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Proofing for English documentation

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copter = helicopter
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docs/en/simple_offboard.md
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@@ -1,9 +1,13 @@
Simple OFFBOARD
===
> **Note** Documentation for the [image](microsd_images.md), versions, starting with **0.15**. For older versions refer to [documentation for version **0.14**](https://github.com/CopterExpress/clever/blob/v0.14/docs/ru/simple_offboard.md).
> **Note** Documentation for the [image](microsd_images.md), versions, starting with **0.15**. For older versions refer to [documentation for version **0.14**](https://github.com/droneExpress/clever/blob/v0.14/docs/ru/simple_offboard.md).
The `simple_offboard` module of the `clever` package is intended for simplified programming of an autonomous drone ([mode](modes.md) `OFFBOARD`). It allows setting the desired flight tasks, and automatically transforms [the system of coordinates](frames.md).
<!-- -->
> **Hint** For autonomous flights it is recommanded to use [special firmware PX4 for Clever](firmware.md#прошивка-для-клевера).
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).
`simple_offboard` is a high level way of interacting with the flight controller. For a more low level work, see [mavros](mavros.md).
@@ -12,7 +16,7 @@ Main services are `get_telemetry` (receiving all telemetry), `navigate` (flying
The use of Python language
---
To use the services, create proxies to them. An example of the program the declared proxies to all `simple_offboard` services:
To use the services, create proxies to them. Following is an example of the program that declares proxies to all `simple_offboard` services:
```python
import rospy
@@ -42,7 +46,7 @@ API description
### get_telemetry
Obtaining complete telemetry of the copter.
Obtaining complete telemetry of the drone.
Parameters:
@@ -52,12 +56,12 @@ Response format:
* `frame_id` — frame;
* `connected` – whether there is a connection to <abbr title="Flight Control Unit flight controller">FCU</abbr>;
* `armed` `armed` state of propellers (the propellers are armed, if true);
* `armed` - state of propellers (the propellers are armed, if true);
* `mode` – current [flight mode](modes.md);
* `x, y, z` — local position of the copter *(m)*;
* `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 ;
* `vx, vy, vz` – copter velocity *(m/s)*;
* `vx, vy, vz` – drone velocity *(m/s)*;
* `pitch` – pitch angle *(radians)*;
* `roll` – roll angle *(radians)*;
* `yaw` — yaw angle *(radians)*;
@@ -67,16 +71,16 @@ Response format:
* `voltage` – total battery voltage *(V)*;
* `cell_voltage` – battery cell voltage *(V)*.
> **Note** Fields that are available for some reason will contain the `NaN` value.
> **Note** Fields that are unavailabe for any reason will contain the `NaN` value.
Displaying copter coordinates `x`, `y` and `z` in the local system of coordinates:
Displaying drone coordinates `x`, `y` and `z` in the local system of coordinates:
```python
telemetry = get_telemetry()
print telemetry.x, telemetry.y, telemetry.z
```
Displaying copter altitude relative to [the card of ArUco tags](aruco.md):
Displaying drone altitude relative to [the card of ArUco tags](aruco.md):
```python
telemetry = get_telemetry(frame_id='aruco_map')
@@ -109,7 +113,7 @@ Parameters:
* `yaw` — yaw angle *(radians)*;
* `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 copter to `OFFBOARD` and arm automatically (**the copter will take off**);
* `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`.
> **Note** To fly without changing the yaw angle, it is sufficient to set the `yaw` to `NaN` (angular velocity by default is 0).
@@ -132,7 +136,7 @@ Flying to point 5:0 without changing the yaw angle (`yaw` = `NaN`, `yaw_rate` =
navigate(x=5, y=0, z=3, speed=0.8, yaw=float('nan'))
```
Flying 3 m to the right from the copter:
Flying 3 m to the right from the drone:
```python
navigate(x=0, y=-3, z=0, speed=1, frame_id='body')
@@ -179,12 +183,12 @@ Parameters:
* `yaw` — yaw angle *(radians)*;
* `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 copter to `OFFBOARD` and arm automatically (**the copter will take off**);
* `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`).
> **Note** To fly without changing the yaw angle, it is sufficient to set the `yaw` 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 copter will face East):
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):
```python
navigate_global(lat=55.707033, lon=37.725010, z=0, speed=5, frame_id='body')
@@ -204,7 +208,7 @@ rosservice call /navigate_global "{lat: 55.707033, lon: 37.725010, z: 0.0, yaw:
### set_position
Set the target by 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 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.).
> **Hint** For flying to a point in a straight line or takeoff, use the [`navigate`] higher-level service (#navigate).
@@ -213,7 +217,7 @@ Parameters:
* `x`, `y`, `z` — point coordinates *(m)*;
* `yaw` — yaw angle *(radians)*;
* `yaw_rate` – angular yaw velocity (used for setting the yaw to NaN) *(rad/s)*;
* `auto_arm` – switch the copter to `OFFBOARD` and arm automatically (**the copter will take off**);
* `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`).
Hovering on the spot:
@@ -247,12 +251,12 @@ Setting speed and yaw.
* `vx`, `vy`, `vz` – required 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 copter to `OFFBOARD` and arm automatically (**the copter will take off**);
* `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`).
> **Note** Parameter `frame_id` specifies only the orientation of the resulting velocity vector, but not its length.
Flying forward (relative to the copter) at the speed of 1 m/s:
Flying forward (relative to the drone) at the speed of 1 m/s:
```python
set_velocity(vx=1, vy=0.0, vz=0, frame_id='body')
@@ -266,41 +270,41 @@ 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 copter behavior or controlling the copter, if no reliable data about its position are available.
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.
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 copter to `OFFBOARD` and arm automatically (**the copter will take off**);
* `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`).
### 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 copter control level (excluding direct control of motor rotation speed). This service may be used to automatically perform acrobatic tricks (e.g., flips).
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).
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).
* `auto_arm` – switch the copter to `OFFBOARD` and arm automatically (**the copter will take off**);
* `auto_arm` – switch the drone to `OFFBOARD` and arm automatically (**the drone will take off**);
### land
Transfer the copter to the landing [mode](modes.md) (`AUTO.LAND` or similar).
Transfer the drone to the landing [mode](modes.md) (`AUTO.LAND` or similar).
> **Note** For automated disabling the propellers after landing [parameter PX4](px4_parameters.md) `COM_DISARM_LAND` is to be set to a value > 0.
> **Note** For automatic propeller disabling after landing, [parameter PX4](px4_parameters.md) `COM_DISARM_LAND` is to be set to a value > 0.
Landing the copter:
Landing the drone:
```python
res = land()
if res.success:
print 'Copter is landing'
print 'drone is landing'
```
Landing the copter (command line):
Landing the drone (command line):
```(bash)
rosservice call /land "{}"
@@ -309,7 +313,7 @@ rosservice call /land "{}"
<!--
### release
Stop publishing setpoints to the copter (release control). Required to continue monitoring by means of [MAVROS](mavros.md).
Stop publishing setpoints to the drone (release control). Required to continue monitoring by means of [MAVROS](mavros.md).
-->
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