From 683bda74017b472f671a1b82477f2bc491221914 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Thu, 21 Feb 2019 17:40:01 +0300
Subject: [PATCH] =?UTF-8?q?mavros.launch:=20don=E2=80=99t=20user=20px4=5Fc?=
 =?UTF-8?q?onfig.yaml,=20simplify=20distance=5Fsensor=20config?=
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---
 clever/launch/clever.launch |  2 +-
 clever/launch/mavros.launch | 37 ++-----------------------------------
 docs/ru/laser.md            |  6 +++---
 mavros_config.yaml          |  0
 4 files changed, 6 insertions(+), 39 deletions(-)
 create mode 100644 mavros_config.yaml

diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch
index 4a7ef6e7..fa8ef9df 100644
--- a/clever/launch/clever.launch
+++ b/clever/launch/clever.launch
@@ -64,7 +64,7 @@
     <node name="vl53l1x" pkg="vl53l1x" type="vl53l1x_node" output="screen" if="$(arg rangefinder_vl53l1x)">
         <param name="frame_id" value="rangefinder"/>
         <param name="offset" value="-0.05"/>
-        <remap from="~range" to="mavros/distance_sensor/rangefinder_3_sub"/> <!-- redirect data to FCU -->
+        <remap from="~range" to="mavros/distance_sensor/rangefinder_sub"/> <!-- redirect data to FCU -->
     </node>
 
     <!-- rc backend -->
diff --git a/clever/launch/mavros.launch b/clever/launch/mavros.launch
index 5319f864..ec7062ef 100644
--- a/clever/launch/mavros.launch
+++ b/clever/launch/mavros.launch
@@ -24,42 +24,9 @@
         <param name="gcs_quiet_mode" value="true"/>
         <param name="conn/timeout" value="8"/>
 
-        <!-- default px4 params -->
-        <rosparam command="load" file="$(find mavros)/launch/px4_config.yaml"/>
+        <!-- basic params -->
+        <rosparam command="load" file="$(find clever)/launch/mavros_config.yaml"/>
 
-        <!-- enable setpoint_attitude/attitude -->
-        <param name="setpoint_attitude/use_quaternion" value="true"/>
-
-        <!-- rangefinders -->
-        <rosparam>
-            distance_sensor:
-                rangefinder_0:
-                    id: 0
-                    frame_id: "rangefinder"
-                    orientation: PITCH_270
-                    field_of_view: 0.5
-                rangefinder_1:
-                    id: 1
-                    frame_id: "rangefinder"
-                    orientation: PITCH_270
-                    field_of_view: 0.5
-                rangefinder_2_sub:
-                    subscriber: true
-                    id: 2
-                    orientation: PITCH_270
-                rangefinder_3_sub:
-                    subscriber: true
-                    id: 3
-                    orientation: PITCH_270
-        </rosparam>
-
-        <!-- additional params -->
-        <param name="local_position/frame_id" value="map"/>
-        <param name="local_position/tf/send" value="true"/>
-        <param name="local_position/tf/frame_id" value="map"/>
-        <param name="local_position/tf/child_frame_id" value="base_link"/>
-        <param name="global_position/tf/send" value="false"/>
-        <param name="imu/frame_id" value="base_link"/>
         <rosparam param="plugin_blacklist">
             - safety_area
             - image_pub
diff --git a/docs/ru/laser.md b/docs/ru/laser.md
index 1cd33fbc..64af9a7c 100644
--- a/docs/ru/laser.md
+++ b/docs/ru/laser.md
@@ -24,10 +24,10 @@
 <arg name="rangefinder_vl53l1x" default="true"/>
 ```
 
-По умолчания драйер дальномера передает данные в Pixhawk (через топик `/mavros/distance_sensor/rangefinder_3_sub`). Для просмотра данных из топика используйте команду:
+По умолчания драйер дальномера передает данные в Pixhawk (через топик `/mavros/distance_sensor/rangefinder_sub`). Для просмотра данных из топика используйте команду:
 
 ```bash
-rostopic echo mavros/distance_sensor/rangefinder_3_sub
+rostopic echo mavros/distance_sensor/rangefinder_sub
 ```
 
 ### Настройки PX4
@@ -47,7 +47,7 @@ def range_callback(msg):
     # Обработка новых данных с дальномера
     print 'Rangefinder distance:', msg.range
 
-rospy.Subscriber('mavros/distance_sensor/rangefinder_3_sub', Range, range_callback)
+rospy.Subscriber('mavros/distance_sensor/rangefinder_sub', Range, range_callback)
 ```
 
 ### Визуализация данных
diff --git a/mavros_config.yaml b/mavros_config.yaml
new file mode 100644
index 00000000..e69de29b