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docs: Minor fixes, update glossary (en)
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sfalexrog
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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.
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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.
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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.
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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).
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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).
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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).
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We also have a chat for programmers coding for PX4, autonomous navigation indoors, and drone swarms: [@DroneCode](tg://resolve?domain=DroneCode).
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# Glossary
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## Drone
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An unmanned aircraft. Typical examples are: quadrotors, hexacopters, model airplanes, fixed wings, VTOLs, model helicopters.
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## Quadcopter
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An unmanned aerial vehicle with 4 propellers and an electronic stabilization system.
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**2\.** Software for the multicopter control circuit-board. Examples: PX4, APM, CleanFlight.
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## Firmware
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Software primarily for embedded systems, for example, a flight controller or an ESC.
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## Motor
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An electric motor that rotates propellers of the multicopter. Usually, brushless motors are used. These motors are connected to ESC.
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An electric motor that rotates propellers of the multicopter. Brushless motors are commonly used. These motors require an ESC.
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## ESC / motor controller
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ESC has the firmware that determines the characteristics of its operation.
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## Battery
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A rechargeable power source for the drone. Quadrotors typically use LiPo (lithium-ion polymer) batteries.
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## Battery cell
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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*.
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Clever kits typically use *3S* batteries.
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## Remote control / radio control equipment
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A radio-operated quadcopter remote control. Operation of the remote control requires connecting a receiver to the flight controller.
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**1\.** Transmitting the data about the state of a quadcopter or another aircraft over a distance.
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**2\.** The sum of data about the aircraft state as such (height, orientation, global coordinates, etc.).
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**2\.** The data about the aircraft state (height, orientation, global coordinates, etc.).
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**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).
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## PX4
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A popular open source flight controller that works with circuit-boards Pixhawk, Pixracer, and others. PX4 is recommended to be used with Clever.
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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.
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## Raspberry Pi
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[A popular single-board computer](raspberry.md) that is used in the Clever kit.
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## SD card image
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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.
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The Clever kit includes a [recommended SD card image](image.md)
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## APM / ArduPilot
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An open source flight controller originally created for the Arduino circuit-boards. It was later ported to Pixhawk, Pixracer and other boards.
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An open source flight controller originally created for the Arduino boards. It was later ported to Pixhawk, Pixracer and other boards.
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## MAVLink
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A communication protocol for drones, ground stations and other devices over the radio channels. Usually, it is this protocol that is used for telemetry.
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A communication protocol for drones, ground stations and other devices over radio channels. This protocol is widely used for telemetry.
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## ROS
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## UART
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A serial asynchronous data transfer interface used in many devices. For example, GPS antennas, Wi-Fi routers, or Pixhawk.
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## IMU
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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.
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## Estimation
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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.
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PX4 has two estimation modules: LPE and [ECL EKF](https://dev.px4.io/en/tutorials/tuning_the_ecl_ekf.html) (EKF2).
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APM utilizes its [EKF2](http://ardupilot.org/dev/docs/ekf2-estimation-system.html) subsystem.
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Connecting to Clever via Wi-Fi
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===
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[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.
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[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.
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Connect to Wi-Fi, using the password: `cleverwifi`.
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Connect to this Wi-Fi using the 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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To edit 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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## Web interface
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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.
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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.
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<img src="../assets/web.png" alt="Веб-интерфейс Клевера" class="zoom">
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