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docs: Revise simple_offboard translation (en)

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Alexey Rogachevskiy
2019-09-10 14:23:06 +03:00
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94
docs/en/simple_offboard.md
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@@ -5,27 +5,25 @@ Simple OFFBOARD
<!-- -->
> **Hint** For autonomous flights it is recommanded to use [special firmware PX4 for Clever](firmware.md#прошивка-для-клевера).
> **Hint** For autonomous flights it is recommanded to use [special PX4 firmware for Clever](firmware.md#modified-firmware-for-clever).
The `simple_offboard` module of the `clever` package is intended for simplified programming of the autonomous drone ([mode](modes.md) `OFFBOARD`). It allows setting the desired flight tasks, and automatically transforms [the system of coordinates](frames.md).
The `simple_offboard` module of the `clever` package is intended for simplified programming of the autonomous drone flight (`OFFBOARD` [flight mode](modes.md)). It allows setting the desired flight tasks, and automatically transforms [coordinates between frames](frames.md).
`simple_offboard` is a high level way of interacting with the flight controller. For a more low level work, see [mavros](mavros.md).
`simple_offboard` is a high level system for interacting with the flight controller. For a more low level system, see [mavros](mavros.md).
Main services are `get_telemetry` (receiving all telemetry), `navigate` (flying to a given point along a straight line), `navigate_global` (flying to a global point along a straight line), `land` (switching to the landing mode).
Main services are [`get_telemetry`](#gettelemetry) (receive telemetry data), [`navigate`](#navigate) (fly to a given point along a straight line), [`navigate_global`](#navigateglobal) (fly to a point specified as latitude and longitude along a straight line), [`land`](#land) (switch to landing mode).
The use of Python language
Python samples
---
To use the services, create proxies to them. Use the following template for you programs:
You need to create proxies for services before calling them. Use the following template for your programs:
```python
import rospy
from clever import srv
from std_srvs.srv import Trigger
rospy.init_node('flight') # flight – name of your ROS node
# Creating proxies to all services:
rospy.init_node('flight') # 'flight' is name of your ROS node
get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
navigate = rospy.ServiceProxy('navigate', srv.Navigate)
@@ -42,11 +40,11 @@ Unused proxy functions may be removed from the code.
API description
---
> **Note** Blank numeric parameters are set to 0.
> **Note** Omitted numeric parameters are set to 0.
### get_telemetry
Obtaining complete telemetry of the drone.
Obtains complete telemetry of the drone.
Parameters:
@@ -56,11 +54,11 @@ Response format:
* `frame_id` — frame;
* `connected` – whether there is a connection to <abbr title="Flight Control Unit flight controller">FCU</abbr>;
* `armed` - state of propellers (the propellers are armed, if true);
* `armed` - drone arming state (armed if true);
* `mode` – current [flight mode](modes.md);
* `x, y, z` — local position of the drone *(m)*;
* `lat, lon` – latitude, longitude *(degrees)*, [GPS](gps.md) is to be available;
* `alt` – altitude in the global system of coordinates (standard [WGS-84](https://ru.wikipedia.org/wiki/WGS_84), not <abbr title="Above Mean Sea Level">AMSL</abbr>!), [GPS](gps.md) is to be available ;
* `lat, lon` – drone latitude and longitude *(degrees)*, requires [GPS](gps.md) module;
* `alt` – altitude in the global coordinate system (according to [WGS-84](https://ru.wikipedia.org/wiki/WGS_84) standard, not <abbr title="Above Mean Sea Level">AMSL</abbr>!), requires [GPS](gps.md) module;
* `vx, vy, vz` – drone velocity *(m/s)*;
* `pitch` – pitch angle *(radians)*;
* `roll` – roll angle *(radians)*;
@@ -71,7 +69,7 @@ Response format:
* `voltage` – total battery voltage *(V)*;
* `cell_voltage` – battery cell voltage *(V)*.
> **Note** Fields that are unavailabe for any reason will contain the `NaN` value.
> **Note** Fields that are unavailable for any reason will contain the `NaN` value.
Displaying drone coordinates `x`, `y` and `z` in the local system of coordinates:
@@ -80,7 +78,7 @@ telemetry = get_telemetry()
print telemetry.x, telemetry.y, telemetry.z
```
Displaying drone altitude relative to [the card of ArUco tags](aruco.md):
Displaying drone altitude relative to [the ArUco map](aruco.md):
```python
telemetry = get_telemetry(frame_id='aruco_map')
@@ -92,14 +90,14 @@ Checking global position availability:
```python
import math
if not math.isnan(get_telemetry().lat):
print 'Global position presents'
print 'Global position is available'
else:
print 'No global position'
```
Output of current telemetry (command line):
```(bash)
```bash
rosservice call /get_telemetry "{frame_id: ''}"
```
@@ -111,12 +109,12 @@ Parameters:
* `x`, `y` — coordinates *(m)*;
* `yaw` — yaw angle *(radians)*;
* `yaw_rate` – angular yaw velocity (used for setting the yaw to `NaN`) *(rad/s)*;
* `yaw_rate` – angular yaw velocity (will be used if yaw is set to `NaN`) *(rad/s)*;
* `speed` – flight speed (setpoint speed) *(m/s)*;
* `auto_arm` – switch the drone to `OFFBOARD` and arm automatically (**the drone will take off**);
* `frame_id` – [system of coordinates](frames.md) for values `x`, `y`, `z`, `vx`, `vy`, `vz`. Example: `map`, `body`, `aruco_map`. Default value: `map`.
* `auto_arm` – switch the drone to `OFFBOARD` mode and arm automatically (**the drone will take off**);
* `frame_id` – [coordinate system](frames.md) for values `x`, `y`, `z`, `vx`, `vy`, `vz`. Example: `map`, `body`, `aruco_map`. Default value: `map`.
> **Note** To fly without changing the yaw angle, it is sufficient to set the `yaw` to `NaN` (angular velocity by default is 0).
> **Note** If you don't want to change your current yaw set the `yaw` parameter to `NaN` (angular velocity by default is 0).
Ascending to the altitude of 1.5 m with the climb rate of 0.5 m/s:
@@ -148,7 +146,7 @@ Turn 90 degrees counterclockwise:
navigate(yaw=math.radians(-90), frame_id='body')
```
Flying to point 3:2 (altitude 2) in the system of coordinates [of the marker field](aruco.md) at the speed of 1 m/s:
Flying to point 3:2 (with the altitude of 2 m) in the [ArUco map](aruco.md) coordinate system with the speed of 1 m/s:
```python
navigate(x=3, y=2, z=2, speed=1, frame_id='aruco_map')
@@ -174,7 +172,7 @@ rosservice call /navigate "{x: 0.0, y: 0.0, z: 2, yaw: 0.0, yaw_rate: 0.0, speed
### navigate_global
Flying in a straight line to a point in the global system of coordinates (latitude/longitude).
Flying in a straight line to a point in the global coordinate system (latitude/longitude).
Parameters:
@@ -184,11 +182,11 @@ Parameters:
* `yaw_rate` – angular yaw velocity (used for setting the yaw to `NaN`) *(rad/s)*;
* `speed` – flight speed (setpoint speed) *(m/s)*;
* `auto_arm` – switch the drone to `OFFBOARD` and arm automatically (**the drone will take off**);
* `frame_id` – [system of coordinates](frames.md), given `z` и `yaw` (Default value: `map`).
* `frame_id` – [coordinate system](frames.md) for `z` and `yaw` (Default value: `map`).
> **Note** To fly without changing the yaw angle, it is sufficient to set the `yaw` to `NaN` (angular velocity by default is 0).
> **Note** If you don't want to change your current yaw set the `yaw` parameter to `NaN` (angular velocity by default is 0).
Flying to a global point at the speed of 5 m/s, while remaining at current altitude (`yaw` will be set to 0, the drone will face East):
Flying to a global point at the speed of 5 m/s, while maintaining current altitude (`yaw` will be set to 0, the drone will face East):
```python
navigate_global(lat=55.707033, lon=37.725010, z=0, speed=5, frame_id='body')
@@ -202,15 +200,15 @@ navigate_global(lat=55.707033, lon=37.725010, z=0, speed=5, yaw=float('nan'), fr
Flying to a global point (command line):
```(bash)
```bash
rosservice call /navigate_global "{lat: 55.707033, lon: 37.725010, z: 0.0, yaw: 0.0, yaw_rate: 0.0, speed: 5.0, frame_id: 'body', auto_arm: false}"
```
### set_position
Set the target for position and yaw. This service may be used to specify the continuous flow of target points, for example, for flying along complex trajectories (circular, arcuate, etc.).
Set the setpoint for position and yaw. This service may be used to specify the continuous flow of target points, for example, for flying along complex trajectories (circular, arcuate, etc.).
> **Hint** For flying to a point in a straight line or takeoff, use the [`navigate`] higher-level service (#navigate).
> **Hint** Use the [`navigate`](#navigate) higher-level service to fly to a point in a straight line or to perform takeoff.
Parameters:
@@ -218,7 +216,7 @@ Parameters:
* `yaw` — yaw angle *(radians)*;
* `yaw_rate` – angular yaw velocity (used for setting the yaw to NaN) *(rad/s)*;
* `auto_arm` – switch the drone to `OFFBOARD` and arm automatically (**the drone will take off**);
* `frame_id` – [system of coordinates](frames.md), given `x`, `y`, `z` и `yaw` (Default value: `map`).
* `frame_id` – [coordinate system](frames.md) for `x`, `y`, `z` and `yaw` parameters (Default value: `map`).
Hovering on the spot:
@@ -246,13 +244,13 @@ set_position(x=0, y=0, z=0, frame_id='body', yaw=float('nan'), yaw_rate=0.5)
### set_velocity
Setting speed and yaw.
Set speed and yaw setpoints.
* `vx`, `vy`, `vz` – required flight speed *(m/s)*;
* `vx`, `vy`, `vz` – flight speed *(m/s)*;
* `yaw` — yaw angle *(radians)*;
* `yaw_rate` – angular yaw velocity (used for setting the yaw to NaN) *(rad/s)*;
* `auto_arm` – switch the drone to `OFFBOARD` and arm automatically (**the drone will take off**);
* `frame_id` – [system of coordinates](frames.md), given `vx`, `vy`, `vz` и `yaw` (Default value: `map`).
* `frame_id` – [coordinate system](frames.md) for `vx`, `vy`, `vz` and `yaw` (Default value: `map`).
> **Note** Parameter `frame_id` specifies only the orientation of the resulting velocity vector, but not its length.
@@ -262,7 +260,7 @@ Flying forward (relative to the drone) at the speed of 1 m/s:
set_velocity(vx=1, vy=0.0, vz=0, frame_id='body')
```
One of variants of flying in a circle:
One possible way of flying in a circle:
```python
set_velocity(vx=0.4, vy=0.0, vz=0, yaw=float('nan'), yaw_rate=0.4, frame_id='body')
@@ -270,30 +268,30 @@ set_velocity(vx=0.4, vy=0.0, vz=0, yaw=float('nan'), yaw_rate=0.4, frame_id='bod
### set_attitude
Setting pitch, roll, yaw and throttle level (approximate analogue to control in [the `STABILIZED` mode](modes.md)). This service may be used for lower level monitoring of the drone behavior or controlling the drone, if no reliable data on its position are available.
Set pitch, roll, yaw and throttle level (similar to [the `STABILIZED` mode](modes.md)). This service may be used for lower level control of the drone behavior, or controlling the drone when no reliable data on its position is available.
Parameters:
* `pitch`, `roll`, `yaw` – required pitch, roll, and yaw angle *(radians)*;
* `thrust` — throttle level from 0 (no throttle, propellers are stopped) to 1 (full throttle).
* `auto_arm` – switch the drone to `OFFBOARD` and arm automatically (**the drone will take off**);
* `frame_id` – [system of coordinates](frames.md), given `yaw` (Default value: `map`).
* `pitch`, `roll`, `yaw` – requested pitch, roll, and yaw angle *(radians)*;
* `thrust` — throttle level, ranges from 0 (no throttle, propellers are stopped) to 1 (full throttle).
* `auto_arm` – switch the drone to `OFFBOARD` mode and arm automatically (**the drone will take off**);
* `frame_id` – [coordinate system](frames.md) for `yaw` (Default value: `map`).
### set_rates
Setting pitch, roll, and yaw angular velocity and the throttle level (approximate analogue to control in [the `ACRO` mode](modes.md)). This is the lowest drone control level (excluding direct control of motor rotation speed). This service may be used to automatically perform acrobatic tricks (e.g., flips).
Set pitch, roll, and yaw rates and the throttle level (similar to [the `ACRO` mode](modes.md)). This is the lowest drone control level (excluding direct control of motor rotation speed). This service may be used to automatically perform aerobatic tricks (e.g., flips).
Parameters:
* `pitch_rate`, `roll_rate`, `yaw_rate` – angular pitch, roll, and yaw velocity *(rad/s)*;
* `thrust` — throttle level from 0 (no throttle, propellers are stopped) to 1 (full throttle).
* `pitch_rate`, `roll_rate`, `yaw_rate` – pitch, roll, and yaw rates *(rad/s)*;
* `thrust` — throttle level, ranges from 0 (no throttle, propellers are stopped) to 1 (full throttle).
* `auto_arm` – switch the drone to `OFFBOARD` and arm automatically (**the drone will take off**);
### land
Transfer the drone to the landing [mode](modes.md) (`AUTO.LAND` or similar).
Switch the drone to landing [mode](modes.md) (`AUTO.LAND` or similar).
> **Note** For automatic propeller disabling after landing, [parameter PX4](px4_parameters.md) `COM_DISARM_LAND` is to be set to a value > 0.
> **Note** Set the `COM_DISARM_LAND` [PX4 parameter](px4_parameters.md) to a value greater than 0 to enable automatic disarm after landing.
Landing the drone:
@@ -306,7 +304,7 @@ if res.success:
Landing the drone (command line):
```(bash)
```bash
rosservice call /land "{}"
```
@@ -319,5 +317,5 @@ Stop publishing setpoints to the drone (release control). Required to continue m
Additional materials
------------------------
* [Flying in the field of ArUco markers](aruco.md).
* [Samples of programs and snippets](snippets.md).
* [ArUco-based position estimation and navigation](aruco.md).
* [Program samples and snippets](snippets.md).

2
docs/ru/simple_offboard.md
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@@ -90,7 +90,7 @@ print telemetry.z
```python
import math
if not math.isnan(get_telemetry().lat):
print 'Global position presents'
print 'Global position is available'
else:
print 'No global position'
```