CopterExpress/clever-show
1
0
Fork 0
mirror of https://github.com/CopterExpress/clever-show.git synced 2026-05-26 07:07:58 +00:00
Code Issues Packages Projects Releases Wiki Activity

docs: fixed typos and capitalization

Browse Source
This commit is contained in:
Artem30801
2020-10-07 18:25:30 +03:00
parent de38170668
commit ee873b7242
6 changed files with 14 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
docs/en/animation.md
View File

@@ -12,7 +12,7 @@ An animation frame is a set of data needed to position the copter and determine
* `x`, `y`, `z` - copter coordinates in the current frame, in meters
* `yaw` - copter yaw, in radians
* `r`, `g`, `b` - сopter LED strip color components, integers from 0 to 255
* `r`, `g`, `b` - copters LED strip color components, integers from 0 to 255
After splitting the animation into key stages, the module generates an output sequence of frames defining the position of the copter and its LED strip color as well as the sequence of actions during the flight to the first point of the animation.

2
docs/en/client.md
View File

@@ -162,7 +162,7 @@ This section configures the program of emergency protection of the copter from a
Settings of emergency landing parameters in case of `emergency_land` emergency protection action or when calling the `/emergency_land` ROS service.
* `thrust` - The initial power supplied to the motors in the event of a `emergency_land` action when the emergency protection is triggered. Measurementless value, from 0 (no thrust) to 1 (full thrust). For a guaranteed fit it is recommended to set it to a value 5-10 percent lower than the hanging gas (parameter `MPC_THR_HOVER` in PX4). **Warning!** Incorrect configuration of this option may cause the copter to rise up instead of landing!
* `thrust` - The initial power supplied to the motors in the event of a `emergency_land` action when the emergency protection is triggered. Dimensionless value, from 0 (no thrust) to 1 (full thrust). For a guaranteed fit it is recommended to set it to a value 5-10 percent lower than the hanging gas (parameter `MPC_THR_HOVER` in PX4). **Warning!** Incorrect configuration of this option may cause the copter to rise up instead of landing!
* `decrease_thrust_after` - The time after which the power on the motors slowly begins to decrease (in seconds) if the action `emergency_land` is selected when the emergency protection is triggered.
#### SYSTEM section

2
docs/en/image-building.md
View File

@@ -59,4 +59,4 @@ sudo docker run --privileged -it --rm -v /dev:/dev -v $(pwd):/mnt goldarte/img-t
## Builder scripts modification
The article on changing the image building and custom building scripts is avialiable [here](https://clever.copterexpress.com/ru/image_building.html).
The article on changing the image building and custom building scripts is available [here](https://clever.copterexpress.com/ru/image_building.html).

4
docs/en/positioning.md
View File

@@ -6,7 +6,7 @@ The `clover` software officially supports the following [positioning systems](ht
* [ArUco](https://clover.coex.tech/en/aruco.html)
* [GPS](https://clover.coex.tech/en/gps.html)
The `clever-show` software supports all positioning systems supporte by`clover`.
The `clever-show` software supports all positioning systems supported by`clover`.
>Following configuration examples are for the Clover 4 copter, assembled and configured according to the [documentation](https://clover.coex.tech).
@@ -27,7 +27,7 @@ If the takeoff was successful, reproduce the client configuration, positioning s
* `.launch` files for `clover` configuration can be saved with the command `Selected drones -> Retrieve file` in the server application. In the dialog box that opens, enter the path to the file on the copter: `launch` files of `clover` are located in `/home/pi/catkin_ws/src/clover/clover/launch/`, to this path you need to add the desired name of the `.launch` file, e.g. `/home/pi/catkin_ws/src/clover/launch/clover.launch`. After clicking the `OK` button, a new dialog box will open with the choice of the path for saving the specified file on your computer.
* The copter configuration file (`.ini`) can be saved by right-clicking on the row with the configured copter, selecting `Edit config` from the drop-down menu and then clicking the button `Save as`. You can also drag a cell from the `configuration` column to the file manager of your system - the server will automatically copy the configuration file to the open directory of the file manager.
* The server configuration file (`.ini`) can be saved by selecting `Server -> Edit server config` from the top menu and then clicking the button `Save as`.
* The flight controller configuration file can be saved by connecting to the flight controller through [QGroundControl](http://qgroundcontrol.com) application. It is possible to connect directly to the flight controller [via USB port](https://clover.coex.tech/en/connection.html) or [via TCP or UDP bridge](https://clover.coex.tech/en/gcs_bridge.html) (the TCP bridge is configured in the `clever-show` image by default, in the `Host Address` field you can enter the name of the copter instead of the ip address with the addition of .local at the end, e.g. clover-1.local). After connection you should go to [section](https://docs.px4.io/master/en/advanced_config/parameters.html#tools) `Parameters -> Tools -> Save to file...` and choose the path to save the parameter file.
* The flight controller configuration file can be saved by connecting to the flight controller through [QGroundControl](http://qgroundcontrol.com) application. It is possible to connect directly to the flight controller [via USB port](https://clover.coex.tech/en/connection.html) or [via TCP or UDP bridge](https://clover.coex.tech/en/gcs_bridge.html) (the TCP bridge is configured in the `clever-show` image by default, in the `Host Address` field you can enter the name of the copter instead of the IP address with the addition of .local at the end, e.g. clover-1.local). After connection you should go to [section](https://docs.px4.io/master/en/advanced_config/parameters.html#tools) `Parameters -> Tools -> Save to file...` and choose the path to save the parameter file.
* The camera calibration file is useful for refinement of visual positioning. The name of the calibration file should consist of the id of the copter, for which the calibration was made, with the addition of the extension `.yaml', e.g.`clover-1.yaml'. To get the calibration files, use the [manual](https://clover.coex.tech/ru/camera_calibration.html).
After loading the necessary files from the configured copter, copy these files to the other copters: select the necessary copters in the table and use the commands `Send -> Configuration`, `Send -> Launch files folder`, `Send -> FCU parameters file`, `Send -> Camera calibrations` from the [`Selected drones`](server.md#selected-drones-section) section of the server application .

2
docs/en/server.md
View File

@@ -42,7 +42,7 @@ The copter is considered **ready to fly** if all cells in the row except `animat
* `battery` - a value of voltage on the copter battery in volts and charge in percent according to the flight controller. A cell in this column passes the check if the battery charge value is higher than [battery_percentage_min](#checks-section) specified in the server settings. In other cases, if a cell is not empty, it does not pass the check.
* `system` - a flight controller status. A cell in this column passes the check if its value is `STANDBY`. In other cases, if a cell is not empty, it does not pass the check.
* `sensors` - calibration status of the flight controller compass, accelerometer and gyroscope. A cell in this column passes the check if its value is `OK`. In other cases, if a cell is not empty, it does not pass the check.
* `mode` - flight controller mode. A cell in this column does not pass the check if its value `NO_FCU` or contains `CMODE`. In other cases, if a cell is not empty, it passes the chseck.
* `mode` - flight controller mode. A cell in this column does not pass the check if its value `NO_FCU` or contains `CMODE`. In other cases, if a cell is not empty, it passes the check.
* `checks` - copter self-test state. A cell in this column passes the check if its value is `OK`. In other cases, if a cell is not empty, it does not pass the check.
* Double-clicking on a cell if there are errors will show a dialog box with full detailed information about all errors.
* `current x y z yaw frame_id` - current copter position with the coordinate system name. The cell is automatically passes the check if [check_current_position](#checks-section) is set to `false`. Otherwise, a cell in this column does not pass the check if its value is `NO_POS` or contains `nan`. Otherwise, if a cell is not empty, it passes the check.

16
docs/en/start-tutorial.md
View File

@@ -2,11 +2,11 @@
## Equipment list
`clever-show` is a software suite to operate multiple quadrocopters over a network. The following equipment is required for full operation:
`clever-show` is a software suite to operate multiple quadcopters over a network. The following equipment is required for full operation:
* One or more of Clover 4 quadcopters based on [clover](https://github.com/CopterExpress/clover) software.
* A computer with Ubuntu 18.04 operating system to control quadrocopters using the server application.
* Wifi router operating at 2.4 GHz, or at 5.8 GHz if this frequency is supported by wifi modules of copters and a PC.
* A computer with Ubuntu 18.04 operating system to control quadcopters using the server application.
* WIFI router operating at 2.4 GHz, or at 5.8 GHz if this frequency is supported by WIFI modules of copters and a PC.
## Software preparation
@@ -20,7 +20,7 @@ Download [image for Raspberry Pi](https://github.com/CopterExpress/clever-show/r
## Router setup
To operate one or more copters, you need to connect copters and the server to the same wireless network. It requires a separate wifi router with a known SSID and password.
To operate one or more copters, you need to connect copters and the server to the same wireless network. It requires a separate WIFI router with a known SSID and password.
## Client installation and startup
@@ -33,13 +33,13 @@ To operate one or more copters, you need to connect copters and the server to th
ssh pi@192.168.11.1
```
* After connection, run the client configuration script `client-setup` with the specified parameters - wireless access point name (`SSID`), access point password (`password`), copter name (`copter name`). The copter will switch to the wifi client mode of the specified access point and configure the `clever-show` client to autorun on Raspberry Pi.
* After connection, run the client configuration script `client-setup` with the specified parameters - wireless access point name (`SSID`), access point password (`password`), copter name (`copter name`). The copter will switch to the WIFI client mode of the specified access point and configure the `clever-show` client to autorun on Raspberry Pi.
```bash
sudo client-setup <SSID> <password> <copter name>
```
* Now when you run the server application, the configured copters will appear as rows in the table. You can also connect to Raspberry Pi on the copter by its name with the addition of .local via `ssh` in the network specified when setting up wifi, for example `ssh pi@clover-1.local`, password `raspberry`.
* Now when you run the server application, the configured copters will appear as rows in the table. You can also connect to Raspberry Pi on the copter by its name with the addition of .local via `ssh` in the network specified when setting up WIFI, for example `ssh pi@clover-1.local`, password `raspberry`.
**Detailed documentation on client configuration located [here](client.md).**
@@ -58,7 +58,7 @@ cd
pip3 install -r server/requirements.txt
```
* Connect to the wifi network of the router where your copters are connected.
* Connect to the WIFI network of the router where your copters are connected.
* Copy [chrony settings file](../../examples/chrony/server.conf) into `/etc/chrony/chrony.conf`. If your network ip address does not start with `192.168.`, correct the address after the word "allow" (on line 7) in the copied settings file. Restart `chrony` service.
```bash
@@ -115,7 +115,7 @@ You can find a description of setup and operation of the LED strip in `clover` [
Time synchronization between all copters involved in the animation and the server is very important for correct playback of the animation. The more precisely the time is synchronized, the more coordinated the flight of the copter group will be. It is recommended to use [chrony](https://chrony.tuxfamily.org) service as a time synchronization tool. The process of installation and setup of this service for the server PC is described [above](#server-installation-and-startup), this service is already installed in the `clever-show` image.
After the first copter connection to the server, the `chrony` service on the copter is automatically configured to connect to the ip address of the server and rebooted. However, the `chrony` service in the server may stop sending packets of time synchronization when the wifi network changes and the time between the copters and the server will stop being synchronized. The difference between the time from the copter and the server time is displayed in the `dt` column of the server table. Normal time difference should be **no more than 0.1 second** (about 0.01 second), but it may be more due to network latency when transmitting telemetry from the copter. If the time difference is greater than 0.1 second it is recommended to restart the `chrony` service with the command from the top menu of the server `Selected drones -> Restart service -> chrony`. This command restarts the service `chrony` on the server (you will need to enter the user password) and on the copters.
After the first copter connection to the server, the `chrony` service on the copter is automatically configured to connect to the IP address of the server and rebooted. However, the `chrony` service in the server may stop sending packets of time synchronization when the WIFI network changes and the time between the copters and the server will stop being synchronized. The difference between the time from the copter and the server time is displayed in the `dt` column of the server table. Normal time difference should be **no more than 0.1 second** (about 0.01 second), but it may be more due to network latency when transmitting telemetry from the copter. If the time difference is greater than 0.1 second it is recommended to restart the `chrony` service with the command from the top menu of the server `Selected drones -> Restart service -> chrony`. This command restarts the service `chrony` on the server (you will need to enter the user password) and on the copters.
## Animation preparation and execution