From ecfa70548223fc620519e331ea6b7f304bb77888 Mon Sep 17 00:00:00 2001
From: Arthur Golubtsov <goldartt@gmail.com>
Date: Fri, 3 Apr 2020 19:50:16 +0300
Subject: [PATCH 1/7] Client: Updates for compability with clover and
 simulations

---
 Drone/FlightLib/FlightLib.py  | 10 ++++++++--
 Drone/copter_client.py        | 10 ++++++++--
 Drone/visual_pose_watchdog.py | 10 ++++++++--
 3 files changed, 24 insertions(+), 6 deletions(-)

diff --git a/Drone/FlightLib/FlightLib.py b/Drone/FlightLib/FlightLib.py
index 8c70b09..6ecb302 100644
--- a/Drone/FlightLib/FlightLib.py
+++ b/Drone/FlightLib/FlightLib.py
@@ -6,7 +6,13 @@ import time
 import logging
 import threading
 import rospy
-from clever import srv
+
+# for backward compatibility with clever
+try:
+    from clever import srv
+except ImportError:
+    from clover import srv
+
 from mavros_msgs.srv import SetMode
 from mavros_msgs.srv import CommandBool
 from std_srvs.srv import Trigger
@@ -337,7 +343,7 @@ def takeoff(height=TAKEOFF_HEIGHT, speed=TAKEOFF_SPEED, tolerance=TOLERANCE, fra
             return 'interrupted'
 
         climb = abs(get_telemetry_locked(frame_id=frame_id).z - start.z)
-        rospy.logdebug("Takeoff to {:.2f} of {:.2f} meters".format(climb, height))
+        rospy.loginfo("Takeoff to {:.2f} of {:.2f} meters".format(climb, height))
 
         time_passed = time.time() - time_start
 
diff --git a/Drone/copter_client.py b/Drone/copter_client.py
index 150e694..4efba23 100644
--- a/Drone/copter_client.py
+++ b/Drone/copter_client.py
@@ -4,7 +4,13 @@ import time
 import math
 import rospy
 import numpy
-from clever import srv
+
+# for backward compatibility with clever
+try:
+    from clever import srv
+except ImportError:
+    from clover import srv
+
 import datetime
 import logging
 import threading
@@ -13,7 +19,6 @@ import subprocess
 from collections import namedtuple
 
 from FlightLib import FlightLib
-from FlightLib import LedLib
 
 import client
 
@@ -86,6 +91,7 @@ class CopterClient(client.Client):
         rospy.loginfo("Init ROS node")
         rospy.init_node('clever_show_client')
         if self.config.led_use:
+            from FlightLib import LedLib
             LedLib.init_led(self.config.led_pin)
         task_manager_instance.start()  # TODO move to self
         if self.config.copter_frame_id == "floor":
diff --git a/Drone/visual_pose_watchdog.py b/Drone/visual_pose_watchdog.py
index 4ca07cb..7f62957 100644
--- a/Drone/visual_pose_watchdog.py
+++ b/Drone/visual_pose_watchdog.py
@@ -5,7 +5,13 @@ import time
 import math
 import logging
 import threading
-from clever.srv import SetAttitude
+
+# for backward compatibility with clever
+try:
+    from clever import SetAttitude
+except ImportError:
+    from clover import SetAttitude
+
 from sensor_msgs.msg import Range
 from mavros_msgs.msg import State, PositionTarget
 from mavros_msgs.srv import SetMode, CommandBool
@@ -16,7 +22,7 @@ from geometry_msgs.msg import PoseStamped
 import inspect  # Add parent dir to PATH to import messaging_lib
 current_dir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
 parent_dir = os.path.dirname(current_dir)
-sys.path.insert(0, parent_dir) 
+sys.path.insert(0, parent_dir)
 
 from config import ConfigManager
 

From 7630e8b51bac0fa94678ff612233180116e31d05 Mon Sep 17 00:00:00 2001
From: Arthur Golubtsov <goldartt@gmail.com>
Date: Fri, 3 Apr 2020 19:50:40 +0300
Subject: [PATCH 2/7] Client: Add requirements file for standalone install

---
 Drone/requirements.txt | 2 ++
 1 file changed, 2 insertions(+)
 create mode 100644 Drone/requirements.txt

diff --git a/Drone/requirements.txt b/Drone/requirements.txt
new file mode 100644
index 0000000..b9b5ed8
--- /dev/null
+++ b/Drone/requirements.txt
@@ -0,0 +1,2 @@
+selectors2
+psutil
\ No newline at end of file

From d8bc67692ff2d606830aa93e4be8bad2a471792a Mon Sep 17 00:00:00 2001
From: Arthur Golubtsov <goldartt@gmail.com>
Date: Tue, 7 Apr 2020 10:12:31 +0300
Subject: [PATCH 3/7] Client: Update FCU parameters parser

---
 Drone/copter_client.py  |  6 +++++-
 Drone/mavros_mavlink.py | 46 +++++++++++++++++++++++++++++++----------
 2 files changed, 40 insertions(+), 12 deletions(-)

diff --git a/Drone/copter_client.py b/Drone/copter_client.py
index 4efba23..f6856d0 100644
--- a/Drone/copter_client.py
+++ b/Drone/copter_client.py
@@ -74,6 +74,10 @@ flightlib_logger = logging.getLogger('FlightLib')
 flightlib_logger.setLevel(logging.INFO)
 flightlib_logger.addHandler(handler)
 
+mavros_mavlink_logger = logging.getLogger('mavros_mavlink')
+mavros_mavlink_logger.setLevel(logging.INFO)
+mavros_mavlink_logger.addHandler(handler)
+
 
 class CopterClient(client.Client):
     def __init__(self, config_path="config/client.ini"):
@@ -89,7 +93,7 @@ class CopterClient(client.Client):
 
     def start(self, task_manager_instance):
         rospy.loginfo("Init ROS node")
-        rospy.init_node('clever_show_client')
+        rospy.init_node('clever_show_client', anonymous=True)
         if self.config.led_use:
             from FlightLib import LedLib
             LedLib.init_led(self.config.led_pin)
diff --git a/Drone/mavros_mavlink.py b/Drone/mavros_mavlink.py
index 7a6005e..b4602c4 100644
--- a/Drone/mavros_mavlink.py
+++ b/Drone/mavros_mavlink.py
@@ -6,6 +6,8 @@ from mavros_msgs.srv import ParamGet, ParamSet
 from mavros_msgs.msg import State, ParamValue
 from pymavlink.dialects.v20 import common as mavlink
 
+logger = logging.getLogger(__name__)
+
 send_command_long = rospy.ServiceProxy('/mavros/cmd/command', CommandLong)
 get_param = rospy.ServiceProxy('/mavros/param/get', ParamGet)
 set_param = rospy.ServiceProxy('/mavros/param/set', ParamSet)
@@ -127,23 +129,45 @@ def stop_subscriber():
 
 def load_param_file(px4_file):
     result = True
+    err_lines = ""
+    err_params = ""
+    lines_commented = ""
+    params_loaded = ""
     try:
         px4_params = open(px4_file)
     except IOError:
-        logging.error("File {} can't be opened".format(filepath))
+        logger.error("File {} can't be opened".format(filepath))
         result = False
-    else:    
+    else:
         with open(px4_file) as px4_params:
+            row = 0
             for line in px4_params:
-                param_str_array = line[:-1].split('\t')
-                param_name = param_str_array[2]
-                param_value_str = param_str_array[3]
-                param_type = param_str_array[4]
-                if param_type == '6':
-                    param_value = ParamValue(integer=int(param_value_str))
+                row += 1
+                param_str_array = line.split('\t')
+                if len(param_str_array) == 5 and '#' not in param_str_array[0]:
+                    param_name = param_str_array[2]
+                    param_value_str = param_str_array[3]
+                    param_type = int(param_str_array[4])
+                    if param_type == 6:
+                        param_value = ParamValue(integer=int(param_value_str))
+                    else:
+                        param_value = ParamValue(real=float(param_value_str))
+                    if not set_param(param_name, param_value):
+                        err_params += "{} ,".format(row)
+                        result = False
+                    else:
+                        params_loaded += "{} ,".format(row)
+                elif '#' in param_str_array[0]:
+                    lines_commented += "{} ,".format(row)
                 else:
-                    param_value = ParamValue(real=float(param_value_str))
-                if not set_param(param_name, param_value):
-                    result = False
+                    err_lines += "{} ,".format(row)
+    if err_lines:
+        logger.info("Can't parse lines: {}".format(err_lines[:-1]))
+    if err_params:
+        logger.info("Can't set params from lines: {}".format(err_params[:-1]))
+    if lines_commented:
+        logger.info("Lines commented: {}".format(lines_commented[:-1]))
+    if params_loaded:
+        logger.info("Params are successfully loaded from lines: {}".format(params_loaded[:-1]))
     return result
 

From 6354d524f638ef3d693863c24da19715da98bf3d Mon Sep 17 00:00:00 2001
From: Arthur Golubtsov <goldartt@gmail.com>
Date: Tue, 7 Apr 2020 10:34:25 +0300
Subject: [PATCH 4/7] Client: Remove waste spaces

---
 Drone/client.py               |  2 +-
 Drone/client_setup.sh         |  4 ++--
 Drone/copter_client.py        | 14 +++++++-------
 Drone/mavros_mavlink.py       |  4 ++--
 Drone/tasking_lib.py          | 20 ++++++++++----------
 Drone/visual_pose_watchdog.py | 18 +++++++++---------
 6 files changed, 31 insertions(+), 31 deletions(-)

diff --git a/Drone/client.py b/Drone/client.py
index 9fb5081..88c5057 100644
--- a/Drone/client.py
+++ b/Drone/client.py
@@ -13,7 +13,7 @@ from contextlib import closing
 import inspect  # Add parent dir to PATH to import messaging_lib
 current_dir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
 parent_dir = os.path.dirname(current_dir)
-sys.path.insert(0, parent_dir) 
+sys.path.insert(0, parent_dir)
 
 logger = logging.getLogger(__name__)
 
diff --git a/Drone/client_setup.sh b/Drone/client_setup.sh
index 81f1496..b92b777 100755
--- a/Drone/client_setup.sh
+++ b/Drone/client_setup.sh
@@ -2,7 +2,7 @@
 
 # $1 - ssid, $2 - password of wifi router
 # $3 - hostname of rpi
-# $4 - server ip 
+# $4 - server ip
 
 if [ $(whoami) != "root" ]; then
   echo -e "\nThis should be run as root!\n"
@@ -38,7 +38,7 @@ country=GB
 network={
     ssid="$1"
     psk="$2"
-    scan_ssid=1    
+    scan_ssid=1
 }
 EOF
 
diff --git a/Drone/copter_client.py b/Drone/copter_client.py
index f6856d0..6fdcf33 100644
--- a/Drone/copter_client.py
+++ b/Drone/copter_client.py
@@ -303,7 +303,7 @@ def _response_animation_id(*args, **kwargs):
     if result != 'No animation':
         logger.debug("Saving corrected animation")
         offset = numpy.array(client.active_client.config.private_offset) + numpy.array(client.active_client.config.copter_common_offset)
-        frames = animation.load_animation(os.path.abspath("animation.csv"), client.active_client.config.animation_frame_delay, 
+        frames = animation.load_animation(os.path.abspath("animation.csv"), client.active_client.config.animation_frame_delay,
                                             offset[0], offset[1], offset[2], *client.active_client.config.animation_ratio)
         # Correct start and land frames in animation
         corrected_frames, start_action, start_delay = animation.correct_animation(frames,
@@ -390,10 +390,10 @@ def _command_move_start_to_current_position(*args, **kwargs):
         telem = FlightLib.get_telemetry_locked(client.active_client.config.copter_frame_id)
         logger.debug("x_telem = {}, y_telem = {}".format(telem.x, telem.y))
         if not math.isnan(telem.x):
-            client.active_client.config.set('PRIVATE', 'offset', 
+            client.active_client.config.set('PRIVATE', 'offset',
                                             [telem.x - x_start, telem.y - y_start, client.active_client.config.private_offset[2]],
                                             write=True)
-            logger.info("Set start delta: {:.2f} {:.2f}".format(client.active_client.config.private_offset[0], 
+            logger.info("Set start delta: {:.2f} {:.2f}".format(client.active_client.config.private_offset[0],
                                                                 client.active_client.config.private_offset[1]))
         else:
             logger.debug("Wrong telemetry")
@@ -403,17 +403,17 @@ def _command_move_start_to_current_position(*args, **kwargs):
 
 @messaging.message_callback("reset_start")
 def _command_reset_start(*args, **kwargs):
-    client.active_client.config.set('PRIVATE', 'offset', 
+    client.active_client.config.set('PRIVATE', 'offset',
                                     [0, 0, client.active_client.config.private_offset[2]],
                                     write=True)
-    logger.info("Reset start to {:.2f} {:.2f}".format(client.active_client.config.private_offset[0], 
+    logger.info("Reset start to {:.2f} {:.2f}".format(client.active_client.config.private_offset[0],
                                                     client.active_client.config.private_offset[1]))
 
 
 @messaging.message_callback("set_z_to_ground")
 def _command_set_z(*args, **kwargs):
     telem = FlightLib.get_telemetry_locked(client.active_client.config.copter_frame_id)
-    client.active_client.config.set('PRIVATE', 'offset', 
+    client.active_client.config.set('PRIVATE', 'offset',
                                     [client.active_client.config.private_offset[0], client.active_client.config.private_offset[1], telem.z],
                                     write=True)
     logger.info("Set z offset to {:.2f}".format(client.active_client.config.private_offset[2]))
@@ -421,7 +421,7 @@ def _command_set_z(*args, **kwargs):
 
 @messaging.message_callback("reset_z_offset")
 def _command_reset_z(*args, **kwargs):
-    client.active_client.config.set('PRIVATE', 'offset', 
+    client.active_client.config.set('PRIVATE', 'offset',
                                     [client.active_client.config.private_offset[0], client.active_client.config.private_offset[1], 0],
                                     write=True)
     logger.info("Reset z offset to {:.2f}".format(client.active_client.config.private_offset[2]))
diff --git a/Drone/mavros_mavlink.py b/Drone/mavros_mavlink.py
index b4602c4..90ee00c 100644
--- a/Drone/mavros_mavlink.py
+++ b/Drone/mavros_mavlink.py
@@ -63,7 +63,7 @@ def calibrate(sensor):
             return False
         # Make calibration message
         calibration_message = calibration_msg(sensor)
-        # Send mavlink calibration command 
+        # Send mavlink calibration command
         send_command_long(False, mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, 0, *calibration_message)
         rospy.loginfo('Send {} calibration message'.format(sensor))
         # Wait until system status to uninit (during calibration on px4)
@@ -87,7 +87,7 @@ def get_calibration_status():
     if mag_status.value.integer == 0 and mag_status.success:
         status_text += "mag: uncalibrated; "
     if acc_status.value.integer == 0 and acc_status.success:
-        status_text += "acc: uncalibrated; "    
+        status_text += "acc: uncalibrated; "
     if status_text == "":
         if not gyro_status.success or not mag_status.success or not acc_status.success:
             status_text = "NO_INFO"
diff --git a/Drone/tasking_lib.py b/Drone/tasking_lib.py
index 1827c3c..c64dbcb 100644
--- a/Drone/tasking_lib.py
+++ b/Drone/tasking_lib.py
@@ -54,7 +54,7 @@ class TaskManager(object):
         self._wait_interrupt_event.set()
         self._running_event.clear()
 
-        task = Task(task_function, task_args, task_kwargs, task_delayable)                
+        task = Task(task_function, task_args, task_kwargs, task_delayable)
 
         count = next(self._counter)
         entry = (timestamp, priority, count, task)
@@ -64,21 +64,21 @@ class TaskManager(object):
                 entry_old = self.task_queue[0]
             else:
                 entry_old = entry
-        
+
             heapq.heappush(self.task_queue, entry)
 
             if self.task_queue[0] != entry_old:
                 self._task_interrupt_event.set()
                 #print("Task queue updated with more priority task")
-            
+
             if self._reset_event.is_set():
                 self._task_interrupt_event.set()
                 self._reset_event.clear()
                 #print("Task queue updated after reset")
-       
+
         self._wait_interrupt_event.clear()
         self._running_event.set()
-        
+
         # #print(self.task_queue)
 
     def pop_task(self):
@@ -89,7 +89,7 @@ class TaskManager(object):
 
     def get_last_task_name(self):
         return self._last_task
-    
+
     def get_current_task(self):
         try:
             start_time, priority, count, task = self.task_queue[0]
@@ -134,7 +134,7 @@ class TaskManager(object):
         if self.task_queue:
             next_task_time = self.task_queue[0][0]
             if time_to_start_next_task > next_task_time:
-                self._timeshift = time_to_start_next_task - next_task_time 
+                self._timeshift = time_to_start_next_task - next_task_time
         self._wait_interrupt_event.clear()
         self._task_interrupt_event.clear()
         self._running_event.set()
@@ -178,7 +178,7 @@ class TaskManager(object):
             #print("Interrupter is set: {}".format(self._task_interrupt_event.is_set()))
             try:
                 task.func(*task.args, interrupter=self._task_interrupt_event, **task.kwargs)
-            
+
             except Exception as e:
                 logger.error("Error '{}' occurred in task {}".format(e, task))
                 #print("Error '{}' occurred in task {}".format(e, task))
@@ -211,10 +211,10 @@ class TaskManager(object):
                 #try:
                     #print("Pop {} function!".format(task.func.__name__))
                 #except Exception as e:
-                    #print("Pop something!") 
+                    #print("Pop something!")
 
         if self._task_interrupt_event.is_set():
-            self._task_interrupt_event.clear()     
+            self._task_interrupt_event.clear()
 
         logger.info("Execution done")
         #print("Execution done")
diff --git a/Drone/visual_pose_watchdog.py b/Drone/visual_pose_watchdog.py
index 7f62957..d36aba2 100644
--- a/Drone/visual_pose_watchdog.py
+++ b/Drone/visual_pose_watchdog.py
@@ -144,7 +144,7 @@ def laser_callback(data):
     laser_range = data.range
 
 def emergency_land(disarm_if_timeout = True):
-    global emergency_land_thrust, laser_range 
+    global emergency_land_thrust, laser_range
     current_thrust = emergency_land_thrust
     action_timestamp = time.time()
     while armed:
@@ -153,13 +153,13 @@ def emergency_land(disarm_if_timeout = True):
             try:
                 set_attitude(thrust = current_thrust, yaw = 0, frame_id = 'body', auto_arm = True)
             except rospy.ServiceException as e:
-                logger.info(e) 
+                logger.info(e)
         delta = time.time() - action_timestamp
         if delta > timeout_to_disarm and disarm_if_timeout:
             try:
                 arming(False)
             except rospy.ServiceException as e:
-                logger.info(e)  
+                logger.info(e)
         if (laser_range < 0.1 or delta > emergency_land_decrease_thrust_after) and current_thrust >= 0.:
             current_thrust -= 0.02
             if current_thrust <= 0.03:
@@ -167,7 +167,7 @@ def emergency_land(disarm_if_timeout = True):
                 try:
                     arming(False)
                 except rospy.ServiceException as e:
-                    logger.info(e) 
+                    logger.info(e)
         rate.sleep()
 
 def emergency_land_service(request):
@@ -181,7 +181,7 @@ def emergency_land_service(request):
         responce.success = False
         responce.message = "Copter is disarmed, no need for emergency landing!"
         emergency_land_called = False
-    return responce  
+    return responce
 
 def watchdog_callback(event):
     global visual_pose_last_timestamp, armed, mode, watchdog_action, laser_range
@@ -224,7 +224,7 @@ def watchdog_callback(event):
                                 try:
                                     arming(False)
                                 except rospy.ServiceException as e:
-                                    logger.info(e)   
+                                    logger.info(e)
                             rate.sleep()
                     elif watchdog_action == 'disarm':
                         logger.info('Visual pose data is too old, copter is armed, disarming...')
@@ -232,15 +232,15 @@ def watchdog_callback(event):
                             try:
                                 arming(False)
                             except rospy.ServiceException as e:
-                                logger.info(e)   
-                            rate.sleep() 
+                                logger.info(e)
+                            rate.sleep()
                     elif watchdog_action == 'emergency_land':
                         if visual_pose_dt > visual_pose_timeout:
                             logger.info('Visual pose data is too old, copter is armed, emergency landing...')
                         if pos_delta > pos_delta_max:
                             logger.info('Position delta is {} m, copter is armed, emergency landing...'.format(pos_delta))
                         emergency_land()
-                    logger.info('Disarmed') 
+                    logger.info('Disarmed')
                     emergency = False
             if emergency_land_called:
                 emergency = True

From d81d2800df7607593c0fd31192d6ec1002d1cb9a Mon Sep 17 00:00:00 2001
From: Arthur Golubtsov <goldartt@gmail.com>
Date: Tue, 7 Apr 2020 11:23:14 +0300
Subject: [PATCH 5/7] Server: Add clever_dir parameter

---
 Server/config/spec/configspec_server.ini |  3 +++
 Server/server_qt.py                      | 12 ++++++------
 2 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/Server/config/spec/configspec_server.ini b/Server/config/spec/configspec_server.ini
index 13e6199..84c8c12 100644
--- a/Server/config/spec/configspec_server.ini
+++ b/Server/config/spec/configspec_server.ini
@@ -5,6 +5,9 @@ config_version = float(default='1.0')
     port = integer(default=25000)
     buffer_size = integer(default=1024)
 
+[CLIENT]
+    clever_dir = string(default=/home/pi/catkin_ws/src/clever/clover)
+
 [TABLE]
     # True  -> clients are removed on disconnection
     # False -> disconnected clients indicated
diff --git a/Server/server_qt.py b/Server/server_qt.py
index 7c033ab..ff26e59 100644
--- a/Server/server_qt.py
+++ b/Server/server_qt.py
@@ -438,7 +438,7 @@ class MainWindow(QtWidgets.QMainWindow):
     def request_any_file(self, client_path=None, copters=None):
         if client_path is None:
             _client_path, ok = QInputDialog.getText(self, "Enter path of file to request from client", "Source:",
-                                                    QLineEdit.Normal, "/home/pi/")
+                                                    QLineEdit.Normal, "")
             if not ok:
                 return
             client_path = _client_path
@@ -467,7 +467,7 @@ class MainWindow(QtWidgets.QMainWindow):
             return
 
         c_path, ok = QInputDialog.getText(self, "Enter path (and name) to send on client", "Destination:",
-                                          QLineEdit.Normal, "/home/pi/")   # TODO config?
+                                          QLineEdit.Normal, "")   # TODO config?
         if not ok:
             return
 
@@ -483,7 +483,7 @@ class MainWindow(QtWidgets.QMainWindow):
     @pyqtSlot()
     def send_calibrations(self):
         self.send_directory_files("Select directory with calibrations", ('.yaml', ), match_id=True,
-                                  client_path="/home/pi/catkin_ws/src/clever/clever/camera_info/",
+                                  client_path=os.path.join(self.server.config.client_clever_dir,"camera_info/"),
                                   client_filename="calibration.yaml")  # TODO callback to reload clever?
 
         # from os.path import expanduser # TODO on client
@@ -495,13 +495,13 @@ class MainWindow(QtWidgets.QMainWindow):
             copter.client.send_message("service_restart", kwargs={"name": "clever"})
 
         self.send_files("Select aruco map configuration file", "Aruco map files (*.txt)", onefile=True,
-                        client_path="/home/pi/catkin_ws/src/clever/aruco_pose/map/",
+                        client_path=os.path.abspath(os.path.join(self.server.config.client_clever_dir,"../aruco_pose/map/")),
                         client_filename="animation_map.txt", callback=callback)
 
     @pyqtSlot()
     def send_launch(self):
         self.send_directory_files("Select directory with launch files", ('.launch', '.yaml'), match_id=False,
-                                  client_path='/home/pi/catkin_ws/src/clever/clever/launch/')  # TODO clever restart callback?
+                                  client_path=os.path.join(self.server.config.client_clever_dir,"launch/"))  # TODO clever restart callback?
 
     @pyqtSlot()
     def send_fcu_parameters(self):
@@ -652,7 +652,7 @@ if __name__ == "__main__":
             logging.StreamHandler(),
             msgbox_handler
         ])
-    
+
     sys.excepthook = except_hook  # for debugging (exceptions traceback)
 
     app = QApplication(sys.argv)

From bea1f013c3e12c3325d36a5adc73a69c4450432c Mon Sep 17 00:00:00 2001
From: Arthur Golubtsov <goldartt@gmail.com>
Date: Tue, 7 Apr 2020 12:12:43 +0300
Subject: [PATCH 6/7] Server: Fix playing music after 0 seconds time

---
 Server/server_qt.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/Server/server_qt.py b/Server/server_qt.py
index ff26e59..2c315a8 100644
--- a/Server/server_qt.py
+++ b/Server/server_qt.py
@@ -310,16 +310,17 @@ class MainWindow(QtWidgets.QMainWindow):
     @confirmation_required("This operation will takeoff selected copters with delay and start animation. Proceed?")
     def send_start_time_selected(self):
         time_now = server.time_now()
+        time_lag = 0.1
         dt = self.ui.start_delay_spin.value()
         logging.info('Wait {} seconds to start animation'.format(dt))
         if self.ui.music_checkbox.isChecked():
             music_dt = self.ui.music_delay_spin.value()
-            asyncio.ensure_future(self.play_music_at_time(music_dt + time_now), loop=loop)
+            asyncio.ensure_future(self.play_music_at_time(music_dt + time_now + time_lag), loop=loop)
             logging.info('Wait {} seconds to play music'.format(music_dt))
         # This filter constraints takeoff in real world, when copter state was normal and then some checks were failed for a while
         # for copter in filter(lambda copter: copter.states.all_checks, self.model.user_selected()):
         for copter in self.model.user_selected():
-            server.send_starttime(copter.client, dt + time_now)
+            server.send_starttime(copter.client, dt + time_now + time_lag)
 
     @pyqtSlot()
     def pause_resume_selected(self):

From 3d96569b3cc89d04dee46bed2f410d54a942d33e Mon Sep 17 00:00:00 2001
From: Arthur Golubtsov <goldartt@gmail.com>
Date: Tue, 7 Apr 2020 14:44:53 +0300
Subject: [PATCH 7/7] Docs: Update server.md

---
 docs/ru/server.md | 68 +++++++----------------------------------------
 1 file changed, 10 insertions(+), 58 deletions(-)

diff --git a/docs/ru/server.md b/docs/ru/server.md
index 3829c40..1f94914 100644
--- a/docs/ru/server.md
+++ b/docs/ru/server.md
@@ -7,8 +7,6 @@
 * [Настройка](#настройка-сервера)
 * [Дополнительные операции](#дополнительные-операции)
 
-[TOC]
-
 ## Интерфейс сервера
 
 Сервер имеет визуальный графический интерфейс для удобства взаимодействия.
@@ -17,7 +15,11 @@
 
 ### Таблица состояния коптеров
 
-При первом подключении клиента к серверу в таблицу добавляется строка для отображения состояния клиента, содержащая только имя клиента (`copter ID`). Если на клиентах настроена автоматическая передача телеметрии, данные в таблице будут обновляться автоматически. Так же возможно запросить телеметрию выбранных клиентов с помощью кнопки [`Preflight check`](#управление) Строки можно сортировать по возрастанию или убыванию значений любого из столбцов, кликнув по его заголовку.
+При первом подключении клиента к серверу в таблицу добавляется строка для отображения состояния клиента, содержащая только имя клиента (`copter ID`). Если на клиентах настроена автоматическая передача телеметрии, данные в таблице будут обновляться автоматически. Так же возможно запросить телеметрию выбранных клиентов с помощью кнопки [`Preflight check`](#управление).
+
+Строки можно сортировать по возрастанию или убыванию значений любого из столбцов, кликнув по его заголовку.
+
+Столбцы можно менять местами и изменять их ширину: все изменения сохраняются в настройках сервера.
 
 Ячейки таблицы подсвечиваются:
 
@@ -177,63 +179,13 @@
 
 ### Файл конфигурации
 
-Конфигурация сервера задаётся в файле [server.ini](../../Server/config/server.ini), имеющем следующий вид по умолчанию:
+Конфигурация сервера создаётся согласно [спецификации](../../Server/config/spec/configspec_server.ini), в ней можно посмотреть значения по умолчанию для любого параметра после ключевого слова `default`. Все изменения сохраняются в файл конфигурации `server.ini` в папке `clever-show/Server/config`. 
 
-```ini
-# This is generated config with default values
-# Modify to configure
-config_name = server
-config_version = 1.0
+Доступно редактирование конфигурации сервера через GUI модуль `Config editor` через меню `Server -> Edit server config`.
 
-[SERVER]
-    port = 25000
-    buffer_size = 1024
+Конфигурация по умолчанию является полностью работоспособной и не требует изменений для быстрого старта клиента.
 
-[TABLE]
-    # True  -> clients are removed on disconnection
-    # False -> disconnected clients indicated
-    remove_disconnected = False
-    [[PRESETS]]
-        current = DEFAULT
-        [[[DEFAULT]]]
-            copter_id = True, 100
-            git_version = True, 75
-            config_version = True, 140
-            animation_id = True, 100
-            battery = True, 100
-            fcu_status = True, 100
-            calibration_status = True, 65
-            mode = True, 100
-            selfcheck = True, 65
-            current_position = True, 250
-            start_position = True, 150
-            last_task = True, 250
-            time_delta = True, 241
-
-[CHECKS]
-	check_git_version = True
-    check_current_position = True
-    # in percents; set 0 to disable this check
-    battery_min = 50.0
-    # in meters; set 0 to disable this check
-    start_pos_delta_max = 1.0
-    # in seconds
-    time_delta_max = 1.0
-    
-[BROADCAST]
-    send = True
-    listen = True
-    port = 8181
-    # delay for message sending in seconds
-    delay = 5.0
-
-[NTP]
-    use = False
-    host = ntp1.stratum2.ru
-    port = 123
-```
-
-Данный файл конфигурации автоматически генерируется при первом запуске сервера, если отсутствует файл конфигурации. Пользовательский файл может содержать неполный набор параметров - в этом случае будут использоваться значения по умолчанию для отсутствующих параметров. Конфигурация по умолчанию является полностью работоспособной и не требует изменений для быстрого начала работы системы.
+### Описание параметров
 
 #### Корневой раздел
 
@@ -309,4 +261,4 @@ config_version = 1.0
 
 ### Column preset editor
 
-...
\ No newline at end of file
+...