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docs: remove obsolete notes and simplify titles in autonomous flight article

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Oleg Kalachev
2022-02-01 13:57:20 +03:00
parent e15ef587d7
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2 changed files with 8 additions and 40 deletions
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docs/en/simple_offboard.md
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@@ -1,11 +1,4 @@
Autonomous flight (OFFBOARD)
===
> **Note** In the image version **0.20** `clever` package was renamed to `clover`. See [previous version of the article](https://github.com/CopterExpress/clover/blob/v0.19/docs/en/simple_offboard.md) for older images.
<!-- -->
> **Hint** We recommend using our [custom PX4 firmware for Clover](firmware.md#modified-firmware-for-clover) for autonomous flights.
# Autonomous flight
The `simple_offboard` module of the `clover` 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).
@@ -13,8 +6,7 @@ The `simple_offboard` module of the `clover` package is intended for simplified
Main services are [`get_telemetry`](#gettelemetry) (receive telemetry data), [`navigate`](#navigate) (fly to a given point along a straight line), [`navigate_global`](#navigateglobal) (fly to a point specified as latitude and longitude along a straight line), [`land`](#land) (switch to landing mode).
Python examples
---
## Python usage
You need to create proxies for services before calling them. Use the following template for your programs:
@@ -37,8 +29,7 @@ land = rospy.ServiceProxy('land', Trigger)
Unused proxy functions may be removed from the code.
API description
---
## API description
> **Note** Omitted numeric parameters are set to 0.
@@ -314,14 +305,7 @@ rosservice call /land "{}"
> **Caution** In recent PX4 versions, the vehicle will be switched out of LAND mode to manual mode, if the remote control sticks are moved significantly.
<!--
### release
Stop publishing setpoints to the drone (release control). Required to continue monitoring by means of [MAVROS](mavros.md).
-->
Additional materials
------------------------
## Additional materials
* [ArUco-based position estimation and navigation](aruco.md).
* [Program samples and snippets](snippets.md).