From 91d33a59614f7f50c4479b8dacd5e138cb384b7e Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sun, 28 May 2023 09:59:27 +0300 Subject: [PATCH] docs: minor fixes --- docs/en/blocks.md | 2 +- docs/en/sonar.md | 20 ++++++++++---------- 2 files changed, 11 insertions(+), 11 deletions(-) diff --git a/docs/en/blocks.md b/docs/en/blocks.md index f7b1665a..6e888c0a 100644 --- a/docs/en/blocks.md +++ b/docs/en/blocks.md @@ -2,7 +2,7 @@ -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 diff --git a/docs/en/sonar.md b/docs/en/sonar.md index 296b93f9..600db110 100644 --- a/docs/en/sonar.md +++ b/docs/en/sonar.md @@ -1,14 +1,14 @@ -# 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 hc-sr04 ## 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 GPIO 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 GPIO 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 -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