Merge branch 'master' into raspios_64bit

clover/launch/led.launch

@@ -2,14 +2,17 @@
     <arg name="ws281x" default="true"/>
     <arg name="led_effect" default="true"/>
     <arg name="led_notify" default="true"/>
+    <arg name="led_count" default="58"/>
+    <arg name="gpio_pin" default="21"/>
+
     <arg name="simulator" default="false"/>
 
     <!-- For additional help go to https://clover.coex.tech/led -->
 
     <!-- ws281x led strip driver -->
     <node pkg="ws281x" name="led" type="ws281x_node" clear_params="true" output="screen" if="$(eval ws281x and not simulator)">
-        <param name="led_count" value="58"/>
-        <param name="gpio_pin" value="21"/>
+        <param name="led_count" value="$(arg led_count)"/>
+        <param name="gpio_pin" value="$(arg gpio_pin)"/>
         <param name="brightness" value="64"/>
         <param name="strip_type" value="WS2811_STRIP_GRB"/>
         <param name="target_frequency" value="800000"/>

clover/launch/main_camera.launch

@@ -9,6 +9,8 @@
     <node if="$(eval direction_z == 'down' and direction_y == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 1.5707963 0 3.1415926 base_link main_camera_optical"/>
     <node if="$(eval direction_z == 'up' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 1.5707963 0 0 base_link main_camera_optical"/>
     <node if="$(eval direction_z == 'up' and direction_y == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 -1.5707963 0 0 base_link main_camera_optical"/>
+    <node if="$(eval direction_z == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.03 0 0.05 -1.5707963 0 -1.5707963 base_link main_camera_optical"/>
+    <node if="$(eval direction_z == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="-0.03 0 0.05 1.5707963 0 -1.5707963 base_link main_camera_optical"/>
 
     <!-- Template for custom camera orientation -->
     <!-- Camera position and orientation are represented by base_link -> main_camera_optical transform -->

clover/src/simple_offboard.cpp

@@ -36,6 +36,7 @@
 #include <mavros_msgs/Thrust.h>
 #include <mavros_msgs/State.h>
 #include <mavros_msgs/StatusText.h>
+#include <mavros_msgs/ManualControl.h>
 
 #include <clover/GetTelemetry.h>
 #include <clover/Navigate.h>
@@ -74,7 +75,7 @@ ros::Duration global_position_timeout;
 ros::Duration battery_timeout;
 float default_speed;
 bool auto_release;
-bool land_only_in_offboard, nav_from_sp;
+bool land_only_in_offboard, nav_from_sp, check_kill_switch;
 std::map<string, string> reference_frames;
 
 // Publishers
@@ -122,6 +123,7 @@ enum { YAW, YAW_RATE, TOWARDS } setpoint_yaw_type;
 // Last received telemetry messages
 mavros_msgs::State state;
 mavros_msgs::StatusText statustext;
+mavros_msgs::ManualControl manual_control;
 PoseStamped local_position;
 TwistStamped velocity;
 NavSatFix global_position;
@@ -486,6 +488,18 @@ void publishSetpoint(const ros::TimerEvent& event)
 	publish(event.current_real);
 }
 
+inline void checkKillSwitch()
+{
+	if (!TIMEOUT(manual_control, state_timeout))
+		throw std::runtime_error("Manual control timeout, can't check kill switch status");
+
+	const int KILL_SWITCH_BIT = 12; // https://github.com/PX4/Firmware/blob/c302514a0809b1765fafd13c014d705446ae1113/src/modules/mavlink/mavlink_messages.cpp#L3975
+	bool kill_switch = manual_control.buttons & (1 << KILL_SWITCH_BIT);
+
+	if (kill_switch)
+		throw std::runtime_error("Kill switch is on");
+}
+
 inline void checkState()
 {
 	if (TIMEOUT(state, state_timeout))
@@ -513,6 +527,10 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 		// Checks
 		checkState();
 
+		if (auto_arm && check_kill_switch) {
+			checkKillSwitch();
+		}
+
 		// default frame is local frame
 		if (frame_id.empty())
 			frame_id = local_frame;
@@ -834,6 +852,7 @@ int main(int argc, char **argv)
 	nh_priv.param("auto_release", auto_release, true);
 	nh_priv.param("land_only_in_offboard", land_only_in_offboard, true);
 	nh_priv.param("nav_from_sp", nav_from_sp, true);
+	nh_priv.param("check_kill_switch", check_kill_switch, true);
 	nh_priv.param("default_speed", default_speed, 0.5f);
 	nh_priv.param<string>("body_frame", body.child_frame_id, "body");
 	nh_priv.getParam("reference_frames", reference_frames);
@@ -860,6 +879,7 @@ int main(int argc, char **argv)
 	auto global_position_sub = nh.subscribe("mavros/global_position/global", 1, &handleMessage<NavSatFix, global_position>);
 	auto battery_sub = nh.subscribe("mavros/battery", 1, &handleMessage<BatteryState, battery>);
 	auto statustext_sub = nh.subscribe("mavros/statustext/recv", 1, &handleMessage<mavros_msgs::StatusText, statustext>);
+	auto manual_control_sub = nh.subscribe("mavros/manual_control/control", 1, &handleMessage<mavros_msgs::ManualControl, manual_control>);
 	auto local_position_sub = nh.subscribe("mavros/local_position/pose", 1, &handleLocalPosition);
 
 	// Setpoint publishers

clover_blocks/README.md

@@ -30,7 +30,9 @@ The frontend files are located in [`www`](./www/) subdirectory. The frontend app
 Parameters read by frontend:
 
 * `~navigate_tolerance` (*float*) – distance tolerance in meters, used for navigate-like blocks (default: 0.2).
+* `~yaw_tolerance` (*float*) – yaw angle tolerance in degrees, used in set_yaw block (default: 20).
 * `~sleep_time` (*float*) – duration of sleep in loop cycles, used for navigate-like blocks (default: 0.2).
+* `~confirm_run` (*bool*) – enable confirmation to run the program (default: true).
 
 These parameters also can be set as URL GET-parameters, for example:
 

clover_blocks/www/main.js

@@ -39,7 +39,9 @@ var workspace = Blockly.inject('blockly', {
 function readParams() {
 	return Promise.all([
 		ros.readParam('navigate_tolerance', true, 0.2),
-		ros.readParam('sleep_time', true, 0.2)
+		ros.readParam('yaw_tolerance', true, 20),
+		ros.readParam('sleep_time', true, 0.2),
+		ros.readParam('confirm_run', true, true),
 	]);
 }
 
@@ -107,7 +109,7 @@ new ROSLIB.Topic({ ros: ros.ros, name: ros.priv + 'prompt', messageType: 'clover
 		name: ros.priv + 'input/' + msg.id,
 		messageType: 'std_msgs/String',
 		latch: true
-	}).publish(new ROSLIB.Message({ data: response }));
+	}).publish(new ROSLIB.Message({ data: response || '' }));
 });
 
 window.stopProgram = function() {
@@ -123,7 +125,7 @@ ros.ros.on('close', update);
 ready.then(() => runButton.disabled = false);
 
 window.runProgram = function() {
-	if (!confirm('Run program?')) return;
+	if (ros.params.confirm_run && !confirm('Run program?')) return;
 
 	runRequest = true;
 	update();

clover_blocks/www/python.js

@@ -38,11 +38,10 @@ const LAND_WAIT = () => `\ndef land_wait():
     while get_telemetry().armed:
         rospy.sleep(${params.sleep_time})\n`;
 
-// TODO: tolerance to parameters
 const WAIT_YAW = () => `\ndef wait_yaw():
     while not rospy.is_shutdown():
         telem = get_telemetry(frame_id='navigate_target')
-        if abs(telem.yaw) < math.radians(20):
+        if abs(telem.yaw) < math.radians(${params.yaw_tolerance}):
             return
         rospy.sleep(${params.sleep_time})\n`;
 

docs/en/leds.md

@@ -1,6 +1,6 @@
 # Working with a LED strip
 
-> **Note** Documentation for the [image](image.md) versions, starting with **0.20**. For older versions refer to [documentation for version **0.19**](https://github.com/CopterExpress/clover/blob/v0.19/docs/en/leds.md).
+> **Note** Documentation for the [image](image.md) versions, starting with **0.21**. For older versions refer to [documentation for version **0.20**](https://github.com/CopterExpress/clover/blob/v0.20/docs/en/leds.md).
 
 Clover drone kits contain addressable LED strips based on *ws281x* drivers. Each LED may be set to any one of 16 million possible colors (each color is encoded by a 24-bit number). This allows making the Clover flight more spectacular, as well as show flight modes, display stages of current user program, and notify the pilot of other events.
 
@@ -26,8 +26,8 @@ Our [Raspberry Pi image](image.md) contains preinstalled modules for interfacing
 3. Configure the *ws281x* parameters in `~/catkin_ws/src/clover/clover/launch/led.launch`. Change the number of addressable LEDs and the GPIO pin used for control to match your configuration:
 
     ```xml
-    <param name="led_count" value="30"/>  <!-- Number of LEDs in the strip -->
-    <param name="gpio_pin" value="21"/>   <!-- GPIO data pin -->
+    <arg name="led_count" default="58"/>  <!-- Number of LEDs in the strip -->
+    <arg name="gpio_pin" default="21"/>   <!-- GPIO data pin -->
     ```
 
 High-level interface allows changing current effect (or animation) on the strip. It is exposed as the `/led/set_effect` service. It has the following arguments:

docs/en/models.md

@@ -2,6 +2,84 @@
 
 This page contains models and drawings of some of the drone parts. They can be used for 3D printing and/or laser cutting replacement parts.
 
+## Clover 4.2
+
+### Milling
+
+<table>
+    <tr><th width=150>Preview</th><th>Part</th><th width=1>File</th></tr>
+    <tr>
+        <td><img src="../assets/dxf/4.2/deck_mount.png"></td>
+        <td>
+            <b>Deck mount</b>.<br>
+            Function: Deck for installing battery and Raspberry Pi<br>
+            Material: Monolithic polycarbonate 2mm.<br>
+            Quantity: 1 pcs.
+        </td>
+        <td><a href="https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/4.2/deck_mount.dxf"><code>deck_mount.dxf</code></a></td>
+    </tr>
+    <tr>
+        <td><img src="../assets/dxf/4.2/deck_mount_small.png"></td>
+        <td>
+            <b>Deck mount small</b>.<br>
+            Function: Deck for mounting FPV cameras and mounting stiffening plates.<br>
+            Material: Monolithic polycarbonate 2mm.<br>
+            Quantity: 1 pcs.
+        </td>
+        <td><a href="https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/4.2/deck_mount_small.dxf"><code>deck_mount_small.dxf</code></a></td>
+    </tr>
+    <tr>
+        <td><img src="../assets/dxf/4.2/grab_deck.png"></td>
+        <td>
+            <b>Grab deck</b>.<br>
+            Function: Deck for installing grippers and external peripherals (camera, rangefinder).<br>
+            Material: Monolithic polycarbonate 2mm.<br>
+            Quantity: 1 pcs.
+        </td>
+        <td><a href="https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/4.2/grab_deck.dxf"><code>grab_deck.dxf</code></a></td>
+    </tr>
+    <tr>
+        <td><img src="../assets/dxf/4.2/led_mount_plate.png"></td>
+        <td>
+            <b>Led mount plate</b>.<br>
+            Function: Fixing the LED strip.<br>
+            Material: Monolithic polycarbonate 2mm.<br>
+            Quantity: 1 pcs.
+        </td>
+        <td><a href="https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/4.2/led_mount_plate.dxf"><code>led_mount_plate.dxf</code></a></td>
+    </tr>
+    <tr>
+        <td><img src="../assets/dxf/4.2/prop_guard.png"></td>
+        <td>
+            <b>Prop guard</b>.<br>
+            Function: Prevent damage of propellers.<br>
+            Material: Monolithic polycarbonate 2mm.<br>
+            Quantity: 4 pcs.
+        </td>
+        <td><a href="https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/4.2/prop_guard.dxf"><code>prop_guard.dxf</code></a></td>
+    </tr>
+    <tr>
+        <td><img src="../assets/dxf/4.2/prop_guard_mount.png"></td>
+        <td>
+            <b>Prop guard mount</b>.<br>
+            Function: Arc for securing the guard.<br>
+            Material: Monolithic polycarbonate 2mm.<br>
+            Quantity: 2 pcs.
+        </td>
+        <td><a href="https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/4.2/prop_guard_mount.dxf"><code>prop_guard_mount.dxf</code></a></td>
+    </tr>
+    <tr>
+        <td><img src="../assets/dxf/4.2/small_leg.png"></td>
+        <td>
+            <b>Small leg</b>.<br>
+            Function: Standard footing element.<br>
+            Material: Monolithic polycarbonate 2mm.<br>
+            Quantity: 2 pcs.
+        </td>
+        <td><a href="https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/4.2/small_leg.dxf"><code>small_leg.dxf</code></a></td>
+    </tr>
+</table>
+
 ## Clover 4
 
 ### 3D print

docs/ru/leds.md

@@ -1,6 +1,6 @@
 # Работа со светодиодной лентой
 
-> **Note** Документация для версий [образа](image.md), начиная с **0.20**. Для более ранних версий см. [документацию для версии **0.19**](https://github.com/CopterExpress/clover/blob/v0.19/docs/ru/leds.md).
+> **Note** Документация для версий [образа](image.md), начиная с **0.21**. Для более ранних версий см. [документацию для версии **0.20**](https://github.com/CopterExpress/clover/blob/v0.20/docs/ru/leds.md).
 
 Адресуемая RGB-светодиодная лента типа *ws281x*, которая входит в наборы "Клевер", позволяет выставлять произвольные 24-битные цвета на каждый из отдельных светодиодов. Это позволяет сделать полет Клевера более ярким, а также визуально получать информацию о полетных режимах, этапе выполнения пользовательской программы и других событиях.
 
@@ -26,8 +26,8 @@
 3. Настройте параметры подключения ленты *ws281x* в файле `~/catkin_ws/src/clover/clover/launch/led.launch`. Необходимо ввести верное количество светодиодов в ленте и GPIO-пин, использованный для подключения (если он отличается от *GPIO21*):
 
     ```xml
-    <param name="led_count" value="30"/>  <!-- количество светодиодов в ленте -->
-    <param name="gpio_pin" value="21"/>   <!-- GPIO-пин для подключения -->
+    <arg name="led_count" default="58"/> <!-- количество светодиодов в ленте -->
+    <arg name="gpio_pin" default="21"/> <!-- GPIO-пин для подключения -->
     ```
 
 Высокоуровневое управления лентой позволяет управлять текущим эффектом (анимацией) на ленте. Для этого используется ROS-сервис `/led/set_effect`. Параметры сервиса:

docs/ru/models.md

@@ -2,6 +2,84 @@
 
 На этой странице представлены CAD-модели некоторых деталей квадрокоптеров Клевер.
 
+## Клевер 4.2
+
+### Фрезеровка
+
+<table>
+    <tr><th width=150>Изображение</th><th>Деталь</th><th width=1>Файл</th></tr>
+    <tr>
+        <td><img src="../assets/dxf/4.2/deck_mount.png"></td>
+        <td>
+            <b>Дека монтажная</b>.<br>
+            Функция: Дека для установки АКБ и Raspberry Pi.<br>
+            Материал: Монолитный поликарбонат 2мм.<br>
+            Количество: 1 шт.
+        </td>
+        <td><a href="https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/4.2/deck_mount.dxf"><code>deck_mount.dxf</code></a></td>
+    </tr>
+    <tr>
+        <td><img src="../assets/dxf/4.2/deck_mount_small.png"></td>
+        <td>
+            <b>Дека монтажная малая</b>.<br>
+            Функция: Дека для установки FPV камеры и крепления пластин жесткости.<br>
+            Материал: Монолитный поликарбонат 2мм.<br>
+            Количество: 1 шт.
+        </td>
+        <td><a href="https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/4.2/deck_mount_small.dxf"><code>deck_mount_small.dxf</code></a></td>
+    </tr>
+    <tr>
+        <td><img src="../assets/dxf/4.2/grab_deck.png"></td>
+        <td>
+            <b>Дека захвата</b>.<br>
+            Функция: Дека для установки захватов и внешней переферии(камера, дальномер).<br>
+            Материал: Монолитный поликарбонат 2мм.<br>
+            Количество: 1 шт.
+        </td>
+        <td><a href="https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/4.2/grab_deck.dxf"><code>grab_deck.dxf</code></a></td>
+    </tr>
+    <tr>
+        <td><img src="../assets/dxf/4.2/led_mount_plate.png"></td>
+        <td>
+            <b>Пластина для LED</b>.<br>
+            Функция: Крепление светодиодной ленты.<br>
+            Материал: Монолитный поликарбонат 2мм.<br>
+            Количество: 1 шт.
+        </td>
+        <td><a href="https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/4.2/led_mount_plate.dxf"><code>led_mount_plate.dxf</code></a></td>
+    </tr>
+    <tr>
+        <td><img src="../assets/dxf/4.2/prop_guard.png"></td>
+        <td>
+            <b>Дуга</b>.<br>
+            Функция: Предотвращение повреждения пропеллеров.<br>
+            Материал: Монолитный поликарбонат 2мм.<br>
+            Количество: 4 шт.
+        </td>
+        <td><a href="https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/4.2/prop_guard.dxf"><code>prop_guard.dxf</code></a></td>
+    </tr>
+    <tr>
+        <td><img src="../assets/dxf/4.2/prop_guard_mount.png"></td>
+        <td>
+            <b>Дуга монтажная</b>.<br>
+            Функция: Дуга для закрепления контура защиты.<br>
+            Материал: Монолитный поликарбонат 2мм.<br>
+            Количество: 2 шт.
+        </td>
+        <td><a href="https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/4.2/prop_guard_mount.dxf"><code>prop_guard_mount.dxf</code></a></td>
+    </tr>
+    <tr>
+        <td><img src="../assets/dxf/4.2/small_leg.png"></td>
+        <td>
+            <b>Ножка маленькая</b>.<br>
+            Функция: Стандартный опорный элемент.<br>
+            Материал: Монолитный поликарбонат 2мм.<br>
+            Количество: 2 шт.
+        </td>
+        <td><a href="https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/4.2/small_leg.dxf"><code>small_leg.dxf</code></a></td>
+    </tr>
+</table>
+
 ## Клевер 4
 
 ### 3D печать

docs/ru/projects.md

@@ -34,6 +34,7 @@
 |Программное определение падений в PX4||
 |Начало полета в броске|[Throw Mode](https://ardupilot.org/copter/docs/throw-mode.html) в ArduPilot.|
 |Полет коптера на точку на изображении с камеры, направленной вертикально вниз||
+|Внедрение лидара ([RPLIDAR](https://www.slamtec.com/en/Lidar)) в Клевер||
 |Зарядная станция для коптера на солнечном концентраторе|<!-- placeholder for gitbook-->|
 
 Вышеперечисленные и другие проекты вы также можете реализовать в рамках конкурса проектов [Copter Hack](https://ru.coex.tech/copterhack). Мы приглашаем команды для реализации проектов и в других форматах.