CopterExpress/clover
1
0
Fork 0
mirror of https://github.com/CopterExpress/clover.git synced 2026-05-26 21:19:35 +00:00
Code Issues Packages Projects Releases Wiki Activity

docs: edits

Browse Source
This commit is contained in:
Oleg Kalachev
2019-02-18 08:32:32 +03:00
parent e33326171a
commit 2e6707fddb
7 changed files with 15 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
docs/en/SUMMARY.md
View File

@@ -21,6 +21,7 @@
* [RPi Image](microsd_images.md)
* [RPi Connection to the Pixhawk](connection.md)
* [Wi-Fi connection](wifi.md)
* [SSH access](ssh.md)
* [Configuring Wi-Fi](network.md)
* [Using QGroundControl via Wi-Fi](gcs_bridge.md)
* [Controlling Clever from a smartphone](rc.md)

10
docs/en/aruco.md
View File

@@ -2,7 +2,7 @@
> **Note** Documentation for the versions [of image](microsd_images.md), starting with **0.15**. For earlier versions, see [documentation for version **0.14**](https://github.com/CopterExpress/clever/blob/v0.14/docs/ru/aruco.md).
[ArUco-Markers] (https://docs.opencv.org/3.2.0/d5/dae/tutorial_aruco_detection.html) is a popular technology for positioning
[ArUco-Markers](https://docs.opencv.org/3.2.0/d5/dae/tutorial_aruco_detection.html) is a popular technology for positioning
robotic systems using computer vision.
Examples of ArUco markers:
@@ -15,13 +15,13 @@ For rapid generation of markers for printing, you may use an online tool: http:/
## aruco\_pose
The `aruco_pose` module allows restoring the position of the copter relative to the map of ArUco markers and communicating it to the flight controller using the [Vision Position Estimation] mechanism (https://dev.px4.io/en/ros/external_position_estimation.html).
The `aruco_pose` module allows restoring the position of the copter relative to the map of ArUco markers and communicating it to the flight controller using the [Vision Position Estimation](https://dev.px4.io/en/ros/external_position_estimation.html) mechanism.
If the source of the copter position by the markers is available, the option appears for precise autonomous indoor navigation by the positions using the [simple\_offboard] module (simple_offboard.md).
If the source of the copter position by the markers is available, the option appears for precise autonomous indoor navigation by the positions using the [simple_offboard](simple_offboard.md) module.
### Turning on
Make sure that in the clever launch file \(`~/catkin_ws/src/clever/clever/launch/clever.launch`\), the start of aruco\_pose and [computer vision cameras] is turned on(camera.md):
Make sure that in the clever launch file \(`~/catkin_ws/src/clever/clever/launch/clever.launch`\), the start of aruco\_pose and [computer vision cameras](camera.md) is turned on:
```xml
<arg name="main_camera" default="true"/>
@@ -39,7 +39,7 @@ sudo systemctl restart clever
### Calibrating the ArUco marker map
An automatically generated [ArUco-board] may be used as a map of marks (https://docs.opencv.org/trunk/db/da9/tutorial_aruco_board_detection.html).
An automatically generated [ArUco-board](https://docs.opencv.org/trunk/db/da9/tutorial_aruco_board_detection.html) may be used as a map of marks.
The map of marks is adjusted using file `~/catkin_ws/src/clever/clever/launch/aruco.launch`. To use ArUco-board, enter its parameters:

4
docs/en/gcs_bridge.md
View File

@@ -4,7 +4,7 @@ Using QGroundControl via Wi-Fi
![QGroundControl](../assets/qground.png)
You can monitor, control, calibrate and configure the flight controller of the quadcopter using QGroundControl via Wi-Fi.
This requires [connecting to Wi-Fi](Wi-Fi.md) of the `CLEVER-xxxx` network.
This requires [connecting to Wi-Fi](wifi.md) of the `CLEVER-xxxx` network.
After that, in the Clever launch-file `/home/pi/catkin_ws/src/clever/clever/launch/clever.launch`, choose one of the preconfigured bridge modes.
@@ -66,4 +66,4 @@ Change parameter `gcs_bridge` in the launch file:
<arg name="gcs_bridge" default="udp-b"/>
```
After opening the QGroundControl application, the connection should be established automatically.
After opening the QGroundControl application, the connection should be established automatically.

2
docs/en/gps.md
View File

@@ -18,6 +18,6 @@ Connection
The GPS module is connected to "GPS" and "I2C" (compass) connectors of the flight controller.
If GPS is connected, magnetometers are to be re-calibrated in the QGroundControl application via a [Wi-Fi](Wi-Fi.md) or USB connection.
If GPS is connected, magnetometers are to be re-calibrated in the QGroundControl application via a [Wi-Fi](wifi.md) or USB connection.
Next, GPS is to be enabled in parameter `EKF2_AID_MASK` (when EKF2is used) or `LPE_FUSION` (when LPE is used).

4
docs/en/rc.md
View File

@@ -44,7 +44,7 @@ Additional PX4 parameters:
Connection
---
Connect the smartphone to Clever [Wi-Fi](Wi-Fi.md) network (`CLEVER-xxxx`). The application should connect to the copter automatically. Upon successful connection, the current [mode](modes.md) and the battery charge level should be displayed.
Connect the smartphone to Clever [Wi-Fi](wifi.md) network (`CLEVER-xxxx`). The application should connect to the copter automatically. Upon successful connection, the current [mode](modes.md) and the battery charge level should be displayed.
The sticks on the screen of the application work just like real sticks. To arm the copter, hold the left stick in the bottom right corner for several seconds. To disarm — in the bottom left corner.
@@ -53,4 +53,4 @@ Malfunctions
* If the interface of the transmitter displays a surely incorrect voltage (e.g., > 5 V), check that the value of PX4 parameter `BAT_N_CELLS` matches the actual number of battery cells. If the displayed voltage is still incorrect, calibrate the battery (TODO: link).
* If instead of mode PX4, text "DISCONNECTED FROM FCU" is displayed, check [Raspberry Pi connection to Pixhawk](connection.md).
* If instead of mode PX4, text "DISCONNECTED FROM FCU" is displayed, check [Raspberry Pi connection to Pixhawk](connection.md).

4
docs/en/ssh.md
View File

@@ -3,7 +3,7 @@ SSH access to Raspberry Pi
[RPi image](microsd_images.md) is configured to be accessed via SSH for editing files, loading data and running programs.
For the SSH access, it is necessary [to connect to Raspberry Pi over Wi-Fi](Wi-Fi.md) (connection via an Ethernet cable is also possible).
For the SSH access, it is necessary [to connect to Raspberry Pi over Wi-Fi](wifi.md) (connection via an Ethernet cable is also possible).
In Linux or macOS, run the command prompt, and execute command:
@@ -24,4 +24,4 @@ Web access
Starting with version 0.11.4 [of the image](microsd_images.md), access to the shell is also available via a web browser (using [Butterfly](https://github.com/paradoxxxzero/butterfly)). To gain access, open web page http://192.168.11.1, and select link *Open web terminal*:
<img src="../assets/butterfly.png">
<img src="../assets/butterfly.png">

4
docs/en/web_video_server.md
View File

@@ -22,7 +22,7 @@ sudo systemctl restart clever
### Viewing
To view a video-stream, you have to [connect to Wi-Fi](Wi-Fi.md) of Clever \(`CLEVER-xxxx`\), navigate to page [http://192.168.11.1:8080/](http://192.168.11.1:8080/), and choose the topic.
To view a video-stream, you have to [connect to Wi-Fi](wifi.md) of Clever \(`CLEVER-xxxx`\), navigate to page [http://192.168.11.1:8080/](http://192.168.11.1:8080/), and choose the topic.
![Viewing web_video_server](../assets/web_video_server.png)
@@ -54,4 +54,4 @@ To change the compression settings use the rqt-plugin Dynamic Reconfigure:
![rqt_image_view+rqt_dynamic_reconfigure](../assets/rqt_image_view_dyn_rec.jpg)
Refer to [more about rviz and rqt](rviz.md).
Refer to [more about rviz and rqt](rviz.md).