+
6. Connect the camera ribbon cable to the camera.
-7. Connect the laser rangefineder to the Raspberry Pi using the following pinout:
+7. Connect the laser rangefinder to the Raspberry Pi using the following pinout:
* Connect **VCC** to pin 1 (**3v3**)
* Connect **GND** to pin 9 (**Ground**)
* Connect **SDA** to pin 3 (**GPIO2**)
@@ -391,7 +391,7 @@ Perform the quadrotor components setup according to [the "Configuration" section
> **Warning** Be sure to **not** mount the propellers **until the setup is complete**. Do it only when you are ready to fly.
-Attach the propellers according to their rotation direction. The battery should be disconnected duting propeller installation.
+Attach the propellers according to their rotation direction. The battery should be disconnected during propeller installation.
diff --git a/docs/en/assemble_4_2_ws.md b/docs/en/assemble_4_2_ws.md
new file mode 100644
index 00000000..7eb43e5f
--- /dev/null
+++ b/docs/en/assemble_4_2_ws.md
@@ -0,0 +1,352 @@
+# Clover 4 assembly
+
+## Fasteners size
+
+> **Hint** During assembly, screws and racks of various sizes are used, using fasteners of the wrong size can damage the copter.
+
+ |
+ Screw M3x10 | + |
+ Aluminium rack 40mm | +
 |
+ Screw M3x8 | + |
+ Aluminium rack 15mm | +
 |
+ Screw M3x5 | + |
+ Nylon rack 40mm | +
 |
+ Screw M2x5 | + |
+ Nylon rack 30mm | +
 |
+ Nut M3 (self-locking) | + |
+ Nylon rack 20mm | +
 |
+ Nut M3 (nylon) | + |
+ Nylon rack 15mm | +
 |
+ Damper rack | + |
+ Nylon rack 6mm | +
+ 
+ 
+
+
+2. Install 2 15mm posts on the center holes in the main deck and fix them with the M3x8 screws.
+
+
+
+ 
+
+3. Install the stiffener hook into the groove in the beam.
+
+ 
+
+4. Hold the stiffeners tight to the main deck.
+
+ 
+
+5. Tighten the stiffeners with a small carbon deck.
+
+ 
+
+6. Install 4 6mm nylon posts and fix them with the M3x5 screws.
+
+ 
+
+## Installing of motors
+
+1. When installing motors, pay attention to the rotation scheme of the motors. The rotation mark on the motors must match the rotation scheme.
+
+ 
+
+2. Mount the motor on the corresponding holes in the beam using **M3x5 screws**.
+
+
+ 
+ 
+
+
+> **Caution** Make sure that the motors are secured with M3x5 screws, otherwise a short circuit between the windings may occur.
+
+## Installing ESC and PDB
+
+1. Install the Power Distribution Board (PDB) on the pre-mounted stands, it must be installed with the power cable pointing towards the rear of the aircraft.
+
+
+
+
+ 
+ 
+
+
+2. Install the speed controllers (ESC) to the appropriate positions on the beam.
+
+
+
+
+ 
+ 
+
+
+3. Tighten the speed controllers (ESC) with cable ties.
+
+
+
+ 
+
+4. Measure out the required amount of ESC power wire, and cut off the excess.
+
+5. Strip and tin the cut wires
+
+6. Tin the contact pads on the power distribution board.
+
+7. Solder the ESC power wires to the power distribution board.
+
+
+
+ 
+
+
+ > **Caution** Be careful with the pin signatures on the board. The red wire should go to the site with the signature *+*, and the black one to the signature *-*.
+
+8. Cut off the excess phase cable coming from the motors.
+
+9. Strip and tin the phase cables.
+
+10. Tin the contact pads of the governors.
+
+11. Solder the phase cables to the contact pads of the regulators in any order.
+
+
+
+
+ 
+ 
+
+
+12. Solder 3 female JST connectors to *5V* pads and *bat+* pad
+
+
+
+
+ 
+ 
+
+
+## Installing the flight controller
+
+The *Clover 4* set allows you to install various flight controllers, for example *COEX Pix* and *Pixracer*.
+
+> **Caution** When installing the flight controller, pay attention to the arrow located on the board, when installing it must be directed towards the nose of the aircraft.
+
+### COEX Pix
+
+> **Hint** Before installing the damper struts, screw in 2 layers of nylon nuts for a stronger hold or bite off excess threads with side cutters.
+
+1. Secure the power distribution board with nylon nuts and mount the damper posts on top.
+
+2. Install the flight controller and secure with nylon nuts.
+
+
+
+ 
+
+3. Insert the flash card for logging into the flight controller.
+
+ 
+
+### Pixracer
+
+1. Secure the power distribution board with 6mm nylon struts.
+
+2. Install the small mounting deck and secure with nylon nuts.
+
+ 
+
+3. Glue 3-4 layers of double-sided tape, glue it in the center of the small deck and place the *Pixracer* on top.
+
+ 
+
+4. Insert the MicroSD card into the flight controller.
+
+ 
+
+## Connecting a flight controller
+
+1. Connect the ESCs to the flight controller according to the scheme.
+
+ 
+
+2. Connect the power cable to the power distribution board (PDB) and the corresponding connector on the flight controller.
+
+
+ 
+ 
+
+
+3. Install the 40mm aluminum posts onto the M3x12 screws.
+
+
+
+
+ 
+ 
+
+
+## Installing Raspberry Pi
+
+1. Place the 20 mm and 40 mm posts on the mounting deck, fix them with M3x8 screws.
+
+
+
+ 
+
+2. Use an M3x12 bolt to cut M3 carving in the Raspberry Pi mounting holes.
+
+3. Screw the 6mm racks into the Raspberry Pi board, secure them with nylon nuts if necessary.
+
+
+ 
+ 
+
+
+4. Mount the Raspberry Pi onto the mounting deck using M3x6 screws.
+
+
+
+ 
+
+5. Install the assembled module into the corresponding slots on the main deck of the drone.
+
+ 
+
+6. Plug the 5V JST into the corresponding power pins on the Raspberry Pi.
+
+ 
+
+7. Take 4 Dupont wires, cut 5β7 cm of cable and solder to the corresponding pins of the rangefinder.
+
+
+ 
+ 
+
+
+ | Wire | Rangefinder pin |
+ |------|-----------------|
+ | Red | 5v |
+ | Black | GND |
+ | Yellow | SDA |
+ | Green | SCL |
+
+
+
+
+ 
+ 
+
+
+8. Install the rangefinder on the grip deck and glue the radio to the 3M tape.
+
+ > **Caution** Install the rangefinder so that the nuts do not rest directly on the board. With this installation, if there is a high probability of damaging the board elements.
+
+
+
+ 
+
+9. Install 4 20mm nylon posts and fix them with M3x8 bolts.
+
+ 
+
+10. Place the camera on the small mounting deck and secure it with two short self-tapping screws.
+
+ > **Caution** If you attach the camera to the upper right corner and the screw head touches the element on the camera, the camera will not work.
+
+ 
+
+11. Place the small mounting deck with the camera on the stands and secure with the M3x8 bolts.
+
+ 
+
+12. Place the assembled module over the Raspberry Pi module and fix it with M3x8 bolts.
+
+ 
+
+13. Connect the camera and Raspberry Pi with a ribbon cable.
+
+ 
+
+14. Connect the rangefinder to the Raspberry Pi into the appropriate pins.
+
+ 
+
+15. Connect the radio and the flight controller with a 4-pin cable.
+
+ 
+
+## Installing LED strip and legs
+
+1. Assemble the hoop for the LED strip by locking the ends together.
+
+ 
+
+2. Solder the JST male to the power pad and the Dupont-female to the signal pad.
+
+ 
+
+3. Stick the LED strip to the hoop, for greater strength, tighten it with 3-4 clamps.
+
+ 
+
+4. Install the feet on the stiffener plate with self-locking nuts and M3x8 screws only using the outermost mounting holes. From below, between the plates of the legs, install a damper silicone ring.
+
+ 
+
+5. Bend the legs back and install the hoop with the LED strip in the special groove on them, so that the connection cables exit from the tail side of the copter.
+
+ 
+
+6. Secure the legs with self-locking nuts and M3x8 screws.
+
+ 
+
+7. Connect the LED strip power to the JST 5V connector on the power distribution board.
+
+ 
+
+8. Connect the signal output of the LED strip in the Raspberry Ri to pin *GPIO21*.
+
+ 
+
+9. Install the mounting deck and secure it with M3x8 screws.
+
+ 
+
+## Setting protection
+
+1. Assemble the lower level of protection using 40mm posts and M3x12 screws.
+
+ 
+
+2. Assemble the upper layer of protection using the M3x12 screws.
+
+ 
+
+3. Install the protection and fix it to the beams with self-locking nuts and M3x8 screws.
+
+ 
+
+4. Connect the flight controller to your Raspberry Pi using the USB cable.
+
+
+ 
+ 
+
+
+5. Install the battery strap.
+
+
+
+ 
+
+> **Success** The drone is assembled, next perform the ["setup"](setup.md) step.
diff --git a/docs/en/assembly.md b/docs/en/assembly.md
index ae6b7c4a..bfbebc5b 100644
--- a/docs/en/assembly.md
+++ b/docs/en/assembly.md
@@ -5,13 +5,12 @@ This section contains articles describing the assembly of each version of Clover
| Version | Image | ||
|---|---|---|---|
| Clover 4.2 | - |
+ + Clover 4.2 + + | + |
| Clover 4 | |
diff --git a/docs/en/blocks.md b/docs/en/blocks.md
index 5d32d883..19699453 100644
--- a/docs/en/blocks.md
+++ b/docs/en/blocks.md
@@ -108,3 +108,14 @@ The block allows to set animations to LED strip, similarly to [`set_effect`](led
Example of using the block with a random color (colors-related blocks are located in *Colour* category):
|
+ |
| ΠΠ»Π΅Π²Π΅Ρ 4.1 | - |
+  |
|
| ΠΠ»Π΅Π²Π΅Ρ 4 | diff --git a/docs/ru/blocks.md b/docs/ru/blocks.md index 14e0cdcd..5e503185 100644 --- a/docs/ru/blocks.md +++ b/docs/ru/blocks.md @@ -108,3 +108,14 @@ ΠΡΠΈΠΌΠ΅Ρ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°Π½ΠΈΡ Π±Π»ΠΎΠΊΠ° Π΄Π»Ρ ΡΡΡΠ°Π½ΠΎΠ²ΠΊΠΈ ΡΠ»ΡΡΠ°ΠΉΠ½ΠΎΠ³ΠΎ ΡΠ²Π΅ΡΠ° (Π±Π»ΠΎΠΊΠΈ, ΡΠ²ΡΠ·Π°Π½Π½ΡΠ΅ Ρ ΡΠ²Π΅ΡΠ°ΠΌΠΈ Π½Π°Ρ ΠΎΠ΄ΡΡΡΡ Π² ΠΊΠ°ΡΠ΅Π³ΠΎΡΠΈΠΈ *Colour*):
+
+### Work with GPIO {#GPIO}
+
+
+
+
diff --git a/docs/en/ir_sensors.md b/docs/en/ir_sensors.md
index fb0dae01..9bed19d0 100644
--- a/docs/en/ir_sensors.md
+++ b/docs/en/ir_sensors.md
@@ -8,7 +8,7 @@ Infrared sensors are a convenient tool for transmitting any commands to the copt
Most IR receivers operate and are connected the same way. Such receivers have 3 pins for connecting: G/GND β ground V/VCC β 5V power, S/OUT β signal.
-
+
-> **Caution** LED strip can consume a lot of power! Powering it from a Raspyerry Pi may overload the computer's power circuitry. Consider using a separate BEC as a power source.
+> **Caution** LED strip can consume a lot of power! Powering it from a Raspberry Pi may overload the computer's power circuitry. Consider using a separate BEC as a power source.
diff --git a/docs/en/lesson1.md b/docs/en/lesson1.md
index a2e04d32..2b69d6f5 100644
--- a/docs/en/lesson1.md
+++ b/docs/en/lesson1.md
@@ -60,7 +60,7 @@ An Unmanned Aerial Vehicle (UAV) is an aircraft flying without a pilot (crew) on
Types and configuration
-------------------
-There are many engines configurations: a tricopter, a hexacopter, or an octocopter, but the simplest one in terms of assembly and operation is a quadcopter, i. e., a multi-rotor platform with four engines. In turn, a quadcopter may have + and Ρ
configuration. In copters with a "+" configuration, one of the beams faces forward, while in platforms with the "x" configuration, the main direction of movement is between two adjacent beams.
+There are many engines configurations: a tricopter, a hexacopter, or an octocopter, but the simplest one in terms of assembly and operation is a quadcopter, i. e., a multi-rotor platform with four engines. In turn, a quadcopter may have + and x configuration. In copters with a "+" configuration, one of the beams faces forward, while in platforms with the "x" configuration, the main direction of movement is between two adjacent beams.
diff --git a/docs/en/lesson2.md b/docs/en/lesson2.md
index 7eed0b17..48b8405a 100644
--- a/docs/en/lesson2.md
+++ b/docs/en/lesson2.md
@@ -117,12 +117,11 @@ In a closed electric circuit, the sum of all the EMF is equal to the sum of the
In making equations, the direction of circuit traversal is chosen and arbitrarily specified directions of currents are specified.
-If an electric circuit contains two power sources, the directions of electromotive forces of which coincide, i.Π΅., connected according to Fig. 1, the EMF across the entire circuit shall be equal to the sum of the EMFs of the sources,
-Ρ. i.Π΅.,
+If an electric circuit contains two power sources, the directions of electromotive forces of which coincide, i.e., connected according to Fig. 1, the EMF across the entire circuit shall be equal to the sum of the EMFs of the sources, i.e.,
**E = E1+E2.**
-If a circuit contains two sources of EDS with opposite directions, i.Π΅., connected according to Fig. 2, the total EMF of the circuit will be equal to the difference of EMFs of these sources
+If a circuit contains two sources of EDS with opposite directions, i.e., connected according to Fig. 2, the total EMF of the circuit will be equal to the difference of EMFs of these sources
**Π = Π1βΠ2.**
diff --git a/docs/en/migrate20.md b/docs/en/migrate20.md
index d159fc21..2da6aed9 100644
--- a/docs/en/migrate20.md
+++ b/docs/en/migrate20.md
@@ -46,7 +46,7 @@ set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
land = rospy.ServiceProxy('land', Trigger)
-# Take off 1 ΠΌ
+# Take off 1 m
navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)
```
diff --git a/docs/en/optical_flow.md b/docs/en/optical_flow.md
index dcb0f121..450a28f5 100644
--- a/docs/en/optical_flow.md
+++ b/docs/en/optical_flow.md
@@ -44,7 +44,7 @@ When using **LPE** (parameter `SYS_MC_EST_GROUP` = `local_position_estimator, at
* `SENS_FLOW_ROT` β No rotation.
* `SENS_FLOW_MAXHGT` β 4.0 (for the rangefinder VL53L1X)
* `SENS_FLOW_MINHGT` β 0.01 (for the rangefinder VL53L1X)
-* Optional: `LPE_FUSION` βΒ falg 'pub agl as lpos down' is on (Ρf. [rangefinder setup](laser.md).
+* Optional: `LPE_FUSION` βΒ falg 'pub agl as lpos down' is on (see [rangefinder setup](laser.md).
[The `selfcheck.py` utility](selfcheck.md) will help you verify that all settings are correctly set.
@@ -97,7 +97,7 @@ When using Optical Flow, the maximal horizontal speed is further limited. This i
## Errors
-If errors of `EKF INTERNAL CHECKS` occur, try to restart EKF2. To do so, enter in the MAVLink-console : Π² MAVLink-ΠΊΠΎΠ½ΡΠΎΠ»ΠΈ:
+If errors like `EKF INTERNAL CHECKS` occur, try to restart EKF2. To do so, enter in the MAVLink-console:
```nsh
ekf2 stop
diff --git a/docs/en/programming.md b/docs/en/programming.md
index f85d3465..a55e802c 100644
--- a/docs/en/programming.md
+++ b/docs/en/programming.md
@@ -92,6 +92,8 @@ Read more in the [coordinate systems](frames.md) article.
You can also use the ["Autonomous flight"](simple_offboard.md) article as an API reference.
+> **Hint** Clover supports [blocks-based programming](blocks.md) as well.
+
## Additional periphery
The Clover platform also exposes APIs for interacting with other peripherals. Read more in the following articles:
diff --git a/docs/en/px4_parameters.md b/docs/en/px4_parameters.md
index 5bd1e7ee..d05c7690 100644
--- a/docs/en/px4_parameters.md
+++ b/docs/en/px4_parameters.md
@@ -20,7 +20,7 @@ This is a group of modules that calculates the current state of the copter using
* Copter orientation (in the local coordinate system) β pitch, roll, yaw (one of presentations);
* Copter position (in the local coordinate system) β x, y, z;
* Copter speed (in the local coordinate system) β vx, vy, vz;
-* Global coordinates of the copter β lattitude, longitude, altitude;
+* Global coordinates of the copter β latitude, longitude, altitude;
* Altitude above the surface;
* Other parameters (the drift of gyroscopes, wind speed, etc.).
@@ -39,15 +39,15 @@ This is a group of modules that calculates the current state of the copter using
Variant 2 is the most accurate; however, it is correct to use it only if the surface the copter flies over is flat. Otherwise, the Z axis origin will move up and down with the altitude of the surface.
-## Multicopter Control Position (flying by position)
+## Multicopter Position Control
These parameters adjust the flight of the copter by position (POSCTL, OFFBOARD, AUTO modes).
`MPC_THR_HOVER` β hovering throttle. This option is to set to the approximate percentage of throttle needed to make the copter maintain its altitude. If copter has a tendency to gain or lose altitude during the hovering mode, reduce or increase this value.
-`MPC_XY_P` β position factor *P* of the ESC. This parameter affects how sharply the copter will react to the position commands. A too high value may cause {ΠΏΠ΅ΡΠ΅ΡΡΡΠ΅Π»Ρ}.
+`MPC_XY_P` β position factor *P* of the ESC. This parameter affects how sharply the copter will react to the position commands. A too high value may cause overshoots.
-`MPC_XY_VEL_P` β speed factor *P* of the ESC. This parameter also affects the accuracy and sharpness of copter execution of the given position. A too high value may cause {ΠΏΠ΅ΡΠ΅ΡΡΡΠ΅Π»Ρ}.
+`MPC_XY_VEL_P` β speed factor *P* of the ESC. This parameter also affects the accuracy and sharpness of copter execution of the given position. A too high value may cause overshoots.
`MPC_XY_VEL_MAX` β the maximum horizontal speed in POSCTL, OFFBOARD, AUTO modes.
diff --git a/docs/en/ros-install.md b/docs/en/ros-install.md
index b2632048..1895c331 100644
--- a/docs/en/ros-install.md
+++ b/docs/en/ros-install.md
@@ -41,21 +41,21 @@ Now you can install the ROS package itself.
```
After the package has installed, initialize `rosdep`.
-Package `rosdep` will allow to easily install dependecies for the source files that you whish to compile. Running some essential components of ROS will as well require this package.
+Package `rosdep` will allow to easily install dependencies for the source files that you whish to compile. Running some essential components of ROS will as well require this package.
```bash
sudo rosdep init
rosdep update
```
-If you are not confortable with entering environment variables manually each time, you may configure it in a way that it add itself in your bash session on every new shell startup:
+If you are not comfortable with entering environment variables manually each time, you may configure it in a way that it add itself in your bash session on every new shell startup:
```bash
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
```
-If you whish to install any additionnal packages for yout ROS Melodic simply use:
+If you whish to install any additional packages for your ROS Melodic simply use:
```bash
sudo apt-get install ros-melodic-PACKAGE
diff --git a/docs/en/rviz.md b/docs/en/rviz.md
index 287bfc39..0573e70b 100644
--- a/docs/en/rviz.md
+++ b/docs/en/rviz.md
@@ -14,7 +14,7 @@ Install package `ros-melodic-desktop-full` or `ros-melodic-desktop` using the [i
Start rviz
---
-To start Π΅ΡΡ visualization of the state of Clover in real time, connect to it via Wi-Fi (`clover-xxx`) and run rviz, specifying an appropriate ROS_MASTER_URI:
+To start the Clover state visualization in real time, connect to it via Wi-Fi (`clover-xxx`) and run rviz, specifying an appropriate ROS_MASTER_URI:
```(bash)
ROS_MASTER_URI=http://192.168.11.1:11311 rviz
diff --git a/docs/en/setup.md b/docs/en/setup.md
index 7aa1c29a..29b543c1 100644
--- a/docs/en/setup.md
+++ b/docs/en/setup.md
@@ -14,7 +14,7 @@ Consult the [official QGroundControl user guide](https://docs.qgroundcontrol.com
Prepare the MicroSD card for your flight controller.
-
+
@@ -102,46 +102,50 @@
+
-
+
> **Note** ΠΠ° ΠΏΠ»Π°ΡΠ΅ ΡΠ΅Π²ΠΈΠ·ΠΈΠΈ 1.0 RC IN ΡΠ°Π·ΡΠ΅ΠΌ ΡΠ°ΡΠΏΠΎΠ»Π°Π³Π°Π»ΡΡ Π½Π° ΠΌΠ΅ΡΡΠ΅ ΡΠ°Π·ΡΠ΅ΠΌΠ° Micro SD. Π Π°ΡΠΏΠΈΠ½ΠΎΠ²ΠΊΠ° ΡΠ°ΠΌΠΎΠ³ΠΎ ΡΠ°Π·ΡΠ΅ΠΌΠ° ΠΎΡΡΠ°Π»Π°ΡΡ ΡΠ°ΠΊΠΎΠΉ ΠΆΠ΅.
@@ -58,3 +58,18 @@
### ΠΡΠΎΠ±Π΅Π½Π½ΠΎΡΡΠΈ ΠΏΠ»Π°ΡΡ
ΠΠ»Ρ ΠΏΠΎΠ²ΡΡΠ΅Π½ΠΈΡ Π½Π°Π΄Π΅ΠΆΠ½ΠΎΡΡΠΈ ΠΈ ΡΡΠ°Π±ΠΈΠ»ΡΠ½ΠΎΡΡΠΈ, ΠΏΠ»Π°ΡΠ° ΠΎΡΠ½Π°ΡΠ΅Π½Π° Π½ΠΈΠ·ΠΊΠΎΡΡΠΌΡΡΠΈΠΌΠΈ ΠΏΠΎΠ½ΠΈΠΆΠ°ΡΡΠΈΠΌΠΈ ΠΏΡΠ΅ΠΎΠ±ΡΠ°Π·ΠΎΠ²Π°ΡΠ΅Π»ΡΠΌΠΈ. Π£ΡΡΠ°Π½ΠΎΠ²Π»Π΅Π½ Π²Ρ
ΠΎΠ΄Π½ΠΎΠΉ LC ΡΠΈΠ»ΡΡΡ, Π° ΡΠ°ΠΊΠΆΠ΅ ΡΠ΅ΡΡΠΈΡΠΎΠ²ΡΠ΅ ΡΠΈΠ»ΡΡΡΡ Π² ΡΠ΅ΠΏΡΡ
ΠΏΠΈΡΠ°Π½ΠΈΡ.
+
+## Π Π΅Π²ΠΈΠ·ΠΈΡ 1.2
+
+### ΠΠΎΠ²ΠΎΠ²Π²Π΅Π΄Π΅Π½ΠΈΡ
+
+* ΠΠ°ΠΌΠ΅Π½Π΅Π½ ΡΠ°Π·ΡΠ΅ΠΌ USB Micro-B Π½Π° ΡΠ°Π°Π·ΡΠ΅ΠΌ USB Type-C.
+* ΠΠ·ΠΌΠ΅Π½Π΅Π½ ΡΠ»ΠΎΡ Π΄Π»Ρ MicroSD ΠΊΠ°ΡΡ, Π½Π° Π±ΠΎΠ»Π΅Π΅ Π³Π»ΡΠ±ΠΎΠΊΠΈΠΉ.
+* ΠΠ·ΠΌΠ΅Π½Π΅Π½Ρ Π½Π°Π·Π½Π°ΡΠ΅Π½ΠΈΡ ΠΏΠΈΠ½ΠΎΠ² Π½Π° ΡΠ°Π·ΡΠ΅ΠΌΠ΅ I2C.
+* ΠΠΎΠ±Π°Π²Π»Π΅Π½Ρ ΡΠ΅ΡΡΠΈΡΠΎΠ²ΡΠ΅ ΡΠΈΠ»ΡΡΡΡ Π² ΡΠ΅ΠΏΠΈ ΠΏΠΈΡΠ°Π½ΠΈΡ.
+
+### Π‘Ρ
Π΅ΠΌΡ ΡΠ°ΡΠΏΠΎΠ»ΠΎΠΆΠ΅Π½ΠΈΡ ΠΊΠΎΠ½ΡΠ°ΠΊΡΠΎΠ²
+
+
+
+
diff --git a/docs/ru/programming.md b/docs/ru/programming.md
index 3777f2a8..3acb253c 100644
--- a/docs/ru/programming.md
+++ b/docs/ru/programming.md
@@ -92,6 +92,8 @@ land()
ΠΠΎΠ»Π½ΠΎΠ΅ ΠΎΠΏΠΈΡΠ°Π½ΠΈΡ API ΠΠ»Π΅Π²Π΅ΡΠ° ΠΏΡΠΈΠ²Π΅Π΄Π΅Π½ΠΎ Π² ΡΡΠ°ΡΡΠ΅ ["ΠΠ²ΡΠΎΠ½ΠΎΠΌΠ½ΡΠΉ ΠΏΠΎΠ»Π΅Ρ"](simple_offboard.md).
+> **Hint** Π ΠΠ»Π΅Π²Π΅ΡΠ΅ ΡΠ°ΠΊΠΆΠ΅ Π΄ΠΎΡΡΡΠΏΠ½Π° ΠΏΠΎΠ΄Π΄Π΅ΡΠΆΠΊΠ° [Π±Π»ΠΎΡΠ½ΠΎΠ³ΠΎ ΠΏΡΠΎΠ³ΡΠ°ΠΌΠΌΠΈΡΠΎΠ²Π°Π½ΠΈΡ](blocks.md) Π°Π²ΡΠΎΠ½ΠΎΠΌΠ½ΡΡ
ΠΏΠΎΠ»Π΅ΡΠΎΠ².
+
## ΠΠΎΠΏΠΎΠ»Π½ΠΈΡΠ΅Π»ΡΠ½ΠΎΠ΅ ΠΎΠ±ΠΎΡΡΠ΄ΠΎΠ²Π°Π½ΠΈΠ΅
ΠΠ»Π°ΡΡΠΎΡΠΌΠ° ΠΠ»Π΅Π²Π΅ΡΠ° ΡΠ°ΠΊΠΆΠ΅ ΠΈΠΌΠ΅Π΅Ρ API Π΄Π»Ρ ΡΠ°Π±ΠΎΡΡ Ρ ΠΏΠ΅ΡΠΈΡΠ΅ΡΠΈΠ΅ΠΉ. Π§ΠΈΡΠ°ΠΉΡΠ΅ ΡΠΎΠΎΡΠ²Π΅ΡΡΡΠ²ΡΡΡΠΈΠ΅ ΡΡΠ°ΡΡΠΈ Π΄Π»Ρ ΠΏΠΎΠ΄ΡΠΎΠ±Π½ΠΎΡΡΠ΅ΠΉ:
diff --git a/docs/ru/projects.md b/docs/ru/projects.md
index fdfc7bf7..d0d165ea 100644
--- a/docs/ru/projects.md
+++ b/docs/ru/projects.md
@@ -36,5 +36,6 @@
|ΠΠΎΠ»Π΅Ρ ΠΊΠΎΠΏΡΠ΅ΡΠ° Π½Π° ΡΠΎΡΠΊΡ Π½Π° ΠΈΠ·ΠΎΠ±ΡΠ°ΠΆΠ΅Π½ΠΈΠΈ Ρ ΠΊΠ°ΠΌΠ΅ΡΡ, Π½Π°ΠΏΡΠ°Π²Π»Π΅Π½Π½ΠΎΠΉ Π²Π΅ΡΡΠΈΠΊΠ°Π»ΡΠ½ΠΎ Π²Π½ΠΈΠ·||
|ΠΠ½Π΅Π΄ΡΠ΅Π½ΠΈΠ΅ Π»ΠΈΠ΄Π°ΡΠ° ([RPLIDAR](https://www.slamtec.com/en/Lidar)) Π² ΠΠ»Π΅Π²Π΅Ρ||
|ΠΠ°ΡΡΠ΄Π½Π°Ρ ΡΡΠ°Π½ΡΠΈΡ Π΄Π»Ρ ΠΊΠΎΠΏΡΠ΅ΡΠ° Π½Π° ΡΠΎΠ»Π½Π΅ΡΠ½ΠΎΠΌ ΠΊΠΎΠ½ΡΠ΅Π½ΡΡΠ°ΡΠΎΡΠ΅||
+|Π‘ΡΠ΅Π½Π΄ Π΄Π»Ρ ΡΡΡΠΎΠΉΠΊΠΈ ΠΊΠΎΡΡΡΠΈΡΠΈΠ΅Π½ΡΠΎΠ² PID Π½Π° ΠΠ»Π΅Π²Π΅ΡΠ΅||
ΠΡΡΠ΅ΠΏΠ΅ΡΠ΅ΡΠΈΡΠ»Π΅Π½Π½ΡΠ΅ ΠΈ Π΄ΡΡΠ³ΠΈΠ΅ ΠΏΡΠΎΠ΅ΠΊΡΡ Π²Ρ ΡΠ°ΠΊΠΆΠ΅ ΠΌΠΎΠΆΠ΅ΡΠ΅ ΡΠ΅Π°Π»ΠΈΠ·ΠΎΠ²Π°ΡΡ Π² ΡΠ°ΠΌΠΊΠ°Ρ
ΠΊΠΎΠ½ΠΊΡΡΡΠ° ΠΏΡΠΎΠ΅ΠΊΡΠΎΠ² [Copter Hack](https://ru.coex.tech/copterhack). ΠΡ ΠΏΡΠΈΠ³Π»Π°ΡΠ°Π΅ΠΌ ΠΊΠΎΠΌΠ°Π½Π΄Ρ Π΄Π»Ρ ΡΠ΅Π°Π»ΠΈΠ·Π°ΡΠΈΠΈ ΠΏΡΠΎΠ΅ΠΊΡΠΎΠ² ΠΈ Π² Π΄ΡΡΠ³ΠΈΡ
ΡΠΎΡΠΌΠ°ΡΠ°Ρ
.
diff --git a/docs/ru/simulation_vm.md b/docs/ru/simulation_vm.md
index 9e6c67fe..366e473c 100644
--- a/docs/ru/simulation_vm.md
+++ b/docs/ru/simulation_vm.md
@@ -10,9 +10,13 @@
* ΠΏΡΠ΅Π΄Π²Π°ΡΠΈΡΠ΅Π»ΡΠ½ΠΎ Π½Π°ΡΡΡΠΎΠ΅Π½Π½ΡΠΉ ΡΠΈΠΌΡΠ»ΡΡΠΎΡ Gazebo;
* ΡΡΠ΅Π΄Π° ΡΠ°Π·ΡΠ°Π±ΠΎΡΠΊΠΈ Visual Studio Code Ρ ΠΏΠ»Π°Π³ΠΈΠ½Π°ΠΌΠΈ Π΄Π»Ρ ΡΠ°Π·ΡΠ°Π±ΠΎΡΠΊΠΈ Π½Π° Python ΠΈ C++.
+> **Info** ΠΠΌΡ ΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°ΡΠ΅Π»Ρ ΠΏΠΎ ΡΠΌΠΎΠ»ΡΠ°Π½ΠΈΡ Π½Π° Π²ΠΈΡΡΡΠ°Π»ΡΠ½ΠΎΠΉ ΠΌΠ°ΡΠΈΠ½Π΅ - `clover`, ΠΏΠ°ΡΠΎΠ»Ρ - `clover`.
+
ΠΠΈΡΡΡΠ°Π»ΡΠ½Π°Ρ ΠΌΠ°ΡΠΈΠ½Π° ΠΌΠΎΠΆΠ΅Ρ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°ΡΡΡΡ ΠΊΠ°ΠΊ Π΄Π»Ρ Π·Π°ΠΏΡΡΠΊΠ° ΡΠΈΠΌΡΠ»ΡΡΠΎΡΠΎΠ², ΡΠ°ΠΊ ΠΈ Π΄Π»Ρ ΡΠ°Π±ΠΎΡΡ Ρ Π½Π°ΡΡΠΎΡΡΠΈΠΌ Π΄ΡΠΎΠ½ΠΎΠΌ.
-Π‘ΠΊΠ°ΡΠ°ΡΡ ΡΠ΅ΠΊΡΡΡΡ Π²Π΅ΡΡΠΈΡ Π²ΠΈΡΡΡΠ°Π»ΡΠ½ΠΎΠΉ ΠΌΠ°ΡΠΈΠ½Ρ ΠΌΠΎΠΆΠ½ΠΎ [Π² ΡΠ΅Π»ΠΈΠ·Π°Ρ
ΡΠ΅ΠΏΠΎΠ·ΠΈΡΠΎΡΠΈΡ Π²ΠΈΡΡΡΠ°Π»ΡΠ½ΠΎΠΉ ΠΌΠ°ΡΠΈΠ½Ρ](https://github.com/CopterExpress/clover_vm/releases)
+## Π‘ΠΊΠ°ΡΠΈΠ²Π°Π½ΠΈΠ΅
+
+Π‘ΠΊΠ°ΡΠ°ΡΡ ΡΠ΅ΠΊΡΡΡΡ Π²Π΅ΡΡΠΈΡ Π²ΠΈΡΡΡΠ°Π»ΡΠ½ΠΎΠΉ ΠΌΠ°ΡΠΈΠ½Ρ ΠΌΠΎΠΆΠ½ΠΎ [Π² ΡΠ΅Π»ΠΈΠ·Π°Ρ
ΡΠ΅ΠΏΠΎΠ·ΠΈΡΠΎΡΠΈΡ Π²ΠΈΡΡΡΠ°Π»ΡΠ½ΠΎΠΉ ΠΌΠ°ΡΠΈΠ½Ρ](https://github.com/CopterExpress/clover_vm/releases).
> **Warning** ΠΠΈΡΡΡΠ°Π»ΡΠ½ΡΡ ΠΌΠ°ΡΠΈΠ½Ρ ΡΠ»Π΅Π΄ΡΠ΅Ρ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°ΡΡ ΡΠΎΠ»ΡΠΊΠΎ Π² ΡΠ΅Ρ
ΡΠ»ΡΡΠ°ΡΡ
, ΠΊΠΎΠ³Π΄Π° ΠΏΠΎ ΠΊΠ°ΠΊΠΈΠΌ-ΡΠΎ ΠΏΡΠΈΡΠΈΠ½Π°ΠΌ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°Π½ΠΈΠ΅ Ubuntu 18.04 Π½Π°ΠΏΡΡΠΌΡΡ Π½Π΅Π²ΠΎΠ·ΠΌΠΎΠΆΠ½ΠΎ. ΠΡΠΎΠΈΠ·Π²ΠΎΠ΄ΠΈΡΠ΅Π»ΡΠ½ΠΎΡΡΡ Π²ΡΠ΅Ρ
ΠΏΡΠΎΠ³ΡΠ°ΠΌΠΌ, ΠΎΡΠΎΠ±Π΅Π½Π½ΠΎ ΡΠ΅Ρ
, ΠΊΠΎΡΠΎΡΡΠ΅ ΠΈΡΠΏΠΎΠ»ΡΠ·ΡΡΡ 3D-Π³ΡΠ°ΡΠΈΠΊΡ - jMAVSim, Gazebo, rviz - Π±ΡΠ΄Π΅Ρ ΡΡΡΠ΅ΡΡΠ²Π΅Π½Π½ΠΎ Π½ΠΈΠΆΠ΅; ΠΊΡΠΎΠΌΠ΅ ΡΠΎΠ³ΠΎ, Π² ΡΡΠ΄Π΅ ΡΠ»ΡΡΠ°Π΅Π² Π±ΡΠ΄ΡΡ Π²ΠΎΠ·Π½ΠΈΠΊΠ°ΡΡ Π³ΡΠ°ΡΠΈΡΠ΅ΡΠΊΠΈΠ΅ ΠΎΡΠΈΠ±ΠΊΠΈ, ΠΏΡΠΈΠ²ΠΎΠ΄ΡΡΠΈΠ΅ ΠΊ ΡΠ°ΡΡΠΈΡΠ½ΠΎΠΉ ΠΈΠ»ΠΈ ΠΏΠΎΠ»Π½ΠΎΠΉ Π½Π΅ΡΠ°Π±ΠΎΡΠΎΡΠΏΠΎΡΠΎΠ±Π½ΠΎΡΡΠΈ ΡΠΊΠ°Π·Π°Π½Π½ΡΡ
ΠΏΡΠΎΠ³ΡΠ°ΠΌΠΌ.
diff --git a/docs/ru/sphere_guard.md b/docs/ru/sphere_guard.md
new file mode 100644
index 00000000..4c50c68f
--- /dev/null
+++ b/docs/ru/sphere_guard.md
@@ -0,0 +1,88 @@
+# Π‘Π±ΠΎΡΠΊΠ° ΡΡΠ΅ΡΠΈΡΠ΅ΡΠΊΠΎΠΉ Π·Π°ΡΠΈΡΡ
+
+
+
+## Π‘Π±ΠΎΡΠΊΠ° ΠΏΠΎΡΡΠ° ΡΡΠ΅ΡΡ
+
+1. Π‘ΠΎΠ±Π΅ΡΠΈΡΠ΅ ΠΏΠ΅ΡΠ΅Π΄Π½ΠΈΠ΅ ΠΊΡΠ΅ΠΏΠ»Π΅Π½ΠΈΡ ΠΊΠΎΠΏΡΠ΅ΡΠ°.
+
+ 
+
+2. Π‘ΠΎΠ±Π΅ΡΠΈΡΠ΅ Π·Π°Π΄Π½ΠΈΠ΅ ΠΊΡΠ΅ΠΏΠ»Π΅Π½ΠΈΡ ΠΊΠΎΠΏΡΠ΅ΡΠ°.
+
+ 
+
+3. Π‘ΠΎΠ±Π΅ΡΠΈΡΠ΅ ΠΏΠ΅ΡΠ΅Π΄Π½ΡΡ ΡΠ°ΡΡΡ ΠΏΠΎΡΡΠ°.
+
+ 
+
+4. Π‘ΠΎΠ±Π΅ΡΠΈΡΠ΅ Π·Π°Π΄Π½ΡΡ ΡΠ°ΡΡΡ ΠΏΠΎΡΡΠ°.
+
+ 
+
+5. Π‘ΠΎΠ±Π΅ΡΠΈΡΠ΅ ΠΏΡΠ°Π²ΡΡ ΠΈ Π»Π΅Π²ΡΡ ΡΠ°ΡΡΠΈ ΠΏΠΎΡΡΠ°.
+
+ 
+ 
+ 
+ 
+ 
+ 
+ 
+ 
+ 
+
+### Π£ΡΡΠ°Π½ΠΎΠ²ΠΊΠ° GPS ΠΌΠΎΠ΄ΡΠ»Ρ
+
+1. Π‘ΠΎΠ±Π΅ΡΠΈΡΠ΅ ΠΊΡΠ΅ΠΏΠ»Π΅Π½ΠΈΠ΅ GPS.
+
+ 
+
+2. Π£ΡΡΠ°Π½ΠΎΠ²ΠΈΡΠ΅ ΠΊΡΠ΅ΠΏΠ»Π΅Π½ΠΈΠ΅ GPS Π½Π° Π²Π΅ΡΡ
Π½ΡΡ ΡΠ°ΡΡΡ ΡΡΠ΅ΡΡ.
+
+ 
+ 
+ 
+
+2. Π£ΡΡΠ°Π½ΠΎΠ²ΠΈΡΠ΅ ΠΊΠΎΡΠ·ΠΈΠ½ΠΊΡ Π² ΡΠ΅ΡΠ΅Π΄ΠΈΠ½Ρ Π²Π΅ΡΡ
Π½Π΅ΠΉ ΡΠ°ΡΡΠΈ ΡΡΠ΅ΡΡ.
+
+ 
+
+## Π‘Π±ΠΎΡΠΊΠ° Π½ΠΈΠΆΠ½Π΅ΠΉ ΡΠ°ΡΡΠΈ ΡΡΠ΅ΡΡ
+
+1. Π‘ΠΎΠ±Π΅ΡΠΈΡΠ΅ Π½ΠΈΠΆΠ½ΡΡ ΡΠ°ΡΡΡ ΡΡΠ΅ΡΡ.
+
+ 
+
+2. Π‘ΠΎΠ±Π΅ΡΠΈΡΠ΅ ΡΠ°ΡΠΎΠ²ΡΡ Π·Π°ΡΠΈΡΡ ΠΈΠ· 3-Ρ
ΡΠ°ΡΡΠ΅ΠΉ.
+
+ 