Merge remote-tracking branch 'origin' into buster

book.json

@@ -2,7 +2,7 @@
     "title": "Clever",
     "description": "Конструктор квадрокоптера «Клевер»",
     "author": "Copter Express",
-    "language": "ru",
+    "language": "en",
     "root": "docs/",
     "gitbook": "^3.2.2",
     "plugins": [

builder/test/tests.py

@@ -15,7 +15,7 @@ from mavros_msgs.srv import CommandBool, CommandLong, SetMode
 
 from std_srvs.srv import Trigger
 from clever.srv import GetTelemetry, Navigate, NavigateGlobal, SetPosition, SetVelocity, \
-    SetAttitude, SetRates
+    SetAttitude, SetRates, SetLEDEffect
 
 import tf2_ros
 import tf2_geometry_msgs

clever/src/led.cpp

@@ -230,7 +230,7 @@ void handleState(const led_msgs::LEDStateArray& msg)
 	led_count = state.leds.size();
 }
 
-bool notify(const std::string& event)
+void notify(const std::string& event)
 {
 	if (ros::param::has("~notify/" + event + "/effect") ||
 	    ros::param::has("~notify/" + event + "/r") ||

clever/src/selfcheck.py

@@ -477,7 +477,7 @@ def check_local_position():
 @check('Velocity estimation')
 def check_velocity():
     try:
-        velocity = rospy.wait_for_message('mavros/local_position/velocity', TwistStamped, timeout=1)
+        velocity = rospy.wait_for_message('mavros/local_position/velocity_local', TwistStamped, timeout=1)
         horiz = math.hypot(velocity.twist.linear.x, velocity.twist.linear.y)
         vert = velocity.twist.linear.z
         if abs(horiz) > 0.1:
@@ -485,6 +485,7 @@ def check_velocity():
         if abs(vert) > 0.1:
             failure('vertical velocity estimation is %.2f m/s; is copter staying still?' % vert)
 
+        velocity = rospy.wait_for_message('mavros/local_position/velocity_body', TwistStamped, timeout=1)
         angular = velocity.twist.angular
         ANGULAR_VELOCITY_LIMIT = 0.1
         if abs(angular.x) > ANGULAR_VELOCITY_LIMIT:

clever/src/vpe_publisher.cpp

@@ -19,11 +19,13 @@
 #include <geometry_msgs/TransformStamped.h>
 #include <geometry_msgs/PoseStamped.h>
 #include <geometry_msgs/PoseWithCovarianceStamped.h>
+#include <std_srvs/Trigger.h>
 // #include <aruco_pose/MarkerArray.h>
 
 using std::string;
 using namespace geometry_msgs;
 
+bool reset_flag = false;
 string local_frame_id, frame_id, child_frame_id, offset_frame_id;
 tf2_ros::Buffer tf_buffer;
 ros::Publisher vpe_pub;
@@ -84,13 +86,14 @@ void callback(const T& msg)
 
 		// offset
 		if (!offset_frame_id.empty()) {
-			if (msg->header.stamp - vpe.header.stamp > offset_timeout) {
+			if (reset_flag || msg->header.stamp - vpe.header.stamp > offset_timeout) {
 				// calculate the offset
 				offset = tf_buffer.lookupTransform(local_frame_id, frame_id,
 				                                   msg->header.stamp, ros::Duration(0.02));
 				// offset.header.frame_id = vpe.header.frame_id;
 				offset.child_frame_id = offset_frame_id;
 				br.sendTransform(offset);
+				reset_flag = false;
 				ROS_INFO("offset reset");
 			}
 			// apply the offset
@@ -106,6 +109,13 @@ void callback(const T& msg)
 	}
 }
 
+bool reset(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
+{
+	reset_flag = true;
+	res.success = true;
+	return true;
+}
+
 int main(int argc, char **argv) {
 	ros::init(argc, argv, "vpe_publisher");
 	ros::NodeHandle nh, nh_priv("~");
@@ -139,6 +149,8 @@ int main(int argc, char **argv) {
 		local_position_sub = nh.subscribe("mavros/local_position/pose", 1, &localPositionCallback);
 	}
 
+	auto reset_serv = nh_priv.advertiseService("reset", &reset);
+
 	ROS_INFO("ready");
 	ros::spin();
 }

docs/en/aruco_map.md

@@ -120,6 +120,13 @@ time.sleep(5)
 navigate(2, 2, 2, speed=1, frame_id='aruco_map')
 ```
 
+Starting from the [image](image.md) version 0.18, the drone also can fly relative to a marker in the map, even if it doesn't see it:
+
+```python
+# Fly to 1 meter above the marker 5
+navigate(frame_id='aruco_5', x=0, y=0, z=1)
+```
+
 ## Additional settings
 
 If the drone's position is not stable when VPE is used, try increasing the *P* term in the velocity PID regulator: increase the `MPC_XY_VEL_P` and `MPC_Z_VEL_P` parameters.

docs/en/sonar.md

@@ -70,6 +70,7 @@ def fall(gpio, level, tick):
     done.set()
 
 def read_distance():
+    global low
     done.clear()
     pi.gpio_trigger(TRIG, 50, 1)
     done.wait(timeout=5)

docs/ru/aruco_map.md

@@ -128,6 +128,13 @@ time.sleep(5)
 navigate(2, 2, 2, speed=1, frame_id='aruco_map')  # полет в координату 2:2, высота 3 метра
 ```
 
+Начиная с версии [образа](image.md) 0.18, доступны также полеты относительно отдельного маркера в карте, даже если дрон его не видит:
+
+```python
+# Полет на высоту 1 м над маркером 5
+navigate(frame_id='aruco_5', x=0, y=0, z=1)
+```
+
 ## Дополнительные настройки
 
 <!-- TODO: статья по пидам -->

docs/ru/sonar.md

@@ -70,6 +70,7 @@ def fall(gpio, level, tick):
     done.set()
 
 def read_distance():
+    global low
     done.clear()
     pi.gpio_trigger(TRIG, 50, 1)
     done.wait(timeout=5)

redirects.json

@@ -1,6 +1,5 @@
 {
     "redirects": [
-        { "from": "index.html", "to": "ru/index.html" },
         { "from": "assemble.html", "to": "ru/assemble_2.html" },
         { "from": "assemble_clever3_4in1.html", "to": "ru/assemble_3.html" },
         { "from": "glossary.html", "to": "ru/gloss.html" },