From ddee29a0e8852422d263e5c69dac0f20d1f8bba6 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Thu, 30 Apr 2020 04:19:09 +0300
Subject: [PATCH] docs: English version on 0.20 image transition article + add
 to summary

---
 docs/en/SUMMARY.md   |   1 +
 docs/en/migrate20.md | 131 +++++++++++++++++++++++++++++++++++++++++++
 docs/ru/SUMMARY.md   |   1 +
 docs/ru/migrate20.md |   4 +-
 4 files changed, 136 insertions(+), 1 deletion(-)
 create mode 100644 docs/en/migrate20.md

diff --git a/docs/en/SUMMARY.md b/docs/en/SUMMARY.md
index 8cc1b5b4..a85e3e46 100644
--- a/docs/en/SUMMARY.md
+++ b/docs/en/SUMMARY.md
@@ -75,6 +75,7 @@
   * [Soldering safety](tb.md)
   * [LED strip (legacy)](leds_old.md)
   * [Contribution Guidelines](contributing.md)
+  * [Migration to v0.20](migrate20.md)
 * Clover-based projects
   * [Drone show](clever-show.md)
   * [Copter spheric guard](shield.md)
diff --git a/docs/en/migrate20.md b/docs/en/migrate20.md
new file mode 100644
index 00000000..9510a7d7
--- /dev/null
+++ b/docs/en/migrate20.md
@@ -0,0 +1,131 @@
+# Migration to version 0.20
+
+[Image](image.md) version v0.20 includes significant changes in comparison with the version 0.19. When transitioning please nott changes presented below.
+
+## ROS package `clever` is renamed to `clover`
+
+All the imports in Python scripts should be changed.
+
+Before:
+
+```python
+# coding: utf8
+
+import rospy
+from clever import srv
+from std_srvs.srv import Trigger
+
+rospy.init_node('flight')
+
+get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
+navigate = rospy.ServiceProxy('navigate', srv.Navigate)
+navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)
+set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
+set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
+set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
+set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
+land = rospy.ServiceProxy('land', Trigger)
+
+# Take off 1 m
+navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)
+```
+
+After:
+
+```python
+import rospy
+from clover import srv
+from std_srvs.srv import Trigger
+
+rospy.init_node('flight')
+
+get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
+navigate = rospy.ServiceProxy('navigate', srv.Navigate)
+navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)
+set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
+set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
+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
+navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)
+```
+
+## systemd service `clever` is renamed to `clover`
+
+For restarting the platform instead of:
+
+```bash
+sudo systemctl restart clever
+```
+
+use command:
+
+```bash
+sudo systemctl restart clover
+```
+
+## Path to platform's files changed
+
+The `~/catkin_ws/src/clever/` directory is renamed to `~/catkin_ws/src/clover`. Thus, configuration files (`.launch`) are to be edited using the new path.
+
+For example, `~/catkin_ws/src/clever/clever/launch/clever.launch` file is now `~/catkin_ws/src/clover/clover/launch/clover.launch`.
+
+<!--
+## Python 3 transition
+
+Python 2 is depracated since, January 1st, 2020. The Clover platform moves to Python 3.
+
+For running flight script instead of `python` command:
+
+```bash
+python flight.py
+```
+
+use `python3` command:
+
+```bash
+python3 flight.py
+```
+
+Python 3 has certain syntax differences in comparison with the old version. Instead of `print` *operator*:
+
+```python
+print 'Clover is the best'
+```
+
+use `print` *function*:
+
+```python
+print('Clover is the best')
+```
+
+The division operator operates floating points by default (instead of integer). Python 2:
+
+```python
+>>> 10 / 4
+2
+```
+
+Python 3:
+
+```python
+>>> 10 / 4
+2.5
+```
+
+For strings `unicode` type is used by default (instead of `str` type).
+
+Encoding specification (`# coding: utf8`) is not necessary any more.
+
+More details on all the language changes see in [appropriate article](https://sebastianraschka.com/Articles/2014_python_2_3_key_diff.html).
+-->
+
+## Wi-Fi network configuration
+
+Wi-Fi networks' SSID is changed to `clover-XXXX` (where X is a random number), password is changed to `cloverwifi`.
+
+## The camera orientation configuration changed
+
+See details in the "[Camera setup](camera_setup.md#frame)" article.
diff --git a/docs/ru/SUMMARY.md b/docs/ru/SUMMARY.md
index 7bd6f183..7644a8aa 100644
--- a/docs/ru/SUMMARY.md
+++ b/docs/ru/SUMMARY.md
@@ -80,6 +80,7 @@
   * [Подключение регулятора 4 в 1](4in1.md)
   * [Светодиодная лента (legacy)](leds_old.md)
   * [Вклад в Клевер](contributing.md)
+  * [Переход на версию 0.20](migrate20.md)
 * Мероприятия
   * [CopterHack-2019](copterhack2019.md)
   * [Олимпиада НТИ 2019](nti2019.md)
diff --git a/docs/ru/migrate20.md b/docs/ru/migrate20.md
index 5af8ef0c..32ce87b4 100644
--- a/docs/ru/migrate20.md
+++ b/docs/ru/migrate20.md
@@ -72,6 +72,7 @@ sudo systemctl restart clover
 
 Например, файл `~/catkin_ws/src/clever/clever/launch/clever.launch` теперь называется `~/catkin_ws/src/clover/clover/launch/clover.launch`.
 
+<!--
 ## Переход на Python 3
 
 Python 2 был признан [устаревшим](https://www.python.org/doc/sunset-python-2/), начиная с 1 января 2020 года. Платформа Клевера переходит на использование Python 3.
@@ -119,11 +120,12 @@ Python 3:
 Указание кодировки файла (`# coding: utf8`) перестало быть необходимым.
 
 Полное описание всех изменений языка смотрите в [соответствующей статье](https://pythonworld.ru/osnovy/python2-vs-python3-razlichiya-sintaksisa.html).
+-->
 
 ## Настройки Wi-Fi сети
 
 SSID Wi-Fi сети изменен на `clover-XXXX ` (где X – случайная цифра), пароль изменен на `cloverwifi`.
 
-## Новый способ настройки ориентации камеры
+## Способ настройки ориентации камеры изменен
 
 Подробнее читайте в статье про [настройку камеру](camera_setup.md#frame).