AirLib/include/vehicles/multirotor/firmwares/mavlink/MavLinkMultirotorApi.hpp (15 lines):
	- line 188: 0, //sensor type: //TODO: allow changing in settings?
	- line 189: 77, //sensor id, //TODO: should this be something real?
	- line 190: distance_output.relative_pose.orientation); //TODO: convert from radians to degrees?
	- line 247: //TODO: this method can't be const yet because it clears previous messages
	- line 267: //TODO: reduce code duplication in getPosition() etc methods?
	- line 273: //TODO: how do we get angular acceleration?
	- line 465: //TODO: bugbug: really need a downward pointing distance to ground sensor to do this properly, for now
	- line 835: //TODO: decouple MultirotorApiBase, VehicalParams and SafetyEval
	- line 1007: //TODO: this method used to send collision to external sim. Do we still need this?
	- line 1024: //TODO: do we still need this method?
	- line 1031: //TODO: do we still need this method?
	- line 1494: connection_->ignoreMessage(mavlinkcom::MavLinkAttPosMocap::kMessageId); //TODO: find better way to communicate debug pose instead of using fake Mo-cap messages
	- line 1785: //TODO: enable temperature? diff_pressure
	- line 1839: //TODO: use covariance parameter?
	- line 1937: //TODO: below was made protected from private to support Ardupilot


AirLib/include/common/AirSimSettings.hpp (8 lines):
	- line 140: //TODO: should we use UAirBlueprintLib::GetDisplayGamma()?
	- line 463: //TODO: there is a crash in Linux due to settings_json.saveJSonString(). Remove this workaround after we only support Unreal 4.17
	- line 645: //TODO: below exist only due to legacy reason and can be replaced by "" in future
	- line 729: //TODO: we should be selecting remote if available else keyboard
	- line 803: //TODO: we should be selecting remote if available else keyboard
	- line 851: // TODO: we should be selecting remote if available else keyboard
	- line 954: //TODO: below exception doesn't actually get raised right now because of issue in Unreal Engine?
	- line 1208: //TODO: this won't work if simple_flight and PX4 is combined together!


DroneShell/src/main.cpp (5 lines):
	- line 1180: //TODO: get these in one call
	- line 1192: gps_point.altitude, //TODO: gps_point.height, gps_point.health,
	- line 1231: //TODO: shouldn't we pass folder path?
	- line 1469: //TODO: add WaitForCompletion command
	- line 1495: //TODO: add command line args help, arg count validation


Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp (4 lines):
	- line 25: //TODO: this is going to cause circular references which is fine here but
	- line 662: // TODO: Figure out a better way to add more fields
	- line 738: //TODO: better handle no FPV vehicles scenario
	- line 825: // TODO: Is it incorrect to assume LidarSimple here?


Unreal/Plugins/AirSim/Source/SimJoyStick/SimJoyStick.cpp (4 lines):
	- line 329: //TODO: set below to false?
	- line 397: //TODO: implement this for linux
	- line 404: //TODO: implement this for linux
	- line 470: //TODO: anyway to workaround const_cast?


Unreal/Plugins/AirSim/Source/Vehicles/Car/CarPawnSimApi.cpp (3 lines):
	- line 28: //TODO: should do reset() here?
	- line 57: //TODO: do we need this for cars?
	- line 90: //TODO: move this to SimModeBase?


Unreal/Plugins/AirSim/Source/PawnSimApi.cpp (3 lines):
	- line 38: ground_margin_ = FVector(0, 0, 20); //TODO: can we explain params_.pawn experimental setting? 7 seems to be minimum
	- line 223: //TODO: should below be at controller level info?
	- line 346: //TODO: refactor below code used for playback


AirLib/include/physics/FastPhysicsEngine.hpp (3 lines):
	- line 111: //TODO: this is now being done in PawnSimApi::update. We need to re-think this sequence
	- line 167: // TODO: it would be better if we did this based on the material we are landing on.
	- line 214: //TODO: implement better rolling friction


PythonClient/airsim/client.py (3 lines):
	- line 720: #TODO : below str() conversion is only needed for legacy reason and should be removed in future
	- line 776: #TODO : below str() conversion is only needed for legacy reason and should be removed in future
	- line 789: #TODO : below str() conversion is only needed for legacy reason and should be removed in future


Unreal/Plugins/AirSim/Source/PIPCamera.cpp (3 lines):
	- line 129: //TODO: avoid the need to override const cast here
	- line 364: //TODO: should we be ignoring position and orientation settings here?
	- line 366: //TODO: can we eliminate storing NedTransform?


AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/RemoteControl.hpp (3 lines):
	- line 89: //TODO: this code should be reused in OffboardApi
	- line 116: //TODO: this code should be reused in OffboardApi
	- line 167: //TODO: is it good idea to keep the last mode?


AirLib/include/vehicles/multirotor/api/MultirotorApiBase.hpp (3 lines):
	- line 140: //TODO: add GPS health, accuracy in API
	- line 232: //TODO: should we worry about spurious failures in try_lock?
	- line 365: //TODO: make this configurable?


AirLib/include/vehicles/multirotor/firmwares/mavlink/ArduCopterSoloParams.hpp (2 lines):
	- line 37: // TODO consider whether we want to make us of the 'connection_info_.model' field (perhaps to indicate different sensor configs, say?  not sure...)
	- line 56: // And this is what works currently - TODO sort out why ArduPilot isn't providing sufficient rotor power for default Solo weight - presumably some param setting?


AirLib/include/vehicles/multirotor/firmwares/arducopter/ArduCopterApi.hpp (2 lines):
	- line 67: // TODO:VehicleApiBase implementation
	- line 99: public: //TODO:MultirotorApiBase implementation


Unreal/Plugins/AirSim/Source/RenderRequest.cpp (2 lines):
	- line 23: //TODO: is below really needed?
	- line 39: //TODO: below doesn't work right now because it must be running in game thread


Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnSimApi.cpp (2 lines):
	- line 26: //TODO: should do reset() here?
	- line 67: //TODO: do we need this for cars?


AirLib/src/api/RpcLibClientBase.cpp (2 lines):
	- line 31: //TODO: HACK: UE4 defines macro with stupid names like "check" that conflicts with msgpack library
	- line 356: // Minor TODO: consider msgpack magic for GeoPoint, so we can have one arg instead of three


Unreal/Plugins/AirSim/Source/AirBlueprintLib.cpp (2 lines):
	- line 32: //TODO: change naming conventions to same as other files?
	- line 161: // TODO: Validate framerate of sensor data when the NoDisplay setting is turned on.


Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp (2 lines):
	- line 139: //TODO: implement weather for Unity
	- line 145: //TODO: implement weather for Unity


Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.cpp (2 lines):
	- line 265: //TODO: because this bug we are using alternative code with stringstream
	- line 282: //TODO: update other fields?


cmake/cmake-modules/CommonSetup.cmake (2 lines):
	- line 88: ## TODO: we are not using Boost any more so below shouldn't be needed
	- line 94: ## TODO: probably should set x64 explicitly


AirLib/include/common/VectorMath.hpp (2 lines):
	- line 45: //TODO: below we are using double instead of RealT because of VC++2017 bug in random implementation
	- line 358: //TODO: optimize below


AirLib/include/vehicles/multirotor/firmwares/simple_flight/SimpleFlightApi.hpp (2 lines):
	- line 21: //TODO: we need to protect contention between physics thread and API server thread
	- line 37: //TODO: set below properly for better high speed safety


Unreal/Plugins/AirSim/Source/UnrealImageCapture.cpp (2 lines):
	- line 11: //TODO: explore screenshot option
	- line 41: //TODO: may be we should have these methods non-const?


AirLib/include/common/common_utils/ScheduledExecutor.hpp (2 lines):
	- line 116: //TODO: make this function thread safe by using atomic types
	- line 155: //TODO: investigate below alternatives


Unreal/Plugins/AirSim/Source/Recording/RecordingThread.cpp (1 line):
	- line 26: //TODO: check FPlatformProcess::SupportsMultithreading()?


MavLinkCom/common_utils/Utils.hpp (1 line):
	- line 586: //TODO: Use GCC and Clang version from https://github.com/scottt/debugbreak


MavLinkCom/MavLinkMoCap/stdafx.h (1 line):
	- line 13: // TODO: reference additional headers your program requires here


MavLinkCom/common_utils/StrictMode.hpp (1 line):
	- line 12: //TODO: limit scope of below statements required to suppress VC++ warnings


AirLib/include/vehicles/multirotor/firmwares/simple_flight/AirSimSimpleFlightBoard.hpp (1 line):
	- line 88: //TODO: implement this


AirLib/include/sensors/gps/GpsBase.hpp (1 line):
	- line 24: //TODO: cleanup GPS structures that are not needed


AirLib/include/physics/DebugPhysicsBody.hpp (1 line):
	- line 141: //TODO: put in common place?


Unreal/Plugins/AirSim/Source/UnrealSensors/UnrealLidarSensor.cpp (1 line):
	- line 179: // TODO: Optimization -- instead of doing this for every point, it should be possible to do this


AirLib/include/vehicles/car/firmwares/ardurover/ArduRoverApi.hpp (1 line):
	- line 70: // TODO: VehicleApiBase implementation


DroneShell/include/linenoise.hpp (1 line):
	- line 3902: std::ofstream f(path); // TODO: need 'std::ios::binary'?


AirLib/include/common/common_utils/MedianFilter.hpp (1 line):
	- line 93: //TODO: use growing window here


AirLib/include/sensors/lidar/LidarSimpleParams.hpp (1 line):
	- line 22: // TODO: enable reading of these params from AirSim settings


MavLinkCom/src/serial_com/SerialPort.cpp (1 line):
	- line 77: // FIXME: The windows api docs are not very clear about read timeouts,


AirLib/include/common/EarthUtils.hpp (1 line):
	- line 149: //TODO: handle -ve altitude better (shouldn't grow indefinitely!)


MavLinkCom/MavLinkMoCap/stdafx.cpp (1 line):
	- line 7: // TODO: reference any additional headers you need in STDAFX.H


Unreal/Plugins/AirSim/Source/SimHUD/SimHUDWidget.h (1 line):
	- line 21: //TODO: Tick is not working


MavLinkCom/MavLinkTest/Commands.cpp (1 line):
	- line 640: //TODO: avoid passing hadcoded HIL flag


MavLinkCom/common_utils/ThreadUtils.cpp (1 line):
	- line 26: // TODO: How to handle POSIX thread priorities on OSX?


AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/RungKuttaPidIntegrator.hpp (1 line):
	- line 54: //TODO: replace with std::clamp after moving to C++17


AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/StdPidIntegrator.hpp (1 line):
	- line 53: //TODO: replace with std::clamp after moving to C++17


AirLib/include/vehicles/car/api/CarApiBase.hpp (1 line):
	- line 88: // TODO: Temporary constructor for the Unity implementation which does not use the new Sensor Configuration Settings implementation.


Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp (1 line):
	- line 157: api_server_->start(false, vehicle_sim_apis_.size() + 4); //TODO: set thread for vehicle count


AirLib/include/common/FirstOrderFilter.hpp (1 line):
	- line 62: //TODO: minimize use of exp


AirLib/src/safety/SafetyEval.cpp (1 line):
	- line 18: //TODO: something defines max macro which interfears with code here


AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/OffboardApi.hpp (1 line):
	- line 238: //TODO: better handling of landed & takenoff states


AirLib/include/common/CommonStructs.hpp (1 line):
	- line 390: //       TODO: Do we need an intensity place-holder [x,y,z, intensity]?


AirLib/include/sensors/lidar/LidarSimple.hpp (1 line):
	- line 88: // TODO: Seems like pose is in vehicle inertial-frame (NOT in Global NED frame).


AirLib/src/vehicles/multirotor/api/MultirotorRpcLibServer.cpp (1 line):
	- line 25: //TODO: HACK: UE4 defines macro with stupid names like "check" that conflicts with msgpack library


AirLib/src/vehicles/multirotor/api/MultirotorRpcLibClient.cpp (1 line):
	- line 28: //TODO: HACK: UE4 defines macro with stupid names like "check" that conflicts with msgpack library


AirLib/src/api/RpcLibServerBase.cpp (1 line):
	- line 25: //TODO: HACK: UE4 defines macro with stupid names like "check" that conflicts with msgpack library


MavLinkCom/MavLinkTest/main.cpp (1 line):
	- line 1206: printf("TODO: for SITL to work, mavlinktest needs to simulate HIL_SENSOR messages...\n");


AirLib/include/common/UpdatableObject.hpp (1 line):
	- line 39: //TODO: Do we need this check anymore? Maybe reset() should be idempotent.


AirLib/include/sensors/distance/DistanceSimpleParams.hpp (1 line):
	- line 40: //TODO: update sigma based on documentation, maybe as a function increasing with measured distance


AirLib/include/common/common_utils/Utils.hpp (1 line):
	- line 664: //TODO: Use GCC and Clang version from https://github.com/scottt/debugbreak


AirLib/include/vehicles/car/firmwares/physxcar/PhysXCarApi.hpp (1 line):
	- line 65: //TODO: implement arming for car


AirLib/src/vehicles/multirotor/api/MultirotorApiBase.cpp (1 line):
	- line 411: //TODO: below should be lower than 1E3 and configurable


AirLib/include/common/StateReporter.hpp (1 line):
	- line 57: //TODO: need better line end handling


AirLib/include/physics/PhysicsBody.hpp (1 line):
	- line 248: //for use in physics engine: //TODO: use getter/setter or friend method?


AirLib/include/common/common_utils/StrictMode.hpp (1 line):
	- line 12: //TODO: limit scope of below statements required to suppress VC++ warnings


AirLib/include/vehicles/multirotor/RotorActuator.hpp (1 line):
	- line 115: wrench.torque = normal * output_.torque_scaler * air_density_ratio_; //TODO: try using filtered control here


AirLib/include/common/Settings.hpp (1 line):
	- line 11: //TODO: HACK!! below are added temporariliy because something is defining min, max macros


AirLib/include/common/GeodeticConverter.hpp (1 line):
	- line 147: //TODO: above returns wrong altitude if down was positive. This is because sqrt return value would be -ve


AirLib/include/physics/World.hpp (1 line):
	- line 94: //TODO: probably we shouldn't be passing around fixed period


Unreal/Plugins/AirSim/Source/SimHUD/SimHUD.cpp (1 line):
	- line 184: //TODO: should we only do below on SceneCapture2D components and cameras?


AirLib/include/common/common_utils/UniqueValueMap.hpp (1 line):
	- line 85: //TODO: add erase methods


ros/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp (1 line):
	- line 166: // TODO: ros::TransportHints().tcpNoDelay();


AirLib/include/common/StateReporterWrapper.hpp (1 line):
	- line 73: //TODO: perhaps we should be using supplied reporter?


AirLib/include/sensors/imu/ImuSimple.hpp (1 line):
	- line 68: // TODO: Add noise in orientation?


AirLib/include/common/common_utils/RandomGenerator.hpp (1 line):
	- line 49: //TODO: below we should have float instead of double but VC++2017 has a bug :(


AirLib/include/physics/Environment.hpp (1 line):
	- line 118: //TODO: avoid recalculating square roots


Unreal/Plugins/AirSim/Source/WorldSimApi.cpp (1 line):
	- line 826: // TODO think more about how best to determine/indicate ground level, if anyone cares


AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/interfaces/CommonStructs.hpp (1 line):
	- line 180: //TODO: use nan instead 0?


AirLib/src/vehicles/car/api/CarRpcLibServer.cpp (1 line):
	- line 25: //TODO: HACK: UE4 defines macro with stupid names like "check" that conflicts with msgpack library


AirLib/include/common/WorkerThread.hpp (1 line):
	- line 16: #include "ClockFactory.hpp" //TODO: move this out of common_utils


AirLib/include/sensors/barometer/BarometerSimple.hpp (1 line):
	- line 93: //TODO: use same formula as in driver code?


Unreal/Plugins/AirSim/Source/SimMode/SimModeWorldBase.cpp (1 line):
	- line 17: //TODO: directly accept getVehicleSimApis() using generic container


AirLib/src/vehicles/car/api/CarRpcLibClient.cpp (1 line):
	- line 29: //TODO: HACK: UE4 defines macro with stupid names like "check" that conflicts with msgpack library


AirLib/include/common/common_utils/FileSystem.hpp (1 line):
	- line 126: //TODO: because this bug we are using alternative code with stringstream


AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/PidController.hpp (1 line):
	- line 114: //TODO: replace with std::clamp after moving to C++17