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Oleg Kalachev
2020-10-23 12:35:41 +03:00
parent ff9e669352
commit b1c7ee6b66
10 changed files with 16 additions and 17 deletions
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2
docs/en/lesson1.md
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@@ -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 х 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.
![Types](../assets/1_4.png)

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docs/en/lesson2.md
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@@ -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.е., connected according to Fig. 1, the EMF across the entire circuit shall be equal to the sum of the EMFs of the sources,
т. i.е.,
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.е., 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
**Е = Е1—Е2.**

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docs/en/migrate20.md
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@@ -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 м
# Take off 1 m
navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)
```

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docs/en/optical_flow.md
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@@ -44,7 +44,7 @@ When using **LPE** (parameter `SYS_MC_EST_GROUP` = `local_position_estimator, at
* `SENS_FLOW_ROT` – No rotation.
* `SENS_FLOW_MAXHGT` – 4.0 (for the rangefinder VL53L1X)
* `SENS_FLOW_MINHGT` – 0.01 (for the rangefinder VL53L1X)
* Optional: `LPE_FUSION` – falg 'pub agl as lpos down' is on (сf. [rangefinder setup](laser.md).
* Optional: `LPE_FUSION` – 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 : в MAVLink-консоли:
If errors like `EKF INTERNAL CHECKS` occur, try to restart EKF2. To do so, enter in the MAVLink-console:
```nsh
ekf2 stop

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docs/en/px4_parameters.md
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@@ -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) – pitch, roll, yaw (one of presentations);
* Copter position (in the local coordinate system) – x, y, z;
* Copter speed (in the local coordinate system) – vx, vy, vz;
* Global coordinates of the copter – lattitude, longitude, altitude;
* Global coordinates of the copter – 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` — 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` – 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 {перестрелы}.
`MPC_XY_P` – 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` – 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 {перестрелы}.
`MPC_XY_VEL_P` – 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` — the maximum horizontal speed in POSCTL, OFFBOARD, AUTO modes.

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docs/en/rviz.md
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@@ -14,7 +14,7 @@ Install package `ros-melodic-desktop-full` or `ros-melodic-desktop` using the [i
Start rviz
---
To start еру 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

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docs/en/setup.md
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@@ -14,7 +14,7 @@ Consult the [official QGroundControl user guide](https://docs.qgroundcontrol.com
Prepare the MicroSD card for your flight controller.
<img src="../assets/pix-sd.png" alt="Pixracer и MicroSD-карта" class="zoom center" width=400>
<img src="../assets/pix-sd.png" alt="Pixracer and MicroSD-card" class="zoom center" width=400>
* Put the card into your computer (use an adapter if necessary).
* Format the card to FAT32 filesystem. Right click on the SD card icon in Windows Explorer and select "Format". Use the Disk Utility in macOS.

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docs/en/snippets.md
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@@ -103,7 +103,7 @@ arming = rospy.ServiceProxy('mavros/cmd/arming', CommandBool)
# ...
arming(False) # дизарм
arming(False) # disarm
```
### # {#transform}

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docs/en/sonar.md
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@@ -89,7 +89,7 @@ while True:
### Filtering the data
To filter (smooth out) the data and delete [emission](https://ru.wikipedia.org/wiki/Outbreak_%28statistics%29) [Kalman filter] (https://ru.wikipedia.org/wiki/Фильтр_Калмана) or a simple [median filter](https://ru.wikipedia.org/wiki/Median_filter) can be used. An example of median filtering implementation:
To filter (smooth out) the data and delete [outliers](https://en.wikipedia.org/wiki/Outlier), [Kalman filter](https://en.wikipedia.org/wiki/Kalman_filter) or a simple [median filter](https://ru.wikipedia.org/wiki/Median_filter) can be used. An example of median filtering implementation:
```python
import collections
@@ -97,7 +97,7 @@ import numpy
# ...
history = collections.deque(maxlen=10) # 10 - количество сэмплов для усреднения
history = collections.deque(maxlen=10) # 10 - number of samples for averaging
def read_distance_filtered():
history.append(read_distance())

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docs/en/uart.md
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@@ -12,7 +12,7 @@ Read more about the interface and the Protocol in [this article](https://habr.co
## Linux TTY
In Linux, there is the concept of Posix Terminal Interface (read more [here](https://ru.wikipedia.org/wiki/TTY-абстракция)). It is an abstraction over the serial or virtual interface that allows several agents to work with the device simultaneously.
In Linux, there is the concept of POSIX Terminal Interface (read more [here](https://en.wikipedia.org/wiki/POSIX_terminal_interface). It is an abstraction over the serial or virtual interface that allows several agents to work with the device simultaneously.
An example of such abstraction in Raspbian may be `/dev/tty1` – the device for text output to the screen connected via HDMI.