Merge branch 'qt-gui-update' of https://github.com/CopterExpress/clever-show into qt-gui-update

2026-05-26 15:13:26 +00:00 · 2020-01-14 15:28:30 +03:00
parent 1754ac09a8 fb80e0df3b
commit f3385c9788
8 changed files with 200 additions and 155 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -17,7 +17,7 @@ __pycache__/

 # Development
 images/
-
+show-env/
 Server/tests.py
 Server/convert_ui.sh
 Server/config/server.ini
--- a/Drone/animation_lib.py
+++ b/Drone/animation_lib.py
@@ -53,7 +53,7 @@ def get_id(filepath="animation.csv"):
                logger.debug("No animation id in file")
    return anim_id

-def get_start_xy(filepath="animation.csv", x_ratio=1, y_ratio=1):
+def get_start_xy(filepath="animation.csv", x_ratio=1, y_ratio=1, z_ratio=1):
    try:
        animation_file = open(filepath)
    except IOError:
--- a/Drone/config/client.ini
+++ b/Drone/config/client.ini
@@ -1,4 +1,4 @@
-# This is generated config_attrs with defaults
+# This is generated config with default values
 # Modify to configure
 config_name = Copter config
 config_version = 0.0
@@ -12,14 +12,69 @@ buffer_size = 1024
 use = True
 port = 8181

+[TELEMETRY]
+transmit = True
+frequency = 1.0
+log_resources = True
+
+[VISUAL POSE WATCHDOG]
+timeout = 1.0
+pos_delta_max = 3.0
+# Available options: emergency_land, land, disarm
+action = emergency_land
+
+[EMERGENCY LAND]
+thrust = 0.45
+decrease_thrust_after = 5.0
+disarm_timeout = 10.0
+
+[COPTER]
+frame_id = map
+takeoff_height = 1.0
+takeoff_time = 5.0
+safe_takeoff = False
+reach_first_point_time = 5.0
+land_time = 1.0
+land_timeout = 10.0
+common_offset = 0.0, 0.0, 0.0
+
+[FLOOR FRAME]
+enabled = False
+parent = map
+# Frame translation (x, y, z)
+# __list__ x y z
+translation = 0.0, 0.0, 0.0
+# Frame rotation (roll, pitch, yaw) in degrees
+# __list__ roll pitch yaw
+rotation = 0.0, 0.0, 0.0
+
+[ANIMATION]
+takeoff_detection = True
+land_detection = True
+frame_delay = 0.1
+# Animation ratio (x, y, z)
+# __list__ x y z
+ratio = 1.0, 1.0, 1.0
+# Available options: 'animation', 'nan' or a number in degrees 
+yaw = 180.0
+
+[LED]
+use = True
+pin = 21
+count = 60
+
+[PRIVATE]
+# Available options: /hostname ; /default ; /ip ; any string 63 characters length
+id = /hostname
+# Drone's individual offset (x, y, z)
+# __list__ x y z
+offset = 0.0, 0.0, 0.0
+
+[SYSTEM]
+change_hostname = True
+restart_after_rename = True
+
 [NTP]
 use = False
 host = ntp1.stratum2.ru
 port = 123
-
-[PRIVATE]
-# avialiable options: /hostname ; /spec_default ; /ip ; any string 63 characters lengh
-id = /hostname
-# Drone's individual offset (X, Y, Z)
-# __list__ X Y Z
-offset = 0.0, 0.0, 0.0
--- a/Drone/config/spec/configspec_client.ini
+++ b/Drone/config/spec/configspec_client.ini
@@ -10,26 +10,23 @@ buffer_size = integer(default=1024)
 use = boolean(default=True)
 port = integer(default=8181)

+[TELEMETRY]
+transmit = boolean(default=True)
+frequency = float(default=1.0)
+log_resources = boolean(default=True)
+
 [VISUAL POSE WATCHDOG]
 timeout = float(default=1.0, min=0)
 pos_delta_max = float(default=3.0, min=0)
+# Available options: emergency_land, land, disarm
 action = string(default=emergency_land)
-    [EMERGENCY LAND]
-    thrust = float(default=0.45, min=0, max=1)
-    decrease_thrust_after = float(default=5.0, min=0)  #TODO change name PLS
-    disarm_timeout = float(default=10.0, min=0)

-[FRAMES]
-    [[__many__]]
-    parent = string(default=aruco_map) # todo scale?
-    # Frame offset (x, y, z)
-    # __list__ x y z
-    offset = float_list(default=list(0.0, 0.0, 0.0), min=3, max=3)
-    # Frame rotation (roll, pitch, yaw)
-    # __list__ roll pitch yaw
-    rotation = float_list(default=list(0.0, 0.0, 0.0), min=3, max=3)
+[EMERGENCY LAND]
+thrust = float(default=0.45, min=0, max=1)
+decrease_thrust_after = float(default=5.0, min=0)
+disarm_timeout = float(default=10.0, min=0)

-[FLIGHT]
+[COPTER]
 frame_id = string(default=map)
 takeoff_height = float(default=1.0)
 takeoff_time = float(default=5.0, min=0)
@@ -37,19 +34,27 @@ safe_takeoff = boolean(default=False)
 reach_first_point_time = float(default=5.0)
 land_time = float(default=1.0, min=0)
 land_timeout = float(default=10.0, min=0)
+common_offset = float_list(default=list(0, 0, 0), min=3, max=3)
+
+[FLOOR FRAME]
+enabled = boolean(default=False)
+parent = string(default=map)
+# Frame translation (x, y, z)
+# __list__ x y z
+translation = float_list(default=list(0.0, 0.0, 0.0), min=3, max=3)
+# Frame rotation (roll, pitch, yaw) in degrees
+# __list__ roll pitch yaw
+rotation = float_list(default=list(0.0, 0.0, 0.0), min=3, max=3)

 [ANIMATION]
 takeoff_detection = boolean(default=True)
 land_detection = boolean(default=True)
-default_fps = float(default=10, min=0)
-# Animation scale (x, y, z)
+frame_delay = float(default=0.1, min=0.01)
+# Animation ratio (x, y, z)
 # __list__ x y z
-scale = float_list(default=list(1.0, 1.0, 1.0), min=3, max=3)
-
-[TELEMETRY]
-send = boolean(default=True)
-land_pos_delta = float(default=3.0, min=0)  # TODO move to watchdog + rename?
-log_resources = boolean(default=True)
+ratio = float_list(default=list(1.0, 1.0, 1.0), min=3, max=3)
+# Available options: 'animation', 'nan' or a number in degrees 
+yaw = string(default=180.0)

 [LED]
 use = boolean(default=True)
@@ -57,16 +62,15 @@ pin = integer(default=21, min=0, max=100)
 count = integer(default=60, min=1)

 [PRIVATE]
-# available options: /hostname ; /default ; /ip ; any string 63 characters length
+# Available options: /hostname ; /default ; /ip ; any string 63 characters length
 id = string(default=/hostname, max=63)  #TODO our re check
 # Drone's individual offset (x, y, z)
 # __list__ x y z
 offset = float_list(default=list(0, 0, 0), min=3, max=3)
-yaw = float(default=180.0)

 [SYSTEM]
 change_hostname = boolean(default=True)
-rename_restart = boolean(default=True)
+restart_after_rename = boolean(default=True)

 [NTP]
 use = boolean(default=False)
--- a/Drone/copter_client.py
+++ b/Drone/copter_client.py
@@ -3,6 +3,7 @@ import sys
 import time
 import math
 import rospy
+import numpy
 from clever import srv
 import datetime
 import logging
@@ -72,10 +73,12 @@ flightlib_logger.addHandler(handler)
 class CopterClient(client.Client):
    def __init__(self, config_path="config/client.ini"):
        super(CopterClient, self).__init__(config_path)
+        self.load_config()
        self.frames = {}

    def load_config(self):
        super(CopterClient, self).load_config()
+        #print(self.config)
        # self.FLOOR_FRAME_EXISTS = False
        # self.TELEM_FREQ = self.config.getfloat('TELEMETRY', 'frequency')
        # self.TELEM_TRANSMIT = self.config.getboolean('TELEMETRY', 'transmit')
@@ -125,11 +128,11 @@ class CopterClient(client.Client):
    def start(self, task_manager_instance):
        rospy.loginfo("Init ROS node")
        rospy.init_node('clever_show_client')
-        if self.USE_LEDS:
-            LedLib.init_led(self.LED_PIN)
+        if self.config.led_use:
+            LedLib.init_led(self.config.led_pin)
        task_manager_instance.start()  # TODO move to self
-        if self.FRAME_ID == "floor":
-            if self.FLOOR_FRAME_EXISTS:
+        if self.config.copter_frame_id == "floor":
+            if self.config.floor_frame_enabled:
                self.start_floor_frame_broadcast()
            else:
                rospy.logerror("Can't make floor frame!")
@@ -140,14 +143,14 @@ class CopterClient(client.Client):

    def start_floor_frame_broadcast(self):
        trans = TransformStamped()
-        trans.transform.translation.x = self.FLOOR_DX
-        trans.transform.translation.y = self.FLOOR_DY
-        trans.transform.translation.z = self.FLOOR_DZ
-        trans.transform.rotation = Quaternion(*quaternion_from_euler(math.radians(self.FLOOR_ROLL),
-                                                                     math.radians(self.FLOOR_PITCH),
-                                                                     math.radians(self.FLOOR_YAW)))
-        trans.header.frame_id = self.FLOOR_PARENT
-        trans.child_frame_id = self.FRAME_ID
+        trans.transform.translation.x = self.config.floor_frame_transtation[0]
+        trans.transform.translation.y = self.config.floor_frame_transtation[1]
+        trans.transform.translation.z = self.config.floor_frame_transtation[2]
+        trans.transform.rotation = Quaternion(*quaternion_from_euler(math.radians(self.config.floor_frame_rotation[0]),
+                                                                     math.radians(self.config.floor_frame_rotation[1]),
+                                                                     math.radians(self.config.floor_frame_rotation[2])))
+        trans.header.frame_id = self.config.floor_frame_parent
+        trans.child_frame_id = self.config.copter_frame_id
        static_bloadcaster.sendTransform(trans)


@@ -288,10 +291,9 @@ def _response_id(*args, **kwargs):
    if new_id is not None:
        old_id = client.active_client.client_id
        if new_id != old_id:
-            cfg = client.ConfigOption("PRIVATE", "id", new_id)
-            client.active_client.write_config(True, cfg)
+            client.active_client.config.set('PRIVATE', 'id', new_id, write=True)
            if new_id != '/hostname':
-                if client.active_client.RESTART_AFTER_RENAME:
+                if client.active_client.system_restart_after_rename:
                    hostname = client.active_client.client_id
                    configure_hostname(hostname)
                    configure_hosts(hostname)
@@ -329,19 +331,13 @@ def _response_animation_id(*args, **kwargs):
    result = animation.get_id()
    if result != 'No animation':
        logger.debug("Saving corrected animation")
-        frames = animation.load_animation(os.path.abspath("animation.csv"),
-                                          x0=client.active_client.X0 + client.active_client.X0_COMMON,
-                                          y0=client.active_client.Y0 + client.active_client.Y0_COMMON,
-                                          z0=client.active_client.Z0 + client.active_client.Z0_COMMON,
-                                          x_ratio=client.active_client.X_RATIO,
-                                          y_ratio=client.active_client.Y_RATIO,
-                                          z_ratio=client.active_client.Z_RATIO,
-                                          )
+        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"), 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,
-                                                                                  check_takeoff=client.active_client.TAKEOFF_CHECK,
-                                                                                  check_land=client.active_client.LAND_CHECK,
-                                                                                  )
+                                                        check_takeoff=client.active_client.config.animation_takeoff_detection,
+                                                        check_land=client.active_client.config.animation_land_detection,
+                                                        )
        logger.debug("Start action: {}".format(start_action))
        # Save corrected animation
        animation.save_corrected_animation(corrected_frames)
@@ -382,9 +378,9 @@ def _response_cal_status(*args, **kwargs):

@messaging.request_callback("position")
 def _response_position(*args, **kwargs):
-    telem = FlightLib.get_telemetry_locked(client.active_client.FRAME_ID)
+    telem = FlightLib.get_telemetry_locked(client.active_client.config.copter_frame_id)
    return "{:.2f} {:.2f} {:.2f} {:.1f} {}".format(
-        telem.x, telem.y, telem.z, math.degrees(telem.yaw), client.active_client.FRAME_ID)
+        telem.x, telem.y, telem.z, math.degrees(telem.yaw), client.active_client.config.copter_frame_id)


@messaging.request_callback("calibrate_gyro")
@@ -416,19 +412,17 @@ def _command_test(*args, **kwargs):
@messaging.message_callback("move_start")
 def _command_move_start_to_current_position(*args, **kwargs):
    x_start, y_start = animation.get_start_xy(os.path.abspath("animation.csv"),
-                                              x_ratio=client.active_client.X_RATIO,
-                                              y_ratio=client.active_client.Y_RATIO,
-                                              )
+                                            *client.active_client.config.animation_ratio)
    logger.debug("x_start = {}, y_start = {}".format(x_start, y_start))
    if not math.isnan(x_start):
-        telem = FlightLib.get_telemetry_locked(client.active_client.FRAME_ID)
+        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', 'x0', telem.x - x_start)
-            client.active_client.config.set('PRIVATE', 'y0', telem.y - y_start)
-            client.active_client.rewrite_config()
-            client.active_client.load_config()
-            logger.info("Set start delta: {:.2f} {:.2f}".format(client.active_client.X0, client.active_client.Y0))
+            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], 
+                                                                client.active_client.config.private_offset[1]))
        else:
            logger.debug("Wrong telemetry")
    else:
@@ -437,28 +431,28 @@ 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', 'x0', 0)
-    client.active_client.config.set('PRIVATE', 'y0', 0)
-    client.active_client.rewrite_config()
-    client.active_client.load_config()
-    logger.info("Reset start to {:.2f} {:.2f}".format(client.active_client.X0, client.active_client.Y0))
+    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], 
+                                                    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.FRAME_ID)
-    client.active_client.config.set('PRIVATE', 'z0', telem.z)
-    client.active_client.rewrite_config()
-    client.active_client.load_config()
-    logger.info("Set z offset to {:.2f}".format(client.active_client.Z0))
+    telem = FlightLib.get_telemetry_locked(client.active_client.config.copter_frame_id)
+    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]))


@messaging.message_callback("reset_z_offset")
 def _command_reset_z(*args, **kwargs):
-    client.active_client.config.set('PRIVATE', 'z0', 0)
-    client.active_client.rewrite_config()
-    client.active_client.load_config()
-    logger.info("Reset z offset to {:.2f}".format(client.active_client.Z0))
+    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]))


@messaging.message_callback("update_repo")
@@ -491,7 +485,7 @@ def _command_service_restart(*args, **kwargs):

@messaging.message_callback("repair_chrony")
 def _command_chrony_repair(*args, **kwargs):
-    configure_chrony_ip(client.active_client.server_host)
+    configure_chrony_ip(client.active_client.config.server_host)
    restart_service("chrony")


@@ -513,7 +507,7 @@ def _command_led_fill(*args, **kwargs):

@messaging.message_callback("flip")
 def _copter_flip(*args, **kwargs):
-    FlightLib.flip(frame_id=client.active_client.FRAME_ID)
+    FlightLib.flip(frame_id=client.active_client.config.copter_frame_id)


@messaging.message_callback("takeoff")
@@ -521,10 +515,10 @@ def _command_takeoff(*args, **kwargs):
    logger.info("Takeoff at {}".format(datetime.datetime.now()))
    task_manager.add_task(0, 0, animation.takeoff,
                          task_kwargs={
-                              "z": client.active_client.TAKEOFF_HEIGHT,
-                              "timeout": client.active_client.TAKEOFF_TIME,
-                              "safe_takeoff": client.active_client.SAFE_TAKEOFF,
-                              "use_leds": client.active_client.USE_LEDS,
+                              "z": client.active_client.config.copter_takeoff_height,
+                              "timeout": client.active_client.config.copter_takeoff_time,
+                              "safe_takeoff": client.active_client.config.copter_safe_takeoff,
+                              "use_leds": client.active_client.config.led_use,
                          }
                          )

@@ -533,15 +527,15 @@ def _command_takeoff(*args, **kwargs):
 def _command_takeoff_z(*args, **kwargs):
    z_str = kwargs.get("z", None)
    if z_str is not None:
-        telem = FlightLib.get_telemetry_locked(client.active_client.FRAME_ID)
+        telem = FlightLib.get_telemetry_locked(client.active_client.config.copter_frame_id)
        logger.info("Takeoff to z = {} at {}".format(z_str, datetime.datetime.now()))
        task_manager.add_task(0, 0, FlightLib.reach_point,
                              task_kwargs={
                                  "x": telem.x,
                                  "y": telem.y,
                                  "z": float(z_str),
-                                  "frame_id": client.active_client.FRAME_ID,
-                                  "timeout": client.active_client.TAKEOFF_TIME,
+                                  "frame_id": client.active_client.config.copter_frame_id,
+                                  "timeout": client.active_client.config.copter_takeoff_time,
                                  "auto_arm": True,
                              }
                              )
@@ -552,10 +546,10 @@ def _command_land(*args, **kwargs):
    task_manager.reset()
    task_manager.add_task(0, 0, animation.land,
                          task_kwargs={
-                              "z": client.active_client.TAKEOFF_HEIGHT,
-                              "timeout": client.active_client.TAKEOFF_TIME,
-                              "frame_id": client.active_client.FRAME_ID,
-                              "use_leds": client.active_client.USE_LEDS,
+                              "z": client.active_client.config.copter_takeoff_height,
+                              "timeout": client.active_client.config.copter_takeoff_time,
+                              "frame_id": client.active_client.config.copter_frame_id,
+                              "use_leds": client.active_client.config.led_use,
                          }
                          )

@@ -602,44 +596,38 @@ def _play_animation(*args, **kwargs):

    logger.info("Start time = {}, wait for {} seconds".format(start_time, start_time - time.time()))
    # Load animation
-    frames = animation.load_animation(os.path.abspath("animation.csv"),
-                                      x0=client.active_client.X0 + client.active_client.X0_COMMON,
-                                      y0=client.active_client.Y0 + client.active_client.Y0_COMMON,
-                                      z0=client.active_client.Z0 + client.active_client.Z0_COMMON,
-                                      x_ratio=client.active_client.X_RATIO,
-                                      y_ratio=client.active_client.Y_RATIO,
-                                      z_ratio=client.active_client.Z_RATIO,
-                                      )
+    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"), 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,
-                                                                              check_takeoff=client.active_client.TAKEOFF_CHECK,
-                                                                              check_land=client.active_client.LAND_CHECK,
-                                                                              )
+                                                        check_takeoff=client.active_client.config.animation_takeoff_detection,
+                                                        check_land=client.active_client.config.animation_land_detection,
+                                                        )
    # Choose start action
    if start_action == 'takeoff':
        # Takeoff first
        task_manager.add_task(start_time, 0, animation.takeoff,
                              task_kwargs={
-                                  "z": client.active_client.TAKEOFF_HEIGHT,
-                                  "timeout": client.active_client.TAKEOFF_TIME,
-                                  "safe_takeoff": client.active_client.SAFE_TAKEOFF,
-                                  # "frame_id": client.active_client.FRAME_ID,
-                                  "use_leds": client.active_client.USE_LEDS,
+                                  "z": client.active_client.config.copter_takeoff_height,
+                                  "timeout": client.active_client.config.copter_takeoff_time,
+                                  "safe_takeoff": client.active_client.config.copter_safe_takeoff,
+                                  # "frame_id": client.active_client.config.copter_frame_id,
+                                  "use_leds": client.active_client.config.led_use,
                              }
                              )
        # Fly to first point
-        rfp_time = start_time + client.active_client.TAKEOFF_TIME
+        rfp_time = start_time + client.active_client.config.copter_takeoff_time
        task_manager.add_task(rfp_time, 0, animation.execute_frame,
                              task_kwargs={
                                  "point": animation.convert_frame(corrected_frames[0])[0],
                                  "color": animation.convert_frame(corrected_frames[0])[1],
-                                  "frame_id": client.active_client.FRAME_ID,
-                                  "use_leds": client.active_client.USE_LEDS,
+                                  "frame_id": client.active_client.config.copter_frame_id,
+                                  "use_leds": client.active_client.config.led_use,
                                  "flight_func": FlightLib.reach_point,
                              }
                              )
        # Calculate first frame start time
-        frame_time = rfp_time + client.active_client.RFP_TIME
+        frame_time = rfp_time + client.active_client.config.copter_reach_first_point_time

    elif start_action == 'arm':
        # Calculate start time
@@ -656,42 +644,42 @@ def _play_animation(*args, **kwargs):
                              task_kwargs={
                                  "point": point,
                                  "color": color,
-                                  "frame_id": client.active_client.FRAME_ID,
-                                  "use_leds": client.active_client.USE_LEDS,
+                                  "frame_id": client.active_client.config.copter_frame_id,
+                                  "use_leds": client.active_client.config.led_use,
                                  "flight_func": FlightLib.navto,
                                  "auto_arm": True,
                              }
                              )
        # Calculate first frame start time
-        frame_time += client.active_client.FRAME_DELAY  # TODO Think about arming time
+        frame_time += client.active_client.config.animation_frame_delay  # TODO Think about arming time
    logger.debug(task_manager.task_queue)
    # Play animation file
    for frame in corrected_frames:
        point, color, yaw = animation.convert_frame(frame)
-        if client.active_client.YAW == "animation":
+        if client.active_client.config.animation_yaw == "animation":
            yaw = frame["yaw"]
        else:
-            yaw = math.radians(float(client.active_client.YAW))
+            yaw = math.radians(float(client.active_client.config.animation_yaw))
        task_manager.add_task(frame_time, 0, animation.execute_frame,
                              task_kwargs={
                                  "point": point,
                                  "color": color,
                                  "yaw": yaw,
-                                  "frame_id": client.active_client.FRAME_ID,
-                                  "use_leds": client.active_client.USE_LEDS,
+                                  "frame_id": client.active_client.config.copter_frame_id,
+                                  "use_leds": client.active_client.config.led_use,
                                  "flight_func": FlightLib.navto,
                              }
                              )
        frame_time += frame["delay"]

    # Calculate land_time
-    land_time = frame_time + client.active_client.LAND_TIME
+    land_time = frame_time + client.active_client.config.copter_land_time
    # Land
    task_manager.add_task(land_time, 0, animation.land,
                          task_kwargs={
-                              "timeout": client.active_client.LAND_TIMEOUT,
-                              "frame_id": client.active_client.FRAME_ID,
-                              "use_leds": client.active_client.USE_LEDS,
+                              "timeout": client.active_client.config.copter_land_timeout,
+                              "frame_id": client.active_client.config.copter_frame_id,
+                              "use_leds": client.active_client.config.led_use,
                          },
                          )

@@ -743,17 +731,13 @@ class Telemetry:
    @classmethod
    def get_start_position(cls):
        x_start, y_start = animation.get_start_xy(os.path.abspath("animation.csv"),
-                                                  x_ratio=client.active_client.X_RATIO,
-                                                  y_ratio=client.active_client.Y_RATIO,
-                                                  )
-        x_delta = client.active_client.X0 + client.active_client.X0_COMMON
-        y_delta = client.active_client.Y0 + client.active_client.Y0_COMMON
-        z_delta = client.active_client.Z0 + client.active_client.Z0_COMMON
-
-        x = x_start + x_delta
-        y = y_start + y_delta
-        if not FlightLib._check_nans(x, y, z_delta):
-            return x, y, z_delta
+                                                  *client.active_client.config.animation_ratio)
+        offset = numpy.array(client.active_client.config.private_offset) + numpy.array(client.active_client.config.copter_common_offset)
+        x = x_start + offset[0]
+        y = y_start + offset[1]
+        z = offset[2]
+        if not FlightLib._check_nans(x, y, z):
+            return x, y, z
        return 'NO_POS'

    @classmethod
@@ -790,13 +774,13 @@ class Telemetry:
    def get_position(cls, ros_telemetry):
        x, y, z = ros_telemetry.x, ros_telemetry.y, ros_telemetry.z
        if not math.isnan(x):
-            return x, y, z, math.degrees(ros_telemetry.yaw), client.active_client.FRAME_ID
+            return x, y, z, math.degrees(ros_telemetry.yaw), client.active_client.config.copter_frame_id
        return 'NO_POS'

    def update_telemetry_fast(self):
        self.start_position = self.get_start_position()
        try:
-            self.ros_telemetry = FlightLib.get_telemetry_locked(client.active_client.FRAME_ID)
+            self.ros_telemetry = FlightLib.get_telemetry_locked(client.active_client.config.copter_frame_id)
            if self.ros_telemetry.connected:
                self.armed = self.ros_telemetry.armed
                self.mode = self.ros_telemetry.mode
@@ -913,10 +897,10 @@ class Telemetry:
            self.update_telemetry_fast()
            self.check_failsafe_and_interruption()

-            if client.active_client.TELEM_TRANSMIT and client.active_client.connected:
+            if client.active_client.config.telemetry_transmit and client.active_client.connected:
                self.transmit_message()

-            if client.active_client.LOG_CPU_AND_MEMORY:
+            if client.active_client.config.telemetry_log_resources:
                self.log_cpu_and_memory()

            rate.sleep()
@@ -928,9 +912,9 @@ class Telemetry:
            rate.sleep()

    def start_loop(self):
-        if client.active_client.TELEM_FREQ > 0:
+        if client.active_client.config.telemetry_frequency > 0:
            telemetry_thread = threading.Thread(target=self._update_loop, name="Telemetry getting thread",
-                                                args=(client.active_client.TELEM_FREQ,))  # TODO MOVE? Daemon?
+                                                args=(client.active_client.config.telemetry_frequency,))  # TODO MOVE? Daemon?
            slow_telemetry_thread = threading.Thread(target=self._slow_update_loop,
                                                     name="Slow telemetry getting thread")
            slow_telemetry_thread.start()
--- a/Server/copter_table_models.py
+++ b/Server/copter_table_models.py
@@ -388,7 +388,9 @@ class CopterDataModel(QtCore.QAbstractTableModel):

    def __init__(self, checks=ModelChecks, formatter=ModelFormatter, parent=None):
        super(CopterDataModel, self).__init__(parent)
-        self.headers = list(columns_names.values())
+        # self.headers = list(columns_names.values())  #  todo
+        self.headers = ('   copter ID   ', '   version   ', '    animation ID    ', '     battery     ', '     system     ', ' sensors ', 
+                        '     mode     ', ' checks ', ' current x y z yaw frame_id ', '    start x y z    ', ' dt ')
        self.data_contents = []

        self.checks = checks
--- a/docs/ru/start-tutorial.md
+++ b/docs/ru/start-tutorial.md
@@ -75,7 +75,7 @@ python3 server_qt.py

 Для запуска анимации все коптеры должны иметь настроенную систему позиционирования. По-умолчанию в образе настроен полёт по optical flow - на коптере должен быть установлер лазерный дальномер, а камера должна быть наклонена вниз шлейфом назад.

-Вы можете настроить один коптер на любую систему позиционирования, которую поддерживает пакет [clever](https://clever.coex.tech/ru/programming.html#positioning), а затем размножить настройки на остальные коптеры с [сервера](server.md#раздел-сервер) с помощью команды `Send launch files`.
+Вы можете настроить один коптер на любую систему позиционирования, которую поддерживает пакет [clever](https://clever.coex.tech/ru/programming.html#positioning), а затем размножить настройки на остальные коптеры с [сервера](server.md#раздел-server) с помощью команды `Send launch files`.

 ## Подготовка анимации

--- a/requirements.txt
+++ b/requirements.txt
@@ -1,8 +1,8 @@
-configobj
-quamash
+configobj==5.0.6
 indexed.py==0.0.1
-numpy==1.17.4
-PyQt5==5.13.2
-PyQt5-sip==12.7.0
+numpy==1.18.1
+PyQt5==5.13.0
+PyQt5-sip==4.19.18
+Quamash==0.6.1
 selectors2==2.0.1
-Quamash==0.6.1
+six==1.13.0