\FirstOrderFilter.hpp" />
-    <ClInclude Include="include\common\FrequencyLimiter.hpp" />
-    <ClInclude Include="include\common\GaussianMarkov.hpp" />
-    <ClInclude Include="include\common\GeodeticConverter.hpp" />
-    <ClInclude Include="include\common\LogFileWriter.hpp" />
-    <ClInclude Include="include\common\ScalableClock.hpp" />
-    <ClInclude Include="include\common\StateReporter.hpp" />
-    <ClInclude Include="include\common\StateReporterWrapper.hpp" />
-    <ClInclude Include="include\common\UpdatableContainer.hpp" />
-    <ClInclude Include="include\common\UpdatableObject.hpp" />
-    <ClInclude Include="include\common\VectorMath.hpp" />
-    <ClInclude Include="include\common\common_utils\AsyncTasker.hpp" />
-    <ClInclude Include="include\common\ImageCaptureBase.hpp" />
-    <ClInclude Include="include\api\VehicleConnectorBase.hpp" />
-    <ClInclude Include="include\sensors\SensorFactory.hpp" />
-    <ClInclude Include="include\vehicles\car\api\CarApiBase.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\api\MultirotorCommon.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibAdaptors.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibClient.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibServer.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\mavlink\ArduCopterSoloApi.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\mavlink\ArduCopterSoloParams.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightBoard.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightCommLink.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightEstimator.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightCommon.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\AdaptiveController.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\AngleLevelController.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\AngleRateController.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\CascadeController.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\ConstantOutputController.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IPidIntegrator.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\OffboardApi.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\Firmware.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\CommonStructs.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IAxisController.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IBoard.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IBoardClock.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IBoardInputPins.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IBoardOutputPins.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IBoardSensors.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\ICommLink.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IController.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IFirmware.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IGoal.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IOffboardApi.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IStateEstimator.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IUpdatable.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\Mixer.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\Params.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\PassthroughController.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\PidController.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\PositionController.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\RemoteControl.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\RungKuttaPidIntegrator.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\StdPidIntegrator.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\VelocityController.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightApi.hpp" />
-    <ClInclude Include="include\physics\DebugPhysicsBody.hpp" />
-    <ClInclude Include="include\physics\PhysicsBodyWorld.hpp" />
-    <ClInclude Include="include\physics\PhysicsWorld.hpp" />
-    <ClInclude Include="include\safety\CubeGeoFence.hpp" />
-    <ClInclude Include="include\safety\IGeoFence.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\mavlink\MavLinkMultirotorApi.hpp" />
-    <ClInclude Include="include\safety\ObstacleMap.hpp" />
-    <ClInclude Include="include\common\PidController.hpp" />
-    <ClInclude Include="include\vehicles\car\api\CarRpcLibAdaptors.hpp" />
-    <ClInclude Include="include\vehicles\car\api\CarRpcLibClient.hpp" />
-    <ClInclude Include="include\vehicles\car\api\CarRpcLibServer.hpp" />
-    <ClInclude Include="include\safety\SafetyEval.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\api\MultirotorApiBase.hpp" />
-    <ClInclude Include="include\common\Settings.hpp" />
-    <ClInclude Include="include\safety\SphereGeoFence.hpp" />
-    <ClInclude Include="include\common\Waiter.hpp" />
-    <ClInclude Include="include\physics\Environment.hpp" />
-    <ClInclude Include="include\physics\FastPhysicsEngine.hpp" />
-    <ClInclude Include="include\physics\Kinematics.hpp" />
-    <ClInclude Include="include\physics\PhysicsBody.hpp" />
-    <ClInclude Include="include\physics\PhysicsBodyVertex.hpp" />
-    <ClInclude Include="include\physics\PhysicsEngineBase.hpp" />
-    <ClInclude Include="include\physics\World.hpp" />
-    <ClInclude Include="include\sensors\barometer\BarometerBase.hpp" />
-    <ClInclude Include="include\sensors\barometer\BarometerSimple.hpp" />
-    <ClInclude Include="include\sensors\barometer\BarometerSimpleParams.hpp" />
-    <ClInclude Include="include\sensors\gps\GpsBase.hpp" />
-    <ClInclude Include="include\sensors\gps\GpsSimple.hpp" />
-    <ClInclude Include="include\sensors\gps\GpsSimpleParams.hpp" />
-    <ClInclude Include="include\sensors\imu\ImuBase.hpp" />
-    <ClInclude Include="include\sensors\imu\ImuSimple.hpp" />
-    <ClInclude Include="include\sensors\imu\ImuSimpleParams.hpp" />
-    <ClInclude Include="include\sensors\magnetometer\MagnetometerBase.hpp" />
-    <ClInclude Include="include\sensors\magnetometer\MagnetometerSimple.hpp" />
-    <ClInclude Include="include\sensors\magnetometer\MagnetometerSimpleParams.hpp" />
-    <ClInclude Include="include\sensors\SensorBase.hpp" />
-    <ClInclude Include="include\sensors\SensorCollection.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\mavlink\Px4MultirotorParams.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightQuadXParams.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\MultirotorPhysicsBody.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\MultirotorParams.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\MultirotorParamsFactory.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\RotorActuator.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\RotorParams.hpp" />
-  </ItemGroup>
-  <ItemGroup>
-    <ClCompile Include="src\api\RpcLibClientBase.cpp" />
-    <ClCompile Include="src\api\RpcLibServerBase.cpp" />
-    <ClCompile Include="src\vehicles\multirotor\api\MultirotorApiBase.cpp" />
-    <ClCompile Include="src\safety\ObstacleMap.cpp" />
-    <ClCompile Include="src\safety\SafetyEval.cpp" />
-    <ClCompile Include="src\common\common_utils\FileSystem.cpp" />
-    <ClCompile Include="src\vehicles\car\api\CarRpcLibClient.cpp" />
-    <ClCompile Include="src\vehicles\car\api\CarRpcLibServer.cpp" />
-    <ClCompile Include="src\vehicles\multirotor\api\MultirotorRpcLibClient.cpp" />
-    <ClCompile Include="src\vehicles\multirotor\api\MultirotorRpcLibServer.cpp" />
-  </ItemGroup>
-  <ItemGroup>
-    <ProjectReference Include="..\MavLinkCom\MavLinkCom.vcxproj">
-      <Project>{8510c7a4-bf63-41d2-94f6-d8731d137a5a}</Project>
-    </ProjectReference>
-  </ItemGroup>
-  <PropertyGroup Label="Globals">
-    <ProjectGuid>{4BFB7231-077A-4671-BD21-D3ADE3EA36E7}</ProjectGuid>
-    <Keyword>Win32Proj</Keyword>
-    <RootNamespace>AutonomyLib</RootNamespace>
-  </PropertyGroup>
-  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
-    <ConfigurationType>StaticLibrary</ConfigurationType>
-    <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v143</PlatformToolset>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
-    <ConfigurationType>StaticLibrary</ConfigurationType>
-    <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v143</PlatformToolset>
-    <WholeProgramOptimization>true</WholeProgramOptimization>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'" Label="Configuration">
-    <ConfigurationType>StaticLibrary</ConfigurationType>
-    <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v143</PlatformToolset>
-    <WholeProgramOptimization>true</WholeProgramOptimization>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
-    <ConfigurationType>StaticLibrary</ConfigurationType>
-    <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v143</PlatformToolset>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
-    <ConfigurationType>StaticLibrary</ConfigurationType>
-    <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v143</PlatformToolset>
-    <WholeProgramOptimization>true</WholeProgramOptimization>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'" Label="Configuration">
-    <ConfigurationType>StaticLibrary</ConfigurationType>
-    <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v143</PlatformToolset>
-    <WholeProgramOptimization>true</WholeProgramOptimization>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
-  <ImportGroup Label="ExtensionSettings">
-  </ImportGroup>
-  <ImportGroup Label="Shared">
-  </ImportGroup>
-  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'" Label="PropertySheets">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'" Label="PropertySheets">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <PropertyGroup Label="UserMacros" />
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
-    <LinkIncremental>true</LinkIncremental>
-    <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
-    <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
-    <LinkIncremental>true</LinkIncremental>
-    <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
-    <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
-    <LinkIncremental>false</LinkIncremental>
-    <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
-    <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">
-    <LinkIncremental>false</LinkIncremental>
-    <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
-    <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
-    <LinkIncremental>false</LinkIncremental>
-    <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
-    <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'">
-    <LinkIncremental>false</LinkIncremental>
-    <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
-    <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
-  </PropertyGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
-    <ClCompile>
-      <PrecompiledHeader>
-      </PrecompiledHeader>
-      <WarningLevel>Level4</WarningLevel>
-      <Optimization>Disabled</Optimization>
-      <PreprocessorDefinitions>WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <AdditionalIncludeDirectories>include;deps\eigen3;deps\rpclib\include;$(ProjectDir)..\MavLinkCom\include</AdditionalIncludeDirectories>
-      <TreatWarningAsError>true</TreatWarningAsError>
-      <AdditionalOptions>/w34263 /w34266 %(AdditionalOptions)</AdditionalOptions>
-      <LanguageStandard>stdcpp17</LanguageStandard>
-    </ClCompile>
-    <Link>
-      <SubSystem>Console</SubSystem>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalDependencies>MavLinkCom.lib;%(AdditionalDependencies)</AdditionalDependencies>
-      <AdditionalLibraryDirectories>%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
-    </Link>
-    <Lib>
-      <AdditionalDependencies>rpc.lib</AdditionalDependencies>
-    </Lib>
-    <Lib>
-      <AdditionalLibraryDirectories>deps\rpclib\lib\$(Platform)\$(Configuration)</AdditionalLibraryDirectories>
-    </Lib>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
-    <ClCompile>
-      <PrecompiledHeader>
-      </PrecompiledHeader>
-      <WarningLevel>Level4</WarningLevel>
-      <Optimization>Disabled</Optimization>
-      <PreprocessorDefinitions>_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_DEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <AdditionalIncludeDirectories>include;deps\eigen3;deps\rpclib\include;$(ProjectDir)..\MavLinkCom\include</AdditionalIncludeDirectories>
-      <TreatWarningAsError>true</TreatWarningAsError>
-      <AdditionalOptions>/w34263 /w34266 %(AdditionalOptions)</AdditionalOptions>
-      <DisableSpecificWarnings>4100;4505;4820;4464;4514;4710;4571;%(DisableSpecificWarnings)</DisableSpecificWarnings>
-      <LanguageStandard>stdcpp17</LanguageStandard>
-    </ClCompile>
-    <Link>
-      <SubSystem>Windows</SubSystem>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalLibraryDirectories>deps\rpclib\lib\Debug;deps\MavLinkCom\lib\x64\Debug;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
-      <AdditionalDependencies>MavLinkCom.lib;Setupapi.lib;Cfgmgr32.lib;rpc.lib;%(AdditionalDependencies)</AdditionalDependencies>
-    </Link>
-    <Lib>
-      <AdditionalDependencies>rpc.lib</AdditionalDependencies>
-    </Lib>
-    <Lib>
-      <AdditionalLibraryDirectories>deps\rpclib\lib\$(Platform)\$(Configuration)</AdditionalLibraryDirectories>
-    </Lib>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
-    <ClCompile>
-      <WarningLevel>Level4</WarningLevel>
-      <PrecompiledHeader>
-      </PrecompiledHeader>
-      <Optimization>MaxSpeed</Optimization>
-      <FunctionLevelLinking>true</FunctionLevelLinking>
-      <IntrinsicFunctions>true</IntrinsicFunctions>
-      <PreprocessorDefinitions>WIN32;NDEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <AdditionalIncludeDirectories>include;deps\eigen3;deps\rpclib\include;$(ProjectDir)..\MavLinkCom\include</AdditionalIncludeDirectories>
-      <TreatWarningAsError>true</TreatWarningAsError>
-      <AdditionalOptions>/w34263 /w34266 %(AdditionalOptions)</AdditionalOptions>
-      <LanguageStandard>stdcpp17</LanguageStandard>
-    </ClCompile>
-    <Link>
-      <SubSystem>Windows</SubSystem>
-      <EnableCOMDATFolding>true</EnableCOMDATFolding>
-      <OptimizeReferences>true</OptimizeReferences>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalLibraryDirectories>%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
-      <AdditionalDependencies>MavLinkCom.lib;Setupapi.lib;Cfgmgr32.lib;%(AdditionalDependencies)</AdditionalDependencies>
-    </Link>
-    <Lib>
-      <AdditionalDependencies>rpc.lib</AdditionalDependencies>
-    </Lib>
-    <Lib>
-      <AdditionalLibraryDirectories>deps\rpclib\lib\$(Platform)\$(Configuration)</AdditionalLibraryDirectories>
-    </Lib>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">
-    <ClCompile>
-      <WarningLevel>Level4</WarningLevel>
-      <PrecompiledHeader>
-      </PrecompiledHeader>
-      <Optimization>Disabled</Optimization>
-      <FunctionLevelLinking>true</FunctionLevelLinking>
-      <IntrinsicFunctions>true</IntrinsicFunctions>
-      <PreprocessorDefinitions>WIN32;NDEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <AdditionalIncludeDirectories>include;deps\eigen3;deps\rpclib\include;$(ProjectDir)..\MavLinkCom\include</AdditionalIncludeDirectories>
-      <TreatWarningAsError>true</TreatWarningAsError>
-      <AdditionalOptions>/w34263 /w34266 %(AdditionalOptions)</AdditionalOptions>
-      <LanguageStandard>stdcpp17</LanguageStandard>
-      <WholeProgramOptimization>false</WholeProgramOptimization>
-    </ClCompile>
-    <Link>
-      <SubSystem>Windows</SubSystem>
-      <EnableCOMDATFolding>true</EnableCOMDATFolding>
-      <OptimizeReferences>true</OptimizeReferences>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalLibraryDirectories>%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
-      <AdditionalDependencies>MavLinkCom.lib;Setupapi.lib;Cfgmgr32.lib;%(AdditionalDependencies)</AdditionalDependencies>
-    </Link>
-    <Lib>
-      <AdditionalDependencies>rpc.lib</AdditionalDependencies>
-    </Lib>
-    <Lib>
-      <AdditionalLibraryDirectories>deps\rpclib\lib\$(Platform)\$(Configuration)</AdditionalLibraryDirectories>
-    </Lib>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
-    <ClCompile>
-      <WarningLevel>Level4</WarningLevel>
-      <PrecompiledHeader>
-      </PrecompiledHeader>
-      <Optimization>MaxSpeed</Optimization>
-      <FunctionLevelLinking>true</FunctionLevelLinking>
-      <IntrinsicFunctions>true</IntrinsicFunctions>
-      <PreprocessorDefinitions>NDEBUG;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <AdditionalIncludeDirectories>include;deps\eigen3;deps\rpclib\include;$(ProjectDir)..\MavLinkCom\include</AdditionalIncludeDirectories>
-      <TreatWarningAsError>true</TreatWarningAsError>
-      <AdditionalOptions>/w34263 /w34266 %(AdditionalOptions)</AdditionalOptions>
-      <LanguageStandard>stdcpp17</LanguageStandard>
-    </ClCompile>
-    <Link>
-      <SubSystem>Windows</SubSystem>
-      <EnableCOMDATFolding>true</EnableCOMDATFolding>
-      <OptimizeReferences>true</OptimizeReferences>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalLibraryDirectories>deps\rpclib\lib\Debug;deps\MavLinkCom\lib\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
-      <AdditionalDependencies>MavLinkCom.lib;Setupapi.lib;Cfgmgr32.lib;%(AdditionalDependencies)</AdditionalDependencies>
-    </Link>
-    <Lib>
-      <AdditionalDependencies>rpc.lib</AdditionalDependencies>
-    </Lib>
-    <Lib>
-      <AdditionalLibraryDirectories>deps\rpclib\lib\$(Platform)\$(Configuration)</AdditionalLibraryDirectories>
-    </Lib>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'">
-    <ClCompile>
-      <WarningLevel>Level4</WarningLevel>
-      <PrecompiledHeader>
-      </PrecompiledHeader>
-      <Optimization>Disabled</Optimization>
-      <FunctionLevelLinking>true</FunctionLevelLinking>
-      <IntrinsicFunctions>true</IntrinsicFunctions>
-      <PreprocessorDefinitions>NDEBUG;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <AdditionalIncludeDirectories>include;deps\eigen3;deps\rpclib\include;$(ProjectDir)..\MavLinkCom\include</AdditionalIncludeDirectories>
-      <TreatWarningAsError>true</TreatWarningAsError>
-      <AdditionalOptions>/w34263 /w34266 %(AdditionalOptions)</AdditionalOptions>
-      <LanguageStandard>stdcpp17</LanguageStandard>
-      <WholeProgramOptimization>false</WholeProgramOptimization>
-    </ClCompile>
-    <Link>
-      <SubSystem>Windows</SubSystem>
-      <EnableCOMDATFolding>true</EnableCOMDATFolding>
-      <OptimizeReferences>true</OptimizeReferences>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalLibraryDirectories>deps\rpclib\lib\Debug;deps\MavLinkCom\lib\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
-      <AdditionalDependencies>MavLinkCom.lib;Setupapi.lib;Cfgmgr32.lib;%(AdditionalDependencies)</AdditionalDependencies>
-    </Link>
-    <Lib>
-      <AdditionalDependencies>rpc.lib</AdditionalDependencies>
-    </Lib>
-    <Lib>
-      <AdditionalLibraryDirectories>deps\rpclib\lib\$(Platform)\$(Configuration)</AdditionalLibraryDirectories>
-    </Lib>
-  </ItemDefinitionGroup>
-  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
-  <ImportGroup Label="ExtensionTargets">
-  </ImportGroup>
+<Project DefaultTargets="Build"
+         ToolsVersion="16.0"
+         xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+    <Import Project="$([MSBuild]::GetDirectoryNameOfFileAbove($(MSBuildThisFileDirectory), AutonomySim.props))\AutonomySim.props" />
+    <PropertyGroup>
+        <ShowAllFiles>true</ShowAllFiles>
+    </PropertyGroup>
+    <ItemGroup Label="ProjectConfigurations">
+        <ProjectConfiguration Include="Debug|Win32">
+            <Configuration>Debug</Configuration>
+            <Platform>Win32</Platform>
+        </ProjectConfiguration>
+        <ProjectConfiguration Include="Release|Win32">
+            <Configuration>Release</Configuration>
+            <Platform>Win32</Platform>
+        </ProjectConfiguration>
+        <ProjectConfiguration Include="Debug|x64">
+            <Configuration>Debug</Configuration>
+            <Platform>x64</Platform>
+        </ProjectConfiguration>
+        <ProjectConfiguration Include="Release|x64">
+            <Configuration>Release</Configuration>
+            <Platform>x64</Platform>
+        </ProjectConfiguration>
+        <ProjectConfiguration Include="RelWithDebInfo|Win32">
+            <Configuration>RelWithDebInfo</Configuration>
+            <Platform>Win32</Platform>
+        </ProjectConfiguration>
+        <ProjectConfiguration Include="RelWithDebInfo|x64">
+            <Configuration>RelWithDebInfo</Configuration>
+            <Platform>x64</Platform>
+        </ProjectConfiguration>
+    </ItemGroup>
+    <ItemGroup>
+        <ClInclude Include="include\api\ApiProvider.hpp" />
+        <ClInclude Include="include\api\ApiServerBase.hpp" />
+        <ClInclude Include="include\api\RpcLibAdaptorsBase.hpp" />
+        <ClInclude Include="include\api\RpcLibClientBase.hpp" />
+        <ClInclude Include="include\api\RpcLibServerBase.hpp" />
+        <ClInclude Include="include\api\WorldSimApiBase.hpp" />
+        <ClInclude Include="include\api\VehicleApiBase.hpp" />
+        <ClInclude Include="include\api\VehicleSimApiBase.hpp" />
+        <ClInclude Include="include\api\WorldApiBase.hpp" />
+        <ClInclude Include="include\common\AutonomySimSettings.hpp" />
+        <ClInclude Include="include\common\CancelToken.hpp" />
+        <ClInclude Include="include\common\ClockBase.hpp" />
+        <ClInclude Include="include\common\Common.hpp" />
+        <ClInclude Include="include\common\CommonStructs.hpp" />
+        <ClInclude Include="include\common\ClockFactory.hpp" />
+        <ClInclude Include="include\common\utils\bitmap_image.hpp" />
+        <ClInclude Include="include\common\utils\ColorUtils.hpp" />
+        <ClInclude Include="include\common\utils\ctpl_stl.h" />
+        <ClInclude Include="include\common\utils\EnumFlags.hpp" />
+        <ClInclude Include="include\common\utils\ExceptionUtils.hpp" />
+        <ClInclude Include="include\common\utils\FileSystem.hpp" />
+        <ClInclude Include="include\common\utils\json.hpp" />
+        <ClInclude Include="include\common\utils\SmoothingFilter.hpp" />
+        <ClInclude Include="include\common\utils\UniqueValueMap.hpp" />
+        <ClInclude Include="include\common\utils\MedianFilter.hpp" />
+        <ClInclude Include="include\common\utils\MinWinDefines.hpp" />
+        <ClInclude Include="include\common\utils\OnlineStats.hpp" />
+        <ClInclude Include="include\common\utils\optional.hpp" />
+        <ClInclude Include="include\common\utils\prettyprint.hpp" />
+        <ClInclude Include="include\common\utils\ProsumerQueue.hpp" />
+        <ClInclude Include="include\common\utils\RandomGenerator.hpp" />
+        <ClInclude Include="include\common\utils\ScheduledExecutor.hpp" />
+        <ClInclude Include="include\common\utils\Signal.hpp" />
+        <ClInclude Include="include\common\utils\sincos.hpp" />
+        <ClInclude Include="include\common\utils\StrictMode.hpp" />
+        <ClInclude Include="include\common\utils\Timer.hpp" />
+        <ClInclude Include="include\common\utils\type_utils.hpp" />
+        <ClInclude Include="include\common\utils\Utils.hpp" />
+        <ClInclude Include="include\common\utils\WindowsApisCommonPost.hpp" />
+        <ClInclude Include="include\common\utils\WindowsApisCommonPre.hpp" />
+        <ClInclude Include="include\common\WorkerThread.hpp" />
+        <ClInclude Include="include\common\EarthCelestial.hpp" />
+        <ClInclude Include="include\common\SteppableClock.hpp" />
+        <ClInclude Include="include\common\DelayLine.hpp" />
+        <ClInclude Include="include\common\EarthUtils.hpp" />
+        <ClInclude Include="include\common\FirstOrderFilter.hpp" />
+        <ClInclude Include="include\common\FrequencyLimiter.hpp" />
+        <ClInclude Include="include\common\GaussianMarkov.hpp" />
+        <ClInclude Include="include\common\GeodeticConverter.hpp" />
+        <ClInclude Include="include\common\LogFileWriter.hpp" />
+        <ClInclude Include="include\common\ScalableClock.hpp" />
+        <ClInclude Include="include\common\StateReporter.hpp" />
+        <ClInclude Include="include\common\StateReporterWrapper.hpp" />
+        <ClInclude Include="include\common\UpdatableContainer.hpp" />
+        <ClInclude Include="include\common\UpdatableObject.hpp" />
+        <ClInclude Include="include\common\VectorMath.hpp" />
+        <ClInclude Include="include\common\utils\AsyncTasker.hpp" />
+        <ClInclude Include="include\common\ImageCaptureBase.hpp" />
+        <ClInclude Include="include\api\VehicleConnectorBase.hpp" />
+        <ClInclude Include="include\sensors\SensorFactory.hpp" />
+        <ClInclude Include="include\vehicles\car\api\CarApiBase.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\api\MultirotorCommon.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibAdaptors.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibClient.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibServer.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\mavlink\ArduCopterSoloApi.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\mavlink\ArduCopterSoloParams.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightBoard.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightCommLink.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightEstimator.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightCommon.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\AdaptiveController.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\AngleLevelController.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\AngleRateController.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\CascadeController.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\ConstantOutputController.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IPidIntegrator.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\OffboardApi.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\Firmware.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\CommonStructs.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IAxisController.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IBoard.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IBoardClock.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IBoardInputPins.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IBoardOutputPins.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IBoardSensors.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\ICommLink.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IController.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IFirmware.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IGoal.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IOffboardApi.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IStateEstimator.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IUpdatable.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\Mixer.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\Params.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\PassthroughController.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\PidController.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\PositionController.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\RemoteControl.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\RungKuttaPidIntegrator.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\StdPidIntegrator.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\VelocityController.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightApi.hpp" />
+        <ClInclude Include="include\physics\DebugPhysicsBody.hpp" />
+        <ClInclude Include="include\physics\PhysicsBodyWorld.hpp" />
+        <ClInclude Include="include\physics\PhysicsWorld.hpp" />
+        <ClInclude Include="include\safety\CubeGeoFence.hpp" />
+        <ClInclude Include="include\safety\IGeoFence.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\mavlink\MavLinkMultirotorApi.hpp" />
+        <ClInclude Include="include\safety\ObstacleMap.hpp" />
+        <ClInclude Include="include\common\PidController.hpp" />
+        <ClInclude Include="include\vehicles\car\api\CarRpcLibAdaptors.hpp" />
+        <ClInclude Include="include\vehicles\car\api\CarRpcLibClient.hpp" />
+        <ClInclude Include="include\vehicles\car\api\CarRpcLibServer.hpp" />
+        <ClInclude Include="include\safety\SafetyEval.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\api\MultirotorApiBase.hpp" />
+        <ClInclude Include="include\common\Settings.hpp" />
+        <ClInclude Include="include\safety\SphereGeoFence.hpp" />
+        <ClInclude Include="include\common\Waiter.hpp" />
+        <ClInclude Include="include\physics\Environment.hpp" />
+        <ClInclude Include="include\physics\FastPhysicsEngine.hpp" />
+        <ClInclude Include="include\physics\Kinematics.hpp" />
+        <ClInclude Include="include\physics\PhysicsBody.hpp" />
+        <ClInclude Include="include\physics\PhysicsBodyVertex.hpp" />
+        <ClInclude Include="include\physics\PhysicsEngineBase.hpp" />
+        <ClInclude Include="include\physics\World.hpp" />
+        <ClInclude Include="include\sensors\barometer\BarometerBase.hpp" />
+        <ClInclude Include="include\sensors\barometer\BarometerSimple.hpp" />
+        <ClInclude Include="include\sensors\barometer\BarometerSimpleParams.hpp" />
+        <ClInclude Include="include\sensors\gps\GpsBase.hpp" />
+        <ClInclude Include="include\sensors\gps\GpsSimple.hpp" />
+        <ClInclude Include="include\sensors\gps\GpsSimpleParams.hpp" />
+        <ClInclude Include="include\sensors\imu\ImuBase.hpp" />
+        <ClInclude Include="include\sensors\imu\ImuSimple.hpp" />
+        <ClInclude Include="include\sensors\imu\ImuSimpleParams.hpp" />
+        <ClInclude Include="include\sensors\magnetometer\MagnetometerBase.hpp" />
+        <ClInclude Include="include\sensors\magnetometer\MagnetometerSimple.hpp" />
+        <ClInclude Include="include\sensors\magnetometer\MagnetometerSimpleParams.hpp" />
+        <ClInclude Include="include\sensors\SensorBase.hpp" />
+        <ClInclude Include="include\sensors\SensorCollection.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\mavlink\Px4MultirotorParams.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightQuadXParams.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\MultirotorPhysicsBody.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\MultirotorParams.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\MultirotorParamsFactory.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\RotorActuator.hpp" />
+        <ClInclude Include="include\vehicles\multirotor\RotorParams.hpp" />
+    </ItemGroup>
+    <ItemGroup>
+        <ClCompile Include="src\api\RpcLibClientBase.cpp" />
+        <ClCompile Include="src\api\RpcLibServerBase.cpp" />
+        <ClCompile Include="src\vehicles\multirotor\api\MultirotorApiBase.cpp" />
+        <ClCompile Include="src\safety\ObstacleMap.cpp" />
+        <ClCompile Include="src\safety\SafetyEval.cpp" />
+        <ClCompile Include="src\common\utils\FileSystem.cpp" />
+        <ClCompile Include="src\vehicles\car\api\CarRpcLibClient.cpp" />
+        <ClCompile Include="src\vehicles\car\api\CarRpcLibServer.cpp" />
+        <ClCompile Include="src\vehicles\multirotor\api\MultirotorRpcLibClient.cpp" />
+        <ClCompile Include="src\vehicles\multirotor\api\MultirotorRpcLibServer.cpp" />
+    </ItemGroup>
+    <ItemGroup>
+        <ProjectReference Include="..\MavLinkCom\MavLinkCom.vcxproj">
+            <Project>{8510c7a4-bf63-41d2-94f6-d8731d137a5a}</Project>
+        </ProjectReference>
+    </ItemGroup>
+    <PropertyGroup Label="Globals">
+        <ProjectGuid>{4BFB7231-077A-4671-BD21-D3ADE3EA36E7}</ProjectGuid>
+        <Keyword>Win32Proj</Keyword>
+        <RootNamespace>AutonomyLib</RootNamespace>
+    </PropertyGroup>
+    <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'"
+                   Label="Configuration">
+        <ConfigurationType>StaticLibrary</ConfigurationType>
+        <UseDebugLibraries>true</UseDebugLibraries>
+        <PlatformToolset>v143</PlatformToolset>
+        <CharacterSet>Unicode</CharacterSet>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'"
+                   Label="Configuration">
+        <ConfigurationType>StaticLibrary</ConfigurationType>
+        <UseDebugLibraries>false</UseDebugLibraries>
+        <PlatformToolset>v143</PlatformToolset>
+        <WholeProgramOptimization>true</WholeProgramOptimization>
+        <CharacterSet>Unicode</CharacterSet>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'"
+                   Label="Configuration">
+        <ConfigurationType>StaticLibrary</ConfigurationType>
+        <UseDebugLibraries>false</UseDebugLibraries>
+        <PlatformToolset>v143</PlatformToolset>
+        <WholeProgramOptimization>true</WholeProgramOptimization>
+        <CharacterSet>Unicode</CharacterSet>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'"
+                   Label="Configuration">
+        <ConfigurationType>StaticLibrary</ConfigurationType>
+        <UseDebugLibraries>true</UseDebugLibraries>
+        <PlatformToolset>v143</PlatformToolset>
+        <CharacterSet>Unicode</CharacterSet>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'"
+                   Label="Configuration">
+        <ConfigurationType>StaticLibrary</ConfigurationType>
+        <UseDebugLibraries>false</UseDebugLibraries>
+        <PlatformToolset>v143</PlatformToolset>
+        <WholeProgramOptimization>true</WholeProgramOptimization>
+        <CharacterSet>Unicode</CharacterSet>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'"
+                   Label="Configuration">
+        <ConfigurationType>StaticLibrary</ConfigurationType>
+        <UseDebugLibraries>false</UseDebugLibraries>
+        <PlatformToolset>v143</PlatformToolset>
+        <WholeProgramOptimization>true</WholeProgramOptimization>
+        <CharacterSet>Unicode</CharacterSet>
+    </PropertyGroup>
+    <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+    <ImportGroup Label="ExtensionSettings" />
+    <ImportGroup Label="Shared" />
+    <ImportGroup Label="PropertySheets"
+                 Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+        <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props"
+                Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')"
+                Label="LocalAppDataPlatform" />
+    </ImportGroup>
+    <ImportGroup Label="PropertySheets"
+                 Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+        <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props"
+                Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')"
+                Label="LocalAppDataPlatform" />
+    </ImportGroup>
+    <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'"
+                 Label="PropertySheets">
+        <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props"
+                Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')"
+                Label="LocalAppDataPlatform" />
+    </ImportGroup>
+    <ImportGroup Label="PropertySheets"
+                 Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+        <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props"
+                Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')"
+                Label="LocalAppDataPlatform" />
+    </ImportGroup>
+    <ImportGroup Label="PropertySheets"
+                 Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+        <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props"
+                Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')"
+                Label="LocalAppDataPlatform" />
+    </ImportGroup>
+    <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'"
+                 Label="PropertySheets">
+        <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props"
+                Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')"
+                Label="LocalAppDataPlatform" />
+    </ImportGroup>
+    <PropertyGroup Label="UserMacros" />
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+        <LinkIncremental>true</LinkIncremental>
+        <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
+        <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+        <LinkIncremental>true</LinkIncremental>
+        <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
+        <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+        <LinkIncremental>false</LinkIncremental>
+        <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
+        <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">
+        <LinkIncremental>false</LinkIncremental>
+        <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
+        <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+        <LinkIncremental>false</LinkIncremental>
+        <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
+        <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'">
+        <LinkIncremental>false</LinkIncremental>
+        <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
+        <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
+    </PropertyGroup>
+    <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+        <ClCompile>
+            <PrecompiledHeader />
+            <WarningLevel>Level4</WarningLevel>
+            <Optimization>Disabled</Optimization>
+            <PreprocessorDefinitions>WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+            <AdditionalIncludeDirectories>include;deps\eigen3;deps\rpclib\include;$(ProjectDir)..\MavLinkCom\include</AdditionalIncludeDirectories>
+            <TreatWarningAsError>true</TreatWarningAsError>
+            <AdditionalOptions>/w34263 /w34266 %(AdditionalOptions)</AdditionalOptions>
+            <LanguageStandard>stdcpp17</LanguageStandard>
+        </ClCompile>
+        <Link>
+            <SubSystem>Console</SubSystem>
+            <GenerateDebugInformation>true</GenerateDebugInformation>
+            <AdditionalDependencies>MavLinkCom.lib;%(AdditionalDependencies)</AdditionalDependencies>
+            <AdditionalLibraryDirectories>%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+        </Link>
+        <Lib>
+            <AdditionalDependencies>rpc.lib</AdditionalDependencies>
+        </Lib>
+        <Lib>
+            <AdditionalLibraryDirectories>deps\rpclib\lib\$(Platform)\$(Configuration)</AdditionalLibraryDirectories>
+        </Lib>
+    </ItemDefinitionGroup>
+    <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+        <ClCompile>
+            <PrecompiledHeader />
+            <WarningLevel>Level4</WarningLevel>
+            <Optimization>Disabled</Optimization>
+            <PreprocessorDefinitions>_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_DEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+            <AdditionalIncludeDirectories>include;deps\eigen3;deps\rpclib\include;$(ProjectDir)..\MavLinkCom\include</AdditionalIncludeDirectories>
+            <TreatWarningAsError>true</TreatWarningAsError>
+            <AdditionalOptions>/w34263 /w34266 %(AdditionalOptions)</AdditionalOptions>
+            <DisableSpecificWarnings>4100;4505;4820;4464;4514;4710;4571;%(DisableSpecificWarnings)</DisableSpecificWarnings>
+            <LanguageStandard>stdcpp17</LanguageStandard>
+        </ClCompile>
+        <Link>
+            <SubSystem>Windows</SubSystem>
+            <GenerateDebugInformation>true</GenerateDebugInformation>
+            <AdditionalLibraryDirectories>deps\rpclib\lib\Debug;deps\MavLinkCom\lib\x64\Debug;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+            <AdditionalDependencies>MavLinkCom.lib;Setupapi.lib;Cfgmgr32.lib;rpc.lib;%(AdditionalDependencies)</AdditionalDependencies>
+        </Link>
+        <Lib>
+            <AdditionalDependencies>rpc.lib</AdditionalDependencies>
+        </Lib>
+        <Lib>
+            <AdditionalLibraryDirectories>deps\rpclib\lib\$(Platform)\$(Configuration)</AdditionalLibraryDirectories>
+        </Lib>
+    </ItemDefinitionGroup>
+    <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+        <ClCompile>
+            <WarningLevel>Level4</WarningLevel>
+            <PrecompiledHeader />
+            <Optimization>MaxSpeed</Optimization>
+            <FunctionLevelLinking>true</FunctionLevelLinking>
+            <IntrinsicFunctions>true</IntrinsicFunctions>
+            <PreprocessorDefinitions>WIN32;NDEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+            <AdditionalIncludeDirectories>include;deps\eigen3;deps\rpclib\include;$(ProjectDir)..\MavLinkCom\include</AdditionalIncludeDirectories>
+            <TreatWarningAsError>true</TreatWarningAsError>
+            <AdditionalOptions>/w34263 /w34266 %(AdditionalOptions)</AdditionalOptions>
+            <LanguageStandard>stdcpp17</LanguageStandard>
+        </ClCompile>
+        <Link>
+            <SubSystem>Windows</SubSystem>
+            <EnableCOMDATFolding>true</EnableCOMDATFolding>
+            <OptimizeReferences>true</OptimizeReferences>
+            <GenerateDebugInformation>true</GenerateDebugInformation>
+            <AdditionalLibraryDirectories>%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+            <AdditionalDependencies>MavLinkCom.lib;Setupapi.lib;Cfgmgr32.lib;%(AdditionalDependencies)</AdditionalDependencies>
+        </Link>
+        <Lib>
+            <AdditionalDependencies>rpc.lib</AdditionalDependencies>
+        </Lib>
+        <Lib>
+            <AdditionalLibraryDirectories>deps\rpclib\lib\$(Platform)\$(Configuration)</AdditionalLibraryDirectories>
+        </Lib>
+    </ItemDefinitionGroup>
+    <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">
+        <ClCompile>
+            <WarningLevel>Level4</WarningLevel>
+            <PrecompiledHeader />
+            <Optimization>Disabled</Optimization>
+            <FunctionLevelLinking>true</FunctionLevelLinking>
+            <IntrinsicFunctions>true</IntrinsicFunctions>
+            <PreprocessorDefinitions>WIN32;NDEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+            <AdditionalIncludeDirectories>include;deps\eigen3;deps\rpclib\include;$(ProjectDir)..\MavLinkCom\include</AdditionalIncludeDirectories>
+            <TreatWarningAsError>true</TreatWarningAsError>
+            <AdditionalOptions>/w34263 /w34266 %(AdditionalOptions)</AdditionalOptions>
+            <LanguageStandard>stdcpp17</LanguageStandard>
+            <WholeProgramOptimization>false</WholeProgramOptimization>
+        </ClCompile>
+        <Link>
+            <SubSystem>Windows</SubSystem>
+            <EnableCOMDATFolding>true</EnableCOMDATFolding>
+            <OptimizeReferences>true</OptimizeReferences>
+            <GenerateDebugInformation>true</GenerateDebugInformation>
+            <AdditionalLibraryDirectories>%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+            <AdditionalDependencies>MavLinkCom.lib;Setupapi.lib;Cfgmgr32.lib;%(AdditionalDependencies)</AdditionalDependencies>
+        </Link>
+        <Lib>
+            <AdditionalDependencies>rpc.lib</AdditionalDependencies>
+        </Lib>
+        <Lib>
+            <AdditionalLibraryDirectories>deps\rpclib\lib\$(Platform)\$(Configuration)</AdditionalLibraryDirectories>
+        </Lib>
+    </ItemDefinitionGroup>
+    <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+        <ClCompile>
+            <WarningLevel>Level4</WarningLevel>
+            <PrecompiledHeader />
+            <Optimization>MaxSpeed</Optimization>
+            <FunctionLevelLinking>true</FunctionLevelLinking>
+            <IntrinsicFunctions>true</IntrinsicFunctions>
+            <PreprocessorDefinitions>NDEBUG;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+            <AdditionalIncludeDirectories>include;deps\eigen3;deps\rpclib\include;$(ProjectDir)..\MavLinkCom\include</AdditionalIncludeDirectories>
+            <TreatWarningAsError>true</TreatWarningAsError>
+            <AdditionalOptions>/w34263 /w34266 %(AdditionalOptions)</AdditionalOptions>
+            <LanguageStandard>stdcpp17</LanguageStandard>
+        </ClCompile>
+        <Link>
+            <SubSystem>Windows</SubSystem>
+            <EnableCOMDATFolding>true</EnableCOMDATFolding>
+            <OptimizeReferences>true</OptimizeReferences>
+            <GenerateDebugInformation>true</GenerateDebugInformation>
+            <AdditionalLibraryDirectories>deps\rpclib\lib\Debug;deps\MavLinkCom\lib\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+            <AdditionalDependencies>MavLinkCom.lib;Setupapi.lib;Cfgmgr32.lib;%(AdditionalDependencies)</AdditionalDependencies>
+        </Link>
+        <Lib>
+            <AdditionalDependencies>rpc.lib</AdditionalDependencies>
+        </Lib>
+        <Lib>
+            <AdditionalLibraryDirectories>deps\rpclib\lib\$(Platform)\$(Configuration)</AdditionalLibraryDirectories>
+        </Lib>
+    </ItemDefinitionGroup>
+    <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'">
+        <ClCompile>
+            <WarningLevel>Level4</WarningLevel>
+            <PrecompiledHeader />
+            <Optimization>Disabled</Optimization>
+            <FunctionLevelLinking>true</FunctionLevelLinking>
+            <IntrinsicFunctions>true</IntrinsicFunctions>
+            <PreprocessorDefinitions>NDEBUG;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+            <AdditionalIncludeDirectories>include;deps\eigen3;deps\rpclib\include;$(ProjectDir)..\MavLinkCom\include</AdditionalIncludeDirectories>
+            <TreatWarningAsError>true</TreatWarningAsError>
+            <AdditionalOptions>/w34263 /w34266 %(AdditionalOptions)</AdditionalOptions>
+            <LanguageStandard>stdcpp17</LanguageStandard>
+            <WholeProgramOptimization>false</WholeProgramOptimization>
+        </ClCompile>
+        <Link>
+            <SubSystem>Windows</SubSystem>
+            <EnableCOMDATFolding>true</EnableCOMDATFolding>
+            <OptimizeReferences>true</OptimizeReferences>
+            <GenerateDebugInformation>true</GenerateDebugInformation>
+            <AdditionalLibraryDirectories>deps\rpclib\lib\Debug;deps\MavLinkCom\lib\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+            <AdditionalDependencies>MavLinkCom.lib;Setupapi.lib;Cfgmgr32.lib;%(AdditionalDependencies)</AdditionalDependencies>
+        </Link>
+        <Lib>
+            <AdditionalDependencies>rpc.lib</AdditionalDependencies>
+        </Lib>
+        <Lib>
+            <AdditionalLibraryDirectories>deps\rpclib\lib\$(Platform)\$(Configuration)</AdditionalLibraryDirectories>
+        </Lib>
+    </ItemDefinitionGroup>
+    <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+    <ImportGroup Label="ExtensionTargets" />
 </Project>
\ No newline at end of file
diff --git a/AutonomyLib/AutonomyLib.vcxproj.filters b/AutonomyLib/AutonomyLib.vcxproj.filters
index 39f4c695..186d9394 100644
--- a/AutonomyLib/AutonomyLib.vcxproj.filters
+++ b/AutonomyLib/AutonomyLib.vcxproj.filters
@@ -1,492 +1,493 @@
 <?xml version="1.0" encoding="utf-8"?>
-<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
-  <ItemGroup>
-    <Filter Include="Source Files">
-      <UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
-      <Extensions>cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx</Extensions>
-    </Filter>
-    <Filter Include="Header Files">
-      <UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
-      <Extensions>h;hh;hpp;hxx;hm;inl;inc;xsd</Extensions>
-    </Filter>
-    <Filter Include="Resource Files">
-      <UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
-      <Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
-    </Filter>
-  </ItemGroup>
-  <ItemGroup>
-    <ClInclude Include="include\common\common_utils\EnumFlags.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\common_utils\ExceptionUtils.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\common_utils\json.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\common_utils\MedianFilter.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\common_utils\OnlineStats.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\common_utils\optional.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\common_utils\prettyprint.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\common_utils\ProsumerQueue.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\common_utils\RandomGenerator.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\common_utils\ScheduledExecutor.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\common_utils\sincos.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\common_utils\type_utils.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\common_utils\Utils.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\Common.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\CommonStructs.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\DelayLine.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\EarthUtils.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\FirstOrderFilter.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\FrequencyLimiter.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\GaussianMarkov.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\GeodeticConverter.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\LogFileWriter.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\StateReporter.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\StateReporterWrapper.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\UpdatableContainer.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\UpdatableObject.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\VectorMath.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\physics\Environment.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\physics\FastPhysicsEngine.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\physics\Kinematics.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\physics\PhysicsBody.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\physics\PhysicsBodyVertex.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\physics\PhysicsEngineBase.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\physics\World.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\sensors\barometer\BarometerBase.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\sensors\barometer\BarometerSimple.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\sensors\barometer\BarometerSimpleParams.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\sensors\gps\GpsBase.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\sensors\gps\GpsSimple.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\sensors\gps\GpsSimpleParams.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\sensors\imu\ImuBase.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\sensors\imu\ImuSimple.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\sensors\imu\ImuSimpleParams.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\sensors\magnetometer\MagnetometerBase.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\sensors\magnetometer\MagnetometerSimple.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\sensors\magnetometer\MagnetometerSimpleParams.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\sensors\SensorBase.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\common_utils\ctpl_stl.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\common_utils\AsyncTasker.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\common_utils\StrictMode.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\safety\CubeGeoFence.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\safety\IGeoFence.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\safety\ObstacleMap.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\safety\SafetyEval.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\safety\SphereGeoFence.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\sensors\SensorCollection.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\common_utils\FileSystem.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\ClockBase.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\ClockFactory.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\common_utils\Timer.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\physics\DebugPhysicsBody.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\physics\PhysicsBodyWorld.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\physics\PhysicsWorld.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\SteppableClock.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\ScalableClock.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\common_utils\MinWinDefines.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\MultirotorPhysicsBody.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\MultirotorParams.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\MultirotorParamsFactory.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\RotorActuator.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\RotorParams.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\CommonStructs.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IAxisController.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IBoard.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IBoardClock.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IBoardInputPins.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IBoardOutputPins.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IBoardSensors.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\ICommLink.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IController.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IFirmware.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IGoal.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IOffboardApi.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IStateEstimator.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IUpdatable.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\AngleLevelController.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\AngleRateController.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\CascadeController.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\ConstantOutputController.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\Firmware.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\Mixer.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\OffboardApi.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\Params.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\PassthroughController.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\PidController.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\PositionController.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\RemoteControl.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\VelocityController.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightBoard.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightCommLink.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightCommon.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightEstimator.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\car\api\CarRpcLibAdaptors.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\car\api\CarRpcLibClient.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\car\api\CarRpcLibServer.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibAdaptors.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibClient.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibServer.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\api\RpcLibAdaptorsBase.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\car\api\CarApiBase.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\api\RpcLibServerBase.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\AutonomySimSettings.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\Settings.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\Waiter.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\ImageCaptureBase.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\sensors\SensorFactory.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\AdaptiveController.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IPidIntegrator.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\StdPidIntegrator.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\RungKuttaPidIntegrator.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\EarthCelestial.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\api\WorldApiBase.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\api\ApiServerBase.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\api\VehicleSimApiBase.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\api\WorldSimApiBase.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\api\MultirotorCommon.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\CancelToken.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\WorkerThread.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\api\VehicleApiBase.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\api\VehicleConnectorBase.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\PidController.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\mavlink\MavLinkMultirotorApi.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightApi.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\mavlink\Px4MultirotorParams.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightQuadXParams.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\api\RpcLibClientBase.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\api\MultirotorApiBase.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\api\ApiProvider.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\common_utils\Signal.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\common_utils\UniqueValueMap.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\common_utils\WindowsApisCommonPre.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\common_utils\WindowsApisCommonPost.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\common_utils\bitmap_image.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\common_utils\ColorUtils.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\mavlink\ArduCopterSoloApi.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\firmwares\mavlink\ArduCopterSoloParams.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\common\common_utils\SmoothingFilter.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-  </ItemGroup>
-  <ItemGroup>
-    <ClCompile Include="src\safety\ObstacleMap.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="src\safety\SafetyEval.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="src\common\common_utils\FileSystem.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="src\vehicles\multirotor\api\MultirotorRpcLibServer.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="src\vehicles\car\api\CarRpcLibClient.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="src\vehicles\car\api\CarRpcLibServer.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="src\vehicles\multirotor\api\MultirotorRpcLibClient.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="src\api\RpcLibClientBase.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="src\api\RpcLibServerBase.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="src\vehicles\multirotor\api\MultirotorApiBase.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-  </ItemGroup>
+<Project ToolsVersion="4.0"
+         xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+    <ItemGroup>
+        <Filter Include="Source Files">
+            <UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
+            <Extensions>cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx</Extensions>
+        </Filter>
+        <Filter Include="Header Files">
+            <UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
+            <Extensions>h;hh;hpp;hxx;hm;inl;inc;xsd</Extensions>
+        </Filter>
+        <Filter Include="Resource Files">
+            <UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
+            <Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
+        </Filter>
+    </ItemGroup>
+    <ItemGroup>
+        <ClInclude Include="include\common\utils\EnumFlags.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\utils\ExceptionUtils.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\utils\json.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\utils\MedianFilter.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\utils\OnlineStats.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\utils\optional.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\utils\prettyprint.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\utils\ProsumerQueue.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\utils\RandomGenerator.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\utils\ScheduledExecutor.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\utils\sincos.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\utils\type_utils.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\utils\Utils.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\Common.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\CommonStructs.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\DelayLine.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\EarthUtils.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\FirstOrderFilter.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\FrequencyLimiter.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\GaussianMarkov.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\GeodeticConverter.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\LogFileWriter.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\StateReporter.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\StateReporterWrapper.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\UpdatableContainer.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\UpdatableObject.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\VectorMath.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\physics\Environment.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\physics\FastPhysicsEngine.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\physics\Kinematics.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\physics\PhysicsBody.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\physics\PhysicsBodyVertex.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\physics\PhysicsEngineBase.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\physics\World.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\sensors\barometer\BarometerBase.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\sensors\barometer\BarometerSimple.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\sensors\barometer\BarometerSimpleParams.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\sensors\gps\GpsBase.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\sensors\gps\GpsSimple.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\sensors\gps\GpsSimpleParams.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\sensors\imu\ImuBase.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\sensors\imu\ImuSimple.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\sensors\imu\ImuSimpleParams.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\sensors\magnetometer\MagnetometerBase.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\sensors\magnetometer\MagnetometerSimple.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\sensors\magnetometer\MagnetometerSimpleParams.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\sensors\SensorBase.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\utils\ctpl_stl.h">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\utils\AsyncTasker.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\utils\StrictMode.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\safety\CubeGeoFence.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\safety\IGeoFence.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\safety\ObstacleMap.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\safety\SafetyEval.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\safety\SphereGeoFence.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\sensors\SensorCollection.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\utils\FileSystem.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\ClockBase.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\ClockFactory.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\utils\Timer.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\physics\DebugPhysicsBody.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\physics\PhysicsBodyWorld.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\physics\PhysicsWorld.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\SteppableClock.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\ScalableClock.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\utils\MinWinDefines.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\MultirotorPhysicsBody.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\MultirotorParams.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\MultirotorParamsFactory.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\RotorActuator.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\RotorParams.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\CommonStructs.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IAxisController.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IBoard.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IBoardClock.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IBoardInputPins.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IBoardOutputPins.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IBoardSensors.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\ICommLink.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IController.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IFirmware.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IGoal.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IOffboardApi.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IStateEstimator.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IUpdatable.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\AngleLevelController.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\AngleRateController.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\CascadeController.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\ConstantOutputController.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\Firmware.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\Mixer.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\OffboardApi.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\Params.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\PassthroughController.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\PidController.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\PositionController.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\RemoteControl.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\VelocityController.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightBoard.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightCommLink.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightCommon.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightEstimator.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\car\api\CarRpcLibAdaptors.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\car\api\CarRpcLibClient.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\car\api\CarRpcLibServer.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibAdaptors.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibClient.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibServer.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\api\RpcLibAdaptorsBase.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\car\api\CarApiBase.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\api\RpcLibServerBase.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\AutonomySimSettings.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\Settings.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\Waiter.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\ImageCaptureBase.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\sensors\SensorFactory.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\AdaptiveController.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\interfaces\IPidIntegrator.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\StdPidIntegrator.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\RungKuttaPidIntegrator.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\EarthCelestial.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\api\WorldApiBase.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\api\ApiServerBase.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\api\VehicleSimApiBase.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\api\WorldSimApiBase.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\api\MultirotorCommon.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\CancelToken.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\WorkerThread.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\api\VehicleApiBase.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\api\VehicleConnectorBase.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\PidController.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\mavlink\MavLinkMultirotorApi.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightApi.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\mavlink\Px4MultirotorParams.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightQuadXParams.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\api\RpcLibClientBase.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\api\MultirotorApiBase.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\api\ApiProvider.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\utils\Signal.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\utils\UniqueValueMap.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\utils\WindowsApisCommonPre.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\utils\WindowsApisCommonPost.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\utils\bitmap_image.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\utils\ColorUtils.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\mavlink\ArduCopterSoloApi.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\vehicles\multirotor\firmwares\mavlink\ArduCopterSoloParams.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+        <ClInclude Include="include\common\utils\SmoothingFilter.hpp">
+            <Filter>Header Files</Filter>
+        </ClInclude>
+    </ItemGroup>
+    <ItemGroup>
+        <ClCompile Include="src\safety\ObstacleMap.cpp">
+            <Filter>Source Files</Filter>
+        </ClCompile>
+        <ClCompile Include="src\safety\SafetyEval.cpp">
+            <Filter>Source Files</Filter>
+        </ClCompile>
+        <ClCompile Include="src\common\utils\FileSystem.cpp">
+            <Filter>Source Files</Filter>
+        </ClCompile>
+        <ClCompile Include="src\vehicles\multirotor\api\MultirotorRpcLibServer.cpp">
+            <Filter>Source Files</Filter>
+        </ClCompile>
+        <ClCompile Include="src\vehicles\car\api\CarRpcLibClient.cpp">
+            <Filter>Source Files</Filter>
+        </ClCompile>
+        <ClCompile Include="src\vehicles\car\api\CarRpcLibServer.cpp">
+            <Filter>Source Files</Filter>
+        </ClCompile>
+        <ClCompile Include="src\vehicles\multirotor\api\MultirotorRpcLibClient.cpp">
+            <Filter>Source Files</Filter>
+        </ClCompile>
+        <ClCompile Include="src\api\RpcLibClientBase.cpp">
+            <Filter>Source Files</Filter>
+        </ClCompile>
+        <ClCompile Include="src\api\RpcLibServerBase.cpp">
+            <Filter>Source Files</Filter>
+        </ClCompile>
+        <ClCompile Include="src\vehicles\multirotor\api\MultirotorApiBase.cpp">
+            <Filter>Source Files</Filter>
+        </ClCompile>
+    </ItemGroup>
 </Project>
\ No newline at end of file
diff --git a/AutonomyLib/include/common/WorkerThread.hpp b/AutonomyLib/include/common/WorkerThread.hpp
index 3b702a44..38f6cd82 100644
--- a/AutonomyLib/include/common/WorkerThread.hpp
+++ b/AutonomyLib/include/common/WorkerThread.hpp
@@ -5,8 +5,8 @@
 #define autonomylib_common_WorkerThread_hpp
 
 #include "CancelToken.hpp"
-#include "ClockFactory.hpp" //TODO: move this out of common_utils
-#include "common/utilshpp"
+#include "ClockFactory.hpp" //TODO: move this out of common\utils
+#include "common/utils/Utils.hpp"
 #include <atomic>
 #include <exception>
 #include <functional>
diff --git a/MavLinkCom/MavLinkCom.vcxproj b/MavLinkCom/MavLinkCom.vcxproj
index 3ca55229..57a9b485 100644
--- a/MavLinkCom/MavLinkCom.vcxproj
+++ b/MavLinkCom/MavLinkCom.vcxproj
@@ -1,603 +1,607 @@
 <?xml version="1.0" encoding="utf-8"?>
-<Project DefaultTargets="Build" ToolsVersion="16.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
-  <Import Project="$([MSBuild]::GetDirectoryNameOfFileAbove($(MSBuildThisFileDirectory), AutonomySim.props))\AutonomySim.props" />
-  <PropertyGroup>
-    <ShowAllFiles>true</ShowAllFiles>
-    <PlatformToolset>v143</PlatformToolset>
-  </PropertyGroup>
-  <ItemGroup Label="ProjectConfigurations">
-    <ProjectConfiguration Include="Debug|ARM">
-      <Configuration>Debug</Configuration>
-      <Platform>ARM</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="Debug|Win32">
-      <Configuration>Debug</Configuration>
-      <Platform>Win32</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="Release|ARM">
-      <Configuration>Release</Configuration>
-      <Platform>ARM</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="Release|Win32">
-      <Configuration>Release</Configuration>
-      <Platform>Win32</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="Debug|x64">
-      <Configuration>Debug</Configuration>
-      <Platform>x64</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="Release|x64">
-      <Configuration>Release</Configuration>
-      <Platform>x64</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="RelWithDebInfo|ARM">
-      <Configuration>RelWithDebInfo</Configuration>
-      <Platform>ARM</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="RelWithDebInfo|Win32">
-      <Configuration>RelWithDebInfo</Configuration>
-      <Platform>Win32</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="RelWithDebInfo|x64">
-      <Configuration>RelWithDebInfo</Configuration>
-      <Platform>x64</Platform>
-    </ProjectConfiguration>
-  </ItemGroup>
-  <PropertyGroup Label="Globals">
-    <ProjectGuid>{8510C7A4-BF63-41D2-94F6-D8731D137A5A}</ProjectGuid>
-    <Keyword>Win32Proj</Keyword>
-    <RootNamespace>PX4_P</RootNamespace>
-    <ProjectName>MavLinkCom</ProjectName>
-  </PropertyGroup>
-  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
-    <ConfigurationType>StaticLibrary</ConfigurationType>
-    <UseDebugLibraries>true</UseDebugLibraries>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|ARM'" Label="Configuration">
-    <ConfigurationType>StaticLibrary</ConfigurationType>
-    <UseDebugLibraries>true</UseDebugLibraries>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
-    <ConfigurationType>StaticLibrary</ConfigurationType>
-    <UseDebugLibraries>false</UseDebugLibraries>
-    <WholeProgramOptimization>true</WholeProgramOptimization>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'" Label="Configuration">
-    <ConfigurationType>StaticLibrary</ConfigurationType>
-    <UseDebugLibraries>false</UseDebugLibraries>
-    <WholeProgramOptimization>true</WholeProgramOptimization>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|ARM'" Label="Configuration">
-    <ConfigurationType>StaticLibrary</ConfigurationType>
-    <UseDebugLibraries>false</UseDebugLibraries>
-    <WholeProgramOptimization>true</WholeProgramOptimization>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|ARM'" Label="Configuration">
-    <ConfigurationType>StaticLibrary</ConfigurationType>
-    <UseDebugLibraries>false</UseDebugLibraries>
-    <WholeProgramOptimization>true</WholeProgramOptimization>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
-    <ConfigurationType>StaticLibrary</ConfigurationType>
-    <UseDebugLibraries>true</UseDebugLibraries>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
-    <ConfigurationType>StaticLibrary</ConfigurationType>
-    <UseDebugLibraries>false</UseDebugLibraries>
-    <WholeProgramOptimization>false</WholeProgramOptimization>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'" Label="Configuration">
-    <ConfigurationType>StaticLibrary</ConfigurationType>
-    <UseDebugLibraries>false</UseDebugLibraries>
-    <WholeProgramOptimization>false</WholeProgramOptimization>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
-  <ImportGroup Label="ExtensionSettings">
-  </ImportGroup>
-  <ImportGroup Label="Shared">
-  </ImportGroup>
-  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='Debug|ARM'" Label="PropertySheets">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'" Label="PropertySheets">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='Release|ARM'" Label="PropertySheets">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|ARM'" Label="PropertySheets">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'" Label="PropertySheets">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <PropertyGroup Label="UserMacros" />
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
-    <LinkIncremental>true</LinkIncremental>
-    <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
-    <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|ARM'">
-    <LinkIncremental>true</LinkIncremental>
-    <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
-    <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
-    <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
-    <LinkIncremental>true</LinkIncremental>
-    <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
-    <LinkIncremental>false</LinkIncremental>
-    <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
-    <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">
-    <LinkIncremental>false</LinkIncremental>
-    <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
-    <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|ARM'">
-    <LinkIncremental>false</LinkIncremental>
-    <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
-    <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|ARM'">
-    <LinkIncremental>false</LinkIncremental>
-    <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
-    <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
-    <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
-    <LinkIncremental>false</LinkIncremental>
-    <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'">
-    <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
-    <LinkIncremental>false</LinkIncremental>
-    <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
-  </PropertyGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
-    <ClCompile>
-      <PrecompiledHeader>
-      </PrecompiledHeader>
-      <WarningLevel>Level3</WarningLevel>
-      <Optimization>Disabled</Optimization>
-      <PreprocessorDefinitions>_WIN32_WINNT=0x0600;_WIN32;WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_DEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <RuntimeLibrary>MultiThreadedDebugDLL</RuntimeLibrary>
-      <AdditionalIncludeDirectories>common_utils;include</AdditionalIncludeDirectories>
-      <BrowseInformation>true</BrowseInformation>
-      <TreatWarningAsError>true</TreatWarningAsError>
-      <LanguageStandard>stdcpp17</LanguageStandard>
-    </ClCompile>
-    <Link>
-      <SubSystem>Console</SubSystem>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalDependencies>%(AdditionalDependencies)</AdditionalDependencies>
-    </Link>
-    <PostBuildEvent>
-    </PostBuildEvent>
-    <PreBuildEvent>
-      <Command>
-      </Command>
-    </PreBuildEvent>
-    <Bscmake>
-      <PreserveSbr>true</PreserveSbr>
-    </Bscmake>
-    <Lib>
-      <AdditionalLibraryDirectories>$(BOOST_ROOT)\stage\lib</AdditionalLibraryDirectories>
-      <AdditionalDependencies>
-      </AdditionalDependencies>
-    </Lib>
-    <ProjectReference>
-      <LinkLibraryDependencies>false</LinkLibraryDependencies>
-    </ProjectReference>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|ARM'">
-    <ClCompile>
-      <PrecompiledHeader>
-      </PrecompiledHeader>
-      <WarningLevel>Level3</WarningLevel>
-      <Optimization>Disabled</Optimization>
-      <PreprocessorDefinitions>ONECORE;_WIN32_WINNT=0x0600;_WIN32;WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_DEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <RuntimeLibrary>MultiThreadedDebugDLL</RuntimeLibrary>
-      <AdditionalIncludeDirectories>common_utils;include</AdditionalIncludeDirectories>
-      <BrowseInformation>true</BrowseInformation>
-      <TreatWarningAsError>true</TreatWarningAsError>
-    </ClCompile>
-    <Link>
-      <SubSystem>Console</SubSystem>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalDependencies>%(AdditionalDependencies)</AdditionalDependencies>
-    </Link>
-    <PostBuildEvent />
-    <PreBuildEvent>
-      <Command>
-      </Command>
-    </PreBuildEvent>
-    <Bscmake>
-      <PreserveSbr>true</PreserveSbr>
-    </Bscmake>
-    <Lib>
-      <AdditionalLibraryDirectories>$(BOOST_ROOT)\stage\lib</AdditionalLibraryDirectories>
-      <AdditionalDependencies>
-      </AdditionalDependencies>
-    </Lib>
-    <ProjectReference>
-      <LinkLibraryDependencies>false</LinkLibraryDependencies>
-    </ProjectReference>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
-    <ClCompile>
-      <PrecompiledHeader>
-      </PrecompiledHeader>
-      <WarningLevel>Level3</WarningLevel>
-      <Optimization>Disabled</Optimization>
-      <PreprocessorDefinitions>_WIN32;_WIN32_WINNT=0x0600;NOMINMAX;VC_EXTRALEAN;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_DEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <RuntimeLibrary>MultiThreadedDebugDLL</RuntimeLibrary>
-      <AdditionalIncludeDirectories>common_utils;include</AdditionalIncludeDirectories>
-      <BrowseInformation>true</BrowseInformation>
-      <TreatWarningAsError>true</TreatWarningAsError>
-      <LanguageStandard>stdcpp17</LanguageStandard>
-    </ClCompile>
-    <Link>
-      <SubSystem>Console</SubSystem>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalDependencies>%(AdditionalDependencies)</AdditionalDependencies>
-    </Link>
-    <PostBuildEvent>
-    </PostBuildEvent>
-    <PreBuildEvent>
-      <Command>
-      </Command>
-    </PreBuildEvent>
-    <Lib>
-      <AdditionalLibraryDirectories>$(BOOST_ROOT)\stage\lib</AdditionalLibraryDirectories>
-      <AdditionalDependencies>
-      </AdditionalDependencies>
-      <AdditionalOptions>%(AdditionalOptions)  /machine:x64</AdditionalOptions>
-    </Lib>
-    <Bscmake>
-      <PreserveSbr>true</PreserveSbr>
-    </Bscmake>
-    <ProjectReference>
-      <LinkLibraryDependencies>false</LinkLibraryDependencies>
-    </ProjectReference>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
-    <ClCompile>
-      <WarningLevel>Level3</WarningLevel>
-      <PrecompiledHeader>
-      </PrecompiledHeader>
-      <Optimization>MaxSpeed</Optimization>
-      <FunctionLevelLinking>true</FunctionLevelLinking>
-      <IntrinsicFunctions>true</IntrinsicFunctions>
-      <PreprocessorDefinitions>_WIN32_WINNT=0x0600;_WIN32;WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
-      <AdditionalIncludeDirectories>common_utils;include</AdditionalIncludeDirectories>
-      <TreatWarningAsError>true</TreatWarningAsError>
-      <LanguageStandard>stdcpp17</LanguageStandard>
-    </ClCompile>
-    <Link>
-      <SubSystem>Console</SubSystem>
-      <EnableCOMDATFolding>true</EnableCOMDATFolding>
-      <OptimizeReferences>true</OptimizeReferences>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalDependencies>%(AdditionalDependencies)</AdditionalDependencies>
-    </Link>
-    <PostBuildEvent>
-    </PostBuildEvent>
-    <PreBuildEvent>
-      <Command>
-      </Command>
-    </PreBuildEvent>
-    <Lib>
-      <AdditionalLibraryDirectories>$(BOOST_ROOT)\stage\lib</AdditionalLibraryDirectories>
-      <AdditionalDependencies>
-      </AdditionalDependencies>
-    </Lib>
-    <ProjectReference>
-      <LinkLibraryDependencies>false</LinkLibraryDependencies>
-    </ProjectReference>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">
-    <ClCompile>
-      <WarningLevel>Level3</WarningLevel>
-      <PrecompiledHeader>
-      </PrecompiledHeader>
-      <Optimization>Disabled</Optimization>
-      <FunctionLevelLinking>true</FunctionLevelLinking>
-      <IntrinsicFunctions>true</IntrinsicFunctions>
-      <PreprocessorDefinitions>_WIN32_WINNT=0x0600;_WIN32;WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
-      <AdditionalIncludeDirectories>common_utils;include</AdditionalIncludeDirectories>
-      <TreatWarningAsError>true</TreatWarningAsError>
-      <LanguageStandard>stdcpp17</LanguageStandard>
-      <WholeProgramOptimization>false</WholeProgramOptimization>
-    </ClCompile>
-    <Link>
-      <SubSystem>Console</SubSystem>
-      <EnableCOMDATFolding>true</EnableCOMDATFolding>
-      <OptimizeReferences>true</OptimizeReferences>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalDependencies>%(AdditionalDependencies)</AdditionalDependencies>
-    </Link>
-    <PostBuildEvent />
-    <PreBuildEvent>
-      <Command>
-      </Command>
-    </PreBuildEvent>
-    <Lib>
-      <AdditionalLibraryDirectories>$(BOOST_ROOT)\stage\lib</AdditionalLibraryDirectories>
-      <AdditionalDependencies>
-      </AdditionalDependencies>
-    </Lib>
-    <ProjectReference>
-      <LinkLibraryDependencies>false</LinkLibraryDependencies>
-    </ProjectReference>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|ARM'">
-    <ClCompile>
-      <WarningLevel>Level3</WarningLevel>
-      <PrecompiledHeader>
-      </PrecompiledHeader>
-      <Optimization>MaxSpeed</Optimization>
-      <FunctionLevelLinking>true</FunctionLevelLinking>
-      <IntrinsicFunctions>true</IntrinsicFunctions>
-      <PreprocessorDefinitions>ONECORE;_WIN32_WINNT=0x0600;_WIN32;WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
-      <AdditionalIncludeDirectories>common_utils;include</AdditionalIncludeDirectories>
-      <TreatWarningAsError>true</TreatWarningAsError>
-    </ClCompile>
-    <Link>
-      <SubSystem>Console</SubSystem>
-      <EnableCOMDATFolding>true</EnableCOMDATFolding>
-      <OptimizeReferences>true</OptimizeReferences>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalDependencies>%(AdditionalDependencies)</AdditionalDependencies>
-    </Link>
-    <PostBuildEvent />
-    <PreBuildEvent>
-      <Command>
-      </Command>
-    </PreBuildEvent>
-    <Lib>
-      <AdditionalLibraryDirectories>$(BOOST_ROOT)\stage\lib</AdditionalLibraryDirectories>
-      <AdditionalDependencies>
-      </AdditionalDependencies>
-    </Lib>
-    <ProjectReference>
-      <LinkLibraryDependencies>false</LinkLibraryDependencies>
-    </ProjectReference>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|ARM'">
-    <ClCompile>
-      <WarningLevel>Level3</WarningLevel>
-      <PrecompiledHeader>
-      </PrecompiledHeader>
-      <Optimization>Disabled</Optimization>
-      <FunctionLevelLinking>true</FunctionLevelLinking>
-      <IntrinsicFunctions>true</IntrinsicFunctions>
-      <PreprocessorDefinitions>ONECORE;_WIN32_WINNT=0x0600;_WIN32;WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
-      <AdditionalIncludeDirectories>common_utils;include</AdditionalIncludeDirectories>
-      <TreatWarningAsError>true</TreatWarningAsError>
-      <WholeProgramOptimization>false</WholeProgramOptimization>
-    </ClCompile>
-    <Link>
-      <SubSystem>Console</SubSystem>
-      <EnableCOMDATFolding>true</EnableCOMDATFolding>
-      <OptimizeReferences>true</OptimizeReferences>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalDependencies>%(AdditionalDependencies)</AdditionalDependencies>
-    </Link>
-    <PostBuildEvent />
-    <PreBuildEvent>
-      <Command>
-      </Command>
-    </PreBuildEvent>
-    <Lib>
-      <AdditionalLibraryDirectories>$(BOOST_ROOT)\stage\lib</AdditionalLibraryDirectories>
-      <AdditionalDependencies>
-      </AdditionalDependencies>
-    </Lib>
-    <ProjectReference>
-      <LinkLibraryDependencies>false</LinkLibraryDependencies>
-    </ProjectReference>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
-    <ClCompile>
-      <WarningLevel>Level3</WarningLevel>
-      <PrecompiledHeader>
-      </PrecompiledHeader>
-      <Optimization>MaxSpeed</Optimization>
-      <FunctionLevelLinking>true</FunctionLevelLinking>
-      <IntrinsicFunctions>true</IntrinsicFunctions>
-      <PreprocessorDefinitions>_WIN32;_WIN32_WINNT=0x0600;NOMINMAX;VC_EXTRALEAN;_CRT_SECURE_NO_WARNINGS;_CRT_NONSTDC_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
-      <AdditionalIncludeDirectories>common_utils;include</AdditionalIncludeDirectories>
-      <BrowseInformation>true</BrowseInformation>
-      <TreatWarningAsError>true</TreatWarningAsError>
-      <LanguageStandard>stdcpp17</LanguageStandard>
-    </ClCompile>
-    <Link>
-      <SubSystem>Console</SubSystem>
-      <EnableCOMDATFolding>true</EnableCOMDATFolding>
-      <OptimizeReferences>true</OptimizeReferences>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalDependencies>%(AdditionalDependencies)</AdditionalDependencies>
-    </Link>
-    <PostBuildEvent>
-    </PostBuildEvent>
-    <PreBuildEvent>
-      <Command>
-      </Command>
-    </PreBuildEvent>
-    <Bscmake>
-      <PreserveSbr>true</PreserveSbr>
-    </Bscmake>
-    <Lib>
-      <AdditionalLibraryDirectories>$(BOOST_ROOT)\stage\lib</AdditionalLibraryDirectories>
-      <AdditionalDependencies>
-      </AdditionalDependencies>
-      <LinkTimeCodeGeneration>false</LinkTimeCodeGeneration>
-      <AdditionalOptions>%(AdditionalOptions)  /machine:x64</AdditionalOptions>
-    </Lib>
-    <ProjectReference>
-      <LinkLibraryDependencies>false</LinkLibraryDependencies>
-    </ProjectReference>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'">
-    <ClCompile>
-      <WarningLevel>Level3</WarningLevel>
-      <PrecompiledHeader>
-      </PrecompiledHeader>
-      <Optimization>Disabled</Optimization>
-      <FunctionLevelLinking>true</FunctionLevelLinking>
-      <IntrinsicFunctions>true</IntrinsicFunctions>
-      <PreprocessorDefinitions>_WIN32;_WIN32_WINNT=0x0600;NOMINMAX;VC_EXTRALEAN;_CRT_SECURE_NO_WARNINGS;_CRT_NONSTDC_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
-      <AdditionalIncludeDirectories>common_utils;include</AdditionalIncludeDirectories>
-      <BrowseInformation>true</BrowseInformation>
-      <TreatWarningAsError>true</TreatWarningAsError>
-      <LanguageStandard>stdcpp17</LanguageStandard>
-    </ClCompile>
-    <Link>
-      <SubSystem>Console</SubSystem>
-      <EnableCOMDATFolding>true</EnableCOMDATFolding>
-      <OptimizeReferences>true</OptimizeReferences>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalDependencies>%(AdditionalDependencies)</AdditionalDependencies>
-    </Link>
-    <PostBuildEvent />
-    <PreBuildEvent>
-      <Command>
-      </Command>
-    </PreBuildEvent>
-    <Bscmake>
-      <PreserveSbr>true</PreserveSbr>
-    </Bscmake>
-    <Lib>
-      <AdditionalLibraryDirectories>$(BOOST_ROOT)\stage\lib</AdditionalLibraryDirectories>
-      <AdditionalDependencies>
-      </AdditionalDependencies>
-      <LinkTimeCodeGeneration>false</LinkTimeCodeGeneration>
-      <AdditionalOptions>%(AdditionalOptions)  /machine:x64</AdditionalOptions>
-    </Lib>
-    <ProjectReference>
-      <LinkLibraryDependencies>false</LinkLibraryDependencies>
-    </ProjectReference>
-  </ItemDefinitionGroup>
-  <ItemGroup>
-    <ClCompile Include="common_utils\FileSystem.cpp" />
-    <ClCompile Include="common_utils\ThreadUtils.cpp" />
-    <ClCompile Include="src\UdpSocket.cpp" />
-    <ClCompile Include="src\impl\UdpSocketImpl.cpp" />
-    <ClCompile Include="src\AdHocConnection.cpp" />
-    <ClCompile Include="src\impl\AdHocConnectionImpl.cpp" />
-    <ClCompile Include="src\impl\MavLinkFtpClientImpl.cpp" />
-    <ClCompile Include="src\impl\MavLinkNodeImpl.cpp" />
-    <ClCompile Include="src\impl\MavLinkTcpServerImpl.cpp" />
-    <ClCompile Include="src\impl\onecore\OneCoreFindSerialPorts.cpp" />
-    <ClCompile Include="src\impl\windows\WindowsFindSerialPorts.cpp" />
-    <ClCompile Include="src\MavLinkFtpClient.cpp" />
-    <ClCompile Include="src\MavLinkLog.cpp" />
-    <ClCompile Include="src\MavLinkMessageBase.cpp" />
-    <ClCompile Include="src\MavLinkMessages.cpp" />
-    <ClCompile Include="src\MavLinkNode.cpp" />
-    <ClCompile Include="src\Semaphore.cpp" />
-    <ClCompile Include="src\MavLinkTcpServer.cpp" />
-    <ClCompile Include="src\MavLinkVehicle.cpp" />
-    <ClCompile Include="src\impl\MavLinkVehicleImpl.cpp" />
-    <ClCompile Include="src\MavLinkConnection.cpp" />
-    <ClCompile Include="src\impl\MavLinkConnectionImpl.cpp" />
-    <ClCompile Include="src\MavLinkVideoStream.cpp" />
-    <ClCompile Include="src\impl\MavLinkVideoStreamImpl.cpp" />
-    <ClCompile Include="src\serial_com\SerialPort.cpp" />
-    <ClCompile Include="src\serial_com\SocketInit.cpp" />
-    <ClCompile Include="src\serial_com\TcpClientPort.cpp" />
-    <ClCompile Include="src\serial_com\UdpClientPort.cpp" />
-    <ClCompile Include="src\serial_com\wifi.cpp" />
-  </ItemGroup>
-  <ItemGroup>
-    <ClInclude Include="common_utils\FileSystem.hpp" />
-    <ClInclude Include="common_utils\json.hpp" />
-    <ClInclude Include="common_utils\StrictMode.hpp" />
-    <ClInclude Include="common_utils\ThreadUtils.hpp" />
-    <ClInclude Include="include\MavLinkDebugLog.hpp" />
-    <ClInclude Include="include\UdpSocket.hpp" />
-    <ClInclude Include="include\AdHocConnection.hpp" />
-    <ClInclude Include="include\AsyncResult.hpp" />
-    <ClInclude Include="common_utils\EnumFlags.hpp" />
-    <ClInclude Include="common_utils\ExceptionUtils.hpp" />
-    <ClInclude Include="common_utils\optional.hpp" />
-    <ClInclude Include="common_utils\prettyprint.hpp" />
-    <ClInclude Include="common_utils\sincos.hpp" />
-    <ClInclude Include="common_utils\type_utils.hpp" />
-    <ClInclude Include="common_utils\Utils.hpp" />
-    <ClInclude Include="include\Semaphore.hpp" />
-    <ClInclude Include="src\impl\UdpSocketImpl.hpp" />
-    <ClInclude Include="src\impl\AdHocConnectionImpl.hpp" />
-    <ClInclude Include="src\impl\MavLinkFtpClientImpl.hpp" />
-    <ClInclude Include="src\impl\MavLinkNodeImpl.hpp" />
-    <ClInclude Include="src\impl\MavLinkTcpServerImpl.hpp" />
-    <ClInclude Include="include\MavLinkFtpClient.hpp" />
-    <ClInclude Include="include\MavLinkLog.hpp" />
-    <ClInclude Include="include\MavLinkMessageBase.hpp" />
-    <ClInclude Include="include\MavLinkMessages.hpp" />
-    <ClInclude Include="include\MavLinkNode.hpp" />
-    <ClInclude Include="include\MavLinkTcpServer.hpp" />
-    <ClInclude Include="include\MavLinkVehicle.hpp" />
-    <ClInclude Include="src\impl\MavLinkVehicleImpl.hpp" />
-    <ClInclude Include="include\MavLinkConnection.hpp" />
-    <ClInclude Include="src\impl\MavLinkConnectionImpl.hpp" />
-    <ClInclude Include="include\MavLinkVideoStream.hpp" />
-    <ClInclude Include="src\impl\MavLinkVideoStreamImpl.hpp" />
-    <ClInclude Include="mavlink\checksum.h" />
-    <ClInclude Include="mavlink\common\common.h" />
-    <ClInclude Include="mavlink\common\mavlink.h" />
-    <ClInclude Include="mavlink\common\testsuite.h" />
-    <ClInclude Include="mavlink\common\version.h" />
-    <ClInclude Include="mavlink\mavlink_conversions.h" />
-    <ClInclude Include="mavlink\mavlink_helpers.h" />
-    <ClInclude Include="mavlink\mavlink_types.h" />
-    <ClInclude Include="mavlink\protocol.h" />
-    <ClInclude Include="src\serial_com\Port.h" />
-    <ClInclude Include="src\serial_com\SerialPort.hpp" />
-    <ClInclude Include="src\serial_com\SocketInit.hpp" />
-    <ClInclude Include="src\serial_com\TcpClientPort.hpp" />
-    <ClInclude Include="src\serial_com\UdpClientPort.hpp" />
-    <ClInclude Include="include\VehicleState.hpp" />
-    <ClInclude Include="src\serial_com\wifi.h" />
-  </ItemGroup>
-  <ItemGroup>
-    <None Include="Design\Design.dgml" />
-    <None Include="Design\FtpDesign.dgml" />
-    <None Include="Design\OffboardControl.dgml" />
-  </ItemGroup>
-  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
-  <ImportGroup Label="ExtensionTargets">
-  </ImportGroup>
+<Project DefaultTargets="Build"
+         ToolsVersion="16.0"
+         xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+    <Import Project="$([MSBuild]::GetDirectoryNameOfFileAbove($(MSBuildThisFileDirectory), AutonomySim.props))\AutonomySim.props" />
+    <PropertyGroup>
+        <ShowAllFiles>true</ShowAllFiles>
+        <PlatformToolset>v143</PlatformToolset>
+    </PropertyGroup>
+    <ItemGroup Label="ProjectConfigurations">
+        <ProjectConfiguration Include="Debug|ARM">
+            <Configuration>Debug</Configuration>
+            <Platform>ARM</Platform>
+        </ProjectConfiguration>
+        <ProjectConfiguration Include="Debug|Win32">
+            <Configuration>Debug</Configuration>
+            <Platform>Win32</Platform>
+        </ProjectConfiguration>
+        <ProjectConfiguration Include="Release|ARM">
+            <Configuration>Release</Configuration>
+            <Platform>ARM</Platform>
+        </ProjectConfiguration>
+        <ProjectConfiguration Include="Release|Win32">
+            <Configuration>Release</Configuration>
+            <Platform>Win32</Platform>
+        </ProjectConfiguration>
+        <ProjectConfiguration Include="Debug|x64">
+            <Configuration>Debug</Configuration>
+            <Platform>x64</Platform>
+        </ProjectConfiguration>
+        <ProjectConfiguration Include="Release|x64">
+            <Configuration>Release</Configuration>
+            <Platform>x64</Platform>
+        </ProjectConfiguration>
+        <ProjectConfiguration Include="RelWithDebInfo|ARM">
+            <Configuration>RelWithDebInfo</Configuration>
+            <Platform>ARM</Platform>
+        </ProjectConfiguration>
+        <ProjectConfiguration Include="RelWithDebInfo|Win32">
+            <Configuration>RelWithDebInfo</Configuration>
+            <Platform>Win32</Platform>
+        </ProjectConfiguration>
+        <ProjectConfiguration Include="RelWithDebInfo|x64">
+            <Configuration>RelWithDebInfo</Configuration>
+            <Platform>x64</Platform>
+        </ProjectConfiguration>
+    </ItemGroup>
+    <PropertyGroup Label="Globals">
+        <ProjectGuid>{8510C7A4-BF63-41D2-94F6-D8731D137A5A}</ProjectGuid>
+        <Keyword>Win32Proj</Keyword>
+        <RootNamespace>PX4_P</RootNamespace>
+        <ProjectName>MavLinkCom</ProjectName>
+    </PropertyGroup>
+    <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'"
+                   Label="Configuration">
+        <ConfigurationType>StaticLibrary</ConfigurationType>
+        <UseDebugLibraries>true</UseDebugLibraries>
+        <CharacterSet>Unicode</CharacterSet>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|ARM'"
+                   Label="Configuration">
+        <ConfigurationType>StaticLibrary</ConfigurationType>
+        <UseDebugLibraries>true</UseDebugLibraries>
+        <CharacterSet>Unicode</CharacterSet>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'"
+                   Label="Configuration">
+        <ConfigurationType>StaticLibrary</ConfigurationType>
+        <UseDebugLibraries>false</UseDebugLibraries>
+        <WholeProgramOptimization>true</WholeProgramOptimization>
+        <CharacterSet>Unicode</CharacterSet>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'"
+                   Label="Configuration">
+        <ConfigurationType>StaticLibrary</ConfigurationType>
+        <UseDebugLibraries>false</UseDebugLibraries>
+        <WholeProgramOptimization>true</WholeProgramOptimization>
+        <CharacterSet>Unicode</CharacterSet>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|ARM'"
+                   Label="Configuration">
+        <ConfigurationType>StaticLibrary</ConfigurationType>
+        <UseDebugLibraries>false</UseDebugLibraries>
+        <WholeProgramOptimization>true</WholeProgramOptimization>
+        <CharacterSet>Unicode</CharacterSet>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|ARM'"
+                   Label="Configuration">
+        <ConfigurationType>StaticLibrary</ConfigurationType>
+        <UseDebugLibraries>false</UseDebugLibraries>
+        <WholeProgramOptimization>true</WholeProgramOptimization>
+        <CharacterSet>Unicode</CharacterSet>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'"
+                   Label="Configuration">
+        <ConfigurationType>StaticLibrary</ConfigurationType>
+        <UseDebugLibraries>true</UseDebugLibraries>
+        <CharacterSet>Unicode</CharacterSet>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'"
+                   Label="Configuration">
+        <ConfigurationType>StaticLibrary</ConfigurationType>
+        <UseDebugLibraries>false</UseDebugLibraries>
+        <WholeProgramOptimization>false</WholeProgramOptimization>
+        <CharacterSet>Unicode</CharacterSet>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'"
+                   Label="Configuration">
+        <ConfigurationType>StaticLibrary</ConfigurationType>
+        <UseDebugLibraries>false</UseDebugLibraries>
+        <WholeProgramOptimization>false</WholeProgramOptimization>
+        <CharacterSet>Unicode</CharacterSet>
+    </PropertyGroup>
+    <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+    <ImportGroup Label="ExtensionSettings" />
+    <ImportGroup Label="Shared" />
+    <ImportGroup Label="PropertySheets"
+                 Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+        <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props"
+                Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')"
+                Label="LocalAppDataPlatform" />
+    </ImportGroup>
+    <ImportGroup Condition="'$(Configuration)|$(Platform)'=='Debug|ARM'"
+                 Label="PropertySheets">
+        <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props"
+                Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')"
+                Label="LocalAppDataPlatform" />
+    </ImportGroup>
+    <ImportGroup Label="PropertySheets"
+                 Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+        <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props"
+                Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')"
+                Label="LocalAppDataPlatform" />
+    </ImportGroup>
+    <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'"
+                 Label="PropertySheets">
+        <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props"
+                Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')"
+                Label="LocalAppDataPlatform" />
+    </ImportGroup>
+    <ImportGroup Condition="'$(Configuration)|$(Platform)'=='Release|ARM'"
+                 Label="PropertySheets">
+        <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props"
+                Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')"
+                Label="LocalAppDataPlatform" />
+    </ImportGroup>
+    <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|ARM'"
+                 Label="PropertySheets">
+        <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props"
+                Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')"
+                Label="LocalAppDataPlatform" />
+    </ImportGroup>
+    <ImportGroup Label="PropertySheets"
+                 Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+        <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props"
+                Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')"
+                Label="LocalAppDataPlatform" />
+    </ImportGroup>
+    <ImportGroup Label="PropertySheets"
+                 Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+        <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props"
+                Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')"
+                Label="LocalAppDataPlatform" />
+    </ImportGroup>
+    <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'"
+                 Label="PropertySheets">
+        <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props"
+                Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')"
+                Label="LocalAppDataPlatform" />
+    </ImportGroup>
+    <PropertyGroup Label="UserMacros" />
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+        <LinkIncremental>true</LinkIncremental>
+        <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
+        <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|ARM'">
+        <LinkIncremental>true</LinkIncremental>
+        <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
+        <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+        <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
+        <LinkIncremental>true</LinkIncremental>
+        <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+        <LinkIncremental>false</LinkIncremental>
+        <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
+        <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">
+        <LinkIncremental>false</LinkIncremental>
+        <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
+        <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|ARM'">
+        <LinkIncremental>false</LinkIncremental>
+        <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
+        <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|ARM'">
+        <LinkIncremental>false</LinkIncremental>
+        <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
+        <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+        <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
+        <LinkIncremental>false</LinkIncremental>
+        <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'">
+        <OutDir>$(ProjectDir)lib\$(Platform)\$(Configuration)\</OutDir>
+        <LinkIncremental>false</LinkIncremental>
+        <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
+    </PropertyGroup>
+    <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+        <ClCompile>
+            <PrecompiledHeader />
+            <WarningLevel>Level3</WarningLevel>
+            <Optimization>Disabled</Optimization>
+            <PreprocessorDefinitions>_WIN32_WINNT=0x0600;_WIN32;WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_DEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+            <RuntimeLibrary>MultiThreadedDebugDLL</RuntimeLibrary>
+            <AdditionalIncludeDirectories>common\utils;include</AdditionalIncludeDirectories>
+            <BrowseInformation>true</BrowseInformation>
+            <TreatWarningAsError>true</TreatWarningAsError>
+            <LanguageStandard>stdcpp17</LanguageStandard>
+        </ClCompile>
+        <Link>
+            <SubSystem>Console</SubSystem>
+            <GenerateDebugInformation>true</GenerateDebugInformation>
+            <AdditionalDependencies>%(AdditionalDependencies)</AdditionalDependencies>
+        </Link>
+        <PostBuildEvent />
+        <PreBuildEvent>
+            <Command />
+        </PreBuildEvent>
+        <Bscmake>
+            <PreserveSbr>true</PreserveSbr>
+        </Bscmake>
+        <Lib>
+            <AdditionalLibraryDirectories>$(BOOST_ROOT)\stage\lib</AdditionalLibraryDirectories>
+            <AdditionalDependencies />
+        </Lib>
+        <ProjectReference>
+            <LinkLibraryDependencies>false</LinkLibraryDependencies>
+        </ProjectReference>
+    </ItemDefinitionGroup>
+    <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|ARM'">
+        <ClCompile>
+            <PrecompiledHeader />
+            <WarningLevel>Level3</WarningLevel>
+            <Optimization>Disabled</Optimization>
+            <PreprocessorDefinitions>ONECORE;_WIN32_WINNT=0x0600;_WIN32;WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_DEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+            <RuntimeLibrary>MultiThreadedDebugDLL</RuntimeLibrary>
+            <AdditionalIncludeDirectories>common\utils;include</AdditionalIncludeDirectories>
+            <BrowseInformation>true</BrowseInformation>
+            <TreatWarningAsError>true</TreatWarningAsError>
+        </ClCompile>
+        <Link>
+            <SubSystem>Console</SubSystem>
+            <GenerateDebugInformation>true</GenerateDebugInformation>
+            <AdditionalDependencies>%(AdditionalDependencies)</AdditionalDependencies>
+        </Link>
+        <PostBuildEvent />
+        <PreBuildEvent>
+            <Command />
+        </PreBuildEvent>
+        <Bscmake>
+            <PreserveSbr>true</PreserveSbr>
+        </Bscmake>
+        <Lib>
+            <AdditionalLibraryDirectories>$(BOOST_ROOT)\stage\lib</AdditionalLibraryDirectories>
+            <AdditionalDependencies />
+        </Lib>
+        <ProjectReference>
+            <LinkLibraryDependencies>false</LinkLibraryDependencies>
+        </ProjectReference>
+    </ItemDefinitionGroup>
+    <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+        <ClCompile>
+            <PrecompiledHeader />
+            <WarningLevel>Level3</WarningLevel>
+            <Optimization>Disabled</Optimization>
+            <PreprocessorDefinitions>_WIN32;_WIN32_WINNT=0x0600;NOMINMAX;VC_EXTRALEAN;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_DEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+            <RuntimeLibrary>MultiThreadedDebugDLL</RuntimeLibrary>
+            <AdditionalIncludeDirectories>common\utils;include</AdditionalIncludeDirectories>
+            <BrowseInformation>true</BrowseInformation>
+            <TreatWarningAsError>true</TreatWarningAsError>
+            <LanguageStandard>stdcpp17</LanguageStandard>
+        </ClCompile>
+        <Link>
+            <SubSystem>Console</SubSystem>
+            <GenerateDebugInformation>true</GenerateDebugInformation>
+            <AdditionalDependencies>%(AdditionalDependencies)</AdditionalDependencies>
+        </Link>
+        <PostBuildEvent />
+        <PreBuildEvent>
+            <Command />
+        </PreBuildEvent>
+        <Lib>
+            <AdditionalLibraryDirectories>$(BOOST_ROOT)\stage\lib</AdditionalLibraryDirectories>
+            <AdditionalDependencies />
+            <AdditionalOptions>%(AdditionalOptions)  /machine:x64</AdditionalOptions>
+        </Lib>
+        <Bscmake>
+            <PreserveSbr>true</PreserveSbr>
+        </Bscmake>
+        <ProjectReference>
+            <LinkLibraryDependencies>false</LinkLibraryDependencies>
+        </ProjectReference>
+    </ItemDefinitionGroup>
+    <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+        <ClCompile>
+            <WarningLevel>Level3</WarningLevel>
+            <PrecompiledHeader />
+            <Optimization>MaxSpeed</Optimization>
+            <FunctionLevelLinking>true</FunctionLevelLinking>
+            <IntrinsicFunctions>true</IntrinsicFunctions>
+            <PreprocessorDefinitions>_WIN32_WINNT=0x0600;_WIN32;WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+            <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
+            <AdditionalIncludeDirectories>common\utils;include</AdditionalIncludeDirectories>
+            <TreatWarningAsError>true</TreatWarningAsError>
+            <LanguageStandard>stdcpp17</LanguageStandard>
+        </ClCompile>
+        <Link>
+            <SubSystem>Console</SubSystem>
+            <EnableCOMDATFolding>true</EnableCOMDATFolding>
+            <OptimizeReferences>true</OptimizeReferences>
+            <GenerateDebugInformation>true</GenerateDebugInformation>
+            <AdditionalDependencies>%(AdditionalDependencies)</AdditionalDependencies>
+        </Link>
+        <PostBuildEvent />
+        <PreBuildEvent>
+            <Command />
+        </PreBuildEvent>
+        <Lib>
+            <AdditionalLibraryDirectories>$(BOOST_ROOT)\stage\lib</AdditionalLibraryDirectories>
+            <AdditionalDependencies />
+        </Lib>
+        <ProjectReference>
+            <LinkLibraryDependencies>false</LinkLibraryDependencies>
+        </ProjectReference>
+    </ItemDefinitionGroup>
+    <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">
+        <ClCompile>
+            <WarningLevel>Level3</WarningLevel>
+            <PrecompiledHeader />
+            <Optimization>Disabled</Optimization>
+            <FunctionLevelLinking>true</FunctionLevelLinking>
+            <IntrinsicFunctions>true</IntrinsicFunctions>
+            <PreprocessorDefinitions>_WIN32_WINNT=0x0600;_WIN32;WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+            <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
+            <AdditionalIncludeDirectories>common\utils;include</AdditionalIncludeDirectories>
+            <TreatWarningAsError>true</TreatWarningAsError>
+            <LanguageStandard>stdcpp17</LanguageStandard>
+            <WholeProgramOptimization>false</WholeProgramOptimization>
+        </ClCompile>
+        <Link>
+            <SubSystem>Console</SubSystem>
+            <EnableCOMDATFolding>true</EnableCOMDATFolding>
+            <OptimizeReferences>true</OptimizeReferences>
+            <GenerateDebugInformation>true</GenerateDebugInformation>
+            <AdditionalDependencies>%(AdditionalDependencies)</AdditionalDependencies>
+        </Link>
+        <PostBuildEvent />
+        <PreBuildEvent>
+            <Command />
+        </PreBuildEvent>
+        <Lib>
+            <AdditionalLibraryDirectories>$(BOOST_ROOT)\stage\lib</AdditionalLibraryDirectories>
+            <AdditionalDependencies />
+        </Lib>
+        <ProjectReference>
+            <LinkLibraryDependencies>false</LinkLibraryDependencies>
+        </ProjectReference>
+    </ItemDefinitionGroup>
+    <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|ARM'">
+        <ClCompile>
+            <WarningLevel>Level3</WarningLevel>
+            <PrecompiledHeader />
+            <Optimization>MaxSpeed</Optimization>
+            <FunctionLevelLinking>true</FunctionLevelLinking>
+            <IntrinsicFunctions>true</IntrinsicFunctions>
+            <PreprocessorDefinitions>ONECORE;_WIN32_WINNT=0x0600;_WIN32;WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+            <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
+            <AdditionalIncludeDirectories>common\utils;include</AdditionalIncludeDirectories>
+            <TreatWarningAsError>true</TreatWarningAsError>
+        </ClCompile>
+        <Link>
+            <SubSystem>Console</SubSystem>
+            <EnableCOMDATFolding>true</EnableCOMDATFolding>
+            <OptimizeReferences>true</OptimizeReferences>
+            <GenerateDebugInformation>true</GenerateDebugInformation>
+            <AdditionalDependencies>%(AdditionalDependencies)</AdditionalDependencies>
+        </Link>
+        <PostBuildEvent />
+        <PreBuildEvent>
+            <Command />
+        </PreBuildEvent>
+        <Lib>
+            <AdditionalLibraryDirectories>$(BOOST_ROOT)\stage\lib</AdditionalLibraryDirectories>
+            <AdditionalDependencies />
+        </Lib>
+        <ProjectReference>
+            <LinkLibraryDependencies>false</LinkLibraryDependencies>
+        </ProjectReference>
+    </ItemDefinitionGroup>
+    <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|ARM'">
+        <ClCompile>
+            <WarningLevel>Level3</WarningLevel>
+            <PrecompiledHeader />
+            <Optimization>Disabled</Optimization>
+            <FunctionLevelLinking>true</FunctionLevelLinking>
+            <IntrinsicFunctions>true</IntrinsicFunctions>
+            <PreprocessorDefinitions>ONECORE;_WIN32_WINNT=0x0600;_WIN32;WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+            <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
+            <AdditionalIncludeDirectories>common\utils;include</AdditionalIncludeDirectories>
+            <TreatWarningAsError>true</TreatWarningAsError>
+            <WholeProgramOptimization>false</WholeProgramOptimization>
+        </ClCompile>
+        <Link>
+            <SubSystem>Console</SubSystem>
+            <EnableCOMDATFolding>true</EnableCOMDATFolding>
+            <OptimizeReferences>true</OptimizeReferences>
+            <GenerateDebugInformation>true</GenerateDebugInformation>
+            <AdditionalDependencies>%(AdditionalDependencies)</AdditionalDependencies>
+        </Link>
+        <PostBuildEvent />
+        <PreBuildEvent>
+            <Command />
+        </PreBuildEvent>
+        <Lib>
+            <AdditionalLibraryDirectories>$(BOOST_ROOT)\stage\lib</AdditionalLibraryDirectories>
+            <AdditionalDependencies />
+        </Lib>
+        <ProjectReference>
+            <LinkLibraryDependencies>false</LinkLibraryDependencies>
+        </ProjectReference>
+    </ItemDefinitionGroup>
+    <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+        <ClCompile>
+            <WarningLevel>Level3</WarningLevel>
+            <PrecompiledHeader />
+            <Optimization>MaxSpeed</Optimization>
+            <FunctionLevelLinking>true</FunctionLevelLinking>
+            <IntrinsicFunctions>true</IntrinsicFunctions>
+            <PreprocessorDefinitions>_WIN32;_WIN32_WINNT=0x0600;NOMINMAX;VC_EXTRALEAN;_CRT_SECURE_NO_WARNINGS;_CRT_NONSTDC_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+            <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
+            <AdditionalIncludeDirectories>common\utils;include</AdditionalIncludeDirectories>
+            <BrowseInformation>true</BrowseInformation>
+            <TreatWarningAsError>true</TreatWarningAsError>
+            <LanguageStandard>stdcpp17</LanguageStandard>
+        </ClCompile>
+        <Link>
+            <SubSystem>Console</SubSystem>
+            <EnableCOMDATFolding>true</EnableCOMDATFolding>
+            <OptimizeReferences>true</OptimizeReferences>
+            <GenerateDebugInformation>true</GenerateDebugInformation>
+            <AdditionalDependencies>%(AdditionalDependencies)</AdditionalDependencies>
+        </Link>
+        <PostBuildEvent />
+        <PreBuildEvent>
+            <Command />
+        </PreBuildEvent>
+        <Bscmake>
+            <PreserveSbr>true</PreserveSbr>
+        </Bscmake>
+        <Lib>
+            <AdditionalLibraryDirectories>$(BOOST_ROOT)\stage\lib</AdditionalLibraryDirectories>
+            <AdditionalDependencies />
+            <LinkTimeCodeGeneration>false</LinkTimeCodeGeneration>
+            <AdditionalOptions>%(AdditionalOptions)  /machine:x64</AdditionalOptions>
+        </Lib>
+        <ProjectReference>
+            <LinkLibraryDependencies>false</LinkLibraryDependencies>
+        </ProjectReference>
+    </ItemDefinitionGroup>
+    <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'">
+        <ClCompile>
+            <WarningLevel>Level3</WarningLevel>
+            <PrecompiledHeader />
+            <Optimization>Disabled</Optimization>
+            <FunctionLevelLinking>true</FunctionLevelLinking>
+            <IntrinsicFunctions>true</IntrinsicFunctions>
+            <PreprocessorDefinitions>_WIN32;_WIN32_WINNT=0x0600;NOMINMAX;VC_EXTRALEAN;_CRT_SECURE_NO_WARNINGS;_CRT_NONSTDC_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+            <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
+            <AdditionalIncludeDirectories>common\utils;include</AdditionalIncludeDirectories>
+            <BrowseInformation>true</BrowseInformation>
+            <TreatWarningAsError>true</TreatWarningAsError>
+            <LanguageStandard>stdcpp17</LanguageStandard>
+        </ClCompile>
+        <Link>
+            <SubSystem>Console</SubSystem>
+            <EnableCOMDATFolding>true</EnableCOMDATFolding>
+            <OptimizeReferences>true</OptimizeReferences>
+            <GenerateDebugInformation>true</GenerateDebugInformation>
+            <AdditionalDependencies>%(AdditionalDependencies)</AdditionalDependencies>
+        </Link>
+        <PostBuildEvent />
+        <PreBuildEvent>
+            <Command />
+        </PreBuildEvent>
+        <Bscmake>
+            <PreserveSbr>true</PreserveSbr>
+        </Bscmake>
+        <Lib>
+            <AdditionalLibraryDirectories>$(BOOST_ROOT)\stage\lib</AdditionalLibraryDirectories>
+            <AdditionalDependencies />
+            <LinkTimeCodeGeneration>false</LinkTimeCodeGeneration>
+            <AdditionalOptions>%(AdditionalOptions)  /machine:x64</AdditionalOptions>
+        </Lib>
+        <ProjectReference>
+            <LinkLibraryDependencies>false</LinkLibraryDependencies>
+        </ProjectReference>
+    </ItemDefinitionGroup>
+    <ItemGroup>
+        <ClCompile Include="common\utils\FileSystem.cpp" />
+        <ClCompile Include="common\utils\ThreadUtils.cpp" />
+        <ClCompile Include="src\UdpSocket.cpp" />
+        <ClCompile Include="src\impl\UdpSocketImpl.cpp" />
+        <ClCompile Include="src\AdHocConnection.cpp" />
+        <ClCompile Include="src\impl\AdHocConnectionImpl.cpp" />
+        <ClCompile Include="src\impl\MavLinkFtpClientImpl.cpp" />
+        <ClCompile Include="src\impl\MavLinkNodeImpl.cpp" />
+        <ClCompile Include="src\impl\MavLinkTcpServerImpl.cpp" />
+        <ClCompile Include="src\impl\onecore\OneCoreFindSerialPorts.cpp" />
+        <ClCompile Include="src\impl\windows\WindowsFindSerialPorts.cpp" />
+        <ClCompile Include="src\MavLinkFtpClient.cpp" />
+        <ClCompile Include="src\MavLinkLog.cpp" />
+        <ClCompile Include="src\MavLinkMessageBase.cpp" />
+        <ClCompile Include="src\MavLinkMessages.cpp" />
+        <ClCompile Include="src\MavLinkNode.cpp" />
+        <ClCompile Include="src\Semaphore.cpp" />
+        <ClCompile Include="src\MavLinkTcpServer.cpp" />
+        <ClCompile Include="src\MavLinkVehicle.cpp" />
+        <ClCompile Include="src\impl\MavLinkVehicleImpl.cpp" />
+        <ClCompile Include="src\MavLinkConnection.cpp" />
+        <ClCompile Include="src\impl\MavLinkConnectionImpl.cpp" />
+        <ClCompile Include="src\MavLinkVideoStream.cpp" />
+        <ClCompile Include="src\impl\MavLinkVideoStreamImpl.cpp" />
+        <ClCompile Include="src\serial_com\SerialPort.cpp" />
+        <ClCompile Include="src\serial_com\SocketInit.cpp" />
+        <ClCompile Include="src\serial_com\TcpClientPort.cpp" />
+        <ClCompile Include="src\serial_com\UdpClientPort.cpp" />
+        <ClCompile Include="src\serial_com\wifi.cpp" />
+    </ItemGroup>
+    <ItemGroup>
+        <ClInclude Include="common\utils\FileSystem.hpp" />
+        <ClInclude Include="common\utils\json.hpp" />
+        <ClInclude Include="common\utils\StrictMode.hpp" />
+        <ClInclude Include="common\utils\ThreadUtils.hpp" />
+        <ClInclude Include="include\MavLinkDebugLog.hpp" />
+        <ClInclude Include="include\UdpSocket.hpp" />
+        <ClInclude Include="include\AdHocConnection.hpp" />
+        <ClInclude Include="include\AsyncResult.hpp" />
+        <ClInclude Include="common\utils\EnumFlags.hpp" />
+        <ClInclude Include="common\utils\ExceptionUtils.hpp" />
+        <ClInclude Include="common\utils\optional.hpp" />
+        <ClInclude Include="common\utils\prettyprint.hpp" />
+        <ClInclude Include="common\utils\sincos.hpp" />
+        <ClInclude Include="common\utils\type_utils.hpp" />
+        <ClInclude Include="common\utils\Utils.hpp" />
+        <ClInclude Include="include\Semaphore.hpp" />
+        <ClInclude Include="src\impl\UdpSocketImpl.hpp" />
+        <ClInclude Include="src\impl\AdHocConnectionImpl.hpp" />
+        <ClInclude Include="src\impl\MavLinkFtpClientImpl.hpp" />
+        <ClInclude Include="src\impl\MavLinkNodeImpl.hpp" />
+        <ClInclude Include="src\impl\MavLinkTcpServerImpl.hpp" />
+        <ClInclude Include="include\MavLinkFtpClient.hpp" />
+        <ClInclude Include="include\MavLinkLog.hpp" />
+        <ClInclude Include="include\MavLinkMessageBase.hpp" />
+        <ClInclude Include="include\MavLinkMessages.hpp" />
+        <ClInclude Include="include\MavLinkNode.hpp" />
+        <ClInclude Include="include\MavLinkTcpServer.hpp" />
+        <ClInclude Include="include\MavLinkVehicle.hpp" />
+        <ClInclude Include="src\impl\MavLinkVehicleImpl.hpp" />
+        <ClInclude Include="include\MavLinkConnection.hpp" />
+        <ClInclude Include="src\impl\MavLinkConnectionImpl.hpp" />
+        <ClInclude Include="include\MavLinkVideoStream.hpp" />
+        <ClInclude Include="src\impl\MavLinkVideoStreamImpl.hpp" />
+        <ClInclude Include="mavlink\checksum.h" />
+        <ClInclude Include="mavlink\common\common.h" />
+        <ClInclude Include="mavlink\common\mavlink.h" />
+        <ClInclude Include="mavlink\common\testsuite.h" />
+        <ClInclude Include="mavlink\common\version.h" />
+        <ClInclude Include="mavlink\mavlink_conversions.h" />
+        <ClInclude Include="mavlink\mavlink_helpers.h" />
+        <ClInclude Include="mavlink\mavlink_types.h" />
+        <ClInclude Include="mavlink\protocol.h" />
+        <ClInclude Include="src\serial_com\Port.h" />
+        <ClInclude Include="src\serial_com\SerialPort.hpp" />
+        <ClInclude Include="src\serial_com\SocketInit.hpp" />
+        <ClInclude Include="src\serial_com\TcpClientPort.hpp" />
+        <ClInclude Include="src\serial_com\UdpClientPort.hpp" />
+        <ClInclude Include="include\VehicleState.hpp" />
+        <ClInclude Include="src\serial_com\wifi.h" />
+    </ItemGroup>
+    <ItemGroup>
+        <None Include="Design\Design.dgml" />
+        <None Include="Design\FtpDesign.dgml" />
+        <None Include="Design\OffboardControl.dgml" />
+    </ItemGroup>
+    <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+    <ImportGroup Label="ExtensionTargets" />
 </Project>
\ No newline at end of file
diff --git a/MavLinkCom/MavLinkCom.vcxproj.filters b/MavLinkCom/MavLinkCom.vcxproj.filters
index 329551b5..e722162a 100644
--- a/MavLinkCom/MavLinkCom.vcxproj.filters
+++ b/MavLinkCom/MavLinkCom.vcxproj.filters
@@ -1,265 +1,266 @@
 <?xml version="1.0" encoding="utf-8"?>
-<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
-  <ItemGroup>
-    <ClCompile Include="src\MavLinkConnection.cpp">
-      <Filter>src</Filter>
-    </ClCompile>
-    <ClCompile Include="src\impl\MavLinkConnectionImpl.cpp">
-      <Filter>src\impl</Filter>
-    </ClCompile>
-    <ClCompile Include="src\impl\MavLinkFtpClientImpl.cpp">
-      <Filter>src\impl</Filter>
-    </ClCompile>
-    <ClCompile Include="src\impl\MavLinkNodeImpl.cpp">
-      <Filter>src\impl</Filter>
-    </ClCompile>
-    <ClCompile Include="src\impl\MavLinkTcpServerImpl.cpp">
-      <Filter>src\impl</Filter>
-    </ClCompile>
-    <ClCompile Include="src\impl\MavLinkVehicleImpl.cpp">
-      <Filter>src\impl</Filter>
-    </ClCompile>
-    <ClCompile Include="src\impl\MavLinkVideoStreamImpl.cpp">
-      <Filter>src\impl</Filter>
-    </ClCompile>
-    <ClCompile Include="src\serial_com\TcpClientPort.cpp">
-      <Filter>serial_com</Filter>
-    </ClCompile>
-    <ClCompile Include="src\serial_com\UdpClientPort.cpp">
-      <Filter>serial_com</Filter>
-    </ClCompile>
-    <ClCompile Include="src\MavLinkFtpClient.cpp">
-      <Filter>src</Filter>
-    </ClCompile>
-    <ClCompile Include="src\MavLinkLog.cpp">
-      <Filter>src</Filter>
-    </ClCompile>
-    <ClCompile Include="src\MavLinkMessageBase.cpp">
-      <Filter>src</Filter>
-    </ClCompile>
-    <ClCompile Include="src\MavLinkMessages.cpp">
-      <Filter>src</Filter>
-    </ClCompile>
-    <ClCompile Include="src\MavLinkNode.cpp">
-      <Filter>src</Filter>
-    </ClCompile>
-    <ClCompile Include="src\MavLinkTcpServer.cpp">
-      <Filter>src</Filter>
-    </ClCompile>
-    <ClCompile Include="src\MavLinkVehicle.cpp">
-      <Filter>src</Filter>
-    </ClCompile>
-    <ClCompile Include="src\MavLinkVideoStream.cpp">
-      <Filter>src</Filter>
-    </ClCompile>
-    <ClCompile Include="common_utils\ThreadUtils.cpp">
-      <Filter>common_utils</Filter>
-    </ClCompile>
-    <ClCompile Include="common_utils\FileSystem.cpp">
-      <Filter>common_utils</Filter>
-    </ClCompile>
-    <ClCompile Include="src\serial_com\SerialPort.cpp">
-      <Filter>serial_com</Filter>
-    </ClCompile>
-    <ClCompile Include="src\serial_com\SocketInit.cpp">
-      <Filter>serial_com</Filter>
-    </ClCompile>
-    <ClCompile Include="src\Semaphore.cpp">
-      <Filter>src</Filter>
-    </ClCompile>
-    <ClCompile Include="src\serial_com\wifi.cpp">
-      <Filter>serial_com</Filter>
-    </ClCompile>
-    <ClCompile Include="src\impl\onecore\OneCoreFindSerialPorts.cpp">
-      <Filter>src\impl\onecore</Filter>
-    </ClCompile>
-    <ClCompile Include="src\impl\windows\WindowsFindSerialPorts.cpp">
-      <Filter>src\impl\windows</Filter>
-    </ClCompile>
-    <ClCompile Include="src\impl\AdHocConnectionImpl.cpp" />
-    <ClCompile Include="src\AdHocConnection.cpp" />
-    <ClCompile Include="src\impl\UdpSocketImpl.cpp" />
-    <ClCompile Include="src\UdpSocket.cpp" />
-  </ItemGroup>
-  <ItemGroup>
-    <ClInclude Include="mavlink\checksum.h">
-      <Filter>Mavlink</Filter>
-    </ClInclude>
-    <ClInclude Include="mavlink\common\common.h">
-      <Filter>Mavlink</Filter>
-    </ClInclude>
-    <ClInclude Include="mavlink\common\mavlink.h">
-      <Filter>Mavlink</Filter>
-    </ClInclude>
-    <ClInclude Include="mavlink\mavlink_conversions.h">
-      <Filter>Mavlink</Filter>
-    </ClInclude>
-    <ClInclude Include="mavlink\mavlink_helpers.h">
-      <Filter>Mavlink</Filter>
-    </ClInclude>
-    <ClInclude Include="mavlink\mavlink_types.h">
-      <Filter>Mavlink</Filter>
-    </ClInclude>
-    <ClInclude Include="common_utils\EnumFlags.hpp">
-      <Filter>common_utils</Filter>
-    </ClInclude>
-    <ClInclude Include="common_utils\ExceptionUtils.hpp">
-      <Filter>common_utils</Filter>
-    </ClInclude>
-    <ClInclude Include="common_utils\Utils.hpp">
-      <Filter>common_utils</Filter>
-    </ClInclude>
-    <ClInclude Include="mavlink\common\testsuite.h">
-      <Filter>Mavlink</Filter>
-    </ClInclude>
-    <ClInclude Include="common_utils\sincos.hpp">
-      <Filter>common_utils</Filter>
-    </ClInclude>
-    <ClInclude Include="common_utils\prettyprint.hpp">
-      <Filter>common_utils</Filter>
-    </ClInclude>
-    <ClInclude Include="common_utils\optional.hpp">
-      <Filter>common_utils</Filter>
-    </ClInclude>
-    <ClInclude Include="mavlink\protocol.h">
-      <Filter>Mavlink</Filter>
-    </ClInclude>
-    <ClInclude Include="common_utils\type_utils.hpp">
-      <Filter>common_utils</Filter>
-    </ClInclude>
-    <ClInclude Include="mavlink\common\version.h">
-      <Filter>Mavlink</Filter>
-    </ClInclude>
-    <ClInclude Include="include\MavLinkConnection.hpp">
-      <Filter>include</Filter>
-    </ClInclude>
-    <ClInclude Include="include\MavLinkFtpClient.hpp">
-      <Filter>include</Filter>
-    </ClInclude>
-    <ClInclude Include="include\MavLinkLog.hpp">
-      <Filter>include</Filter>
-    </ClInclude>
-    <ClInclude Include="include\MavLinkMessageBase.hpp">
-      <Filter>include</Filter>
-    </ClInclude>
-    <ClInclude Include="include\MavLinkMessages.hpp">
-      <Filter>include</Filter>
-    </ClInclude>
-    <ClInclude Include="include\MavLinkNode.hpp">
-      <Filter>include</Filter>
-    </ClInclude>
-    <ClInclude Include="include\MavLinkTcpServer.hpp">
-      <Filter>include</Filter>
-    </ClInclude>
-    <ClInclude Include="include\MavLinkVehicle.hpp">
-      <Filter>include</Filter>
-    </ClInclude>
-    <ClInclude Include="include\VehicleState.hpp">
-      <Filter>include</Filter>
-    </ClInclude>
-    <ClInclude Include="include\MavLinkVideoStream.hpp">
-      <Filter>include</Filter>
-    </ClInclude>
-    <ClInclude Include="include\AsyncResult.hpp">
-      <Filter>include</Filter>
-    </ClInclude>
-    <ClInclude Include="src\impl\MavLinkConnectionImpl.hpp">
-      <Filter>src\impl</Filter>
-    </ClInclude>
-    <ClInclude Include="src\impl\MavLinkNodeImpl.hpp">
-      <Filter>src\impl</Filter>
-    </ClInclude>
-    <ClInclude Include="src\impl\MavLinkTcpServerImpl.hpp">
-      <Filter>src\impl</Filter>
-    </ClInclude>
-    <ClInclude Include="src\impl\MavLinkVehicleImpl.hpp">
-      <Filter>src\impl</Filter>
-    </ClInclude>
-    <ClInclude Include="src\impl\MavLinkVideoStreamImpl.hpp">
-      <Filter>src\impl</Filter>
-    </ClInclude>
-    <ClInclude Include="src\serial_com\Port.h">
-      <Filter>serial_com</Filter>
-    </ClInclude>
-    <ClInclude Include="src\serial_com\TcpClientPort.hpp">
-      <Filter>serial_com</Filter>
-    </ClInclude>
-    <ClInclude Include="src\serial_com\UdpClientPort.hpp">
-      <Filter>serial_com</Filter>
-    </ClInclude>
-    <ClInclude Include="common_utils\StrictMode.hpp">
-      <Filter>common_utils</Filter>
-    </ClInclude>
-    <ClInclude Include="common_utils\ThreadUtils.hpp">
-      <Filter>common_utils</Filter>
-    </ClInclude>
-    <ClInclude Include="common_utils\FileSystem.hpp">
-      <Filter>common_utils</Filter>
-    </ClInclude>
-    <ClInclude Include="src\serial_com\SerialPort.hpp">
-      <Filter>serial_com</Filter>
-    </ClInclude>
-    <ClInclude Include="src\serial_com\SocketInit.hpp">
-      <Filter>serial_com</Filter>
-    </ClInclude>
-    <ClInclude Include="include\Semaphore.hpp">
-      <Filter>include</Filter>
-    </ClInclude>
-    <ClInclude Include="src\serial_com\wifi.h">
-      <Filter>serial_com</Filter>
-    </ClInclude>
-    <ClInclude Include="common_utils\json.hpp">
-      <Filter>common_utils</Filter>
-    </ClInclude>
-    <ClInclude Include="src\impl\MavLinkFtpClientImpl.hpp">
-      <Filter>src\impl</Filter>
-    </ClInclude>
-    <ClInclude Include="include\AdHocConnection.hpp" />
-    <ClInclude Include="src\impl\AdHocConnectionImpl.hpp" />
-    <ClInclude Include="include\UdpSocket.hpp" />
-    <ClInclude Include="src\impl\UdpSocketImpl.hpp" />
-    <ClInclude Include="include\MavLinkDebugLog.hpp" />
-  </ItemGroup>
-  <ItemGroup>
-    <Filter Include="Mavlink">
-      <UniqueIdentifier>{0d3293cf-400d-4a27-87ee-13f7d3f9f0b7}</UniqueIdentifier>
-      <Extensions>mavlink/*</Extensions>
-    </Filter>
-    <Filter Include="common_utils">
-      <UniqueIdentifier>{be5b8d3a-d06c-43f0-8b55-f2bcd5661cf6}</UniqueIdentifier>
-    </Filter>
-    <Filter Include="serial_com">
-      <UniqueIdentifier>{341c5925-dfe2-4c6a-8fa7-143feff52361}</UniqueIdentifier>
-    </Filter>
-    <Filter Include="Design">
-      <UniqueIdentifier>{44faf97a-bf1d-413d-8f0f-4e75f882cfd9}</UniqueIdentifier>
-      <Extensions>Design/*</Extensions>
-    </Filter>
-    <Filter Include="include">
-      <UniqueIdentifier>{1dd05faf-854a-4a9e-abc5-e6b6106ac108}</UniqueIdentifier>
-    </Filter>
-    <Filter Include="src">
-      <UniqueIdentifier>{2f07994d-eaf6-4ebb-b8ef-9732814ea0bb}</UniqueIdentifier>
-    </Filter>
-    <Filter Include="src\impl">
-      <UniqueIdentifier>{8390030e-8792-43bf-80ed-69b4530b61fb}</UniqueIdentifier>
-    </Filter>
-    <Filter Include="src\impl\windows">
-      <UniqueIdentifier>{4ee25053-206a-4174-99cb-5fb278fc5079}</UniqueIdentifier>
-    </Filter>
-    <Filter Include="src\impl\onecore">
-      <UniqueIdentifier>{7b6dab75-eedb-4b36-a3a3-ea8c30b4a412}</UniqueIdentifier>
-    </Filter>
-  </ItemGroup>
-  <ItemGroup>
-    <None Include="Design\OffboardControl.dgml">
-      <Filter>Design</Filter>
-    </None>
-    <None Include="Design\Design.dgml">
-      <Filter>Design</Filter>
-    </None>
-    <None Include="Design\FtpDesign.dgml">
-      <Filter>Design</Filter>
-    </None>
-  </ItemGroup>
+<Project ToolsVersion="4.0"
+         xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+    <ItemGroup>
+        <ClCompile Include="src\MavLinkConnection.cpp">
+            <Filter>src</Filter>
+        </ClCompile>
+        <ClCompile Include="src\impl\MavLinkConnectionImpl.cpp">
+            <Filter>src\impl</Filter>
+        </ClCompile>
+        <ClCompile Include="src\impl\MavLinkFtpClientImpl.cpp">
+            <Filter>src\impl</Filter>
+        </ClCompile>
+        <ClCompile Include="src\impl\MavLinkNodeImpl.cpp">
+            <Filter>src\impl</Filter>
+        </ClCompile>
+        <ClCompile Include="src\impl\MavLinkTcpServerImpl.cpp">
+            <Filter>src\impl</Filter>
+        </ClCompile>
+        <ClCompile Include="src\impl\MavLinkVehicleImpl.cpp">
+            <Filter>src\impl</Filter>
+        </ClCompile>
+        <ClCompile Include="src\impl\MavLinkVideoStreamImpl.cpp">
+            <Filter>src\impl</Filter>
+        </ClCompile>
+        <ClCompile Include="src\serial_com\TcpClientPort.cpp">
+            <Filter>serial_com</Filter>
+        </ClCompile>
+        <ClCompile Include="src\serial_com\UdpClientPort.cpp">
+            <Filter>serial_com</Filter>
+        </ClCompile>
+        <ClCompile Include="src\MavLinkFtpClient.cpp">
+            <Filter>src</Filter>
+        </ClCompile>
+        <ClCompile Include="src\MavLinkLog.cpp">
+            <Filter>src</Filter>
+        </ClCompile>
+        <ClCompile Include="src\MavLinkMessageBase.cpp">
+            <Filter>src</Filter>
+        </ClCompile>
+        <ClCompile Include="src\MavLinkMessages.cpp">
+            <Filter>src</Filter>
+        </ClCompile>
+        <ClCompile Include="src\MavLinkNode.cpp">
+            <Filter>src</Filter>
+        </ClCompile>
+        <ClCompile Include="src\MavLinkTcpServer.cpp">
+            <Filter>src</Filter>
+        </ClCompile>
+        <ClCompile Include="src\MavLinkVehicle.cpp">
+            <Filter>src</Filter>
+        </ClCompile>
+        <ClCompile Include="src\MavLinkVideoStream.cpp">
+            <Filter>src</Filter>
+        </ClCompile>
+        <ClCompile Include="common\utils\ThreadUtils.cpp">
+            <Filter>common\utils</Filter>
+        </ClCompile>
+        <ClCompile Include="common\utils\FileSystem.cpp">
+            <Filter>common\utils</Filter>
+        </ClCompile>
+        <ClCompile Include="src\serial_com\SerialPort.cpp">
+            <Filter>serial_com</Filter>
+        </ClCompile>
+        <ClCompile Include="src\serial_com\SocketInit.cpp">
+            <Filter>serial_com</Filter>
+        </ClCompile>
+        <ClCompile Include="src\Semaphore.cpp">
+            <Filter>src</Filter>
+        </ClCompile>
+        <ClCompile Include="src\serial_com\wifi.cpp">
+            <Filter>serial_com</Filter>
+        </ClCompile>
+        <ClCompile Include="src\impl\onecore\OneCoreFindSerialPorts.cpp">
+            <Filter>src\impl\onecore</Filter>
+        </ClCompile>
+        <ClCompile Include="src\impl\windows\WindowsFindSerialPorts.cpp">
+            <Filter>src\impl\windows</Filter>
+        </ClCompile>
+        <ClCompile Include="src\impl\AdHocConnectionImpl.cpp" />
+        <ClCompile Include="src\AdHocConnection.cpp" />
+        <ClCompile Include="src\impl\UdpSocketImpl.cpp" />
+        <ClCompile Include="src\UdpSocket.cpp" />
+    </ItemGroup>
+    <ItemGroup>
+        <ClInclude Include="mavlink\checksum.h">
+            <Filter>Mavlink</Filter>
+        </ClInclude>
+        <ClInclude Include="mavlink\common\common.h">
+            <Filter>Mavlink</Filter>
+        </ClInclude>
+        <ClInclude Include="mavlink\common\mavlink.h">
+            <Filter>Mavlink</Filter>
+        </ClInclude>
+        <ClInclude Include="mavlink\mavlink_conversions.h">
+            <Filter>Mavlink</Filter>
+        </ClInclude>
+        <ClInclude Include="mavlink\mavlink_helpers.h">
+            <Filter>Mavlink</Filter>
+        </ClInclude>
+        <ClInclude Include="mavlink\mavlink_types.h">
+            <Filter>Mavlink</Filter>
+        </ClInclude>
+        <ClInclude Include="common\utils\EnumFlags.hpp">
+            <Filter>common\utils</Filter>
+        </ClInclude>
+        <ClInclude Include="common\utils\ExceptionUtils.hpp">
+            <Filter>common\utils</Filter>
+        </ClInclude>
+        <ClInclude Include="common\utils\Utils.hpp">
+            <Filter>common\utils</Filter>
+        </ClInclude>
+        <ClInclude Include="mavlink\common\testsuite.h">
+            <Filter>Mavlink</Filter>
+        </ClInclude>
+        <ClInclude Include="common\utils\sincos.hpp">
+            <Filter>common\utils</Filter>
+        </ClInclude>
+        <ClInclude Include="common\utils\prettyprint.hpp">
+            <Filter>common\utils</Filter>
+        </ClInclude>
+        <ClInclude Include="common\utils\optional.hpp">
+            <Filter>common\utils</Filter>
+        </ClInclude>
+        <ClInclude Include="mavlink\protocol.h">
+            <Filter>Mavlink</Filter>
+        </ClInclude>
+        <ClInclude Include="common\utils\type_utils.hpp">
+            <Filter>common\utils</Filter>
+        </ClInclude>
+        <ClInclude Include="mavlink\common\version.h">
+            <Filter>Mavlink</Filter>
+        </ClInclude>
+        <ClInclude Include="include\MavLinkConnection.hpp">
+            <Filter>include</Filter>
+        </ClInclude>
+        <ClInclude Include="include\MavLinkFtpClient.hpp">
+            <Filter>include</Filter>
+        </ClInclude>
+        <ClInclude Include="include\MavLinkLog.hpp">
+            <Filter>include</Filter>
+        </ClInclude>
+        <ClInclude Include="include\MavLinkMessageBase.hpp">
+            <Filter>include</Filter>
+        </ClInclude>
+        <ClInclude Include="include\MavLinkMessages.hpp">
+            <Filter>include</Filter>
+        </ClInclude>
+        <ClInclude Include="include\MavLinkNode.hpp">
+            <Filter>include</Filter>
+        </ClInclude>
+        <ClInclude Include="include\MavLinkTcpServer.hpp">
+            <Filter>include</Filter>
+        </ClInclude>
+        <ClInclude Include="include\MavLinkVehicle.hpp">
+            <Filter>include</Filter>
+        </ClInclude>
+        <ClInclude Include="include\VehicleState.hpp">
+            <Filter>include</Filter>
+        </ClInclude>
+        <ClInclude Include="include\MavLinkVideoStream.hpp">
+            <Filter>include</Filter>
+        </ClInclude>
+        <ClInclude Include="include\AsyncResult.hpp">
+            <Filter>include</Filter>
+        </ClInclude>
+        <ClInclude Include="src\impl\MavLinkConnectionImpl.hpp">
+            <Filter>src\impl</Filter>
+        </ClInclude>
+        <ClInclude Include="src\impl\MavLinkNodeImpl.hpp">
+            <Filter>src\impl</Filter>
+        </ClInclude>
+        <ClInclude Include="src\impl\MavLinkTcpServerImpl.hpp">
+            <Filter>src\impl</Filter>
+        </ClInclude>
+        <ClInclude Include="src\impl\MavLinkVehicleImpl.hpp">
+            <Filter>src\impl</Filter>
+        </ClInclude>
+        <ClInclude Include="src\impl\MavLinkVideoStreamImpl.hpp">
+            <Filter>src\impl</Filter>
+        </ClInclude>
+        <ClInclude Include="src\serial_com\Port.h">
+            <Filter>serial_com</Filter>
+        </ClInclude>
+        <ClInclude Include="src\serial_com\TcpClientPort.hpp">
+            <Filter>serial_com</Filter>
+        </ClInclude>
+        <ClInclude Include="src\serial_com\UdpClientPort.hpp">
+            <Filter>serial_com</Filter>
+        </ClInclude>
+        <ClInclude Include="common\utils\StrictMode.hpp">
+            <Filter>common\utils</Filter>
+        </ClInclude>
+        <ClInclude Include="common\utils\ThreadUtils.hpp">
+            <Filter>common\utils</Filter>
+        </ClInclude>
+        <ClInclude Include="common\utils\FileSystem.hpp">
+            <Filter>common\utils</Filter>
+        </ClInclude>
+        <ClInclude Include="src\serial_com\SerialPort.hpp">
+            <Filter>serial_com</Filter>
+        </ClInclude>
+        <ClInclude Include="src\serial_com\SocketInit.hpp">
+            <Filter>serial_com</Filter>
+        </ClInclude>
+        <ClInclude Include="include\Semaphore.hpp">
+            <Filter>include</Filter>
+        </ClInclude>
+        <ClInclude Include="src\serial_com\wifi.h">
+            <Filter>serial_com</Filter>
+        </ClInclude>
+        <ClInclude Include="common\utils\json.hpp">
+            <Filter>common\utils</Filter>
+        </ClInclude>
+        <ClInclude Include="src\impl\MavLinkFtpClientImpl.hpp">
+            <Filter>src\impl</Filter>
+        </ClInclude>
+        <ClInclude Include="include\AdHocConnection.hpp" />
+        <ClInclude Include="src\impl\AdHocConnectionImpl.hpp" />
+        <ClInclude Include="include\UdpSocket.hpp" />
+        <ClInclude Include="src\impl\UdpSocketImpl.hpp" />
+        <ClInclude Include="include\MavLinkDebugLog.hpp" />
+    </ItemGroup>
+    <ItemGroup>
+        <Filter Include="Mavlink">
+            <UniqueIdentifier>{0d3293cf-400d-4a27-87ee-13f7d3f9f0b7}</UniqueIdentifier>
+            <Extensions>mavlink/*</Extensions>
+        </Filter>
+        <Filter Include="common\utils">
+            <UniqueIdentifier>{be5b8d3a-d06c-43f0-8b55-f2bcd5661cf6}</UniqueIdentifier>
+        </Filter>
+        <Filter Include="serial_com">
+            <UniqueIdentifier>{341c5925-dfe2-4c6a-8fa7-143feff52361}</UniqueIdentifier>
+        </Filter>
+        <Filter Include="Design">
+            <UniqueIdentifier>{44faf97a-bf1d-413d-8f0f-4e75f882cfd9}</UniqueIdentifier>
+            <Extensions>Design/*</Extensions>
+        </Filter>
+        <Filter Include="include">
+            <UniqueIdentifier>{1dd05faf-854a-4a9e-abc5-e6b6106ac108}</UniqueIdentifier>
+        </Filter>
+        <Filter Include="src">
+            <UniqueIdentifier>{2f07994d-eaf6-4ebb-b8ef-9732814ea0bb}</UniqueIdentifier>
+        </Filter>
+        <Filter Include="src\impl">
+            <UniqueIdentifier>{8390030e-8792-43bf-80ed-69b4530b61fb}</UniqueIdentifier>
+        </Filter>
+        <Filter Include="src\impl\windows">
+            <UniqueIdentifier>{4ee25053-206a-4174-99cb-5fb278fc5079}</UniqueIdentifier>
+        </Filter>
+        <Filter Include="src\impl\onecore">
+            <UniqueIdentifier>{7b6dab75-eedb-4b36-a3a3-ea8c30b4a412}</UniqueIdentifier>
+        </Filter>
+    </ItemGroup>
+    <ItemGroup>
+        <None Include="Design\OffboardControl.dgml">
+            <Filter>Design</Filter>
+        </None>
+        <None Include="Design\Design.dgml">
+            <Filter>Design</Filter>
+        </None>
+        <None Include="Design\FtpDesign.dgml">
+            <Filter>Design</Filter>
+        </None>
+    </ItemGroup>
 </Project>
\ No newline at end of file
diff --git a/MavLinkCom/MavLinkTest/MavLinkTest.vcxproj b/MavLinkCom/MavLinkTest/MavLinkTest.vcxproj
index 2f6363dd..2c1fea62 100644
--- a/MavLinkCom/MavLinkTest/MavLinkTest.vcxproj
+++ b/MavLinkCom/MavLinkTest/MavLinkTest.vcxproj
@@ -1,432 +1,457 @@
 <?xml version="1.0" encoding="utf-8"?>
-<Project DefaultTargets="Build" ToolsVersion="16.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
-  <Import Project="$([MSBuild]::GetDirectoryNameOfFileAbove($(MSBuildThisFileDirectory), AutonomySim.props))\AutonomySim.props" />
-  <ItemGroup Label="ProjectConfigurations">
-    <ProjectConfiguration Include="Debug|ARM">
-      <Configuration>Debug</Configuration>
-      <Platform>ARM</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="Debug|Win32">
-      <Configuration>Debug</Configuration>
-      <Platform>Win32</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="Release|ARM">
-      <Configuration>Release</Configuration>
-      <Platform>ARM</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="Release|Win32">
-      <Configuration>Release</Configuration>
-      <Platform>Win32</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="Debug|x64">
-      <Configuration>Debug</Configuration>
-      <Platform>x64</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="Release|x64">
-      <Configuration>Release</Configuration>
-      <Platform>x64</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="RelWithDebInfo|ARM">
-      <Configuration>RelWithDebInfo</Configuration>
-      <Platform>ARM</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="RelWithDebInfo|Win32">
-      <Configuration>RelWithDebInfo</Configuration>
-      <Platform>Win32</Platform>
-    </ProjectConfiguration>
-    <ProjectConfiguration Include="RelWithDebInfo|x64">
-      <Configuration>RelWithDebInfo</Configuration>
-      <Platform>x64</Platform>
-    </ProjectConfiguration>
-  </ItemGroup>
-  <PropertyGroup>
-    <PlatformToolset>v143</PlatformToolset>
-  </PropertyGroup>
-  <PropertyGroup Label="Globals">
-    <ProjectGuid>{25EB67BE-468A-4AA5-910F-07EFD58C5516}</ProjectGuid>
-    <Keyword>Win32Proj</Keyword>
-    <RootNamespace>MavLinkTest</RootNamespace>
-  </PropertyGroup>
-  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
-    <ConfigurationType>Application</ConfigurationType>
-    <UseDebugLibraries>true</UseDebugLibraries>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|ARM'" Label="Configuration">
-    <ConfigurationType>Application</ConfigurationType>
-    <UseDebugLibraries>true</UseDebugLibraries>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
-    <ConfigurationType>Application</ConfigurationType>
-    <UseDebugLibraries>false</UseDebugLibraries>
-    <WholeProgramOptimization>true</WholeProgramOptimization>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'" Label="Configuration">
-    <ConfigurationType>Application</ConfigurationType>
-    <UseDebugLibraries>false</UseDebugLibraries>
-    <WholeProgramOptimization>true</WholeProgramOptimization>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|ARM'" Label="Configuration">
-    <ConfigurationType>Application</ConfigurationType>
-    <UseDebugLibraries>false</UseDebugLibraries>
-    <WholeProgramOptimization>true</WholeProgramOptimization>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|ARM'" Label="Configuration">
-    <ConfigurationType>Application</ConfigurationType>
-    <UseDebugLibraries>false</UseDebugLibraries>
-    <WholeProgramOptimization>true</WholeProgramOptimization>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
-    <ConfigurationType>Application</ConfigurationType>
-    <UseDebugLibraries>true</UseDebugLibraries>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
-    <ConfigurationType>Application</ConfigurationType>
-    <UseDebugLibraries>false</UseDebugLibraries>
-    <WholeProgramOptimization>true</WholeProgramOptimization>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'" Label="Configuration">
-    <ConfigurationType>Application</ConfigurationType>
-    <UseDebugLibraries>false</UseDebugLibraries>
-    <WholeProgramOptimization>true</WholeProgramOptimization>
-    <CharacterSet>Unicode</CharacterSet>
-  </PropertyGroup>
-  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
-  <ImportGroup Label="ExtensionSettings">
-  </ImportGroup>
-  <ImportGroup Label="Shared">
-  </ImportGroup>
-  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='Debug|ARM'" Label="PropertySheets">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'" Label="PropertySheets">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='Release|ARM'" Label="PropertySheets">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|ARM'" Label="PropertySheets">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'" Label="PropertySheets">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
-  <PropertyGroup Label="UserMacros" />
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
-    <LinkIncremental>true</LinkIncremental>
-    <OutDir>$(ProjectDir)build\$(Platform)\$(Configuration)\</OutDir>
-    <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|ARM'">
-    <LinkIncremental>true</LinkIncremental>
-    <OutDir>$(ProjectDir)build\$(Platform)\$(Configuration)\</OutDir>
-    <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
-    <LinkIncremental>true</LinkIncremental>
-    <OutDir>$(ProjectDir)build\$(Platform)\$(Configuration)\</OutDir>
-    <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
-    <LinkIncremental>false</LinkIncremental>
-    <OutDir>$(ProjectDir)build\$(Platform)\$(Configuration)\</OutDir>
-    <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">
-    <LinkIncremental>false</LinkIncremental>
-    <OutDir>$(ProjectDir)build\$(Platform)\$(Configuration)\</OutDir>
-    <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|ARM'">
-    <LinkIncremental>false</LinkIncremental>
-    <OutDir>$(ProjectDir)build\$(Platform)\$(Configuration)\</OutDir>
-    <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|ARM'">
-    <LinkIncremental>false</LinkIncremental>
-    <OutDir>$(ProjectDir)build\$(Platform)\$(Configuration)\</OutDir>
-    <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
-    <LinkIncremental>false</LinkIncremental>
-    <OutDir>$(ProjectDir)build\$(Platform)\$(Configuration)\</OutDir>
-    <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'">
-    <LinkIncremental>false</LinkIncremental>
-    <OutDir>$(ProjectDir)build\$(Platform)\$(Configuration)\</OutDir>
-    <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
-  </PropertyGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
-    <ClCompile>
-      <PrecompiledHeader>NotUsing</PrecompiledHeader>
-      <WarningLevel>Level3</WarningLevel>
-      <Optimization>Disabled</Optimization>
-      <PreprocessorDefinitions>_WIN32_WINNT=0x0600;_WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_DEBUG;_CONSOLE;_DEBUG;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <SDLCheck>false</SDLCheck>
-      <AdditionalIncludeDirectories>../include;../common_utils;</AdditionalIncludeDirectories>
-      <RuntimeLibrary>MultiThreadedDebugDLL</RuntimeLibrary>
-      <BrowseInformation>true</BrowseInformation>
-      <TreatWarningAsError>true</TreatWarningAsError>
-      <LanguageStandard>stdcpp17</LanguageStandard>
-    </ClCompile>
-    <Link>
-      <SubSystem>Console</SubSystem>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalLibraryDirectories>
-      </AdditionalLibraryDirectories>
-      <AdditionalDependencies>kernel32.lib;user32.lib;uuid.lib;%(AdditionalDependencies)</AdditionalDependencies>
-      <IgnoreSpecificDefaultLibraries>
-      </IgnoreSpecificDefaultLibraries>
-    </Link>
-    <Bscmake>
-      <PreserveSbr>true</PreserveSbr>
-    </Bscmake>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|ARM'">
-    <ClCompile>
-      <PrecompiledHeader>NotUsing</PrecompiledHeader>
-      <WarningLevel>Level3</WarningLevel>
-      <Optimization>Disabled</Optimization>
-      <PreprocessorDefinitions>ONECORE;_WIN32_WINNT=0x0600;_WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_DEBUG;_CONSOLE;_DEBUG;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <SDLCheck>false</SDLCheck>
-      <AdditionalIncludeDirectories>../include;../common_utils;</AdditionalIncludeDirectories>
-      <RuntimeLibrary>MultiThreadedDebugDLL</RuntimeLibrary>
-      <BrowseInformation>true</BrowseInformation>
-      <TreatWarningAsError>true</TreatWarningAsError>
-    </ClCompile>
-    <Link>
-      <SubSystem>Console</SubSystem>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalLibraryDirectories>
-      </AdditionalLibraryDirectories>
-      <AdditionalDependencies>onecore.lib;;%(AdditionalDependencies)</AdditionalDependencies>
-      <IgnoreSpecificDefaultLibraries>kernel32.lib;user32.lib</IgnoreSpecificDefaultLibraries>
-    </Link>
-    <Bscmake>
-      <PreserveSbr>true</PreserveSbr>
-    </Bscmake>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
-    <ClCompile>
-      <PrecompiledHeader>NotUsing</PrecompiledHeader>
-      <WarningLevel>Level3</WarningLevel>
-      <Optimization>Disabled</Optimization>
-      <PreprocessorDefinitions>_WIN32_WINNT=0x0600;_WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_DEBUG;_CONSOLE;_DEBUG;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <SDLCheck>false</SDLCheck>
-      <AdditionalIncludeDirectories>../include;../common_utils;</AdditionalIncludeDirectories>
-      <RuntimeLibrary>MultiThreadedDebugDLL</RuntimeLibrary>
-      <BrowseInformation>true</BrowseInformation>
-      <TreatWarningAsError>true</TreatWarningAsError>
-      <LanguageStandard>stdcpp17</LanguageStandard>
-    </ClCompile>
-    <Link>
-      <SubSystem>Console</SubSystem>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalLibraryDirectories>
-      </AdditionalLibraryDirectories>
-      <ShowProgress>NotSet</ShowProgress>
-      <AdditionalDependencies>kernel32.lib;user32.lib;uuid.lib;%(AdditionalDependencies)</AdditionalDependencies>
-    </Link>
-    <Bscmake>
-      <PreserveSbr>true</PreserveSbr>
-    </Bscmake>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
-    <ClCompile>
-      <WarningLevel>Level3</WarningLevel>
-      <PrecompiledHeader>NotUsing</PrecompiledHeader>
-      <Optimization>MaxSpeed</Optimization>
-      <FunctionLevelLinking>true</FunctionLevelLinking>
-      <IntrinsicFunctions>true</IntrinsicFunctions>
-      <PreprocessorDefinitions>_WIN32_WINNT=0x0600;_WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <SDLCheck>false</SDLCheck>
-      <AdditionalIncludeDirectories>../include;../common_utils;</AdditionalIncludeDirectories>
-      <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
-      <TreatWarningAsError>true</TreatWarningAsError>
-      <LanguageStandard>stdcpp17</LanguageStandard>
-    </ClCompile>
-    <Link>
-      <SubSystem>Console</SubSystem>
-      <EnableCOMDATFolding>true</EnableCOMDATFolding>
-      <OptimizeReferences>true</OptimizeReferences>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalLibraryDirectories>
-      </AdditionalLibraryDirectories>
-      <AdditionalDependencies>kernel32.lib;user32.lib;uuid.lib;%(AdditionalDependencies)</AdditionalDependencies>
-    </Link>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">
-    <ClCompile>
-      <WarningLevel>Level3</WarningLevel>
-      <PrecompiledHeader>NotUsing</PrecompiledHeader>
-      <Optimization>Disabled</Optimization>
-      <FunctionLevelLinking>true</FunctionLevelLinking>
-      <IntrinsicFunctions>true</IntrinsicFunctions>
-      <PreprocessorDefinitions>_WIN32_WINNT=0x0600;_WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <SDLCheck>false</SDLCheck>
-      <AdditionalIncludeDirectories>../include;../common_utils;</AdditionalIncludeDirectories>
-      <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
-      <TreatWarningAsError>true</TreatWarningAsError>
-      <LanguageStandard>stdcpp17</LanguageStandard>
-      <WholeProgramOptimization>false</WholeProgramOptimization>
-    </ClCompile>
-    <Link>
-      <SubSystem>Console</SubSystem>
-      <EnableCOMDATFolding>true</EnableCOMDATFolding>
-      <OptimizeReferences>true</OptimizeReferences>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalLibraryDirectories>
-      </AdditionalLibraryDirectories>
-      <AdditionalDependencies>kernel32.lib;user32.lib;uuid.lib;%(AdditionalDependencies)</AdditionalDependencies>
-    </Link>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|ARM'">
-    <ClCompile>
-      <WarningLevel>Level3</WarningLevel>
-      <PrecompiledHeader>NotUsing</PrecompiledHeader>
-      <Optimization>MaxSpeed</Optimization>
-      <FunctionLevelLinking>true</FunctionLevelLinking>
-      <IntrinsicFunctions>true</IntrinsicFunctions>
-      <PreprocessorDefinitions>ONECORE;_WIN32_WINNT=0x0600;_WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <SDLCheck>false</SDLCheck>
-      <AdditionalIncludeDirectories>../include;../common_utils;</AdditionalIncludeDirectories>
-      <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
-      <TreatWarningAsError>true</TreatWarningAsError>
-    </ClCompile>
-    <Link>
-      <SubSystem>Console</SubSystem>
-      <EnableCOMDATFolding>true</EnableCOMDATFolding>
-      <OptimizeReferences>true</OptimizeReferences>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalLibraryDirectories>
-      </AdditionalLibraryDirectories>
-      <AdditionalDependencies>onecore.lib;;%(AdditionalDependencies)</AdditionalDependencies>
-      <IgnoreSpecificDefaultLibraries>kernel32.lib;user32.lib</IgnoreSpecificDefaultLibraries>
-    </Link>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|ARM'">
-    <ClCompile>
-      <WarningLevel>Level3</WarningLevel>
-      <PrecompiledHeader>NotUsing</PrecompiledHeader>
-      <Optimization>Disabled</Optimization>
-      <FunctionLevelLinking>true</FunctionLevelLinking>
-      <IntrinsicFunctions>true</IntrinsicFunctions>
-      <PreprocessorDefinitions>ONECORE;_WIN32_WINNT=0x0600;_WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <SDLCheck>false</SDLCheck>
-      <AdditionalIncludeDirectories>../include;../common_utils;</AdditionalIncludeDirectories>
-      <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
-      <TreatWarningAsError>true</TreatWarningAsError>
-      <WholeProgramOptimization>false</WholeProgramOptimization>
-    </ClCompile>
-    <Link>
-      <SubSystem>Console</SubSystem>
-      <EnableCOMDATFolding>true</EnableCOMDATFolding>
-      <OptimizeReferences>true</OptimizeReferences>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalLibraryDirectories>
-      </AdditionalLibraryDirectories>
-      <AdditionalDependencies>onecore.lib;;%(AdditionalDependencies)</AdditionalDependencies>
-      <IgnoreSpecificDefaultLibraries>kernel32.lib;user32.lib</IgnoreSpecificDefaultLibraries>
-    </Link>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
-    <ClCompile>
-      <WarningLevel>Level3</WarningLevel>
-      <PrecompiledHeader>NotUsing</PrecompiledHeader>
-      <Optimization>MaxSpeed</Optimization>
-      <FunctionLevelLinking>true</FunctionLevelLinking>
-      <IntrinsicFunctions>true</IntrinsicFunctions>
-      <PreprocessorDefinitions>_WIN32_WINNT=0x0600;_WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <SDLCheck>false</SDLCheck>
-      <AdditionalIncludeDirectories>../include;../common_utils;</AdditionalIncludeDirectories>
-      <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
-      <BrowseInformation>true</BrowseInformation>
-      <TreatWarningAsError>true</TreatWarningAsError>
-      <LanguageStandard>stdcpp17</LanguageStandard>
-    </ClCompile>
-    <Link>
-      <SubSystem>Console</SubSystem>
-      <EnableCOMDATFolding>true</EnableCOMDATFolding>
-      <OptimizeReferences>true</OptimizeReferences>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalLibraryDirectories>
-      </AdditionalLibraryDirectories>
-      <AdditionalDependencies>kernel32.lib;user32.lib;uuid.lib;%(AdditionalDependencies)</AdditionalDependencies>
-    </Link>
-    <Bscmake>
-      <PreserveSbr>true</PreserveSbr>
-    </Bscmake>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'">
-    <ClCompile>
-      <WarningLevel>Level3</WarningLevel>
-      <PrecompiledHeader>NotUsing</PrecompiledHeader>
-      <Optimization>Disabled</Optimization>
-      <FunctionLevelLinking>true</FunctionLevelLinking>
-      <IntrinsicFunctions>true</IntrinsicFunctions>
-      <PreprocessorDefinitions>_WIN32_WINNT=0x0600;_WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <SDLCheck>false</SDLCheck>
-      <AdditionalIncludeDirectories>../include;../common_utils;</AdditionalIncludeDirectories>
-      <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
-      <BrowseInformation>true</BrowseInformation>
-      <TreatWarningAsError>true</TreatWarningAsError>
-      <LanguageStandard>stdcpp17</LanguageStandard>
-      <WholeProgramOptimization>false</WholeProgramOptimization>
-    </ClCompile>
-    <Link>
-      <SubSystem>Console</SubSystem>
-      <EnableCOMDATFolding>true</EnableCOMDATFolding>
-      <OptimizeReferences>true</OptimizeReferences>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalLibraryDirectories>
-      </AdditionalLibraryDirectories>
-      <AdditionalDependencies>kernel32.lib;user32.lib;uuid.lib;%(AdditionalDependencies)</AdditionalDependencies>
-    </Link>
-    <Bscmake>
-      <PreserveSbr>true</PreserveSbr>
-    </Bscmake>
-  </ItemDefinitionGroup>
-  <ItemGroup>
-    <Text Include="ReadMe.txt" />
-  </ItemGroup>
-  <ItemGroup>
-    <ClInclude Include="Commands.h" />
-    <ClInclude Include="ConsoleBase.h" />
-    <ClInclude Include="UnitTests.h" />
-    <ClInclude Include="wifi.h" />
-  </ItemGroup>
-  <ItemGroup>
-    <ClCompile Include="Commands.cpp" />
-    <ClCompile Include="main.cpp" />
-    <ClCompile Include="UnitTests.cpp" />
-  </ItemGroup>
-  <ItemGroup>
-    <ProjectReference Include="..\MavLinkCom.vcxproj">
-      <Project>{8510c7a4-bf63-41d2-94f6-d8731d137a5a}</Project>
-    </ProjectReference>
-  </ItemGroup>
-  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
-  <ImportGroup Label="ExtensionTargets">
-  </ImportGroup>
+<Project DefaultTargets="Build"
+         ToolsVersion="16.0"
+         xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+    <Import Project="$([MSBuild]::GetDirectoryNameOfFileAbove($(MSBuildThisFileDirectory), AutonomySim.props))\AutonomySim.props" />
+    <ItemGroup Label="ProjectConfigurations">
+        <ProjectConfiguration Include="Debug|ARM">
+            <Configuration>Debug</Configuration>
+            <Platform>ARM</Platform>
+        </ProjectConfiguration>
+        <ProjectConfiguration Include="Debug|Win32">
+            <Configuration>Debug</Configuration>
+            <Platform>Win32</Platform>
+        </ProjectConfiguration>
+        <ProjectConfiguration Include="Release|ARM">
+            <Configuration>Release</Configuration>
+            <Platform>ARM</Platform>
+        </ProjectConfiguration>
+        <ProjectConfiguration Include="Release|Win32">
+            <Configuration>Release</Configuration>
+            <Platform>Win32</Platform>
+        </ProjectConfiguration>
+        <ProjectConfiguration Include="Debug|x64">
+            <Configuration>Debug</Configuration>
+            <Platform>x64</Platform>
+        </ProjectConfiguration>
+        <ProjectConfiguration Include="Release|x64">
+            <Configuration>Release</Configuration>
+            <Platform>x64</Platform>
+        </ProjectConfiguration>
+        <ProjectConfiguration Include="RelWithDebInfo|ARM">
+            <Configuration>RelWithDebInfo</Configuration>
+            <Platform>ARM</Platform>
+        </ProjectConfiguration>
+        <ProjectConfiguration Include="RelWithDebInfo|Win32">
+            <Configuration>RelWithDebInfo</Configuration>
+            <Platform>Win32</Platform>
+        </ProjectConfiguration>
+        <ProjectConfiguration Include="RelWithDebInfo|x64">
+            <Configuration>RelWithDebInfo</Configuration>
+            <Platform>x64</Platform>
+        </ProjectConfiguration>
+    </ItemGroup>
+    <PropertyGroup>
+        <PlatformToolset>v143</PlatformToolset>
+    </PropertyGroup>
+    <PropertyGroup Label="Globals">
+        <ProjectGuid>{25EB67BE-468A-4AA5-910F-07EFD58C5516}</ProjectGuid>
+        <Keyword>Win32Proj</Keyword>
+        <RootNamespace>MavLinkTest</RootNamespace>
+    </PropertyGroup>
+    <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'"
+                   Label="Configuration">
+        <ConfigurationType>Application</ConfigurationType>
+        <UseDebugLibraries>true</UseDebugLibraries>
+        <CharacterSet>Unicode</CharacterSet>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|ARM'"
+                   Label="Configuration">
+        <ConfigurationType>Application</ConfigurationType>
+        <UseDebugLibraries>true</UseDebugLibraries>
+        <CharacterSet>Unicode</CharacterSet>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'"
+                   Label="Configuration">
+        <ConfigurationType>Application</ConfigurationType>
+        <UseDebugLibraries>false</UseDebugLibraries>
+        <WholeProgramOptimization>true</WholeProgramOptimization>
+        <CharacterSet>Unicode</CharacterSet>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'"
+                   Label="Configuration">
+        <ConfigurationType>Application</ConfigurationType>
+        <UseDebugLibraries>false</UseDebugLibraries>
+        <WholeProgramOptimization>true</WholeProgramOptimization>
+        <CharacterSet>Unicode</CharacterSet>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|ARM'"
+                   Label="Configuration">
+        <ConfigurationType>Application</ConfigurationType>
+        <UseDebugLibraries>false</UseDebugLibraries>
+        <WholeProgramOptimization>true</WholeProgramOptimization>
+        <CharacterSet>Unicode</CharacterSet>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|ARM'"
+                   Label="Configuration">
+        <ConfigurationType>Application</ConfigurationType>
+        <UseDebugLibraries>false</UseDebugLibraries>
+        <WholeProgramOptimization>true</WholeProgramOptimization>
+        <CharacterSet>Unicode</CharacterSet>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'"
+                   Label="Configuration">
+        <ConfigurationType>Application</ConfigurationType>
+        <UseDebugLibraries>true</UseDebugLibraries>
+        <CharacterSet>Unicode</CharacterSet>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'"
+                   Label="Configuration">
+        <ConfigurationType>Application</ConfigurationType>
+        <UseDebugLibraries>false</UseDebugLibraries>
+        <WholeProgramOptimization>true</WholeProgramOptimization>
+        <CharacterSet>Unicode</CharacterSet>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'"
+                   Label="Configuration">
+        <ConfigurationType>Application</ConfigurationType>
+        <UseDebugLibraries>false</UseDebugLibraries>
+        <WholeProgramOptimization>true</WholeProgramOptimization>
+        <CharacterSet>Unicode</CharacterSet>
+    </PropertyGroup>
+    <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+    <ImportGroup Label="ExtensionSettings" />
+    <ImportGroup Label="Shared" />
+    <ImportGroup Label="PropertySheets"
+                 Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+        <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props"
+                Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')"
+                Label="LocalAppDataPlatform" />
+    </ImportGroup>
+    <ImportGroup Condition="'$(Configuration)|$(Platform)'=='Debug|ARM'"
+                 Label="PropertySheets">
+        <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props"
+                Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')"
+                Label="LocalAppDataPlatform" />
+    </ImportGroup>
+    <ImportGroup Label="PropertySheets"
+                 Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+        <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props"
+                Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')"
+                Label="LocalAppDataPlatform" />
+    </ImportGroup>
+    <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'"
+                 Label="PropertySheets">
+        <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props"
+                Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')"
+                Label="LocalAppDataPlatform" />
+    </ImportGroup>
+    <ImportGroup Condition="'$(Configuration)|$(Platform)'=='Release|ARM'"
+                 Label="PropertySheets">
+        <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props"
+                Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')"
+                Label="LocalAppDataPlatform" />
+    </ImportGroup>
+    <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|ARM'"
+                 Label="PropertySheets">
+        <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props"
+                Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')"
+                Label="LocalAppDataPlatform" />
+    </ImportGroup>
+    <ImportGroup Label="PropertySheets"
+                 Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+        <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props"
+                Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')"
+                Label="LocalAppDataPlatform" />
+    </ImportGroup>
+    <ImportGroup Label="PropertySheets"
+                 Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+        <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props"
+                Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')"
+                Label="LocalAppDataPlatform" />
+    </ImportGroup>
+    <ImportGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'"
+                 Label="PropertySheets">
+        <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props"
+                Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')"
+                Label="LocalAppDataPlatform" />
+    </ImportGroup>
+    <PropertyGroup Label="UserMacros" />
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+        <LinkIncremental>true</LinkIncremental>
+        <OutDir>$(ProjectDir)build\$(Platform)\$(Configuration)\</OutDir>
+        <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|ARM'">
+        <LinkIncremental>true</LinkIncremental>
+        <OutDir>$(ProjectDir)build\$(Platform)\$(Configuration)\</OutDir>
+        <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+        <LinkIncremental>true</LinkIncremental>
+        <OutDir>$(ProjectDir)build\$(Platform)\$(Configuration)\</OutDir>
+        <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+        <LinkIncremental>false</LinkIncremental>
+        <OutDir>$(ProjectDir)build\$(Platform)\$(Configuration)\</OutDir>
+        <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">
+        <LinkIncremental>false</LinkIncremental>
+        <OutDir>$(ProjectDir)build\$(Platform)\$(Configuration)\</OutDir>
+        <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|ARM'">
+        <LinkIncremental>false</LinkIncremental>
+        <OutDir>$(ProjectDir)build\$(Platform)\$(Configuration)\</OutDir>
+        <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|ARM'">
+        <LinkIncremental>false</LinkIncremental>
+        <OutDir>$(ProjectDir)build\$(Platform)\$(Configuration)\</OutDir>
+        <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+        <LinkIncremental>false</LinkIncremental>
+        <OutDir>$(ProjectDir)build\$(Platform)\$(Configuration)\</OutDir>
+        <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
+    </PropertyGroup>
+    <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'">
+        <LinkIncremental>false</LinkIncremental>
+        <OutDir>$(ProjectDir)build\$(Platform)\$(Configuration)\</OutDir>
+        <IntDir>$(ProjectDir)temp\$(ProjectName)\$(Platform)\$(Configuration)\</IntDir>
+    </PropertyGroup>
+    <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+        <ClCompile>
+            <PrecompiledHeader>NotUsing</PrecompiledHeader>
+            <WarningLevel>Level3</WarningLevel>
+            <Optimization>Disabled</Optimization>
+            <PreprocessorDefinitions>_WIN32_WINNT=0x0600;_WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_DEBUG;_CONSOLE;_DEBUG;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+            <SDLCheck>false</SDLCheck>
+            <AdditionalIncludeDirectories>../include;../common/utils;</AdditionalIncludeDirectories>
+            <RuntimeLibrary>MultiThreadedDebugDLL</RuntimeLibrary>
+            <BrowseInformation>true</BrowseInformation>
+            <TreatWarningAsError>true</TreatWarningAsError>
+            <LanguageStandard>stdcpp17</LanguageStandard>
+        </ClCompile>
+        <Link>
+            <SubSystem>Console</SubSystem>
+            <GenerateDebugInformation>true</GenerateDebugInformation>
+            <AdditionalLibraryDirectories />
+            <AdditionalDependencies>kernel32.lib;user32.lib;uuid.lib;%(AdditionalDependencies)</AdditionalDependencies>
+            <IgnoreSpecificDefaultLibraries />
+        </Link>
+        <Bscmake>
+            <PreserveSbr>true</PreserveSbr>
+        </Bscmake>
+    </ItemDefinitionGroup>
+    <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|ARM'">
+        <ClCompile>
+            <PrecompiledHeader>NotUsing</PrecompiledHeader>
+            <WarningLevel>Level3</WarningLevel>
+            <Optimization>Disabled</Optimization>
+            <PreprocessorDefinitions>ONECORE;_WIN32_WINNT=0x0600;_WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_DEBUG;_CONSOLE;_DEBUG;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+            <SDLCheck>false</SDLCheck>
+            <AdditionalIncludeDirectories>../include;../common/utils;</AdditionalIncludeDirectories>
+            <RuntimeLibrary>MultiThreadedDebugDLL</RuntimeLibrary>
+            <BrowseInformation>true</BrowseInformation>
+            <TreatWarningAsError>true</TreatWarningAsError>
+        </ClCompile>
+        <Link>
+            <SubSystem>Console</SubSystem>
+            <GenerateDebugInformation>true</GenerateDebugInformation>
+            <AdditionalLibraryDirectories />
+            <AdditionalDependencies>onecore.lib;;%(AdditionalDependencies)</AdditionalDependencies>
+            <IgnoreSpecificDefaultLibraries>kernel32.lib;user32.lib</IgnoreSpecificDefaultLibraries>
+        </Link>
+        <Bscmake>
+            <PreserveSbr>true</PreserveSbr>
+        </Bscmake>
+    </ItemDefinitionGroup>
+    <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+        <ClCompile>
+            <PrecompiledHeader>NotUsing</PrecompiledHeader>
+            <WarningLevel>Level3</WarningLevel>
+            <Optimization>Disabled</Optimization>
+            <PreprocessorDefinitions>_WIN32_WINNT=0x0600;_WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_DEBUG;_CONSOLE;_DEBUG;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+            <SDLCheck>false</SDLCheck>
+            <AdditionalIncludeDirectories>../include;../common/utils;</AdditionalIncludeDirectories>
+            <RuntimeLibrary>MultiThreadedDebugDLL</RuntimeLibrary>
+            <BrowseInformation>true</BrowseInformation>
+            <TreatWarningAsError>true</TreatWarningAsError>
+            <LanguageStandard>stdcpp17</LanguageStandard>
+        </ClCompile>
+        <Link>
+            <SubSystem>Console</SubSystem>
+            <GenerateDebugInformation>true</GenerateDebugInformation>
+            <AdditionalLibraryDirectories />
+            <ShowProgress>NotSet</ShowProgress>
+            <AdditionalDependencies>kernel32.lib;user32.lib;uuid.lib;%(AdditionalDependencies)</AdditionalDependencies>
+        </Link>
+        <Bscmake>
+            <PreserveSbr>true</PreserveSbr>
+        </Bscmake>
+    </ItemDefinitionGroup>
+    <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+        <ClCompile>
+            <WarningLevel>Level3</WarningLevel>
+            <PrecompiledHeader>NotUsing</PrecompiledHeader>
+            <Optimization>MaxSpeed</Optimization>
+            <FunctionLevelLinking>true</FunctionLevelLinking>
+            <IntrinsicFunctions>true</IntrinsicFunctions>
+            <PreprocessorDefinitions>_WIN32_WINNT=0x0600;_WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+            <SDLCheck>false</SDLCheck>
+            <AdditionalIncludeDirectories>../include;../common/utils;</AdditionalIncludeDirectories>
+            <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
+            <TreatWarningAsError>true</TreatWarningAsError>
+            <LanguageStandard>stdcpp17</LanguageStandard>
+        </ClCompile>
+        <Link>
+            <SubSystem>Console</SubSystem>
+            <EnableCOMDATFolding>true</EnableCOMDATFolding>
+            <OptimizeReferences>true</OptimizeReferences>
+            <GenerateDebugInformation>true</GenerateDebugInformation>
+            <AdditionalLibraryDirectories />
+            <AdditionalDependencies>kernel32.lib;user32.lib;uuid.lib;%(AdditionalDependencies)</AdditionalDependencies>
+        </Link>
+    </ItemDefinitionGroup>
+    <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">
+        <ClCompile>
+            <WarningLevel>Level3</WarningLevel>
+            <PrecompiledHeader>NotUsing</PrecompiledHeader>
+            <Optimization>Disabled</Optimization>
+            <FunctionLevelLinking>true</FunctionLevelLinking>
+            <IntrinsicFunctions>true</IntrinsicFunctions>
+            <PreprocessorDefinitions>_WIN32_WINNT=0x0600;_WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+            <SDLCheck>false</SDLCheck>
+            <AdditionalIncludeDirectories>../include;../common/utils;</AdditionalIncludeDirectories>
+            <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
+            <TreatWarningAsError>true</TreatWarningAsError>
+            <LanguageStandard>stdcpp17</LanguageStandard>
+            <WholeProgramOptimization>false</WholeProgramOptimization>
+        </ClCompile>
+        <Link>
+            <SubSystem>Console</SubSystem>
+            <EnableCOMDATFolding>true</EnableCOMDATFolding>
+            <OptimizeReferences>true</OptimizeReferences>
+            <GenerateDebugInformation>true</GenerateDebugInformation>
+            <AdditionalLibraryDirectories />
+            <AdditionalDependencies>kernel32.lib;user32.lib;uuid.lib;%(AdditionalDependencies)</AdditionalDependencies>
+        </Link>
+    </ItemDefinitionGroup>
+    <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|ARM'">
+        <ClCompile>
+            <WarningLevel>Level3</WarningLevel>
+            <PrecompiledHeader>NotUsing</PrecompiledHeader>
+            <Optimization>MaxSpeed</Optimization>
+            <FunctionLevelLinking>true</FunctionLevelLinking>
+            <IntrinsicFunctions>true</IntrinsicFunctions>
+            <PreprocessorDefinitions>ONECORE;_WIN32_WINNT=0x0600;_WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+            <SDLCheck>false</SDLCheck>
+            <AdditionalIncludeDirectories>../include;../common/utils;</AdditionalIncludeDirectories>
+            <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
+            <TreatWarningAsError>true</TreatWarningAsError>
+        </ClCompile>
+        <Link>
+            <SubSystem>Console</SubSystem>
+            <EnableCOMDATFolding>true</EnableCOMDATFolding>
+            <OptimizeReferences>true</OptimizeReferences>
+            <GenerateDebugInformation>true</GenerateDebugInformation>
+            <AdditionalLibraryDirectories />
+            <AdditionalDependencies>onecore.lib;;%(AdditionalDependencies)</AdditionalDependencies>
+            <IgnoreSpecificDefaultLibraries>kernel32.lib;user32.lib</IgnoreSpecificDefaultLibraries>
+        </Link>
+    </ItemDefinitionGroup>
+    <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|ARM'">
+        <ClCompile>
+            <WarningLevel>Level3</WarningLevel>
+            <PrecompiledHeader>NotUsing</PrecompiledHeader>
+            <Optimization>Disabled</Optimization>
+            <FunctionLevelLinking>true</FunctionLevelLinking>
+            <IntrinsicFunctions>true</IntrinsicFunctions>
+            <PreprocessorDefinitions>ONECORE;_WIN32_WINNT=0x0600;_WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+            <SDLCheck>false</SDLCheck>
+            <AdditionalIncludeDirectories>../include;../common/utils;</AdditionalIncludeDirectories>
+            <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
+            <TreatWarningAsError>true</TreatWarningAsError>
+            <WholeProgramOptimization>false</WholeProgramOptimization>
+        </ClCompile>
+        <Link>
+            <SubSystem>Console</SubSystem>
+            <EnableCOMDATFolding>true</EnableCOMDATFolding>
+            <OptimizeReferences>true</OptimizeReferences>
+            <GenerateDebugInformation>true</GenerateDebugInformation>
+            <AdditionalLibraryDirectories />
+            <AdditionalDependencies>onecore.lib;;%(AdditionalDependencies)</AdditionalDependencies>
+            <IgnoreSpecificDefaultLibraries>kernel32.lib;user32.lib</IgnoreSpecificDefaultLibraries>
+        </Link>
+    </ItemDefinitionGroup>
+    <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+        <ClCompile>
+            <WarningLevel>Level3</WarningLevel>
+            <PrecompiledHeader>NotUsing</PrecompiledHeader>
+            <Optimization>MaxSpeed</Optimization>
+            <FunctionLevelLinking>true</FunctionLevelLinking>
+            <IntrinsicFunctions>true</IntrinsicFunctions>
+            <PreprocessorDefinitions>_WIN32_WINNT=0x0600;_WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+            <SDLCheck>false</SDLCheck>
+            <AdditionalIncludeDirectories>../include;../common/utils;</AdditionalIncludeDirectories>
+            <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
+            <BrowseInformation>true</BrowseInformation>
+            <TreatWarningAsError>true</TreatWarningAsError>
+            <LanguageStandard>stdcpp17</LanguageStandard>
+        </ClCompile>
+        <Link>
+            <SubSystem>Console</SubSystem>
+            <EnableCOMDATFolding>true</EnableCOMDATFolding>
+            <OptimizeReferences>true</OptimizeReferences>
+            <GenerateDebugInformation>true</GenerateDebugInformation>
+            <AdditionalLibraryDirectories />
+            <AdditionalDependencies>kernel32.lib;user32.lib;uuid.lib;%(AdditionalDependencies)</AdditionalDependencies>
+        </Link>
+        <Bscmake>
+            <PreserveSbr>true</PreserveSbr>
+        </Bscmake>
+    </ItemDefinitionGroup>
+    <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'">
+        <ClCompile>
+            <WarningLevel>Level3</WarningLevel>
+            <PrecompiledHeader>NotUsing</PrecompiledHeader>
+            <Optimization>Disabled</Optimization>
+            <FunctionLevelLinking>true</FunctionLevelLinking>
+            <IntrinsicFunctions>true</IntrinsicFunctions>
+            <PreprocessorDefinitions>_WIN32_WINNT=0x0600;_WIN32;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+            <SDLCheck>false</SDLCheck>
+            <AdditionalIncludeDirectories>../include;../common/utils;</AdditionalIncludeDirectories>
+            <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
+            <BrowseInformation>true</BrowseInformation>
+            <TreatWarningAsError>true</TreatWarningAsError>
+            <LanguageStandard>stdcpp17</LanguageStandard>
+            <WholeProgramOptimization>false</WholeProgramOptimization>
+        </ClCompile>
+        <Link>
+            <SubSystem>Console</SubSystem>
+            <EnableCOMDATFolding>true</EnableCOMDATFolding>
+            <OptimizeReferences>true</OptimizeReferences>
+            <GenerateDebugInformation>true</GenerateDebugInformation>
+            <AdditionalLibraryDirectories />
+            <AdditionalDependencies>kernel32.lib;user32.lib;uuid.lib;%(AdditionalDependencies)</AdditionalDependencies>
+        </Link>
+        <Bscmake>
+            <PreserveSbr>true</PreserveSbr>
+        </Bscmake>
+    </ItemDefinitionGroup>
+    <ItemGroup>
+        <Text Include="ReadMe.txt" />
+    </ItemGroup>
+    <ItemGroup>
+        <ClInclude Include="Commands.h" />
+        <ClInclude Include="ConsoleBase.h" />
+        <ClInclude Include="UnitTests.h" />
+        <ClInclude Include="wifi.h" />
+    </ItemGroup>
+    <ItemGroup>
+        <ClCompile Include="Commands.cpp" />
+        <ClCompile Include="main.cpp" />
+        <ClCompile Include="UnitTests.cpp" />
+    </ItemGroup>
+    <ItemGroup>
+        <ProjectReference Include="..\MavLinkCom.vcxproj">
+            <Project>{8510c7a4-bf63-41d2-94f6-d8731d137a5a}</Project>
+        </ProjectReference>
+    </ItemGroup>
+    <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+    <ImportGroup Label="ExtensionTargets" />
 </Project>
\ No newline at end of file
diff --git a/MavLinkCom/include/Semaphore.hpp b/MavLinkCom/include/Semaphore.hpp
index 1d4ff7a6..f8fa0e97 100644
--- a/MavLinkCom/include/Semaphore.hpp
+++ b/MavLinkCom/include/Semaphore.hpp
@@ -3,6 +3,7 @@
 
 #ifndef common_utils_Semaphore_hpp
 #define common_utils_Semaphore_hpp
+
 #include <memory>
 
 namespace mavlink_utils {
diff --git a/MavLinkCom/src/MavLinkMessageBase.cpp b/MavLinkCom/src/MavLinkMessageBase.cpp
index 09a2a408..7d42195e 100644
--- a/MavLinkCom/src/MavLinkMessageBase.cpp
+++ b/MavLinkCom/src/MavLinkMessageBase.cpp
@@ -1,7 +1,7 @@
 // Copyright (c) Microsoft Corporation. All rights reserved.
 // Licensed under the MIT License.
 
-#include "StrictMode.hpp"
+#include "common/utils/StrictMode.hpp"
 
 STRICT_MODE_OFF
 #define MAVLINK_PACKED
diff --git a/MavLinkCom/src/impl/AdHocConnectionImpl.hpp b/MavLinkCom/src/impl/AdHocConnectionImpl.hpp
index f780169f..4dcda3f8 100644
--- a/MavLinkCom/src/impl/AdHocConnectionImpl.hpp
+++ b/MavLinkCom/src/impl/AdHocConnectionImpl.hpp
@@ -14,7 +14,7 @@
 // #include "MavLinkMessageBase.hpp"
 #include "../serial_com/TcpClientPort.hpp"
 #include "Semaphore.hpp"
-#include "StrictMode.hpp"
+#include "common/utils/StrictMode.hpp"
 #define MAVLINK_PACKED
 
 STRICT_MODE_OFF
diff --git a/MavLinkCom/src/impl/MavLinkConnectionImpl.hpp b/MavLinkCom/src/impl/MavLinkConnectionImpl.hpp
index a6210ae5..6cb5dbbb 100644
--- a/MavLinkCom/src/impl/MavLinkConnectionImpl.hpp
+++ b/MavLinkCom/src/impl/MavLinkConnectionImpl.hpp
@@ -8,7 +8,7 @@
 #include "MavLinkConnection.hpp"
 #include "MavLinkMessageBase.hpp"
 #include "Semaphore.hpp"
-#include "StrictMode.hpp"
+#include "common/utils/StrictMode.hpp"
 #include <memory>
 #include <mutex>
 #include <queue>
diff --git a/cmake/HelloCar/CMakeLists.txt b/cmake/HelloCar/CMakeLists.txt
index f55c2ae5..1b394898 100644
--- a/cmake/HelloCar/CMakeLists.txt
+++ b/cmake/HelloCar/CMakeLists.txt
@@ -14,7 +14,7 @@ include_directories(
   ${AUTONOMYSIM_ROOT}/AutonomyLib/include
   ${RPC_LIB_INCLUDES}
   ${AUTONOMYSIM_ROOT}/MavLinkCom/include
-  ${AUTONOMYSIM_ROOT}/MavLinkCom/common_utils
+  ${AUTONOMYSIM_ROOT}/MavLinkCom/common/utils
 )
 
 AddExecutableSource()			
diff --git a/cmake/HelloDrone/CMakeLists.txt b/cmake/HelloDrone/CMakeLists.txt
index 18deeb1c..a83b9357 100644
--- a/cmake/HelloDrone/CMakeLists.txt
+++ b/cmake/HelloDrone/CMakeLists.txt
@@ -14,7 +14,7 @@ include_directories(
   ${AUTONOMYSIM_ROOT}/AutonomyLib/include
   ${RPC_LIB_INCLUDES}
   ${AUTONOMYSIM_ROOT}/MavLinkCom/include
-  ${AUTONOMYSIM_ROOT}/MavLinkCom/common_utils
+  ${AUTONOMYSIM_ROOT}/MavLinkCom/common/utils
 )
 
 AddExecutableSource()			
diff --git a/cmake/HelloSpawnedDrones/CMakeLists.txt b/cmake/HelloSpawnedDrones/CMakeLists.txt
index 745665bd..49abb45a 100644
--- a/cmake/HelloSpawnedDrones/CMakeLists.txt
+++ b/cmake/HelloSpawnedDrones/CMakeLists.txt
@@ -14,7 +14,7 @@ include_directories(
   ${AUTONOMYSIM_ROOT}/AutonomyLib/include
   ${RPC_LIB_INCLUDES}
   ${AUTONOMYSIM_ROOT}/MavLinkCom/include
-  ${AUTONOMYSIM_ROOT}/MavLinkCom/common_utils
+  ${AUTONOMYSIM_ROOT}/MavLinkCom/common/utils
 )
 
 AddExecutableSource()			
diff --git a/cmake/MavLinkCom/CMakeLists.txt b/cmake/MavLinkCom/CMakeLists.txt
index 6dc239b8..87e6891e 100644
--- a/cmake/MavLinkCom/CMakeLists.txt
+++ b/cmake/MavLinkCom/CMakeLists.txt
@@ -10,7 +10,7 @@ CommonSetup()
 
 include_directories(
   ${AUTONOMYSIM_ROOT}/MavLinkCom
-  ${AUTONOMYSIM_ROOT}/MavLinkCom/common_utils
+  ${AUTONOMYSIM_ROOT}/MavLinkCom/common/utils
   ${AUTONOMYSIM_ROOT}/MavLinkCom/include
 )
 
diff --git a/cmake/MavLinkCom/MavLinkTest/CMakeLists.txt b/cmake/MavLinkCom/MavLinkTest/CMakeLists.txt
index 8107ff88..83f8b142 100644
--- a/cmake/MavLinkCom/MavLinkTest/CMakeLists.txt
+++ b/cmake/MavLinkCom/MavLinkTest/CMakeLists.txt
@@ -10,7 +10,7 @@ SetupConsoleBuild()
 include_directories(
   ${AUTONOMYSIM_ROOT}/MavLinkCom/MavLinkTest
   ${AUTONOMYSIM_ROOT}/MavLinkCom/include
-  ${AUTONOMYSIM_ROOT}/MavLinkCom/common_utils
+  ${AUTONOMYSIM_ROOT}/MavLinkCom/common/utils
 )
 
 set(PROJECT_CPP ${PROJECT_NAME}_sources)
diff --git a/ros2/src/autonomysim_ros_pkgs/CMakeLists.txt b/ros2/src/autonomysim_ros_pkgs/CMakeLists.txt
index 3e264c61..b0697f70 100644
--- a/ros2/src/autonomysim_ros_pkgs/CMakeLists.txt
+++ b/ros2/src/autonomysim_ros_pkgs/CMakeLists.txt
@@ -45,7 +45,7 @@ set(INCLUDE_DIRS include
   ${AUTONOMYSIM_ROOT}/AutonomyLib/include
   ${RPC_LIB_INCLUDES}
   ${AUTONOMYSIM_ROOT}/MavLinkCom/include
-  ${AUTONOMYSIM_ROOT}/MavLinkCom/common_utils
+  ${AUTONOMYSIM_ROOT}/MavLinkCom/common/utils
   ${OpenCV_INCLUDE_DIRS}
   )
 include_directories(${INCLUDE_DIRS})