From 57c22fccf7fdf8744d2cf6531b8f59c38896be6f Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Sat, 20 Jul 2019 15:33:06 +0300
Subject: [PATCH] docs: add takeoff_wait function to snippets

---
 docs/en/snippets.md | 14 ++++++++++++++
 docs/ru/snippets.md | 14 ++++++++++++++
 2 files changed, 28 insertions(+)

diff --git a/docs/en/snippets.md b/docs/en/snippets.md
index 4d0ba842..ef3e2078 100644
--- a/docs/en/snippets.md
+++ b/docs/en/snippets.md
@@ -45,6 +45,20 @@ while True:
     rospy.sleep(0.2)
 ```
 
+This code can be wrapped in a function:
+
+```python
+def takeoff_wait(alt, speed=0.5, tolerance=0.2):
+    start = get_telemetry()
+    print navigate(z=alt, speed=speed, frame_id='body', auto_arm=True)
+
+    while True:
+        if get_telemetry().z - start.z + z < tolerance:
+            break
+
+        rospy.sleep(0.2)
+```
+
 ### # {#block-nav}
 
 Flying towards a point and waiting for copter's arrival:
diff --git a/docs/ru/snippets.md b/docs/ru/snippets.md
index bf8f3b75..5dc42700 100644
--- a/docs/ru/snippets.md
+++ b/docs/ru/snippets.md
@@ -62,6 +62,20 @@ while True:
     rospy.sleep(0.2)
 ```
 
+Вышеприведенный код может быть обернут в функцию:
+
+```python
+def takeoff_wait(alt, speed=0.5, tolerance=0.2):
+    start = get_telemetry()
+    print navigate(z=alt, speed=speed, frame_id='body', auto_arm=True)
+
+    while True:
+        if get_telemetry().z - start.z + z < tolerance:
+            break
+
+        rospy.sleep(0.2)
+```
+
 ### # {#block-nav}
 
 Лететь в точку и ждать пока коптер долетит в нее: