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docs: minor fixes

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Oleg Kalachev
2023-05-28 09:59:27 +03:00
parent 2997951371
commit 91d33a5961
2 changed files with 11 additions and 11 deletions
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docs/en/blocks.md
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<img src="../assets/blocks/blockly.svg" width=200 align="right">
Visual blocks programming feature has been added to the [RPi image](image.md), starting with the version **0.21**. Blocks programming is implemented using [Google Blockly](https://developers.google.com/blockly) platform. Blocks programming integration can lower the entry barrier to a minimum.
Visual blocks programming feature has been added to the [RPi image](image.md), starting with the version **0.21**. Blocks programming is implemented using [Google Blockly](https://developers.google.com/blockly) library. Blocks programming integration can lower the entry barrier to a minimum.
## Configuration

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docs/en/sonar.md
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# Working with the ultrasonic distance gage
# Working with the ultrasonic distance sensor
Ultrasonic distance gage (*"sonar"*) is a distance gage based on the principle of measuring the time of a sound wave (about 40 kHz) propagation to the obstacle and back. The sonar can measure the distance up to 1.5 – 3 m with the accuracy of several centimeters.
Ultrasonic distance sensor (*"sonar"*) is a distance sensor based on the principle of measuring the time of a sound wave (about 40 kHz) propagation to the obstacle and back. The sonar can measure the distance up to 1.5 – 3 m with the accuracy of several centimeters.
## Distance gage HC-SR04
## HC-SR04 distance sensor
<img src="../assets/hc-sr04.jpg" alt="hc-sr04" width=200>
## Installation
The distance gage is attached to the body using double-sided tape. For obtaining acceptable results, the use of vibro-insulation is required. A piece of PU foam may be used for vibro-insulation.
The distance sensor is attached to the body using double-sided tape. For obtaining acceptable results, the use of vibro-insulation is required. A piece of PU foam may be used for vibro-insulation.
### Connection
@@ -24,17 +24,17 @@ Connect HC-SR04 to Raspberry Pi according to the connection diagram. Use 1.0 and
### Reading the data
To read the data from distance gage HC-SR04 library for working with <abbr title="General-Purpose Input/Output">GPIO</abbr> is used – [`pigpio`](http://abyz.me.uk/rpi/pigpio/index.html). This library is pre-installed in the [Clover image](image.md), starting with version **v0.14**. For older versions of the image, use [an installation guide](http://abyz.me.uk/rpi/pigpio/download.html).
To read the data from distance sensor HC-SR04 library for working with <abbr title="General-Purpose Input/Output">GPIO</abbr> is used – [`pigpio`](http://abyz.me.uk/rpi/pigpio/index.html). This library is pre-installed in the [Clover image](image.md), starting with version **v0.14**. For older versions of the image, use [an installation guide](http://abyz.me.uk/rpi/pigpio/download.html).
To work with `pigpio`, start appropriate daemon:
```(bash)
```bash
sudo systemctl start pigpiod.service
```
You can also enable `pigpiod` auto launch on system startup:
```(bash)
```bash
sudo systemctl enable pigpiod.service
```
@@ -113,15 +113,15 @@ An example of charts of initial and filtered data:
The source code of the ROS-node used for building the chart can be found [on Gist](https://gist.github.com/okalachev/feb2d7235f5c9636802c3cda43add253).
## Distance gage RCW-0001
## RCW-0001 distance sensor
<img src="../assets/rcw-0001.jpg" width=200>
Ultrasonic distance gage RCW-0001 is compatible with distance gage HC-SR04. Use the instruction above to connect and work with it.
The RCW-0001 distance sensor is compatible with distance sensor HC-SR04. Use the instruction above to connect and work with it.
## Flight
An example of a flight program with the use of [simple_offboard](simple_offboard.md), which makes the copter fly forward until the connected ultrasonic distance gage detects an obstacle:
An example of a flight program with the use of [simple_offboard](simple_offboard.md), which makes the copter fly forward until the connected ultrasonic distance sensor detects an obstacle:
```python
set_velocity(vx=0.5, frame_id='body', auto_arm=True) # flying forward at the velocity of 0.5 mps