From 7f642da02f236e2baf8060dd4011ca99991d1fbe Mon Sep 17 00:00:00 2001 From: sfalexrog Date: Sun, 18 Aug 2019 21:27:34 +0300 Subject: [PATCH] docs: Minor fixes, update glossary (en) --- docs/en/README.md | 4 ++-- docs/en/gloss.md | 50 ++++++++++++++++++++++++++++++++++++++++++----- docs/en/wifi.md | 8 ++++---- 3 files changed, 51 insertions(+), 11 deletions(-) diff --git a/docs/en/README.md b/docs/en/README.md index 757b7a25..6a21ee47 100644 --- a/docs/en/README.md +++ b/docs/en/README.md @@ -4,10 +4,10 @@ CLEVER (Russian: *"Клевер"*, meaning *"Clover"*) is an educational kit of a programmable quadcopter that consists of popular open source components, and a set of necessary documentation and libraries for working with it. -The kit includes a Pixhawk/Pixracer flight controller with the PX4 flight stack, a [Raspberry Pi 3](raspberry.md) as a controlling onboard computer, and a [camera module](camera.md) for performing flights with the use of computer vision, and a set of various sensors and other peripherals. +The kit includes a Pixhawk/Pixracer flight controller with the PX4 flight stack, a [Raspberry Pi 3](raspberry.md) as a controlling onboard computer, and a [camera module](camera.md) for performing flights with the use of computer vision, as well as a set of various sensors and other peripherals. The Clever platform contains a [pre-configured image for Raspberry Pi](image.md) with the full set of required software for working with peripheral devices and [programming autonomous flights](simple_offboard.md). The source code of the platform and of the documentation is open and [available on GitHub](https://github.com/CopterExpress/clever). -If you have studied the documentation, but have not found an answer to your question, write to our support chat, and our specialists will be happy to answer you: [@COEXHelpdesk](tg://resolve?domain=COEXHelpdesk). +If you have studied the documentation but have not found an answer to your question, join our support chat and our specialists will be happy to answer you: [@COEXHelpdesk](tg://resolve?domain=COEXHelpdesk). We also have a chat for programmers coding for PX4, autonomous navigation indoors, and drone swarms: [@DroneCode](tg://resolve?domain=DroneCode). diff --git a/docs/en/gloss.md b/docs/en/gloss.md index ebb73cd3..866c0fa1 100644 --- a/docs/en/gloss.md +++ b/docs/en/gloss.md @@ -1,5 +1,9 @@ # Glossary +## Drone + +An unmanned aircraft. Typical examples are: quadrotors, hexacopters, model airplanes, fixed wings, VTOLs, model helicopters. + ## Quadcopter An unmanned aerial vehicle with 4 propellers and an electronic stabilization system. @@ -15,9 +19,13 @@ Pixhawk, ArduPilot, Naze32, CC3D. **2\.** Software for the multicopter control circuit-board. Examples: PX4, APM, CleanFlight. +## Firmware + +Software primarily for embedded systems, for example, a flight controller or an ESC. + ## Motor -An electric motor that rotates propellers of the multicopter. Usually, brushless motors are used. These motors are connected to ESC. +An electric motor that rotates propellers of the multicopter. Brushless motors are commonly used. These motors require an ESC. ## ESC / motor controller @@ -25,6 +33,16 @@ An Electronic Speed Controller. A specialized circuit-board that controls the sp ESC has the firmware that determines the characteristics of its operation. +## Battery + +A rechargeable power source for the drone. Quadrotors typically use LiPo (lithium-ion polymer) batteries. + +## Battery cell + +Single element of the battery pack. Typical drone batteries contain several (2 to 6) cells connected in series. Maximum LiPo cell voltage is 4.2 v; battery voltage is a sum of each cell's voltage (if they are connected in series). The number of cells connected in series is marked by the letter *S*, as in *2S* (two cells in series), *3S*, *4S*. + +Clever kits typically use *3S* batteries. + ## Remote control / radio control equipment A radio-operated quadcopter remote control. Operation of the remote control requires connecting a receiver to the flight controller. @@ -35,7 +53,7 @@ Clever may also be [controlled from a smartphone](rc.md). **1\.** Transmitting the data about the state of a quadcopter or another aircraft over a distance. -**2\.** The sum of data about the aircraft state as such (height, orientation, global coordinates, etc.). +**2\.** The data about the aircraft state (height, orientation, global coordinates, etc.). **3\.** A system for transmitting the data about the aircraft state or commands to it over the air. Examples: radio modems (RFD900, 3DR Radio Modem), Wi-Fi modules (ESP-07). Raspberry Pi may also be used in Clever as a telemetry module: [the use of QGroundControl via Wi-Fi](gcs_bridge.md). @@ -47,15 +65,25 @@ The opposite state is Disarmed. ## PX4 -A popular open source flight controller that works with circuit-boards Pixhawk, Pixracer, and others. PX4 is recommended to be used with Clever. +A popular open source flight controller software that works with the Pixhawk series of flight controllers, Pixracer, and others. PX4 is recommended to be used with Clever. + +## Raspberry Pi + +[A popular single-board computer](raspberry.md) that is used in the Clever kit. + +## SD card image + +A complete digital copy of SD card contents stored in a single file. This file may be written to an SD card using special software like Etcher. A Raspberry Pi's SD card is the only long-term memory of the single-board computer. + +The Clever kit includes a [recommended SD card image](image.md) ## APM / ArduPilot -An open source flight controller originally created for the Arduino circuit-boards. It was later ported to Pixhawk, Pixracer and other boards. +An open source flight controller originally created for the Arduino boards. It was later ported to Pixhawk, Pixracer and other boards. ## MAVLink -A communication protocol for drones, ground stations and other devices over the radio channels. Usually, it is this protocol that is used for telemetry. +A communication protocol for drones, ground stations and other devices over radio channels. This protocol is widely used for telemetry. ## ROS @@ -68,3 +96,15 @@ A library that is a link between the aircraft operating using the MAVLink protoc ## UART A serial asynchronous data transfer interface used in many devices. For example, GPS antennas, Wi-Fi routers, or Pixhawk. + +## IMU + +Inertial measurement unit. A set of inertial sensors (a gyroscope and an accelerometer; a magnetometer is typically added as well) that allow the drone to compute its orientation (and, to a lesser extent, position) in space. + +## Estimation + +A process of current state (position, rotation, velocity, angular rates, etc.) estimation performed by the flight controller software. A [Kalman Filter](https://en.wikipedia.org/wiki/Kalman_filter) is typically used for sensor fusion; other filters are typically applied to raw sensor data. + +PX4 has two estimation modules: LPE and [ECL EKF](https://dev.px4.io/en/tutorials/tuning_the_ecl_ekf.html) (EKF2). + +APM utilizes its [EKF2](http://ardupilot.org/dev/docs/ekf2-estimation-system.html) subsystem. diff --git a/docs/en/wifi.md b/docs/en/wifi.md index 53ee6987..50a532e4 100644 --- a/docs/en/wifi.md +++ b/docs/en/wifi.md @@ -1,17 +1,17 @@ Connecting to Clever via Wi-Fi === -[RPi image](image.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. +[RPi image](image.md) provides a pre-configured Wi-Fi access point with SSID `CLEVER-xxxx`, where `xxxx` are four random numbers that are assigned when your Raspberry Pi is run for the first time. -Connect to Wi-Fi, using the password: `cleverwifi`. +Connect to this Wi-Fi using the password `cleverwifi`. Wi-Fi SSID -To edit the Wi-Fi settings, or to obtain more detailed information about the network device on Raspberry Pi, read this [article](network.md). +To edit Wi-Fi settings, or to obtain more detailed information about the network device on Raspberry Pi, read this [article](network.md). ## Web interface -After connecting to Clever Wi-Fi, point http://192.168.11.1 in you web browser. It contains all the basic web tools of Clever: viewing image topics, web terminal (Butterfly), and the full copy of this documentation. +After connecting to Clever Wi-Fi, open http://192.168.11.1 in you web browser. It contains all the basic web tools of Clever: viewing image topics, web terminal (Butterfly), and the full copy of this documentation. Веб-интерфейс Клевера