From afa81e8ee2021033ee385d0e369a5219143af744 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Fri, 27 May 2022 06:25:56 +0300
Subject: [PATCH] docs: add 'optical_flow/enabled' parameter usage snippets +
 minor fixes

---
 docs/en/snippets.md | 27 ++++++++++++++++++++++++---
 docs/ru/snippets.md | 31 ++++++++++++++++++++++++++-----
 2 files changed, 50 insertions(+), 8 deletions(-)

diff --git a/docs/en/snippets.md b/docs/en/snippets.md
index 8af8ca29..1d0c3a41 100644
--- a/docs/en/snippets.md
+++ b/docs/en/snippets.md
@@ -358,15 +358,36 @@ Enable and disable [ArUco markers recognition](aruco_marker.md) dynamically (for
 import rospy
 import dynamic_reconfigure.client
 
-client = dynamic_reconfigure.client.Client('aruco_detect')
+rospy.init_node('flight')
+aruco_client = dynamic_reconfigure.client.Client('aruco_detect')
 
 # Turn markers recognition off
-client.update_configuration({'enabled': False})
+aruco_client.update_configuration({'enabled': False})
 
 rospy.sleep(5)
 
 # Turn markers recognition on
-client.update_configuration({'enabled': True})
+aruco_client.update_configuration({'enabled': True})
+```
+
+### # {#optical-flow-enabled}
+
+Enable and disable [Optical Flow](optical_flow.md) dynamically:
+
+```python
+import rospy
+import dynamic_reconfigure.client
+
+rospy.init_node('flight')
+flow_client = dynamic_reconfigure.client.Client('optical_flow')
+
+# Turn Optical Flow off
+flow_client.update_configuration({'enabled': False})
+
+rospy.sleep(5)
+
+# Turn Optical Flow on
+flow_client.update_configuration({'enabled': True})
 ```
 
 ### # {#wait-global-position}
diff --git a/docs/ru/snippets.md b/docs/ru/snippets.md
index de2eee9b..7a9f2271 100644
--- a/docs/ru/snippets.md
+++ b/docs/ru/snippets.md
@@ -369,15 +369,36 @@ calibrate_gyro()
 import rospy
 import dynamic_reconfigure.client
 
-client = dynamic_reconfigure.client.Client('aruco_detect')
+rospy.init_node('flight')
+aruco_client = dynamic_reconfigure.client.Client('aruco_detect')
 
-# Включить распознавание маркеров
-client.update_configuration({'enabled': False})
+# Выключить распознавание маркеров
+aruco_client.update_configuration({'enabled': False})
 
 rospy.sleep(5)
 
-# Выключить распознавание маркеров
-client.update_configuration({'enabled': True})
+# Включить распознавание маркеров
+aruco_client.update_configuration({'enabled': True})
+```
+
+### # {#optical-flow-enabled}
+
+Динамически включать и отключать [Optical Flow](optical_flow.md):
+
+```python
+import rospy
+import dynamic_reconfigure.client
+
+rospy.init_node('flight')
+flow_client = dynamic_reconfigure.client.Client('optical_flow')
+
+# Выключить Optical Flow
+flow_client.update_configuration({'enabled': False})
+
+rospy.sleep(5)
+
+# Включить Optical Flow
+flow_client.update_configuration({'enabled': True})
 ```
 
 ### # {#wait-global-position}