From bb84eeb35ea4c257f9846e337e4edbc6307e96e9 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Wed, 12 Sep 2018 21:30:55 +0300
Subject: [PATCH] docs: add some code smippets

---
 docs/snippets.md | 22 ++++++++++++++++++++++
 1 file changed, 22 insertions(+)

diff --git a/docs/snippets.md b/docs/snippets.md
index 536bf97d..3d221f81 100644
--- a/docs/snippets.md
+++ b/docs/snippets.md
@@ -71,6 +71,17 @@ while True:
     rospy.sleep(0.2)
 ```
 
+--
+
+Определение, перевернут ли коптер:
+
+```python
+pi_2 = math.pi / 2
+telem = get_telemetry()
+
+flipped = not -pi_2 <= telem.pitch <= pi_2 or not -pi_2 <= telem.roll <= pi_2
+```
+
 ---
 
 Рассчет общего угла коптера к горизонту:
@@ -107,6 +118,17 @@ while not rospy.is_shutdown():
 
 ---
 
+Повторять действие с частотой 10 Гц:
+
+```python
+r = rospy.Rate(10)
+while not rospy.is_shutdown():
+    # Do anything
+    r.sleep()
+```
+
+---
+
 Пример подписки на топики из MAVROS: