Merge remote-tracking branch 'origin/master' into buster-python3

builder/assets/init_rpi.sh

@@ -51,6 +51,9 @@ network={
 }
 EOF
 
+echo_stamp "Unblocking wireless interface"
+rfkill unblock wifi
+
 NEW_HOSTNAME=$(echo ${NEW_SSID} | tr '[:upper:]' '[:lower:]')
 echo_stamp "Setting hostname to $NEW_HOSTNAME"
 hostnamectl set-hostname $NEW_HOSTNAME

builder/image-build.sh

@@ -15,7 +15,7 @@
 
 set -e # Exit immidiately on non-zero result
 
-SOURCE_IMAGE="https://downloads.raspberrypi.org/raspbian_lite/images/raspbian_lite-2019-09-30/2019-09-26-raspbian-buster-lite.zip"
+SOURCE_IMAGE="https://downloads.raspberrypi.org/raspbian_lite/images/raspbian_lite-2020-02-14/2020-02-13-raspbian-buster-lite.zip"
 
 export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
 export LANG=${LANG:='C.UTF-8'}

builder/image-network.sh

@@ -41,7 +41,13 @@ interface wlan0
 static ip_address=192.168.11.1/24
 EOF
 
-echo_stamp "#2 Write dhcp-config to /etc/dnsmasq.conf"
+echo_stamp "#2 Set wpa_supplicant country"
+
+cat << EOF >> /etc/wpa_supplicant/wpa_supplicant.conf
+country=GB
+EOF
+
+echo_stamp "#3 Write dhcp-config to /etc/dnsmasq.conf"
 
 cat << EOF >> /etc/dnsmasq.conf
 interface=wlan0
@@ -54,4 +60,4 @@ domain-needed
 quiet-dhcp6
 EOF
 
-echo_stamp "#3 End of network installation"
+echo_stamp "#4 End of network installation"

builder/image-software.sh

@@ -155,6 +155,10 @@ cp -R node-v10.15.0-linux-armv6l/* /usr/local/
 rm -rf node-v10.15.0-linux-armv6l/
 rm node-v10.15.0-linux-armv6l.tar.gz
 
+echo_stamp "Installing ptvsd"
+my_travis_retry pip install ptvsd
+my_travis_retry pip3 install ptvsd
+
 echo_stamp "Add .vimrc"
 cat << EOF > /home/pi/.vimrc
 set mouse-=a

builder/test/tests.sh

@@ -12,6 +12,10 @@ python3 --version
 ipython --version
 ipython3 --version
 
+# ptvsd does not have a stand-alone binary
+python -m ptvsd --version
+python3 -m ptvsd --version
+
 node -v
 npm -v
 

clover/launch/aruco.launch

@@ -10,6 +10,7 @@
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <remap from="map_markers" to="aruco_map/markers" if="$(arg aruco_map)"/>
+        <param name="cornerRefinementMethod" value="2"/>
         <param name="estimate_poses" value="true"/>
         <param name="send_tf" value="true"/>
         <param name="known_tilt" value="map"/>

clover/launch/clover.launch

@@ -5,7 +5,7 @@
     <arg name="web_video_server" default="true"/>
     <arg name="rosbridge" default="true"/>
     <arg name="main_camera" default="true"/>
-    <arg name="optical_flow" default="false"/>
+    <arg name="optical_flow" default="true"/>
     <arg name="aruco" default="false"/>
     <arg name="rangefinder_vl53l1x" default="true"/>
     <arg name="led" default="true"/>
@@ -35,6 +35,7 @@
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <param name="calc_flow_gyro" value="true"/>
+        <param name="roi_rad" value="0.8"/>
     </node>
 
     <!-- main nodelet manager -->

clover/launch/fpv_camera.launch

@@ -1,6 +0,0 @@
-<launch>
-    <arg name="device" default="/dev/video1"/>
-    <arg name="port" default="9999"/>
-
-    <node name="fpv_camera" pkg="clover" type="fpv_camera" args="$(arg device) $(arg port)" output="screen"/>
-</launch>

clover/launch/main_camera.launch

@@ -1,20 +1,18 @@
 <launch>
+    <!-- article about camera setup: https://clever.coex.tech/camera_frame -->
+
+    <arg name="direction_z" default="down"/> <!-- direction the camera points: down, up -->
+    <arg name="direction_y" default="backward"/> <!-- direction the camera cable points: backward, forward -->
+
+    <node if="$(eval direction_z == 'down' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/>
+    <node if="$(eval direction_z == '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"/>
+
+    <!-- Template for custom camera orientation -->
     <!-- Camera position and orientation are represented by base_link -> main_camera_optical transform -->
     <!-- static_transform_publisher arguments: x y z yaw pitch roll frame_id child_frame_id -->
-
-    <!-- article about camera setup: https://clover.coex.tech/camera_frame -->
-
-    <!-- camera is oriented downward, camera cable goes backward [option 1] -->
-    <node 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"/>
-
-    <!-- camera is oriented downward, camera cable goes forward  [option 2] -->
-    <!--<node 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"/>-->
-
-    <!-- camera is oriented upward, camera cable goes backward   [option 3] -->
-    <!--<node 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"/>-->
-
-    <!-- camera is oriented upward, camera cable goes forward    [option 4] -->
-    <!--<node 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 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"/> -->
 
     <!-- camera node -->
     <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true">

clover/src/camera_stream

@@ -1,7 +1,7 @@
 #!/usr/bin/env bash
 
 # Usage
-# fpv_camera <video_device> <http port>
+# camera_stream <video_device> <http port>
 
-echo "Starting FPV camera $1 on :$2"
+echo "Starting camera stream $1 on :$2"
 mjpg_streamer -i "/usr/lib/input_uvc.so -d $1 -r 320x240 -f 30" -o "/usr/lib/output_http.so -w /usr/share/mjpg_streamer/www -p $2"

clover/src/optical_flow.cpp

@@ -46,7 +46,9 @@ private:
 	image_transport::CameraSubscriber img_sub_;
 	image_transport::Publisher img_pub_;
 	mavros_msgs::OpticalFlowRad flow_;
-	int roi_, roi_2_;
+	int roi_px_;
+	double roi_rad_;
+	cv::Rect roi_;
 	Mat hann_;
 	Mat prev_, curr_;
 	Mat camera_matrix_, dist_coeffs_;
@@ -63,8 +65,8 @@ private:
 
 		nh.param<std::string>("mavros/local_position/tf/frame_id", local_frame_id_, "map");
 		nh.param<std::string>("mavros/local_position/tf/child_frame_id", fcu_frame_id_, "base_link");
-		nh_priv.param("roi", roi_, 128);
-		roi_2_ = roi_ / 2;
+		nh_priv.param("roi", roi_px_, 128);
+		nh_priv.param("roi_rad", roi_rad_, 0.0);
 		nh_priv.param("calc_flow_gyro", calc_flow_gyro_, false);
 
 		img_sub_ = it.subscribeCamera("image_raw", 1, &OpticalFlow::flow, this);
@@ -112,9 +114,31 @@ private:
 
 		auto img = cv_bridge::toCvShare(msg, "mono8")->image;
 
-		// Apply ROI
-		if (roi_ != 0) {
-			img = img(cv::Rect((msg->width / 2 - roi_2_), (msg->height / 2 - roi_2_), roi_, roi_));
+		if (roi_.width == 0) { // ROI is not calculated
+			// Calculate ROI
+			if (roi_rad_ != 0) {
+				std::vector<cv::Point3f> object_points = {
+					cv::Point3f(-sin(roi_rad_ / 2), -sin(roi_rad_ / 2), cos(roi_rad_ / 2)),
+					cv::Point3f(sin(roi_rad_ / 2), sin(roi_rad_ / 2), cos(roi_rad_ / 2)),
+				};
+
+				std::vector<double> vec { 0, 0, 0 };
+				std::vector<cv::Point2f> img_points;
+				cv::projectPoints(object_points, vec, vec, camera_matrix_, dist_coeffs_, img_points);
+
+				roi_ = cv::Rect(cv::Point2i(round(img_points[0].x), round(img_points[0].y)), 
+					cv::Point2i(round(img_points[1].x), round(img_points[1].y)));
+
+				ROS_INFO("ROI: %d %d - %d %d ", roi_.tl().x, roi_.tl().y, roi_.br().x, roi_.br().y);
+
+			} else if (roi_px_ != 0) {
+				roi_ = cv::Rect((msg->width / 2 - roi_px_ / 2), (msg->height / 2 - roi_px_ / 2), roi_px_, roi_px_);
+			}
+		}
+
+		if (roi_.width != 0) { // ROI is set
+			// Apply ROI
+			img = img(roi_);
 		}
 
 		img.convertTo(curr_, CV_32F);

docs/en/lessons.md

@@ -8,17 +8,17 @@
 
 [**Lesson # 4** "Aerodynamics of the flight. Propeller"](https://github.com/CopterExpress/clever/blob/master/docs/en/lesson4.md)
 
-[**Lesson # 5** "Brushless motors and controllers"](https://github.com/CopterExpress/clever/blob/master/docs/en/lesson5.md)
+<!--[**Lesson # 5** "Brushless motors and controllers"](https://github.com/CopterExpress/clever/blob/master/docs/en/lesson5.md)-->
 
 [**Lesson 6** "Fundamentals of electromagnetism. Types of motors"](https://github.com/CopterExpress/clever/blob/master/docs/en/lesson6.md)
 
-[**Lesson # 7** "Operating principle, types and design of batteries"](https://github.com/CopterExpress/clever/blob/master/docs/en/lesson7.md)
+<!--[**Lesson # 7** "Operating principle, types and design of batteries"](https://github.com/CopterExpress/clever/blob/master/docs/en/lesson7.md)
 
 [**Lesson # 8** "Controlling the flight of the multicopter. The flight controller operating principle. PID ESCs"](https://github.com/CopterExpress/clever/blob/master/docs/en/lesson8.md)
 
 [**Lesson # 9** "Fundamentals of radio communication. Operation principle of radio control equipment"](https://github.com/CopterExpress/clever/blob/master/docs/en/lesson9.md)
 
-[**Lesson # 10** "Analog and digital video streaming. Cameras, transmitters and receivers used"](https://github.com/CopterExpress/clever/blob/master/docs/en/lesson10.md)
+[**Lesson # 10** "Analog and digital video streaming. Cameras, transmitters and receivers used"](https://github.com/CopterExpress/clever/blob/master/docs/en/lesson10.md)-->
 
 ## Video lessons
 

docs/en/sonar.md

@@ -73,8 +73,8 @@ def read_distance():
     global low
     done.clear()
     pi.gpio_trigger(TRIG, 50, 1)
-    done.wait(timeout=5)
-    return low / 58.0 / 100.0
+    if done.wait(timeout=5):
+        return low / 58.0 / 100.0
 
 pi.set_mode(TRIG, pigpio.OUTPUT)
 pi.set_mode(ECHO, pigpio.INPUT)

docs/ru/SUMMARY.md

@@ -13,6 +13,7 @@
   * [Настройка пульта](radio.md)
   * [Полетные режимы](modes.md)
   * [Настройка питания](power.md)
+  * [Настройка failsafe](failsafe.md)
 * Работа с Raspberry Pi
   * [Raspberry Pi](raspberry.md)
   * [Образ для RPi](image.md)

docs/ru/connection.md

@@ -22,7 +22,7 @@
 
 <!-- TODO схема подключения -->
 
-Дополнительным способом подключения является подключение подключение по интерйсу UART.
+Дополнительным способом подключения является подключение подключение по интерфейсу UART.
 
 1. Подключите Raspberry Pi к полетному контроллеру по UART.
 2. [Подключитесь в Raspberry Pi по SSH](ssh.md).

docs/ru/failsafe.md

@@ -0,0 +1,13 @@
+# Настройка failsafe
+
+Основная статья: https://docs.px4.io/master/en/config/safety.html.
+
+Во вкладке *Safety* настраиваются реакции квадрокоптера на различные нештатные ситуации. Рекомендуется включить как минимум реакцию на потерю связи с пультом управления:
+
+1. Откройте вкладку *Safety*.
+2. В блоке *RC Loss Failsafe Trigger* выберите один из рекомендуемых вариантов реакции на потерю связи с пультом:
+   * *Land mode* – переход в режим посадки;
+   * *Terminate* – аварийное отключение моторов.
+3. В поле *RC Loss Timeout* выберите значение таймаута, по истечении которого связь с пультом считается потерянной. Рекомендуемое значение – 0.5 s.
+
+<img src="../assets/qgc-failsafe.png" alt="QGroundControl failsafe" class="zoom">

docs/ru/power.md

@@ -31,3 +31,5 @@
 <img src="../assets/qgc-esc.png" class="zoom">
 
 Дополнительная информация: https://docs.px4.io/v1.9.0/en/advanced_config/esc_calibration.html.
+
+**Далее**: [настройка Failsafe](failsafe.md).

docs/ru/sonar.md

@@ -73,8 +73,8 @@ def read_distance():
     global low
     done.clear()
     pi.gpio_trigger(TRIG, 50, 1)
-    done.wait(timeout=5)
-    return low / 58.0 / 100.0
+    if done.wait(timeout=5):
+        return low / 58.0 / 100.0
 
 pi.set_mode(TRIG, pigpio.OUTPUT)
 pi.set_mode(ECHO, pigpio.INPUT)