diff --git a/docs/en/autolaunch.md b/docs/en/autolaunch.md index 847b6413..764bc5b2 100644 --- a/docs/en/autolaunch.md +++ b/docs/en/autolaunch.md @@ -56,4 +56,4 @@ When scripting languages are used, [shebang] should be placed at the beginning o ```(bash) #!/usr/bin/env python -``` \ No newline at end of file +``` diff --git a/docs/en/calibratePID.md b/docs/en/calibratePID.md index ffec2212..7588e667 100644 --- a/docs/en/calibratePID.md +++ b/docs/en/calibratePID.md @@ -13,4 +13,4 @@ The Rate Pitch and Rate Roll parameters should be the same. YAW parameters should be changed individually, according to the above instruction (usually the yaw doesn't require serious adjustment, you may leave it default). -![ROLL oscillations](../assets/oscillRoll.jpg) \ No newline at end of file +![ROLL oscillations](../assets/oscillRoll.jpg) diff --git a/docs/en/camera_frame.md b/docs/en/camera_frame.md index 1f1227e6..d88fbf4c 100644 --- a/docs/en/camera_frame.md +++ b/docs/en/camera_frame.md @@ -60,4 +60,4 @@ The first image — how a copter model looks in rviz with these settings, the se ``` - \ No newline at end of file + diff --git a/docs/en/copterhack2018.md b/docs/en/copterhack2018.md index 7788ab2e..7fb6955d 100644 --- a/docs/en/copterhack2018.md +++ b/docs/en/copterhack2018.md @@ -34,4 +34,4 @@ Winning teams: 4. International Post (Novosibirsk) — automatic scattering leaflets from the drone. 5. LAMAR (Yekaterinburg) — an automatic quadcopter battery replacement station. - \ No newline at end of file + diff --git a/docs/en/firmware.md b/docs/en/firmware.md index ca66f9ce..e5330ccc 100644 --- a/docs/en/firmware.md +++ b/docs/en/firmware.md @@ -50,4 +50,4 @@ To upload the `v3` firmware to Pixhawk, you may need the `force_upload` command: ``` make px4fmu-v3_default force-upload -``` \ No newline at end of file +``` diff --git a/docs/en/fpv.md b/docs/en/fpv.md index 3bbb4bc3..edac8bcd 100644 --- a/docs/en/fpv.md +++ b/docs/en/fpv.md @@ -46,4 +46,4 @@ The following may be used as fastening materials: 1. Hot-melt glue; 1. electrical tape; 1. zip-ties (clamps); -1. double-sided adhesive tape. \ No newline at end of file +1. double-sided adhesive tape. diff --git a/docs/en/frames.md b/docs/en/frames.md index 1722725b..14cfe075 100644 --- a/docs/en/frames.md +++ b/docs/en/frames.md @@ -13,4 +13,4 @@ Main frames in package `clever`: > **Hint** In accordance with [the agreement](http://www.ros.org/reps/rep-0103.html), for frames associated with the copter, the X-axis directed forward, Y – to the left, and Z – up. -More clearly, 3D visualization of the coordinate systems can be viewed using [rviz](rviz.md). \ No newline at end of file +More clearly, 3D visualization of the coordinate systems can be viewed using [rviz](rviz.md). diff --git a/docs/en/lessons.md b/docs/en/lessons.md index 5005a98c..244b3f49 100644 --- a/docs/en/lessons.md +++ b/docs/en/lessons.md @@ -52,4 +52,4 @@ Part 6 Autonomous flights - \ No newline at end of file + diff --git a/docs/en/mavlink.md b/docs/en/mavlink.md index 107c0884..0b7cc845 100644 --- a/docs/en/mavlink.md +++ b/docs/en/mavlink.md @@ -176,4 +176,4 @@ Usually unused. -Yellow is used for highlighting the data fields(payload). An individual set of such fields exists for every message type. \ No newline at end of file +Yellow is used for highlighting the data fields(payload). An individual set of such fields exists for every message type. diff --git a/docs/en/mavros.md b/docs/en/mavros.md index fc437f95..ac569eb3 100644 --- a/docs/en/mavros.md +++ b/docs/en/mavros.md @@ -52,4 +52,4 @@ Messages published in the topics may be viewed by using the `rostopic` utility, `/mavros/setpoint_raw/attitude` — sending packet [SET\_ATTITUDE\_TARGET](https://pixhawk.ethz.ch/mavlink/#SET_ATTITUDE_TARGET). Allows setting the target attitude /angular velocity and throttle level. The values to be set are selected using the `type_mask` field -`/mavros/setpoint_raw/global` — sending packet [SET\_POSITION\_TARGET\_GLOBAL\_INT](https://pixhawk.ethz.ch/mavlink/#SET_POSITION_TARGET_GLOBAL_INT). Allows setting the target attitude in global coordinates \(latitude, longitude, altitude\) and flight speed. **Not supported in PX4** \([issue](https://github.com/PX4/Firmware/issues/7552)\). \ No newline at end of file +`/mavros/setpoint_raw/global` — sending packet [SET\_POSITION\_TARGET\_GLOBAL\_INT](https://pixhawk.ethz.ch/mavlink/#SET_POSITION_TARGET_GLOBAL_INT). Allows setting the target attitude in global coordinates \(latitude, longitude, altitude\) and flight speed. **Not supported in PX4** \([issue](https://github.com/PX4/Firmware/issues/7552)\). diff --git a/docs/en/microsd_images.md b/docs/en/microsd_images.md index 2c2b2308..d16e849b 100644 --- a/docs/en/microsd_images.md +++ b/docs/en/microsd_images.md @@ -24,4 +24,4 @@ The version of the installed image may be found in file `/etc/clever_version`: ```bash cat /etc/clever_version -``` \ No newline at end of file +``` diff --git a/docs/en/px4_parameters.md b/docs/en/px4_parameters.md index c7b30556..90116d2d 100644 --- a/docs/en/px4_parameters.md +++ b/docs/en/px4_parameters.md @@ -69,4 +69,4 @@ Prearm checks, switching the modes and states of the copter. Enabling, disabling and configuring various sensors. -TODO \ No newline at end of file +TODO diff --git a/docs/en/radioerrors.md b/docs/en/radioerrors.md index 0af7e0ee..d6fa1a62 100644 --- a/docs/en/radioerrors.md +++ b/docs/en/radioerrors.md @@ -43,4 +43,4 @@ If there is no communication with the flight controller, the screen of the compu 1. Go to MENU (by holding down the “OK” button) 2. Select menu “System setup” (Up/Down Button to navigate, OK button - to confirms the choice). 3. Select “RX setup” > “PPM OUTPUT” > “On” -4. Save changes (hold pressed the “CANCEL” button). \ No newline at end of file +4. Save changes (hold pressed the “CANCEL” button). diff --git a/docs/en/raspberry.md b/docs/en/raspberry.md index fdd1116e..966b068b 100644 --- a/docs/en/raspberry.md +++ b/docs/en/raspberry.md @@ -27,4 +27,4 @@ See more: * [RPi image](microsd_images.md) * [SSH access](ssh.md) -* [Network setup](network.md) \ No newline at end of file +* [Network setup](network.md) diff --git a/docs/en/rviz.md b/docs/en/rviz.md index a94e8b7d..9d3c5877 100644 --- a/docs/en/rviz.md +++ b/docs/en/rviz.md @@ -72,4 +72,4 @@ Brief description of useful rqt plugins: * `rqt_image_view` – viewing images from topics like `sensor_msgs/Image`; * `rqt_multiplot` – Building charts from the data from of arbitrary topics (installation: `sudo apt-get install ros-kinetic-rqt-multiplot`); -* Bag – working with [Bag-files](http://wiki.ros.org/rosbag). \ No newline at end of file +* Bag – working with [Bag-files](http://wiki.ros.org/rosbag). diff --git a/docs/en/selfcheck.md b/docs/en/selfcheck.md index 8445e083..95a51952 100644 --- a/docs/en/selfcheck.md +++ b/docs/en/selfcheck.md @@ -29,4 +29,4 @@ To check the main sub systems of PX4 and the possibility of arming at the moment -When using SITL instead of the MAVLink console, use a terminal with SITL running. \ No newline at end of file +When using SITL instead of the MAVLink console, use a terminal with SITL running. diff --git a/docs/en/setup.md b/docs/en/setup.md index 134c61c8..b2e9df28 100644 --- a/docs/en/setup.md +++ b/docs/en/setup.md @@ -264,4 +264,4 @@ After a scheduled landing, do the following: 2. Disconnect the Li-ion battery on the copter. 3. Turn off the remote. -Next: [Connecting Raspberry Pi to Pihxawk](connection.md). \ No newline at end of file +Next: [Connecting Raspberry Pi to Pihxawk](connection.md). diff --git a/docs/en/sonar.md b/docs/en/sonar.md index 1b21b2dc..c4cdcfaf 100644 --- a/docs/en/sonar.md +++ b/docs/en/sonar.md @@ -130,4 +130,4 @@ while True: # if the obstacle is closer than 1 m, hanging on the spot set_position(x=0, y=0, z=0, frame_id='body') rospy.sleep(0.1) -``` \ No newline at end of file +``` diff --git a/docs/en/tb.md b/docs/en/tb.md index fa3d8d29..3da1f7d0 100644 --- a/docs/en/tb.md +++ b/docs/en/tb.md @@ -25,4 +25,4 @@ When soldering: 5. Carry the soldering iron by the handle, rather than the cable or the working part. During breaks, the soldering iron is to be disconnected from the mains. -> **Caution** In case of the soldering iron malfunction or fire, disconnect it from the mains. \ No newline at end of file +> **Caution** In case of the soldering iron malfunction or fire, disconnect it from the mains. diff --git a/docs/en/test_connection.md b/docs/en/test_connection.md index ed7f76b7..03b1607e 100644 --- a/docs/en/test_connection.md +++ b/docs/en/test_connection.md @@ -38,4 +38,4 @@ Using a multimeter, you need to make sure that the voltage converters located on After measurement: * disconnect the battery -* turn off the multimeter \ No newline at end of file +* turn off the multimeter diff --git a/docs/en/wifi.md b/docs/en/wifi.md index e874ff4a..7d6099ed 100644 --- a/docs/en/wifi.md +++ b/docs/en/wifi.md @@ -7,4 +7,4 @@ Password: `cleverwifi`. Wi-Fi SSID -To edit the Wi-Fi settings, or to obtain more detailed information about the network device on Raspberry Pi, read this [article](network.md). \ No newline at end of file +To edit the Wi-Fi settings, or to obtain more detailed information about the network device on Raspberry Pi, read this [article](network.md). diff --git a/docs/ru/calibration.md b/docs/ru/calibration.md index 5fbb6075..6415b01b 100644 --- a/docs/ru/calibration.md +++ b/docs/ru/calibration.md @@ -87,10 +87,11 @@ Saving mode (YES - on): # Режим сохранения Скрипт начнет свою работу: - ... - Calibration started! - Commands: - help, catch (key: Enter), delete, restart, stop, finish +``` +Calibration started! +Commands: +help, catch (key: Enter), delete, restart, stop, finish +``` Чтобы откалибровать камеру, вам требуется сделать как минимум 25 фото шахматной доски с различных ракурсов. diff --git a/docs/ru/clever_blocks.md b/docs/ru/clever_blocks.md index 3fede072..942eeeed 100644 --- a/docs/ru/clever_blocks.md +++ b/docs/ru/clever_blocks.md @@ -40,4 +40,4 @@ sudo systemctl start clever-blocks.service python main.py ``` -После запуска Вы можете открыть веб-интерфейс для блочного программирования по адресу [192.168.11.1:5000](192.168.11.1:5000). \ No newline at end of file +После запуска Вы можете открыть веб-интерфейс для блочного программирования по адресу [192.168.11.1:5000](192.168.11.1:5000). diff --git a/docs/ru/modes.md b/docs/ru/modes.md index f8f292a4..39962758 100644 --- a/docs/ru/modes.md +++ b/docs/ru/modes.md @@ -1,3 +1,9 @@ +--- +description: Режимы полетного контроллера PX4 +meta: + author: Oleg Kalachev +--- + Полетные режимы === diff --git a/docs/ru/snippets.md b/docs/ru/snippets.md index 07107bc2..970003c9 100644 --- a/docs/ru/snippets.md +++ b/docs/ru/snippets.md @@ -274,6 +274,23 @@ set_mode(custom_mode='STABILIZED') ### # {#flip} -Флип: +Флип по крену: -TODO +```python +def flip(): + start = get_telemetry() # memorize starting position + + set_rates(roll_rate=5, thrust=0.2) # maximum roll rate + while True: + telem = get_telemetry() + if abs(telem.roll) > math.pi / 2: + break + + set_position(x=start.x, y=start.y, z=start.z, yaw=start.yaw) # finish flip + +print navigate(z=4, speed=1, auto_arm=True) # take off +rospy.sleep(10) + +rospy.loginfo('flip') +flip() +```