Continue renaming to Clover

2026-06-04 08:49:33 +00:00 · 2020-04-30 03:41:14 +03:00
parent 77ca50b901
commit a480ebe80a
88 changed files with 271 additions and 273 deletions
--- a/docs/en/3dscan.md
+++ b/docs/en/3dscan.md
@@ -6,7 +6,7 @@ The project was created in collaboration with Texel inc. that develops 3D-scanne

 Our fellows from Texel provided a module consisting of a Raspberry Pi and a PrimeSense 3D-sensor.

-We provided a Clever 3 drone that's capable of autonomous flight and wrote a flight program.
+We provided a Clover 3 drone that's capable of autonomous flight and wrote a flight program.

 To make it all work we conducted many tests, made changes in the drone's design and tuned the drone properly.

--- a/docs/en/README.md
+++ b/docs/en/README.md
@@ -1,12 +1,12 @@
-# COEX Clever
+# COEX Clover

-<img class="center bigclever zoom" src="../assets/clever4-front-white-large.png" width="80%" alt="COEX Clever 4">
+<img class="center bigclever zoom" src="../assets/clever4-front-white-large.png" width="80%" alt="COEX Clover 4">

-CLEVER (Russian: *"Клевер"*, meaning *"Clover"*) is an educational kit of a programmable quadcopter that consists of popular open source components, and a set of necessary documentation and libraries for working with it.
+**Clover** is an educational kit of a programmable quadcopter that consists of popular open source components, and a set of necessary documentation and libraries for working with it.

 The kit includes a Pixhawk/Pixracer flight controller with the PX4 flight stack, a [Raspberry Pi 4](raspberry.md) as a controlling onboard computer, and a [camera module](camera.md) for performing flights with the use of computer vision, as well as a set of various sensors and other peripherals.

-The Clever platform contains a [pre-configured image for Raspberry Pi](image.md) with the full set of required software for working with peripheral devices and [programming autonomous flights](simple_offboard.md). The source code of the platform and of the documentation is open and [available on GitHub](https://github.com/CopterExpress/clever).
+The Clover platform contains a [pre-configured image for Raspberry Pi](image.md) with the full set of required software for working with peripheral devices and [programming autonomous flights](simple_offboard.md). The source code of the platform and of the documentation is open and [available on GitHub](https://github.com/CopterExpress/clover).

 If you have studied the documentation but have not found an answer to your question, join our support chat and our specialists will be happy to answer you: [@COEXHelpdesk](tg://resolve?domain=COEXHelpdesk).

--- a/docs/en/SUMMARY.md
+++ b/docs/en/SUMMARY.md
@@ -4,9 +4,9 @@
 * [Glossary](gloss.md)
 * [Safety tips](safety.md)
 * Assembly
-  * [Clever 4 assembly](assemble_4.md)
-  * [Clever 3 assembly](assemble_3.md)
-  * [Clever 2 assembly](assemble_2.md)
+  * [Clover 4 assembly](assemble_4.md)
+  * [Clover 3 assembly](assemble_3.md)
+  * [Clover 2 assembly](assemble_2.md)
 * Configuration
  * [Initial setup](setup.md)
  * [Sensor calibration](calibration.md)
@@ -54,7 +54,7 @@
  * [ROS Melodic installation](ros-install.md)
  * [Camera calibration](camera_calibration.md)
  * [Quadcopter control with 4G communication](4g.md)
-  * [Clever and Jetson Nano](jetson_nano.md)
+  * [Clover and Jetson Nano](jetson_nano.md)
  * [Remote control app](rc.md)
  * [Wi-Fi Configuration](network.md)
  * [UART settings](uart.md)
@@ -75,7 +75,7 @@
  * [Soldering safety](tb.md)
  * [LED strip (legacy)](leds_old.md)
  * [Contribution Guidelines](contributing.md)
-* Clever-based projects
+* Clover-based projects
  * [Drone show](clever-show.md)
  * [Copter spheric guard](shield.md)
  * [Face recognition system](face_recognition.md)
--- a/docs/en/android.md
+++ b/docs/en/android.md
@@ -14,11 +14,11 @@ However, to make you fully understand the application, I will tell you about eac

 ## Wrapper

-Let's start with the simplest thing — the appearance of our application. At [**GitHub**](https://github.com/CopterExpress/clever/tree/master/apps/android/app/src/main/assets), you can find *HTML*, *CSS* and *JavaScript* files, which make up the web page to be used for controlling the copter. To have this page displayed in our application, do the following:
+Let's start with the simplest thing — the appearance of our application. At [**GitHub**](https://github.com/CopterExpress/clover/tree/master/apps/android/app/src/main/assets), you can find *HTML*, *CSS* and *JavaScript* files, which make up the web page to be used for controlling the copter. To have this page displayed in our application, do the following:

 1. Create folder **assets** in the main folder of the app named **app**

-2. Add to it all files from [here](https://github.com/CopterExpress/clever/tree/master/apps/android/app/src/main/assets)
+2. Add to it all files from [here](https://github.com/CopterExpress/clover/tree/master/apps/android/app/src/main/assets)

 If you reached this stage, you already have the web page you want, congratulations! Now we have to display it somehow in the app. To do this, in class *activity* in method **onCreate**, write the following code:

--- a/docs/en/arduino.md
+++ b/docs/en/arduino.md
@@ -4,7 +4,7 @@ For interaction with ROS topics and services on a Raspberry Pi, you can use the

 The main tutorial for rosserial: http://wiki.ros.org/rosserial_arduino/Tutorials

-Arudino is to be installed on Clever and connected via a USB port.
+Arudino is to be installed on Clover and connected via a USB port.

 ## Configuring Arduino IDE

@@ -24,7 +24,7 @@ To run the program on Arduino once, you can use command:
 roslaunch clever arduino.launch
 ```

-To start the link with Arduino at the startup automatically, set argument `arudino` in the Clever launch file (`~/catkin_ws/src/clever/clever/launch/clever.launch`):
+To start the link with Arduino at the startup automatically, set argument `arudino` in the Clover launch file (`~/catkin_ws/src/clever/clever/launch/clever.launch`):

 ```xml
 <arg name="arduino" default="true"/>
@@ -59,7 +59,7 @@ for(int i=0; i<8; i++) {
 }
 ```

-## Working with Clever
+## Working with Clover

 The set of services and topics is similar to the regular set in [simple_offboard](simple_offboard.md) and [mavros](mavros.md).

@@ -69,7 +69,7 @@ An example of a program that controls the copter by position using the `navigate
 // Connecting libraries for working with rosseral
 #include <ros.h>

-// Connecting Clever and MAVROS package message header files
+// Connecting Clover and MAVROS package message header files
 #include <clever/Navigate.h>
 #include <mavros_msgs/SetMode.h>

--- a/docs/en/aruco.md
+++ b/docs/en/aruco.md
@@ -1,6 +1,6 @@
 # ArUco markers

-> **Note** The following applies to [image versions](image.md) **0.16** and up. Older documentation is still available for [for version **0.15.1**](https://github.com/CopterExpress/clever/blob/v0.15.1/docs/ru/aruco.md).
+> **Note** The following applies to [image versions](image.md) **0.16** and up. Older documentation is still available for [for version **0.15.1**](https://github.com/CopterExpress/clover/blob/v0.15.1/docs/en/aruco.md).

 [ArUco markers](https://docs.opencv.org/3.2.0/d5/dae/tutorial_aruco_detection.html) are commonly used for vision-based position estimation.

@@ -12,13 +12,13 @@ Examples of ArUco markers:

 For rapid generation of markers for printing, you may use an online tool: http://chev.me/arucogen/.

-[Clever Raspberry Pi image](image.md) contains a pre-installed `aruco_pose` ROS package, which can be used for marker detection.
+[Clover Raspberry Pi image](image.md) contains a pre-installed `aruco_pose` ROS package, which can be used for marker detection.

 ## Modes of operation

-There are several preconfigured modes of operation for ArUco markers on the Clever drone:
+There are several preconfigured modes of operation for ArUco markers on the Clover drone:

 * [single marker detection and navigation](aruco_marker.md);
 * [map-based navigation](aruco_map.md).

-> **Info** Additional documentation for the `aruco_pose` ROS package is available [on GitHub](https://github.com/CopterExpress/clever/blob/master/aruco_pose/README.md).
+> **Info** Additional documentation for the `aruco_pose` ROS package is available [on GitHub](https://github.com/CopterExpress/clover/blob/master/aruco_pose/README.md).
--- a/docs/en/aruco_map.md
+++ b/docs/en/aruco_map.md
@@ -45,7 +45,7 @@ Map path is defined in the `map` parameter:
 <param name="map" value="$(find aruco_pose)/map/map.txt"/>
 ```

-Some map examples are provided in [`~/catkin_ws/src/clever/aruco_pose/map`](https://github.com/CopterExpress/clever/tree/master/aruco_pose/map).
+Some map examples are provided in [`~/catkin_ws/src/clever/aruco_pose/map`](https://github.com/CopterExpress/clover/tree/master/aruco_pose/map).

 Grid maps may be generated using the `genmap.py` script:

--- a/docs/en/assemble_2.md
+++ b/docs/en/assemble_2.md
@@ -1,7 +1,7 @@
-Clever 2 construction kit assembly instruction
+Clover 2 construction kit assembly instruction
 ============================================

-![Clever](../assets/clever2.jpg)
+![Clover](../assets/clever2.jpg)

 ## The constructor kit contents

@@ -78,7 +78,7 @@ Clever 2 construction kit assembly instruction

 ## Additional equipment

-### This equipment is not part of the Clever 2 constructor kit, but it is required for the assembly process
+### This equipment is not part of the Clover 2 constructor kit, but it is required for the assembly process

 1. Soldering iron
 2. Colophony/ Flux (neutral)
--- a/docs/en/assemble_3.md
+++ b/docs/en/assemble_3.md
@@ -1,8 +1,8 @@
-# Assembly of Clever 3
+# Assembly of Clover 3

-This manual discusses the assembly of the COEX Clever 3 kit with a 4 in 1 EDC circuit-board.
+This manual discusses the assembly of the COEX Clover 3 kit with a 4 in 1 EDC circuit-board.

-![Clever 3](../assets/clever3_main.jpg)
+![Clover 3](../assets/clever3_main.jpg)

 > **Caution** Before using soldering equipment, be sure to read the [safety precautions when soldering](tb.md).

--- a/docs/en/assemble_4.md
+++ b/docs/en/assemble_4.md
@@ -1,4 +1,4 @@
-# Clever 4 assembly
+# Clover 4 assembly

 <img src="../assets/assembling_clever4/clover_assembly.png" width=900 class="zoom center">

--- a/docs/en/auto_setup.md
+++ b/docs/en/auto_setup.md
@@ -1,4 +1,4 @@
-# Step-by-step guide on autonomous flight with Clever 4
+# Step-by-step guide on autonomous flight with Clover 4

 This manual contains links to other articles in which each of the topics addressed is discussed in more detail. If you encounter difficulties while reading one of these articles, it is recommended that you return to this manual, since many operations here are described step by step and some unnecessary steps are skipped.

@@ -15,9 +15,9 @@ This manual contains links to other articles in which each of the topics address

 - Connect to Wi-Fi and open the web interface ([this article](wifi.md)).

-   After the first power-up, the network appears with a delay. You need to wait until the system is fully loaded. If the Clever network does not appear in the list of networks for a long time, reopen the window with the network selection. Then the list of networks will be updated.
+   After the first power-up, the network appears with a delay. You need to wait until the system is fully loaded. If the Clover network does not appear in the list of networks for a long time, reopen the window with the network selection. Then the list of networks will be updated.

-> **Hint** Now if you have connected to the Clever's Wi-Fi network, it is recommended to open the [local version of this guide](http://192.168.11.1/docs/ru/auto_setup.html), otherwise the links will not work.
+> **Hint** Now if you have connected to the Clover's Wi-Fi network, it is recommended to open the [local version of this guide](http://192.168.11.1/docs/ru/auto_setup.html), otherwise the links will not work.

 - Connect to Raspberry Pi via SSH.

@@ -47,7 +47,7 @@ This manual contains links to other articles in which each of the topics address

 ## Basic commands

-You will need the basic Linux commands, as well as special Clever commands, to work efficiently in the system.
+You will need the basic Linux commands, as well as special Clover commands, to work efficiently in the system.

 Show list of files and folders:

@@ -289,7 +289,7 @@ and replace map.txt with your map name.

 - Connect remotely to the flight controller through QGroundControl.

-  All the necessary settings for that are already set in Clever. Now you need to create a new connection in QGroundControl. Use the settings from [this article](gcs_bridge.md).
+  All the necessary settings for that are already set in Clover. Now you need to create a new connection in QGroundControl. Use the settings from [this article](gcs_bridge.md).

 ## Remote controller setup

@@ -297,7 +297,7 @@ and replace map.txt with your map name.

  Set channel 5 to SwC switch; channel 5 to SwA switch. Or you can use any other switches you like.

-## Clever selfcheck
+## Clover selfcheck

 Perform selfcheck when you have set up your drone or when you have faced problems. The selfcheck process is described in the article "[Automated self checks](selfcheck.md)"

--- a/docs/en/autolaunch.md
+++ b/docs/en/autolaunch.md
@@ -6,7 +6,7 @@ systemd

 Main documentation: [https://wiki.archlinux.org/index.php/Systemd_(Russian)](https://wiki.archlinux.org/index.php/Systemd_(Russian)).

-All automatically started Clever software is launched as a `clever.service` systemd service.
+All automatically started Clover software is launched as a `clever.service` systemd service.

 The service may be restarted by the `systemctl` command:

@@ -20,14 +20,14 @@ Text output of the software can be viewed using the `journalctl` command:
 journalctl -u clever
 ```

-To run Clever software directly in the current console session, you can use the `roslaunch` command:
+To run Clover software directly in the current console session, you can use the `roslaunch` command:

 ```(bash)
 sudo systemctl restart clever
 roslaunch clever clever.launch
 ```

-You can disable Clever software autolaunch using the `disable` command:
+You can disable Clover software autolaunch using the `disable` command:

 ```(bash)
 sudo systemctl disable clever
--- a/docs/en/camera_calib.md
+++ b/docs/en/camera_calib.md
@@ -51,7 +51,7 @@ Glue a printed target to any solid surface. Count the number of intersections on

 ![img](../assets/chessboard.jpg)

-Turn on Clever and connect to its Wi-Fi.
+Turn on Clover and connect to its Wi-Fi.

 > Navigate to 192.168.11.1:8080 and check whether the computer receives images from the image_raw topic.

@@ -156,7 +156,7 @@ Function **_get_undistorted_image(cv2_image, camera_info)_** is responsible for

 The function returns a cv2 array, into which the corrected image is coded.

-> If you are using a fisheye camera provided with Clever, for processing images with resolution 320x240 or 640x480, you can use the existing calibration settings. To do this, pass parameters **_clever_cam_calibration.clevercamcalib.CLEVER_FISHEYE_CAM_320_** or **_clever_cam_calibration.clevercamcalib.CLEVER_FISHEYE_CAM_640_** as argument **_camera_info_**, respectively.
+> If you are using a fisheye camera provided with Clover, for processing images with resolution 320x240 or 640x480, you can use the existing calibration settings. To do this, pass parameters **_clever_cam_calibration.clevercamcalib.CLEVER_FISHEYE_CAM_320_** or **_clever_cam_calibration.clevercamcalib.CLEVER_FISHEYE_CAM_640_** as argument **_camera_info_**, respectively.

 ## Examples of operation

@@ -176,7 +176,7 @@ Corrected images:

 **Processing image stream from the camera**.

-This program receives images from the camera on Clever and displays them on the screen in corrected for, using the existing calibration file.
+This program receives images from the camera on Clover and displays them on the screen in corrected for, using the existing calibration file.

 ```python
 import clevercamcalib.clevercamcalib as ccc
@@ -195,9 +195,9 @@ cv2.destroyAllWindows()

 ## The usage for ArUco

-To apply the calibration parameters to the ArUco navigation system, move the calibration .yaml file to Raspberry Pi of Clever, and initialize it.
+To apply the calibration parameters to the ArUco navigation system, move the calibration .yaml file to Raspberry Pi of Clover, and initialize it.

-> Don't forget to connect to Wi-Fi of Clever.
+> Don't forget to connect to Wi-Fi of Clover.

 The SFTP protocol is used for transferring the file. This example, WinSCP program is used.

--- a/docs/en/camera_setup.md
+++ b/docs/en/camera_setup.md
@@ -1,8 +1,8 @@
 # Camera setup

-> **Note** The following applies to [image version](image.md) **0.15** and up. See [previous version of the article](https://github.com/CopterExpress/clever/blob/v0.14/docs/ru/camera_frame.md) (Russian only) for older images.
+> **Note** The following applies to [image version](image.md) **0.15** and up. See [previous version of the article](https://github.com/CopterExpress/clover/blob/v0.14/docs/ru/camera_frame.md) (Russian only) for older images.

-Computer vision modules (like [ArUco markers](aruco.md) and [Optical Flow](optical_flow.md)) require adjusting the camrea focus and set up camera position and orientation relative to the drone body.
+Computer vision modules (like [ArUco markers](aruco.md) and [Optical Flow](optical_flow.md)) require adjusting the camera focus and set up camera position and orientation relative to the drone body.

 ## Focusing the camera lens

@@ -39,7 +39,7 @@ Camera frame (that is, [frame of reference](frames.md)) is aligned as follows:

 Shifts are set in meters, angles are in radians. You can check the transform for correctness using [rviz](rviz.md).

-## Presets for Clever
+## Presets for Clover

 The presets for usual camera orientations are available in the `main_camera.launch` file. The images should help you choose the one that is right for you: the first one is how your drone will be displayed in [rviz](rviz.md), the second is how the camera is actually mounted on the drone.

--- a/docs/en/clever-show.md
+++ b/docs/en/clever-show.md
@@ -1,6 +1,6 @@
 # clever-show

-Software for making the drone show controlled by Raspberry Pi, PX4 and COEX [Clever](https://github.com/CopterExpress/clever) package.
+Software for making the drone show controlled by Raspberry Pi, PX4 and COEX [Clover](https://github.com/CopterExpress/clover) package.

 Create animation in Blender, convert it to drone paths, set up the drones and run your own show!

--- a/docs/en/coex_pix.md
+++ b/docs/en/coex_pix.md
@@ -1,6 +1,6 @@
 # COEX Pix

-The **COEX Pix** flight controller is a modified [Pixracer](https://docs.px4.io/v1.9.0/en/flight_controller/pixracer.html) FCU. It is a part of the **Clever 4** quadrotor kit.
+The **COEX Pix** flight controller is a modified [Pixracer](https://docs.px4.io/v1.9.0/en/flight_controller/pixracer.html) FCU. It is a part of the **Clover 4** quadrotor kit.

 ## Revision 1.1

@@ -43,7 +43,7 @@ The **COEX Pix** flight controller is a modified [Pixracer](https://docs.px4.io/

 ### Mounting suggestions

-**Important**: The board is meant to be installed with a non-standard orientation (roll 180º, yaw 90º) on the Clever airframe. Therefore, the `SENS_BOARD_ROT` PX4 parameter should be set to `ROLL 180, YAW 90`.
+**Important**: The board is meant to be installed with a non-standard orientation (roll 180º, yaw 90º) on the Clover airframe. Therefore, the `SENS_BOARD_ROT` PX4 parameter should be set to `ROLL 180, YAW 90`.

 ### Usage notes

--- a/docs/en/contributing.md
+++ b/docs/en/contributing.md
@@ -1,12 +1,12 @@
-# Contribution to Clever
+# Contribution to Clover

-Clever is mostly an [open source](https://en.wikipedia.org/wiki/Open-source_software) and [open hardware](https://en.wikipedia.org/wiki/Open-source_hardware) project aimed at lowering the entry threshold to development of the projects related to flying robotics. You can contribute to the project by offering fixes and improvements for Clever documentation and software.
+Clover is mostly an [open source](https://en.wikipedia.org/wiki/Open-source_software) and [open hardware](https://en.wikipedia.org/wiki/Open-source_hardware) project aimed at lowering the entry threshold to development of the projects related to flying robotics. You can contribute to the project by offering fixes and improvements for Clover documentation and software.

-> **Note** To offer changes to Clever documentation or SW, you should have an account at [GitHub](https://github.com).
+> **Note** To offer changes to Clover documentation or SW, you should have an account at [GitHub](https://github.com).

 ## Markdown

-All Clever documentation is written in the widespread [Markdown](https://en.wikipedia.org/wiki/Markdown) format. There are many Markdown guides on the Internet.
+All Clover documentation is written in the widespread [Markdown](https://en.wikipedia.org/wiki/Markdown) format. There are many Markdown guides on the Internet.

 In Russian: https://guides.hexlet.io/markdown/.

@@ -22,7 +22,7 @@ For a local build of a static documentation website, use the [`gitbook-cli`](htt

 If you have found an error in the documentation or if you want to improve it, use the **Pull Request** mechanism.

-1. Find a file with the article you want in the repository – https://github.com/CopterExpress/clever/tree/master/docs.
+1. Find a file with the article you want in the repository – https://github.com/CopterExpress/clover/tree/master/docs.
 2. Click "Edit".

    <img src="../assets/github-edit.png" alt="GitHub Edit">
@@ -36,18 +36,18 @@ More information about Pull Requests is available [at GitHub](https://help.githu

 ## Contributing a new article

-> **Note** If you've made your own project based on Clever, you can add an article about it to the "Clever-based projects" section.
+> **Note** If you've made your own project based on Clover, you can add an article about it to the "Clover-based projects" section.

-Prepare your article and send it as a pull request to the [Clever repository](https://github.com/CopterExpress/clever).
+Prepare your article and send it as a pull request to the [Clover repository](https://github.com/CopterExpress/clover).

-1. Fork the Clever repository:
+1. Fork the Clover repository:

    <img src="../assets/github-fork.png" alt="GitHub Fork">

 2. Check out the freshly-forked repository on your computer:

    ```bash
-    git clone https://github.com/<USERNAME>/clever.git
+    git clone https://github.com/<USERNAME>/clover.git
    ```

 3. Open the directory with the source code checkout and create a new branch for your article (for example, `new-article`):
@@ -75,7 +75,7 @@ Prepare your article and send it as a pull request to the [Clever repository](ht

    ```bash
    git add docs/
-    git commit -m "Add new article for Clever"
+    git commit -m "Add new article for Clover"
    ```

 8. Upload your branch to your forked repository on GitHub:
@@ -84,7 +84,7 @@ Prepare your article and send it as a pull request to the [Clever repository](ht
    git push -u origin new-article
    ```

-9. Open your repository on GitHub and send a `pull request` from your branch to Clever:
+9. Open your repository on GitHub and send a `pull request` from your branch to Clover:

    <img src="../assets/github-pull-request.png" alt="GitHub Pull Request">

--- a/docs/en/copterhack2017.md
+++ b/docs/en/copterhack2017.md
@@ -1,7 +1,7 @@
 Copter Hack 2017
 ===

-On July 28 – 30, 2017, Copter Express held a hackathon named "Copter Hack 2017", where the objective was to program a Clever to dance-fly autonomously to random music.
+On July 28 – 30, 2017, Copter Express held a hackathon named "Copter Hack 2017", where the objective was to program a Clover to dance-fly autonomously to random music.

 The team "Pangolins" became the winners.

--- a/docs/en/copterhack2018.md
+++ b/docs/en/copterhack2018.md
@@ -30,7 +30,7 @@ Winning teams:

 1. Starshine (Moscow) — controlling the drone using a "smart" glove.
 2. Alcopter (Moscow) — controlling the drone with gestures and pose change.
-3. Merry copter (Samara) — a Vkontakte bot for controlling the copter, a joint flight of "Zhuzha" and "Clever 3".
+3. Merry copter (Samara) — a Vkontakte bot for controlling the copter, a joint flight of "Zhuzha" and "Clover 3".
 4. International Post (Novosibirsk) — automatic scattering leaflets from the drone.
 5. LAMAR (Yekaterinburg) — an automatic quadcopter battery replacement station.

--- a/docs/en/copterhack2019.md
+++ b/docs/en/copterhack2019.md
@@ -20,9 +20,9 @@ This parameter is used for *IMU* orientation correction.

 ### Suggested image versions

-Raspberry Pi versions 3B+ and lower: [v0.18](https://github.com/CopterExpress/clever/releases/tag/v0.18)
+Raspberry Pi versions 3B+ and lower: [v0.18](https://github.com/CopterExpress/clover/releases/tag/v0.18)

-Raspberry Pi version 4: [v0.19-alpha.1](https://github.com/CopterExpress/clever/releases/tag/v0.19-alpha.1)
+Raspberry Pi version 4: [v0.19-alpha.1](https://github.com/CopterExpress/clover/releases/tag/v0.19-alpha.1)

 ### Camera orientation

--- a/docs/en/esc_firmware.md
+++ b/docs/en/esc_firmware.md
@@ -68,7 +68,7 @@ To display the settings of all ESCs simultaneously, you can use the ESC Overview

 ESC firmware files are located [here](https://github.com/cleanflight/blheli-multishot/tree/master/BLHeli_S%20SiLabs/Hex%20Files).

-To flesh ESCs, click on button Flash BLHeli and choose the firmware file with the type of the controller, the name of which is indicated in the firmware name frame on top of the screen in tab Silabs ESC Setup (for the controller that is used in Clever 2, it is A-H-70).
+To flesh ESCs, click on button Flash BLHeli and choose the firmware file with the type of the controller, the name of which is indicated in the firmware name frame on top of the screen in tab Silabs ESC Setup (for the controller that is used in Clover 2, it is A-H-70).

 To re-flash an individual ESC, disable all other ESCs.

--- a/docs/en/face_recognition.md
+++ b/docs/en/face_recognition.md
@@ -2,7 +2,7 @@

 ## Introduction

-Recently, face recognition systems have been getting a wider use, the application scope of this technology is really expansive: from regular selfie drones to police drones. Everywhere it is being integrated into various devices. The recognition process itself is really fascinating, and that's what inspired me to create a project associated with it.  The purpose of my internship project was to create a simple open source system for face recognition with a Clever quadcopter. The program takes images from the quadcopter's camera and processes it on a PC. Therefore, all other instructions are executed on a PC.
+Recently, face recognition systems have been getting a wider use, the application scope of this technology is really expansive: from regular selfie drones to police drones. Everywhere it is being integrated into various devices. The recognition process itself is really fascinating, and that's what inspired me to create a project associated with it.  The purpose of my internship project was to create a simple open source system for face recognition with a Clover quadcopter. The program takes images from the quadcopter's camera and processes it on a PC. Therefore, all other instructions are executed on a PC.

 ## Development

@@ -93,7 +93,7 @@ Further explanation of the code is available at GitHub of the used API in the co

 ## Using

-It is enough to connect to "Clever" via Wi-Fi and check whether the video stream from the camera is working correctly.
+It is enough to connect to "Clover" via Wi-Fi and check whether the video stream from the camera is working correctly.

 Then just run the script:

--- a/docs/en/firmware.md
+++ b/docs/en/firmware.md
@@ -3,17 +3,17 @@ Pixhawk / Pixracer firmware flashing

 Pixhawk or Pixracer firmware may be flashed using QGroundControl or command line utilities.

-Modified firmware for Clever
+Modified firmware for Clover
 ---

-It is advisable to use a specialized build of PX4 with the necessary fixes and better defaults for the Clever drone. Use the latest stable release in our [GitHub repository](https://github.com/CopterExpress/Firmware/releases) with the word `clever`, for example, `v1.8.2-clever.5`.
+It is advisable to use a specialized build of PX4 with the necessary fixes and better defaults for the Clover drone. Use the latest stable release in our [GitHub repository](https://github.com/CopterExpress/Firmware/releases) with the word `clever`, for example, `v1.8.2-clever.5`.

 <div id="release" style="display:none">
 <p>Latest stable release: <strong><a id="download-latest-release"></a></strong>.</p>

 <ul>
-<li>Firmware for Pixracer (<strong>Clever 4 / Clever 3</strong>) – <a id="firmware-pixracer" href=""><code>px4fmu-v4_default.px4</code></a>.</li>
-<li>Firmware for Pixhawk (<strong>Clever 2</strong>) – <a id="firmware-pixhawk" href=""><code>px4fmu-v2_lpe.px4</code></a>.</li>
+<li>Firmware for Pixracer (<strong>Clover 4 / Clover 3</strong>) – <a id="firmware-pixracer" href=""><code>px4fmu-v4_default.px4</code></a>.</li>
+<li>Firmware for Pixhawk (<strong>Clover 2</strong>) – <a id="firmware-pixhawk" href=""><code>px4fmu-v2_lpe.px4</code></a>.</li>
 </ul>
 </div>

@@ -60,8 +60,8 @@ Firmware variants

 The name of the firmware file contains information about the target flight controller and build variant. For example:

-* `px4fmu-v4_default.px4` — firmware for Pixhawk with EKF2 and LPE (**Clever 3** / **Clever 4**).
-* `px4fmu-v2_lpe.px4` — firmware for Pixhawk with LPE (**Clever 2**).
+* `px4fmu-v4_default.px4` — firmware for Pixhawk with EKF2 and LPE (**Clover 3** / **Clover 4**).
+* `px4fmu-v2_lpe.px4` — firmware for Pixhawk with LPE (**Clover 2**).
 * `px4fmu-v2_default.px4` — firmware for Pixhawk with EKF2.
 * `px4fmu-v3_default.px4` — firmware for newer Pixhawk versions (rev. 3 chip, see Fig. + Bootloader v5) with EKF2 and LPE.

--- a/docs/en/frames.md
+++ b/docs/en/frames.md
@@ -1,9 +1,7 @@
 Coordinate systems (frames)
 ===

-> **Note** The following applies to [image](image.md) version 0.15 and up. See [previous version of the article](https://github.com/CopterExpress/clever/blob/v0.14/docs/ru/frames.md) (Russian only) for older images.
-
-![TF2 Clever frames](../assets/frames.png)
+![TF2 Clover frames](../assets/frames.png)

 Main frames in the `clever` package:

@@ -27,7 +25,7 @@ tf2

 Read more at http://wiki.ros.org/tf2

-tf2 ROS package is used extensively in the Clever platform. tf2 is a set of libraries for C++, Python and other programming languages that are used to work with the frames. Internally, ROS nodes publish `TransformStamped` messages to `/tf` topic with transforms between frames at certain points in time.
+tf2 ROS package is used extensively in the Clover platform. tf2 is a set of libraries for C++, Python and other programming languages that are used to work with the frames. Internally, ROS nodes publish `TransformStamped` messages to `/tf` topic with transforms between frames at certain points in time.

 The [`simple_offboard`](simple_offboard.md) node can be used to request the drone position in an arbitrary frame by setting the `frame_id` argument appropriately in a call to `get_telemetry` service.

--- a/docs/en/gcs_bridge.md
+++ b/docs/en/gcs_bridge.md
@@ -6,7 +6,7 @@ Using QGroundControl via Wi-Fi
 You can monitor, control, calibrate and configure the flight controller of the quadcopter using QGroundControl via Wi-Fi.
 This requires [connecting to Wi-Fi](wifi.md) of the `CLEVER-xxxx` network.

-After that, in the Clever launch-file `/home/pi/catkin_ws/src/clever/clever/launch/clever.launch`, choose one of the preconfigured bridge modes.
+After that, in the Clover launch-file `/home/pi/catkin_ws/src/clever/clever/launch/clever.launch`, choose one of the preconfigured bridge modes.

 After editing the launch-file, restart the clever service:

@@ -27,7 +27,7 @@ Then in the QGroundControl program, choose Application Settings > Comm Links > A

 ![QGroundControl TCP connection](../assets/bridge_tcp.png)

-Then choose "Clever" from the list of connections, and click "Connect".
+Then choose "Clover" from the list of connections, and click "Connect".

 UDP bridge (with automated connection)
 ---
--- a/docs/en/gloss.md
+++ b/docs/en/gloss.md
@@ -41,13 +41,13 @@ A rechargeable power source for the drone. Quadrotors typically use LiPo (lithiu

 Single element of the battery pack. Typical drone batteries contain several (2 to 6) cells connected in series. Maximum LiPo cell voltage is 4.2 v; battery voltage is a sum of each cell's voltage (if they are connected in series). The number of cells connected in series is marked by the letter *S*, as in *2S* (two cells in series), *3S*, *4S*.

-Clever kits typically use *3S* batteries.
+Clover kits typically use *3S* batteries.

 ## Remote control / radio control equipment

 A radio-operated quadcopter remote control. Operation of the remote control requires connecting a receiver to the flight controller.

-Clever may also be [controlled from a smartphone](rc.md).
+Clover may also be [controlled from a smartphone](rc.md).

 ## Telemetry

@@ -55,7 +55,7 @@ Clever may also be [controlled from a smartphone](rc.md).

 **2\.** The data about the aircraft state (height, orientation, global coordinates, etc.).

-**3\.** A system for transmitting the data about the  aircraft state or commands to it over the air. Examples: radio modems (RFD900, 3DR Radio Modem), Wi-Fi modules (ESP-07). Raspberry Pi may also be used in Clever as a telemetry module: [the use of QGroundControl via Wi-Fi](gcs_bridge.md).
+**3\.** A system for transmitting the data about the  aircraft state or commands to it over the air. Examples: radio modems (RFD900, 3DR Radio Modem), Wi-Fi modules (ESP-07). Raspberry Pi may also be used in Clover as a telemetry module: [the use of QGroundControl via Wi-Fi](gcs_bridge.md).

 ## Arming

@@ -65,17 +65,17 @@ The opposite state is Disarmed.

 ## PX4

-A popular open source flight controller software that works with the Pixhawk series of flight controllers, Pixracer, and others. PX4 is recommended to be used with Clever.
+A popular open source flight controller software that works with the Pixhawk series of flight controllers, Pixracer, and others. PX4 is recommended to be used with Clover.

 ## Raspberry Pi

-[A popular single-board computer](raspberry.md) that is used in the Clever kit.
+[A popular single-board computer](raspberry.md) that is used in the Clover kit.

 ## SD card image

 A complete digital copy of SD card contents stored in a single file. This file may be written to an SD card using special software like Etcher. A Raspberry Pi's SD card is the only long-term memory of the single-board computer.

-The Clever kit includes a [recommended SD card image](image.md)
+The Clover kit includes a [recommended SD card image](image.md)

 ## APM / ArduPilot

--- a/docs/en/hostname.md
+++ b/docs/en/hostname.md
@@ -1,18 +1,18 @@
 # Hostname

-[By default](image.md) the hostname of the Clever drone is set to `clever-xxxx`, where `xxxx` are random numbers. These numbers are the same as in the [Wi-Fi SSID](wifi.md).
+[By default](image.md) the hostname of the Clover drone is set to `clever-xxxx`, where `xxxx` are random numbers. These numbers are the same as in the [Wi-Fi SSID](wifi.md).

-Thus, Clever is accessible on machines that support mDNS as `clever-xxxx.local`. You can use this name to access Clever over SSH:
+Thus, Clover is accessible on machines that support mDNS as `clever-xxxx.local`. You can use this name to access Clover over SSH:

 ```bash
 ssh pi@clever-xxxx.local
 ```

-Also, this name can be used in place of IP-address to open Clever web pages in browser, accessing ROS master, etc.
+Also, this name can be used in place of IP-address to open Clover web pages in browser, accessing ROS master, etc.

 ## Changing hostname

-In some situations it is necessary to change Clever's hostname. You can use the `hostnamectl` utility for that:
+In some situations it is necessary to change Clover's hostname. You can use the `hostnamectl` utility for that:

 ```bash
 sudo hostnamectl set-hostname newname
--- a/docs/en/human_pose_estimation_drone_control.md
+++ b/docs/en/human_pose_estimation_drone_control.md
@@ -145,7 +145,7 @@ Animation is created by [this](https://justsketchme.web.app/)
 ## References

 - [Human pose estimation guide](https://blog.nanonets.com/human-pose-estimation-2d-guide/)
- [Clever drones tutorials](https://clever.coex.tech/en/)
+- [Clover drones tutorials](https://clever.coex.tech/en/)
 - [Posenet GitHub repo](https://github.com/tensorflow/tfjs-models/tree/master/posenet)
 - [Posenet meduim article](https://medium.com/tensorflow/real-time-human-pose-estimation-in-the-browser-with-tensorflow-js-7dd0bc881cd5)
 - [Tensorflow.js demos](https://www.tensorflow.org/js/demos)
--- a/docs/en/image.md
+++ b/docs/en/image.md
@@ -1,10 +1,10 @@
 # Raspberry Pi image

-The RPi image for Clever contains all the necessary software for working with Clever and [programming autonomous flights](simple_offboard.md). The Clever platform is based on [Raspbian OS](https://www.raspberrypi.org/downloads/raspbian/) and robotics framework [ROS](ros.md). The source code of the image builder and all the additional packages is [available on GitHub](https://github.com/CopterExpress/clever).
+The RPi image for Clover contains all the necessary software for working with Clover and [programming autonomous flights](simple_offboard.md). The Clover platform is based on [Raspbian OS](https://www.raspberrypi.org/downloads/raspbian/) and robotics framework [ROS](ros.md). The source code of the image builder and all the additional packages is [available on GitHub](https://github.com/CopterExpress/clover).

 ## Usage

-1. Download the latest stable release of the image – **<a class="latest-image" href="https://github.com/CopterExpress/clever/releases">download</a>**.
+1. Download the latest stable release of the image – **<a class="latest-image" href="https://github.com/CopterExpress/clover/releases">download</a>**.
 2. Download and install [Etcher](https://www.balena.io/etcher/), the software for flashing images (available for Windows/Linux/macOS).
 3. Put the MicroSD-card into your computer (use an adapter if necessary).
 4. Flash the downloaded image to the card using Etcher.
@@ -12,6 +12,6 @@ The RPi image for Clever contains all the necessary software for working with Cl

 <img src="../assets/etcher.png" class="zoom">

-After flashing the image on the MicroSD-card, you can [connect to the Clever over Wi-Fi](wifi.md), use [wireless connection in QGroundControl](gcs_bridge.md), gain access to the Raspberry [over SSH](ssh.md) and use all the other features.
+After flashing the image on the MicroSD-card, you can [connect to the Clover over Wi-Fi](wifi.md), use [wireless connection in QGroundControl](gcs_bridge.md), gain access to the Raspberry [over SSH](ssh.md) and use all the other features.

 **Next:** [Connecting over Wi-Fi](wifi.md).
--- a/docs/en/jetson_nano.md
+++ b/docs/en/jetson_nano.md
@@ -1,4 +1,4 @@
-# Clever and Jetson Nano
+# Clover and Jetson Nano

 ## Jetson Nano overview

@@ -12,7 +12,7 @@ Jetson Nano developer kits come with a carrier board that has USB 3.0, CSI and E

 ## Setting up

-Nvidia provides an SD card image with an operating system based on Ubuntu Linux 18.04 for Jetson Nano. This image is a good starting point for ROS and Clever installation.
+Nvidia provides an SD card image with an operating system based on Ubuntu Linux 18.04 for Jetson Nano. This image is a good starting point for ROS and Clover installation.

 ### Initial system setup

@@ -70,14 +70,14 @@ curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
 sudo python ./get-pip.py
 ```

-### Building Clever nodes
+### Building Clover nodes

-Create a "workspace" directory in your home folder and populate it with Clever packages:
+Create a "workspace" directory in your home folder and populate it with Clover packages:

 ```bash
 mkdir -p ~/catkin_ws/src
 cd ~/catkin_ws/src
-git clone https://github.com/CopterExpress/clever
+git clone https://github.com/CopterExpress/clover
 git clone https://github.com/CopterExpress/ros_led
 git clone https://github.com/okalachev/vl53l1x_ros
 ```
@@ -103,16 +103,16 @@ Install development libraries for OpenCV 3.2 (recent Jetson Nano images have Ope
 sudo apt install libopencv-dev=3.2.0+dfsg-4ubuntu0.1
 ```

-Finally, build the Clever nodes:
+Finally, build the Clover nodes:

 ```bash
 cd ~/catkin_ws
 catkin_make
 ```

-> **Hint** You may also want to add udev rules for PX4 flight controllers. Copy [the rules file](https://github.com/CopterExpress/clever/blob/master/clever/config/99-px4fmu.rules) to `/etc/udev/rules.d` and run `sudo udevadm control --reload-rules && sudo udevadm trigger`.
+> **Hint** You may also want to add udev rules for PX4 flight controllers. Copy [the rules file](https://github.com/CopterExpress/clover/blob/master/clover/config/99-px4fmu.rules) to `/etc/udev/rules.d` and run `sudo udevadm control --reload-rules && sudo udevadm trigger`.

-### Running Clever nodes
+### Running Clover nodes

 Set up the workspace environment:

@@ -127,7 +127,7 @@ Configure the launch files to your taste and use `roslaunch` to launch the nodes
 roslaunch clever clever.launch
 ```

-> **Hint** You may want to start the Clever nodes automatically. This can be done with `systemd`: look at service files for [`roscore`](https://github.com/CopterExpress/clever/blob/master/builder/assets/roscore.service) and [`clever`](https://github.com/CopterExpress/clever/blob/master/builder/assets/clever.service) that are used in our image and adjust them as necessary.
+> **Hint** You may want to start the Clover nodes automatically. This can be done with `systemd`: look at service files for [`roscore`](https://github.com/CopterExpress/clover/blob/master/builder/assets/roscore.service) and [`clever`](https://github.com/CopterExpress/clover/blob/master/builder/assets/clever.service) that are used in our image and adjust them as necessary.

 ## Caveats

--- a/docs/en/laser.md
+++ b/docs/en/laser.md
@@ -1,10 +1,10 @@
 # Working with a laser rangefinder

-> **Note** Documentation for the [image](image.md), versions, starting with **0.18**. For older versions refer to [documentation for version **0.17**](https://github.com/CopterExpress/clever/blob/v0.17/docs/en/laser.md).
+> **Note** Documentation for the [image](image.md), versions, starting with **0.18**. For older versions refer to [documentation for version **0.17**](https://github.com/CopterExpress/clover/blob/v0.17/docs/en/laser.md).

 ## VL53L1X Rangefinder

-The rangefinder model recommended for Clever is STM VL53L1X. This rangefinder can measure distances from 0 to 4 m while ensuring high measurement accuracy.
+The rangefinder model recommended for Clover is STM VL53L1X. This rangefinder can measure distances from 0 to 4 m while ensuring high measurement accuracy.

 The [image for Raspberry Pi](image.md) contains pre-installed corresponding ROS driver.

--- a/docs/en/leds.md
+++ b/docs/en/leds.md
@@ -2,7 +2,7 @@

 > **Note** The following applies to image version 0.18 and up. See [previous version of the article](leds_old.md) for older images.

-Clever drone kits contain addressable LED strips based on *ws281x* drivers. Each LED may be set to any one of 16 million possible colors (each color is encoded by a 24-bit number). This allows making the Clever flight more spectacular, as well as show flight modes, display stages of current user program, and notify the pilot of other events.
+Clover drone kits contain addressable LED strips based on *ws281x* drivers. Each LED may be set to any one of 16 million possible colors (each color is encoded by a 24-bit number). This allows making the Clover flight more spectacular, as well as show flight modes, display stages of current user program, and notify the pilot of other events.

 <img src="../assets/clever-led.png" class="center" width=600>

@@ -99,7 +99,7 @@ disconnected: { effect: blink, r: 255, g: 50, b: 50 }

 The left part is one of the possible events that the strip reacts to. The right part contains the effect description that you want to execute for this event. Here is the list of supported events:

-* `startup` – Clever system startup;
+* `startup` – Clover system startup;
 * `connected` – successful connection to the flight controller;
 * `disconnected` – connection to the flight controller lost;
 * `armed` – flight controller transitioned to armed state;
--- a/docs/en/leds_old.md
+++ b/docs/en/leds_old.md
@@ -2,7 +2,7 @@

 ## Connecting and determining the type of the strip

-> **Note** The following is applicable to image versions 0.14 and up. For versions 0.13 and older see [an older revision of this article](https://github.com/CopterExpress/clever/blob/v0.16/docs/en/leds.md)
+> **Note** The following is applicable to image versions 0.14 and up. For versions 0.13 and older see [an older revision of this article](https://github.com/CopterExpress/clover/blob/v0.16/docs/en/leds.md)

 Connect the +5v and GND leads of your LED to a power source and the DIN (data in) lead to GPIO18 or GPIO21.

@@ -103,7 +103,7 @@ Main strip control methods:

 ## Does it have to be this way?

-The LED strip type used in the Clever kits use the following protocol: a data source (a Raspberry Pi, for example) sends a bit stream, 24 bits per LED. Each LED reads the first 24 bits from the stream and sets its color accordingly while passing the rest of the stream to the next LED. Zeroes and ones are encoded by different pulse lengths.
+The LED strip type used in the Clover kits use the following protocol: a data source (a Raspberry Pi, for example) sends a bit stream, 24 bits per LED. Each LED reads the first 24 bits from the stream and sets its color accordingly while passing the rest of the stream to the next LED. Zeroes and ones are encoded by different pulse lengths.

 This LED strip is supported by the [rpi_ws281x](https://github.com/jgarff/rpi_ws281x) library. The library uses the DMA (direct memory access) module of the Raspberry CPU and can utilize one of the three periphery channels: PWM, PCM or SPI. This allows the library to drive the strip consistently in a multitasking environment.

--- a/docs/en/lessons.md
+++ b/docs/en/lessons.md
@@ -1,24 +1,24 @@
 # Theory

-[**Lesson # 1** "Introduction. Principles of designing and building multicopters"](https://github.com/CopterExpress/clever/blob/master/docs/en/lesson1.md)
+[**Lesson # 1** "Introduction. Principles of designing and building multicopters"](https://github.com/CopterExpress/clover/blob/master/docs/en/lesson1.md)

-[**Lesson # 2** "Fundamentals of electricity"](https://github.com/CopterExpress/clever/blob/master/docs/en/lesson2.md)
+[**Lesson # 2** "Fundamentals of electricity"](https://github.com/CopterExpress/clover/blob/master/docs/en/lesson2.md)

-[**Lesson # 3** "Theory of soldering"](https://github.com/CopterExpress/clever/blob/master/docs/en/lesson3.md)
+[**Lesson # 3** "Theory of soldering"](https://github.com/CopterExpress/clover/blob/master/docs/en/lesson3.md)

-[**Lesson # 4** "Aerodynamics of the flight. Propeller"](https://github.com/CopterExpress/clever/blob/master/docs/en/lesson4.md)
+[**Lesson # 4** "Aerodynamics of the flight. Propeller"](https://github.com/CopterExpress/clover/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/clover/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 6** "Fundamentals of electromagnetism. Types of motors"](https://github.com/CopterExpress/clover/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/clover/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 # 8** "Controlling the flight of the multicopter. The flight controller operating principle. PID ESCs"](https://github.com/CopterExpress/clover/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 # 9** "Fundamentals of radio communication. Operation principle of radio control equipment"](https://github.com/CopterExpress/clover/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/clover/blob/master/docs/en/lesson10.md)-->

 ## Video lessons

--- a/docs/en/mavlink.md
+++ b/docs/en/mavlink.md
@@ -4,7 +4,7 @@ Basic documentation: https://mavlink.io/en/.

 MAVLink is a communication protocol between autonomous aircraft and vehicle systems (drones, planes, vehicles). The MAVLink protocol lies at the base of interaction between Pixhawk and Raspberry Pi.

-Clever contains two wrappers for this protocol: [MAVROS](mavros.md) and [simple_offboard](simple_offboard.md).
+Clover contains two wrappers for this protocol: [MAVROS](mavros.md) and [simple_offboard](simple_offboard.md).

 The code for sending an arbitrary MAVLink message may be found in [the examples](snippets.md#mavlink).

@@ -35,7 +35,7 @@ A complete list of MAVLink messages is available in [MAVLink documentation] (htt

 Each device (a drone, a base station, etc.) has an ID in the MAVLink network. In PX4 MAVLink, ID is changed using parameter `MAV_SYS_ID`. Each MAVLink message contains a field with the ID of the originating system. Besides, some messages (for example, `COMMAND_LONG`) also contain the ID of the target system.

-In addition to IDs of the systems, the messages may contain IDs of the originating component and the target component. Examples of the system components: a flight controller, an external camera, a controlling onboard computer (Raspberry Pi in case of Clever), etc.
+In addition to IDs of the systems, the messages may contain IDs of the originating component and the target component. Examples of the system components: a flight controller, an external camera, a controlling onboard computer (Raspberry Pi in case of Clover), etc.

 ### An example of a package

--- a/docs/en/mavros.md
+++ b/docs/en/mavros.md
@@ -6,7 +6,7 @@ MAVROS \(MAVLink + ROS\) is a ROS package that allows controlling drones via the

 MAVROS subscribes to certain ROS topics that can be used to send commands, publishes telemetry to other topics, and provides services.

-The MAVROS node is automatically started in the Clever launch-file. In order to [set the type of connection](connection.md), change the `fcu_conn` argument.
+The MAVROS node is automatically started in the Clover launch-file. In order to [set the type of connection](connection.md), change the `fcu_conn` argument.

 > **Hint** Simplified interaction with the drone is possible with the use of [`simple_offboard`] package (simple_offboard.md).

--- a/docs/en/models.md
+++ b/docs/en/models.md
@@ -6,33 +6,33 @@ This page contains models and drawings of some of the drone parts. They can be u

 ### 3D print

-* Battery holder – [`battery_holder.stl`](https://github.com/CopterExpress/clever/raw/master/docs/assets/stl/battery_holder.stl). Filament: PLA/ABS/SBS. Infill: 50% or more.
+* Battery holder – [`battery_holder.stl`](https://github.com/CopterExpress/clover/raw/master/docs/assets/stl/battery_holder.stl). Filament: PLA/ABS/SBS. Infill: 50% or more.

 ### Laser cut

-* Reinforcing Pad – [`reinforcing_pad.dxf`](https://github.com/CopterExpress/clever/raw/master/docs/assets/dxf/reinforcing_pad.dxf)
+* Reinforcing Pad – [`reinforcing_pad.dxf`](https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/reinforcing_pad.dxf)

 ## Clover 3

 ### 3D print

-* Camera case – [`camera_case.stl`](https://github.com/CopterExpress/clever/raw/master/docs/assets/stl/camera_case.stl). Filament: PLA/ABS/SBS.
-* Camera mount – [`camera_mount.stl`](https://github.com/CopterExpress/clever/raw/master/docs/assets/stl/camera_mount.stl). Filament: PLA/ABS/SBS.
-* Camera plate – [`camera_plate.stl`](https://github.com/CopterExpress/clever/raw/master/docs/assets/stl/camera_plate.stl). Filament: PLA/ABS/SBS.
-* Mounting deck small – [`mounting_deck_small.stl`](https://github.com/CopterExpress/clever/raw/master/docs/assets/stl/mounting_deck_small.stl). Filament: PLA/ABS/SBS.
+* Camera case – [`camera_case.stl`](https://github.com/CopterExpress/clover/raw/master/docs/assets/stl/camera_case.stl). Filament: PLA/ABS/SBS.
+* Camera mount – [`camera_mount.stl`](https://github.com/CopterExpress/clover/raw/master/docs/assets/stl/camera_mount.stl). Filament: PLA/ABS/SBS.
+* Camera plate – [`camera_plate.stl`](https://github.com/CopterExpress/clover/raw/master/docs/assets/stl/camera_plate.stl). Filament: PLA/ABS/SBS.
+* Mounting deck small – [`mounting_deck_small.stl`](https://github.com/CopterExpress/clover/raw/master/docs/assets/stl/mounting_deck_small.stl). Filament: PLA/ABS/SBS.

 ### Laser cut

-* Big leg – [`big_leg.dxf`](https://github.com/CopterExpress/clever/raw/master/docs/assets/dxf/big_leg.dxf).
-* Deck mount – [`deck.dxf`](https://github.com/CopterExpress/clever/raw/master/docs/assets/dxf/deck.dxf).
-* Prop guard – [`prop_guard.dxf`](https://github.com/CopterExpress/clever/raw/master/docs/assets/dxf/prop_guard.dxf).
-* Prop guard fork – [`prop_guard_mount.dxf`](https://github.com/CopterExpress/clever/raw/master/docs/assets/dxf/prop_guard_mount.dxf).
-* Spacer – [`grab_spacer.dxf`](https://github.com/CopterExpress/clever/raw/master/docs/assets/dxf/grab_spacer.dxf).
-* Leg – [`leg.dxf`](https://github.com/CopterExpress/clever/raw/master/docs/assets/dxf/leg.dxf).
-* LED mount plate – [`led_mount_plate.dxf`](https://github.com/CopterExpress/clever/raw/master/docs/assets/dxf/led_mount_plate.dxf).
-* Mounting deck small – [`mounting_deck_small.dxf`](https://github.com/CopterExpress/clever/raw/master/docs/assets/dxf/mounting_deck_small.dxf).
+* Big leg – [`big_leg.dxf`](https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/big_leg.dxf).
+* Deck mount – [`deck.dxf`](https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/deck.dxf).
+* Prop guard – [`prop_guard.dxf`](https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/prop_guard.dxf).
+* Prop guard fork – [`prop_guard_mount.dxf`](https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/prop_guard_mount.dxf).
+* Spacer – [`grab_spacer.dxf`](https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/grab_spacer.dxf).
+* Leg – [`leg.dxf`](https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/leg.dxf).
+* LED mount plate – [`led_mount_plate.dxf`](https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/led_mount_plate.dxf).
+* Mounting deck small – [`mounting_deck_small.dxf`](https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/mounting_deck_small.dxf).

 ### Milling

-* Central plate – [`central_plate.dxf`](https://github.com/CopterExpress/clever/raw/master/docs/assets/dxf/central_plate.dxf).
-* Arm – [`arm.dxf`](https://github.com/CopterExpress/clever/raw/master/docs/assets/dxf/arm.dxf).
+* Central plate – [`central_plate.dxf`](https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/central_plate.dxf).
+* Arm – [`arm.dxf`](https://github.com/CopterExpress/clover/raw/master/docs/assets/dxf/arm.dxf).
--- a/docs/en/modes.md
+++ b/docs/en/modes.md
@@ -39,7 +39,7 @@ In manual mode the pilot controls the drone directly. GPS, computer vision data,

 In autonomous flight modes the quadcopter ignores the control signals from the transmitter and uses a program to fly.

-* **OFFBOARD** mode uses an external computer (like a [Raspberry Pi](raspberry.md)). This mode is used in Clever for [autonomous flights](simple_offboard.md).
+* **OFFBOARD** mode uses an external computer (like a [Raspberry Pi](raspberry.md)). This mode is used in Clover for [autonomous flights](simple_offboard.md).
 * **AUTO.MISSION** – PX4 uses the mission pre-loaded into the drone (the mission is uploaded using ground control station over [MAVLink](mavlink.md)). This mode is commonly used to move in a pre-planned path using GPS as a position source, for example, in photogrammetry.
 * **AUTO.RTL** – the copter automatically returns to the takeoff (launch) point.
 * **AUTO.LAND** – the copter lands at the current position.
--- a/docs/en/optical_flow.md
+++ b/docs/en/optical_flow.md
@@ -4,7 +4,7 @@ Running the technology "Optical Flow" offers the possibility of POSCTL flight mo

 ## Enabling

-> **Hint** It is recommended to use [special PX4 firmware for Clever](firmware.md#прошивка-для-клевера).
+> **Hint** It is recommended to use [special PX4 firmware for Clover](firmware.md).

 The use of a rangefinder is essential. [Connect and setup laser-ranging sensor VL53L1X](laser.md), according to the manual.

--- a/docs/en/power.md
+++ b/docs/en/power.md
@@ -6,9 +6,9 @@ Open the *Vehicle Setup* tab and select the *Power* menu.

 > **Note** Power sensor calibration should be done with the battery pack connected to the drone.

-If there is no voltage indicator or manual calibration is not possible, set the average value of the voltage divider for the Clever 4 kit (*Voltage divider* = 11).
+If there is no voltage indicator or manual calibration is not possible, set the average value of the voltage divider for the Clover 4 kit (*Voltage divider* = 11).

-1. Set the *Number of cells* parameter according to the number of cells in your battery (*3* for the Clever 4 drone).
+1. Set the *Number of cells* parameter according to the number of cells in your battery (*3* for the Clover 4 drone).
 2. Calculate the voltage divider:
    * Measure voltage across the battery (you may use a battery voltage tester for that).
    * Press the *Calculate* button next to the *Voltage divider* label.
--- a/docs/en/programming.md
+++ b/docs/en/programming.md
@@ -2,15 +2,15 @@

 <img src="../assets/programming.png" width="250" align="right">

-The Clever platform allows a [Raspberry Pi](raspberry.md) computer to be used for programming autonomous flights. The flight program is typically written using the Python programming language. The program may [receive telemetry data](simple_offboard.md#get_telemetry) (which includes battery data, attitude, position, and other parameters) and send commands like: [fly to a point in space](simple_offboard.md#navigate), [set attitude](simple_offboard.md#set_attitude), [set angular rates](simple_offboard.md#set_rates), and others.
+The Clover platform allows a [Raspberry Pi](raspberry.md) computer to be used for programming autonomous flights. The flight program is typically written using the Python programming language. The program may [receive telemetry data](simple_offboard.md#get_telemetry) (which includes battery data, attitude, position, and other parameters) and send commands like: [fly to a point in space](simple_offboard.md#navigate), [set attitude](simple_offboard.md#set_attitude), [set angular rates](simple_offboard.md#set_rates), and others.

-The platform utilizes the [ROS framework](ros.md), which allows the user program to communicate with the Clever services that are running as a `clever` systemd daemon. The [MAVROS](mavros.md) package is used to interact with the flight controller.
+The platform utilizes the [ROS framework](ros.md), which allows the user program to communicate with the Clover services that are running as a `clever` systemd daemon. The [MAVROS](mavros.md) package is used to interact with the flight controller.

-PX4 uses [OFFBOARD mode](modes.md#auto) for autonomous flights. The Clever API can be used to transition the drone to this flight mode automatically. If you need to interrupt the autonomous flight, use your flight mode stick on your RC controller to transition to any other flight mode.
+PX4 uses [OFFBOARD mode](modes.md#auto) for autonomous flights. The Clover API can be used to transition the drone to this flight mode automatically. If you need to interrupt the autonomous flight, use your flight mode stick on your RC controller to transition to any other flight mode.

 ## Positioning system {#positioning}

-A drone has to use a positioning system to be able to hover still or to fly from point to point. The system should compute the drone position and feed this data into the flight controller. Clever allows using multiple positioning systems, such as [optical flow](optical_flow.md) (requires a [camera](camera.md) and a [rangefinder](laser.md)), [fiducial markers](aruco.md) (requires a camera and markers), GPS and others.
+A drone has to use a positioning system to be able to hover still or to fly from point to point. The system should compute the drone position and feed this data into the flight controller. Clover allows using multiple positioning systems, such as [optical flow](optical_flow.md) (requires a [camera](camera.md) and a [rangefinder](laser.md)), [fiducial markers](aruco.md) (requires a camera and markers), GPS and others.

 ### Optical flow

@@ -92,7 +92,7 @@ You can also use the ["Autonomous flight"](simple_offboard.md) article as an API

 ## Additional periphery

-The Clever platform also exposes APIs for interacting with other peripherals. Read more in the following articles:
+The Clover platform also exposes APIs for interacting with other peripherals. Read more in the following articles:

 * [LED strip](leds.md);
 * [laser rangefinder](laser.md);
--- a/docs/en/px4_parameters.md
+++ b/docs/en/px4_parameters.md
@@ -4,7 +4,7 @@ Main article: https://dev.px4.io/en/advanced/parameter_reference.html

 > **Note** This is a description some of the most important PX4 parameters as of version 1.8.0. The full list is available at the link above.

-To change PX4 parameters, you can use the QGroundControl application [by connecting to Clever via Wi-Fi](gcs_bridge.md):
+To change PX4 parameters, you can use the QGroundControl application [by connecting to Clover via Wi-Fi](gcs_bridge.md):

 ![PX4 parameters in QGroundControl](../assets/qgc-params.png)

--- a/docs/en/raspberry.md
+++ b/docs/en/raspberry.md
@@ -1,7 +1,7 @@
 Raspberry Pi
 ============

-**Raspberry Pi** is a single-board computer that fits in the palm, created on the basis of ARM mobile microprocessor. It features low energy consumption, and it can even run on solar panels. Raspberry Pi 3 is included in the kits for programmable quadcopters "Clever".
+**Raspberry Pi** is a single-board computer that fits in the palm, created on the basis of ARM mobile microprocessor. It features low energy consumption, and it can even run on solar panels. Raspberry Pi 3 is included in the kits for programmable quadcopters "Clover".

 <img src="../assets/raspberry.png" class="center zoom" alt="Raspberry Pi 3" width="400">

@@ -14,6 +14,6 @@ Technical specifications:
 * Four USB 2.0 ports.
 * An HDMI port.

-Raspberry Pi is connected to the flight controller in the Clever kit and is used as a companion computer. It can be used to [connect to the drone over Wi-Fi](wifi.md), perform autonomous flights, access peripherals and much more.
+Raspberry Pi is connected to the flight controller in the Clover kit and is used as a companion computer. It can be used to [connect to the drone over Wi-Fi](wifi.md), perform autonomous flights, access peripherals and much more.

 **Next**: [Raspberry Pi image](image.md)
--- a/docs/en/rc.md
+++ b/docs/en/rc.md
@@ -1,9 +1,9 @@
-Controlling Clever from a smartphone
+Controlling Clover from a smartphone
 ===

 <a href="https://itunes.apple.com/ru/app/clever-rc/id1396166572?mt=8"><img src="../assets/appstore.svg"></a><a href="https://play.google.com/store/apps/details?id=express.copter.cleverrc"><img src="../assets/google_play.png" width="15%"></a>

-To control Clever from a smartphone via Wi-Fi, you have to install the appropriate application – [iOS](https://itunes.apple.com/ru/app/clever-rc/id1396166572?mt=8), Android (https://play.google.com/store/apps/details?id=express.copter.cleverrc).
+To control Clover from a smartphone via Wi-Fi, you have to install the appropriate application – [iOS](https://itunes.apple.com/ru/app/clever-rc/id1396166572?mt=8), Android (https://play.google.com/store/apps/details?id=express.copter.cleverrc).

 ![CLEVER RC](../assets/IMG_4397.PNG)

@@ -16,7 +16,7 @@ Configuring

 > **Warning** An open QGroundControl or rviz connection sends large amounts of data over Wi-Fi, which can adversely affect responsiveness of the mobile transmitter. It is recommended not to use these applications together with it.

-Install [Clever image on RPi](image.md). For running the application, settings `rosbridge` and `rc` in the launch file (`~/catkin_ws/src/clever/clever/launch/clever.launch`) should be enabled:
+Install [Clover image on RPi](image.md). For running the application, settings `rosbridge` and `rc` in the launch file (`~/catkin_ws/src/clever/clever/launch/clever.launch`) should be enabled:

 ```xml
 <arg name="rosbridge" default="true"/>
@@ -44,7 +44,7 @@ Additional PX4 parameters:
 Connection
 ---

-Connect the smartphone to Clever [Wi-Fi](wifi.md) network (`CLEVER-xxxx`). The application should connect to the copter automatically. Upon successful connection, the current [mode](modes.md) and the battery charge level should be displayed.
+Connect the smartphone to Clover [Wi-Fi](wifi.md) network (`CLEVER-xxxx`). The application should connect to the copter automatically. Upon successful connection, the current [mode](modes.md) and the battery charge level should be displayed.

 The sticks on the screen of the application work just like real sticks. To arm the copter, hold the left stick in the bottom right corner for several seconds. To disarm — in the bottom left corner.

--- a/docs/en/ros.md
+++ b/docs/en/ros.md
@@ -101,7 +101,7 @@ You can also work with the services using the `rosservice` utility. For instance
 rosservice call /get_telemetry "{frame_id: ''}"
 ```

-More examples of using the services for Clever quadcopter autonomous flights are available in the [documentation for node simple_offboard](simple_offboard.md).
+More examples of using the services for Clover quadcopter autonomous flights are available in the [documentation for node simple_offboard](simple_offboard.md).

 Working on several PCs
 ---
--- a/docs/en/rviz.md
+++ b/docs/en/rviz.md
@@ -14,13 +14,13 @@ Install package `ros-melodic-desktop-full` or `ros-melodic-desktop` using the [i
 Start rviz
 ---

-To start еру visualization of the state of Clever in real time, connect to it via Wi-Fi (`CLEVER-xxx`) and run rviz, specifying an appropriate ROS_MASTER_URI:
+To start еру visualization of the state of Clover in real time, connect to it via Wi-Fi (`CLEVER-xxx`) and run rviz, specifying an appropriate ROS_MASTER_URI:

 ```(bash)
 ROS_MASTER_URI=http://192.168.11.1:11311 rviz
 ```

-If connection is not established, make sure the `.bashrc` of Clever contains line:
+If connection is not established, make sure the `.bashrc` of Clover contains line:

 ```(bash)
 export ROS_HOSTNAME=`hostname`.local
@@ -56,7 +56,7 @@ Starting the rqt toolkit

 ![rqt](../assets/rqt.png)

-To start rqt for monitoring Clever status, use command:
+To start rqt for monitoring Clover status, use command:

 ```(bash)
 ROS_MASTER_URI=http://192.168.11.1:11311 rqt
--- a/docs/en/setup.md
+++ b/docs/en/setup.md
@@ -27,7 +27,7 @@ Main article: https://docs.qgroundcontrol.com/en/SetupView/Firmware.html

 > **Note** Do not connect your flight controller prior to flashing.

-We recommend using the modified version of PX4 by CopterExpress for the Clever drone, especially for autonomous flights. Download the latest stable version **<a class="latest-firmware v4" href="https://github.com/CopterExpress/Firmware/releases">from our GitHub</a>**.
+We recommend using the modified version of PX4 by CopterExpress for the Clover drone, especially for autonomous flights. Download the latest stable version **<a class="latest-firmware v4" href="https://github.com/CopterExpress/Firmware/releases">from our GitHub</a>**.

 Flash the flight controller with this firmware:

@@ -87,7 +87,7 @@ Press the *Save* button to save the changed value to the flight controller. Chan

 #### Configuring PID regulators

-##### Averaged PID coefficients for the Clever 4 drone
+##### Averaged PID coefficients for the Clover 4 drone

 * `MC_PITCHRATE_P` = 0.087
 * `MC_PITCHRATE_I` = 0.037
@@ -103,7 +103,7 @@ Press the *Save* button to save the changed value to the flight controller. Chan
 * `MPC_Z_VEL_P` = 0.24
 * `MPC_Z_P` = 1.2

-##### Averaged PID coefficients for the Clever 3 drone
+##### Averaged PID coefficients for the Clover 3 drone

 * `MC_PITCHRATE_P` = 0.145
 * `MC_PITCHRATE_I` = 0.050
--- a/docs/en/shield.md
+++ b/docs/en/shield.md
@@ -86,7 +86,7 @@ After drying, the guard is ready for installation and for the first test flight!

 ## First flights

-We have made a guard for the Clever 2 copter, which is a learning aid for quadcopters assembly and setup and is installed on it without modification. The guard weighs 70g more (139 grams) than the standard one, and almost does not affect controllability and flying time.
+We have made a guard for the Clover 2 copter, which is a learning aid for quadcopters assembly and setup and is installed on it without modification. The guard weighs 70g more (139 grams) than the standard one, and almost does not affect controllability and flying time.

 It should also be said that excessive vibrations, if any, may be removed by more rigid attachment to the copter.

--- a/docs/en/simple_offboard.md
+++ b/docs/en/simple_offboard.md
@@ -1,11 +1,11 @@
 Simple OFFBOARD
 ===

-> **Note** The following applies to [image](image.md) versions **0.15** and up. Older documentation is still avaliable [for version **0.14**](https://github.com/CopterExpress/clever/blob/v0.14/docs/ru/simple_offboard.md) (Russian only).
+> **Note** The following applies to [image](image.md) versions **0.15** and up. Older documentation is still avaliable [for version **0.14**](https://github.com/CopterExpress/clover/blob/v0.14/docs/ru/simple_offboard.md) (Russian only).

 <!-- -->

-> **Hint** We recommend using our [special PX4 firmware for Clever](firmware.md#modified-firmware-for-clever) for autonomous flights.
+> **Hint** We recommend using our [special PX4 firmware for Clover](firmware.md#modified-firmware-for-clever) for autonomous flights.

 The `simple_offboard` module of the `clever` package is intended for simplified programming of the autonomous drone flight (`OFFBOARD` [flight mode](modes.md)). It allows setting the desired flight tasks, and automatically transforms [coordinates between frames](frames.md).

--- a/docs/en/snippets.md
+++ b/docs/en/snippets.md
@@ -361,7 +361,7 @@ rospy.loginfo('flip')
 flip()
 ```

-Requires the [special PX4 firmware for Clever](firmware.md#modified-firmware-for-clever). Before running a flip, take all necessary safty precautions.
+Requires the [special PX4 firmware for Clover](firmware.md#modified-firmware-for-clever). Before running a flip, take all necessary safty precautions.

 ### # {#calibrate-gyro}

--- a/docs/en/sonar.md
+++ b/docs/en/sonar.md
@@ -24,7 +24,7 @@ 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 [Clever 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 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 work with `pigpio`, start appropriate daemon:

--- a/docs/en/web_video_server.md
+++ b/docs/en/web_video_server.md
@@ -8,7 +8,7 @@ See read more about [using rqt](rviz.md).

 ### Configuration

-Make sure that in Clever launch-file \(`~/catkin_ws/src/clever/clever/launch/clever.launch`\), starting `web_video_server` is enabled:
+Make sure that in Clover launch-file \(`~/catkin_ws/src/clever/clever/launch/clever.launch`\), starting `web_video_server` is enabled:

 ```xml
 <arg name="web_video_server" default="true"/>
@@ -22,7 +22,7 @@ sudo systemctl restart clever

 ### Viewing

-To view a video-stream, you have to [connect to Wi-Fi](wifi.md) of Clever \(`CLEVER-xxxx`\), navigate to page [http://192.168.11.1:8080/](http://192.168.11.1:8080/), and choose the topic.
+To view a video-stream, you have to [connect to Wi-Fi](wifi.md) of Clover \(`CLEVER-xxxx`\), navigate to page [http://192.168.11.1:8080/](http://192.168.11.1:8080/), and choose the topic.

 ![Viewing web_video_server](../assets/web_video_server.png)

@@ -38,7 +38,7 @@ Parameters `width`, `height`, etc. re also available. Read more about `web_video

 To browse images with the rqt tools the user needs a computer with Ubuntu 18.04 and [ROS Melodic](http://wiki.ros.org/melodic/Installation/Ubuntu).

-[Connect to the Clever Wi-Fi network](wifi.md) an run `rqt_image_view` with its IP-address:
+[Connect to the Clover Wi-Fi network](wifi.md) an run `rqt_image_view` with its IP-address:

 ```bash
 ROS_MASTER_URI=http://192.168.11.1:11311 rqt_image_view
--- a/docs/en/wifi.md
+++ b/docs/en/wifi.md
@@ -1,4 +1,4 @@
-Connecting to Clever via Wi-Fi
+Connecting to Clover via Wi-Fi
 ===

 [RPi image](image.md) provides a pre-configured Wi-Fi access point with SSID `CLEVER-xxxx`, where `xxxx` are four random numbers that are assigned when your Raspberry Pi is run for the first time.
@@ -11,7 +11,7 @@ To edit Wi-Fi settings, or to obtain more detailed information about the network

 ## Web interface

-After connecting to Clever Wi-Fi, open http://192.168.11.1 in you web browser. It contains all the basic web tools of Clever: viewing image topics, web terminal (Butterfly), and the full copy of this documentation.
+After connecting to Clover Wi-Fi, open http://192.168.11.1 in you web browser. It contains all the basic web tools of Clover: viewing image topics, web terminal (Butterfly), and the full copy of this documentation.

 <img src="../assets/web.png" alt="Веб-интерфейс Клевера" class="zoom">