CLI arguments + Global/Vehicle config file

[dennisss]

Make everything configurable!!!!

Have CLI arguments for us to be able to start different operating 'modes':

1. just mocap with no JSOC (so we can test mocap with an RC controller in mocap assisted position mode)

2. 1 with a JSOC file

3. 1 or # 2 in simulation

4. 1 with and without an RC as a failsafe (in RC mode, the program wouldn't automatically arm itself, but wait for the RC to do this)

Need to make a JSON or something separate from JSOC to hold global settings and ones unique to each Vehicle so we can quickly change parameters for different setups. Partial listed of needed parameters below.

• Maybe split into 2 files: one for hardware stuff and one for 'world' (# of drones, default positions of drones, etc.)

Global stuff

• Mocap settings: interface IP address and multicast address
• ....

Vehicle specific stuff

• Default position expected (mainly for initialization of simulation), and pre-flight check of initial positions
• IP/Port combinations for connecting to it
• Type of vehicle for future proofing (if we want to lookup calibration parameters maybe?)

[dennisss]

Ideally a small part of this done for our first theater time

[zls29]

@dennisss Is multidrone_main going to be used from here onward? I'd like to get rid of the single drone main if isn't going to be needed.

[dennisss]

They are both mainly for example purposes. I think eventually, they will both be scraped for a single configurable main given a JOCS file and/or other options. Probably best to scrap single drone code and go with single drone as a special case of multi-drone choreography.

[tessmichi]

@zls29 @dennisss How "done" is this, ever since Dennis merged the branch for this?

[zls29]

Not sure if there's anything left that needs to be added for this issue.