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EN Articles
8 new English articles, SUMMARY.md updated
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Konstantin Eliseev
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# Summary
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* [Glossary](gloss.md)
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* [Clever 2 assembly](assemble_2.md)
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* [Clever 3 assembly](assemble_3.md)
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* [Connecting 4 in 1 ESCs](4in1.md)
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* [Types of power connectors](connectortypes.md)
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* [Blanching](zap.md)
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* [Initial setup](setup.md)
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* [Using multimeter](test_connection.md)
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* [Possible radio failures](radioerrors.md)
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* [Installation of FPV](fpv.md)
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* [Safety instruction](safety.md)
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* [Soldering safety](tb.md)
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* [Connecting GPS](gps.md)
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* [Flight modes](modes.md)
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* [UART settings](uart.md)
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* [Pixhawk / Pixracer Firmware](firmware.md)
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* [PX4 Parameters](px4_parameters.md)
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* [PID Setup](calibratePID.md)
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* [Raspberry Pi](raspberry.md)
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* [RPi Image](microsd_images.md)
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* [RPi Connection to the Pixhawk](connection.md)
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* [Wi-Fi connection](wifi.md)
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* [SSH access](ssh.md)
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16
docs/en/calibratePID.md
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docs/en/calibratePID.md
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# Configuring the PID coefficients
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In practice, the most common problem is the presence of rapid oscillations that occur due to the too large values of parameter P. In this situation, you should decrease this value (all parameters are set experimentally, based on copter behavior).
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It is also worth checking that the oscillations do not occur during sharp descent (otherwise, reduce P).
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Slow copter rocking from side to side while trying to maintain the predetermined position is related to excessive value I.
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If the copter swings during movement, the value should be increased.
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If the copter keeps the preset position poorly, you should increase the D parameter; it the D parameter is too high or too low, oscillations occur.
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> **Note** Adjustment of the D parameter should start with the minimum values, which are 3 – 4 times lower than default values, if any.
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The Rate Pitch and Rate Roll parameters should be the same.
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YAW parameters should be changed individually, according to the above instruction (usually the yaw doesn't require serious adjustment, you may leave it default).
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60
docs/en/connection.md
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docs/en/connection.md
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Connecting Pixhawk/Pixracer to Raspberry Pi
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===
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To program [autonomous flights] (simple_offboard.md) [work with Pixhawk (Pixracer) over Wi-Fi] (gcs_bridge.md), use [of a phone transmitter] (rc.md), and other functions, it is necessary to connect Raspberry Pi to Pixhawk (Pixracer).
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Check operability of the connection [by running on Raspberry Pi] (ssh.md):
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```bash
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rostopic echo /mavros/state
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```
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The `connected` field should contain value `True`.
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Connection via USB
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---
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Connect Pixhawk/Pixracer to micro USB in Raspberry Pi with a USB cable.
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Make sure that in Clever launch file (`~/catkin_ws/src/clever/clever/launch/clever.launch`), connection type is set to USB:
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```xml
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<arg name="fcu_conn" default="usb"/>
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```
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After the launch file is edited, restart package `clever`:
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```bash
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sudo systemctl restart clever
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```
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> **Hint** For correct operation of the Raspberry Pi connection to Pixhawk via USB, set value of [parameter](px4_parameters.md) `CBRK_USB_CHK` to 197848.
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Connection via UART
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---
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TODO connection diagram
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Make sure that in Clever launch file (`~/catkin_ws/src/clever/clever/clever.launch`), connection type is set to UART:
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```xml
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<arg name="fcu_conn" default="uart"/>
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```
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After the launch-file is edited, restart package `clever`:
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```bash
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sudo systemctl restart clever
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```
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> **Hint** For correct operation of the Raspberry Pi connection to Pixhawk via UART, set value of parameter`SYS_COMPANION` to 921600.
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Connection to SITL
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---
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To connect locally/remotely to a running [SITL](sitl.md), set argument `fcu_conn` to `udp`, and `fcu_ip` to the IP address of the machine where SITL is running (`127.0.0.1` for local):
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```xml
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<arg name="fcu_conn" default="udp"/>
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<arg name="fcu_ip" default="127.0.0.1"/>
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```
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53
docs/en/firmware.md
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docs/en/firmware.md
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Pixhawk / Pixracer firmware flashing
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===
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Pixhawk or Pixracer firmware may be flashed using QGroundControl or command line utilities.
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Various releases of stable PX4 firmwares are available from [Releases at GitHub] (https://github.com/PX4/Firmware/releases).
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The name of the firmware file contains encoded information about the target circuit-board and the release. Examples:
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* `px4fmu-v2_default.px4` — firmware for Pixhawk with EKF2.
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* `px4fmu-v2_lpe.px4` — firmware for Pixhawk with LPE.
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* `px4fmu-v4_default.px4` — firmware for Pixhawk with EKF2 and LPE (*Clever 3*).
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* `px4fmu-v3_default.px4` — firmware for newer Pixhawk versions (rev. 3 chip, see Fig. + Bootloader v5) with EKF2 and LPE.
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> **Note** To download the `px4fmu-v3_default.px4` file, you may need to use the `force_upload` command in the command prompt.
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QGroundControl
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---
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In QGroundControl, go to Firmware. **After** that, connect Pixhawk / Pixracer via USB.
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Select PX4 Flight Stack. To download and upload the standard firmware (the version with EKF2 for Pixhawk), select the "Standard Version" menu item, to load your own firmware file, select "Custom firmware file...", then click OK.
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> **Warning** Do not disconnect the USB cable until the flashing process is complete.
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TODO: Figure.
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Command prompt
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---
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PX4 may be compiled from the source and automatically loaded to the circuit-board from the command prompt.
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To do this, clone the PX4 repository:
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```bash
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git clone https://github.com/PX4/Firmware.git
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```
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Select the appropriate version (tag) using `git checkout`. Then compile and upload the firmware:
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```
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make px4fmu-v4_default upload
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```
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Where `px4fmu-v4_default` is the required firmware version.
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To upload the `v3` firmware to Pixhawk, you may need the `force_upload` command:
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```
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make px4fmu-v3_default force-upload
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```
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docs/en/microsd_images.md
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docs/en/microsd_images.md
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# Raspberry Pi image
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The image contains:
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* [Raspbian](https://www.raspberrypi.org/downloads/raspbian/) Stretch
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* [ROS Kinetic](http://wiki.ros.org/kinetic)
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* [A software package for Clever](https://github.com/CopterExpress/clever)
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**The latest version of the image is available for [downloading from GitHub in section Releases](https://github.com/CopterExpress/clever/releases).**
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> **Hint** The stable and supported version of the image is the release marked as **Latest release**.
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<img src="../assets/image.png" width=400 alt="Download image">
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## Installing the OS image on a MicroSD card
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To install the image, you can use the [Etcher] utility (https://etcher.io).
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[](https://etcher.io)
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## Image version
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The version of the installed image may be found in file `/etc/clever_version`:
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```bash
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cat /etc/clever_version
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```
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docs/en/px4_parameters.md
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# PX4 Parameters
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Main article: https://dev.px4.io/en/advanced/parameter_reference.html
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> **Note** This is a description some of the most important PX4 parameters as of version 1.8.0. The full list is available at the link above.
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To change PX4 parameters, you can use the QGroundControl application [by connecting to Clever via Wi-Fi](gcs_bridge.md):
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## Main parameters
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The most important parameters are listed in this paragraph.
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`SYS_MC_EST_GROUP` – select the estimator module.
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This is a group of modules that calculates the current state of the copter using readings from the sensors. The copter state includes:
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* Angle rate of the copter – pitch_rate, roll_rate, yaw_rate;
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* Copter orientation (in the local coordinate system) – pitch, roll, yaw (one of presentations);
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* Copter position (in the local coordinate system) – x, y, z;
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* Copter speed (in the local coordinate system) – vx, vy, vz;
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* Global coordinates of the copter – lattitude, longitude, altitude;
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* Altitude above the surface;
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* Other parameters (the drift of gyroscopes, wind speed, etc.).
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`SYS_AUTOCONFIG` — resets all parameters (sets to 1).
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## EKF2
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`EKF2_AID_MASK` — selects sensors that are used by EKF2 to calculate the copter state.
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`EKF2_HGT_MODE` is the main source of height data (z in the local coordinate system):
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* 0 – pressure reading on the barometer.
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* 1 – GPS.
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* 2 – distance meter (for example, vl53l1x).
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* 3 – data from VPE.
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Variant 2 is the most accurate; however, it is correct to use it only if the surface the copter flies over is flat. Otherwise, the Z axis origin will move up and down with the altitude of the surface.
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## Multicopter Control Position (flying by position)
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These parameters adjust the flight of the copter by position (POSCTL, OFFBOARD, AUTO modes).
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`MPC_THR_HOVER` — hovering throttle. This option is to set to the approximate percentage of throttle needed to make the copter maintain its altitude. If copter has a tendency to gain or lose altitude during the hovering mode, reduce or increase this value.
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`MPC_XY_P` – position factor *P* of the ESC. This parameter affects how sharply the copter will react to the position commands. A too high value may cause {перестрелы}.
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`MPC_XY_VEL_P` – speed factor *P* of the ESC. This parameter also affects the accuracy and sharpness of copter execution of the given position. A too high value may cause {перестрелы}.
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`MPC_XY_VEL_MAX` — the maximum horizontal speed in POSCTL, OFFBOARD, AUTO modes.
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`MPC_Z_P`, `MPC_Z_VEL_P` – vertical position and speed factors *P* of the ESCs they determine the copter's ability to maintain the desired altitude.
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`MPC_LAND_SPEED` is the vertical velocity of landing in the LAND mode.
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## LPE + Q attitude estimator
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These parameters configure the behavior of the `lpe` and `q` modules, which compute the state (orientation, position) of the copter. These parameters apply **only** if the `SYS_MC_EST_GROUP` parameter is set to `1` (local_position_estimator, attitude_estimator_q)
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TODO
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## Commander
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Prearm checks, switching the modes and states of the copter.
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## Sensors
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Enabling, disabling and configuring various sensors.
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TODO
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docs/en/raspberry.md
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docs/en/raspberry.md
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Raspberry Pi
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============
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**Raspberry Pi** is a single-board computer that fits in the palm, created on the basis of mobile microprocessor ARM11. It features low energy consumption, and it can even run on solar panels. Raspberry Pi 3 is included in the kits for programmable quadcopters "Clever 2" and "Clever 3".
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<img src="../assets/raspberry3.jpg" width="500">
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* Weight is 45 grams.
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* Clock rate is 1.2 GHz.
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* Graphics core in the Broadcom BCM2837 processor.
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* RAM is 1 GB.
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* Four USB 2.0 ports.
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* An HDMI port.
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The scope of Raspberry Pi computer application is quite wide, since after all it is quite a full-fledged computer. If you need a machine to solve simple problems that do not require too many resources in terms of calculations, you can safely connect your Raspberry Pi device to the standard PC elements: a monitor, a mouse, or a keyboard.
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The Raspberry Pi is a very popular platform where you can implement a variety of projects, such as:
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* a home automation server (or a "smart house" system);
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* a data storage server (NAS);
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* a home media server;
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* a "think-tank" for automated machines or robots.
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In fact, we will use it as the last in the list, due to its ability to connect to the Pixhawk autopilot.
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See more:
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* [RPi image](microsd_images.md)
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* [SSH access](ssh.md)
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* [Network setup](network.md)
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docs/en/ssh.md
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SSH access to Raspberry Pi
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===
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[RPi image](microsd_images.md) is configured to be accessed via SSH for editing files, loading data and running programs.
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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).
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In Linux or macOS, run the command prompt, and execute command:
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```bash
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ssh pi@192.168.11.1
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```
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Password: `raspberry`.
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For SSH access from Windows, you may use [PuTTY] (https://www.chiark.greenend.org.uk/~sgtatham/putty/latest.html).
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You can also gain SSH access from your smart-phone using the [Termius] app (https://www.termius.com).
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Read more: https://www.raspberrypi.org/documentation/remote-access/ssh/README.md
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Web access
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----------
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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*:
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<img src="../assets/butterfly.png">
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docs/en/wifi.md
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Connecting to Clever via Wi-Fi
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===
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[RPi image](microsd_images.md) provides a pre-configured Wi-Fi access point from SSID `CLEVER-xxxx`, where xxxx are the four random numbers that are assigned when your Raspberry Pi is run for the first time.
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Password: `cleverwifi`.
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<img src="../assets/ssid.png" width="300px" alt="Wi-Fi SSID">
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To edit the Wi-Fi settings, or to obtain more detailed information about the network device on Raspberry Pi, read this [article](network.md).
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