diff --git a/aruco_pose/CHANGELOG.rst b/aruco_pose/CHANGELOG.rst
new file mode 100644
index 00000000..576224ce
--- /dev/null
+++ b/aruco_pose/CHANGELOG.rst
@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package aruco_pose
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.21.1 (2020-11-17)
+-------------------
+* First release of aruco_pose package to ROS
+* Contributors: Alamoris, Alexey Rogachevskiy, Arthur Golubtsov, Ilya Petrov, Oleg Kalachev
diff --git a/clover/CHANGELOG.rst b/clover/CHANGELOG.rst
new file mode 100644
index 00000000..3801c235
--- /dev/null
+++ b/clover/CHANGELOG.rst
@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package clover
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.21.1 (2020-11-17)
+-------------------
+* First release of clover package to ROS
+* Contributors: Alexey Rogachevskiy, Arthur Golubtsov, Oleg Kalachev
diff --git a/clover_blocks/CHANGELOG.rst b/clover_blocks/CHANGELOG.rst
new file mode 100644
index 00000000..3b8a3704
--- /dev/null
+++ b/clover_blocks/CHANGELOG.rst
@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package clover_blocks
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.21.1 (2020-11-17)
+-------------------
+* First release of clover_blocks package to ROS
+* Contributors: Oleg Kalachev
diff --git a/clover_description/CHANGELOG.rst b/clover_description/CHANGELOG.rst
new file mode 100644
index 00000000..b82eae6e
--- /dev/null
+++ b/clover_description/CHANGELOG.rst
@@ -0,0 +1,9 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package clover_description
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.21.1 (2020-11-17)
+-------------------
+* First release of clover_description package to ROS
+* Contributors: Alexey Rogachevskiy
+
diff --git a/clover_simulation/CHANGELOG.rst b/clover_simulation/CHANGELOG.rst
new file mode 100644
index 00000000..9fec3f35
--- /dev/null
+++ b/clover_simulation/CHANGELOG.rst
@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package clover_simulation
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.21.1 (2020-11-17)
+-------------------
+* First release of clover_simulation package to ROS
+* Contributors: Alexey Rogachevskiy
diff --git a/clover_simulation/models/aruco_cmit_txt/aruco_model.sdf b/clover_simulation/models/aruco_cmit_txt/aruco_model.sdf
new file mode 100644
index 00000000..60b2216c
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diff --git a/clover_simulation/models/aruco_cmit_txt/materials/scripts/aruco_materials.material b/clover_simulation/models/aruco_cmit_txt/materials/scripts/aruco_materials.material
new file mode 100644
index 00000000..2bb9a711
--- /dev/null
+++ b/clover_simulation/models/aruco_cmit_txt/materials/scripts/aruco_materials.material
@@ -0,0 +1,1584 @@
+
+material aruco/marker_2_0
+{
+ technique
+ {
+ pass
+ {
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+ {
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+}
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+{
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+ {
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+ {
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+{
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+ {
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index 00000000..5edf4e57
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diff --git a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_98.png b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_98.png
new file mode 100644
index 00000000..820574b4
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diff --git a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_99.png b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_99.png
new file mode 100644
index 00000000..de9fb863
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diff --git a/clover_simulation/models/aruco_cmit_txt/model.config b/clover_simulation/models/aruco_cmit_txt/model.config
new file mode 100644
index 00000000..25016bbf
--- /dev/null
+++ b/clover_simulation/models/aruco_cmit_txt/model.config
@@ -0,0 +1,14 @@
+
+
+
+ ArUco field from cmit.txt (dictionary 2)
+ 1.0
+ aruco_model.sdf
+
+ Marker Generator script
+ marker@generator.sh
+
+
+ ArUco field from cmit.txt (dictionary 2)
+
+
diff --git a/clover_simulation/resources/worlds/clover_aruco.world b/clover_simulation/resources/worlds/clover_aruco.world
new file mode 100644
index 00000000..7b3b736f
--- /dev/null
+++ b/clover_simulation/resources/worlds/clover_aruco.world
@@ -0,0 +1,47 @@
+
+
+
+
+
+ model://sun
+
+
+ model://parquet_plane
+ 0 0 -0.01 0 0 0
+
+
+
+ model://aruco_cmit_txt
+
+
+
+ 0.8 0.8 0.8 1
+ 0.8 0.9 1 1
+ false
+ false
+ false
+
+
+
+ 0 0 -9.8066
+
+
+ quick
+ 10
+ 1.3
+ 0
+
+
+ 0
+ 0.2
+ 100
+ 0.001
+
+
+ 0.004
+ 1
+ 250
+ 6.0e-6 2.3e-5 -4.2e-5
+
+
+
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diff --git a/docs/en/SUMMARY.md b/docs/en/SUMMARY.md
index 5d9429e1..4f1cb53c 100644
--- a/docs/en/SUMMARY.md
+++ b/docs/en/SUMMARY.md
@@ -55,7 +55,6 @@
* [Supplementary materials](supplementary.md)
* [COEX Pix](coex_pix.md)
* [COEX PDB](coex_pdb.md)
- * [COEX GPS](coex_gps.md)
* [Guide on autonomous flight](auto_setup.md)
* [Hostname](hostname.md)
* [PX4 Simulation](sitl.md)
diff --git a/docs/en/agriculture.md b/docs/en/agriculture.md
new file mode 100644
index 00000000..ae331024
--- /dev/null
+++ b/docs/en/agriculture.md
@@ -0,0 +1,147 @@
+# Recognition of crop types in mass agricultural production
+
+## Introduction
+
+Modern agriculture in many countries is becoming one of the shining examples of the rapid and successful introduction of new technologies. Unmanned aerial vehicles are capable of performing a wide range of tasks, among which monitoring of agricultural land has now become a common tool for increasing the efficiency of agriculture. The goal of my project is to write a code for recognizing crop types in mass agricultural production. In the future, from the recognition results, you can design a map of sown areas.
+
+## Monitoring
+
+In agriculture, monitoring is necessary to obtain information on the state of land and crops. Based on the monitoring results, farmers or specialists can understand whether crops are sprouting normally, whether there is a threat from weeds and/or insects - pests, what is the degree of moisture in individual areas or entire areas, etc.
+
+## Explanation of the code
+
+Import libraries:
+
+```python
+import rospy
+import cv2
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+import numpy as np
+```
+
+Create some variables:
+
+```python
+rospy.init_node('computer_vision_sample')
+
+bridge = CvBridge()
+
+color = 'undefined'
+shape = 'undefined'
+culture = ""
+```
+
+To implement computer vision algorithms, it is recommended to use the OpenCV library preinstalled on the Clover image.
+Create a subscriber for the topic with the image from the main camera for processing using OpenCV:
+
+```python
+def image_colback_color(data):
+ global color, shape
+
+ cv_image = bridge.imgmsg_to_cv2(data, 'bgr8') # OpenCV image
+ img_hsv = cv2.cvtColor(cv_image, cv2.COLOR_BGR2HSV) #[118:119,158:159]
+
+ #detected color
+ #print(img_hsv[0][0])
+```
+
+Each culture has its unique shade (wheat is golden, buckwheat is light brown).
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 
+ 
+
+
+We describe color ranges for certain crops:
+
+```python
+#wheat
+yellow_orange_low = (38, 110, 150)
+yellow_orange_high= (52, 110, 150)
+
+#buckwheat
+brown_low = (23, 50, 50)
+brown_high= (37, 50, 50)
+
+yellow_orange_mask = cv2.inRange(img_hsv, yellow_orange_low, yellow_orange_high)
+brown_mask = cv2.inRange(img_hsv, brown_low, brown_high)
+
+if yellow_orange_mask[119][159] == 255:
+ shape = shape_recog(yellow_orange_mask)
+
+elif brown_mask[119][159] == 255:
+ shape = shape_recog(brown_mask)
+
+else:
+ shape = 'undefined'
+ color = 'undefined'
+
+if shape = 'brown':
+ culture = "greshiha"
+if shape = 'yellow_orange':
+ culture = "pshenitsa"
+
+image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_colback_color)
+```
+
+The script will take up to 100% CPU capacity. To slow down the script artificially, you can use throttling of frames from the camera, for example, at 5 Hz (`main_camera.launch`):
+
+```xml
+
-
-### Bottom view
-
-
diff --git a/docs/en/coex_pdb.md b/docs/en/coex_pdb.md
new file mode 100644
index 00000000..ab611a7d
--- /dev/null
+++ b/docs/en/coex_pdb.md
@@ -0,0 +1,15 @@
+# COEX PDB
+
+**COEX PDB** is the power distribution board used in [Clover 4 Drone kit](assemble_4_2.md).
+
+Board size: 35x35 mm.
+
+## Port pinouts
+
+### Top view
+
+
+
+### Bottom view
+
+
diff --git a/docs/en/zerotire_vpn.md b/docs/en/zerotire_vpn.md
new file mode 100644
index 00000000..54917a3e
--- /dev/null
+++ b/docs/en/zerotire_vpn.md
@@ -0,0 +1,183 @@
+# Creating a virtual network ZeroTire One and connecting to it
+
+## Creating and configuring a ZeroTire network
+
+1. Go to [ZeroTire](https://www.zerotier.com/) website.
+
+ 
+
+2. Sign up on ZeroTire.
+
+ 
+
+3. Go to your account.
+
+4. Click on the *Create A Network*.
+
+ 
+
+5. After that, you will see the network you created, its ID and name. Click on the network to configure it.
+
+ 
+
+6. In the window that appears you can change the network name and connection privacy.
+
+ 
+
+7. Scroll down to the *Members* column. It will say that there are no users on the network.
+
+ 
+
+8. Devices connected to the network will be displayed in this column. To allow them to connect to the network, activate the *Auth?* checkbox. The connected device will automatically be given an internal IP address, which will then be used to communicate with this device.
+
+ 
+
+2. Click on the Windows icon.
+
+ 
+
+3. Download and run the `Zero Tare One.msi` file.
+
+ 
+ 
+ 
+
+4. In the window that appears, enter your network ID and click *Join*.
+
+ 
+
+5. Allow using the new network.
+
+## Setup on iOS
+
+### Installing the app
+
+1. Go to the ZeroTire website.
+
+ 
+
+3. Confirm the privacy policy.
+
+ 
+
+4. Enter your network ID and click *Add Network*.
+
+ 
+
+5. Confirm adding the new VPN configuration.
+
+6. Connect to the VPN network by sliding the network activation slider.
+
+ 
+ 
+ 
+
+3. If the connection is successful, the corresponding message will be displayed in the console.
+
+## Installing and configuring on macOS
+
+### Installing the app
+
+1. Go to the ZeroTire website.
+
+ 
+
+4. In the *Enter Network ID* field, enter your network ID.
+
+ 
+
+## Connecting to the copter
+
+1. Make sure that ZeroTire is working and connected to the network on the drone and control device. To do this, make sure that these have an *Online* status.
+
+ 
+
+2. Make sure that all devices have local IP addresses - *Managed IPs*.
+
+3. Open GQC and in the *Comm Links* tab add a TCP connection specifying the IP of the drone. Read more about remote connection [here](gcs_bridge.md).
+
+ 
+ 
+ 
+
+## Настройка на iOS
+
+### Установка приложения
+
+1. Перейдите на сайт ZeroTire.
+
+