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Changes for experimental support for official PX4 version (#434)

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* docs: minor fix

* docs: update PX4 docs links

* docs: info on no mags found error

* docs: some updates in setup section

* docs: use enumerated list for consistency

* docs: update firmware flashing section

* docs: update

* selfcheck.py: remove timestamps from selfcheck reports

* selfcheck.py: add gzclient and gzserver to cpu eaters whitelist

* selfcheck.py: make not finding vcgencmd not a failure

* selfcheck.py: fix and simplify firmware version parsing, remove Clover firmware warning

* docs: some updates to optical flow article

* ci: cancel previous docs builds to avoid publishing old site

* vpe_publisher: rename parameter publish_zero to force_init

* genmap.py: use -p flag in example

* selfcheck.py: add checking map=>body transform

* selfcheck.py: bring back info about non-Clover firmware

* docs: reduce qgc-params.png file size

* docs: reduce size of some images

* docs: rephrase firmware flashing section to continue recommending COEX firmware

* docs: update PX4 docs links

* docs: rename px4_parameters.md article to parameters.md

* docs: add note about possible unintended switching out of LAND mode

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

* clover.launch: add force_init argument
PX4 1.12.3 doesn’t init by flow without mag
force_init runs vpe_publisher to force init using vpe

* docs: rework parameters article, make summary parameters table

* docs: remove unused asset
This commit is contained in:
Oleg Kalachev
2022-02-22 19:20:23 +03:00
committed by GitHub
parent dc06ba1bd2
commit e217678f7d
12 changed files with 181 additions and 123 deletions
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66
docs/en/parameters.md
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@@ -1,20 +1,64 @@
# PX4 Parameters
Main article: https://dev.px4.io/en/advanced/parameter_reference.html
Full documentation on PX4 parameters: https://docs.px4.io/master/en/advanced_config/parameter_reference.html.
> **Note** This is a description some of the most important PX4 parameters as of version 1.8.0. The full list is available at the link above.
For changing PX4 parameters, use QGroundControl software, [connect to Clover over Wi-Fi](gcs_bridge.md) or USB. Go to *Vehicle Setup* panel (click on the QGroundControl logo in the top-left corner) and choose *Parameters* menu.
To change PX4 parameters, you can use the QGroundControl application [by connecting to Clover via Wi-Fi](gcs_bridge.md):
## Recommended values
![PX4 parameters in QGroundControl](../assets/qgc-params.png)
### Common parameters
## Main parameters
|Parameter|Value|Comment|
|-|-|-|
|`SENS_FLOW_ROT`|0 (*No rotation*)|If using *PX4Flow* hardware, keep the default value|
|`SENS_FLOW_MINHGT`|0.01|For [VL53L1X](laser.md) rangefinder|
|`SENS_FLOW_MAXHGT`|4.0|For [VL53L1X](laser.md) rangefinder|
|`SENS_FLOW_MAXR`|10.0||
|`SYS_HAS_MAG`|0|If impossible to run the magnetometer (*No mags found* error)|
The most important parameters are listed in this paragraph.
### Estimator subsystem parameters
`SYS_MC_EST_GROUP` – select the estimator module.
In case of using LPE ([COEX patched firmware](firmware.md)):
This is a group of modules that calculates the current state of the copter using readings from the sensors. The copter state includes:
|Parameter|Value|Comment|
|-|-|-|
|`LPE_FUSION`|86|Checkboxes: *flow* + *vis* + *land Detector* + *gyro comp*. If flying over horizontal floor *pub agl as lpos down* checkbox is allowed.<br>Details: [Optical Flow](optical_flow.md), [ArUco markers](aruco_map.md), [GPS](gps.md).|
|`LPE_VIS_DELAY`|0.0||
|`LPE_VIS_Z`|0.1||
|`LPE_FLW_SCALE`|1.0||
|`LPE_FLW_R`|0.2||
|`LPE_FLW_RR`|0.0||
|`LPE_FLW_QMIN`|10||
|`ATT_W_EXT_HDG`|0.5|Enabling usage of external yaw angle (when navigating using [markers map](aruco_map.md))|
|`ATT_EXT_HDG_M`|1 (*Vision*)||
|`ATT_W_MAG`|0|Disabling usage of the magnetometer (when navigating indoor)|
In case of using EKF2 (official firmware):
<!-- markdownlint-disable MD044 -->
|Parameter|Value|Comment|
|-|-|-|
|`EKF2_AID_MASK`|27|Checkboxes: (optionally) *gps* + *flow* + *vision position* + *vision yaw*.<br>Details: [Optical Flow](optical_flow.md), [ArUco markers](aruco_map.md), [GPS](gps.md).|
|`EKF2_OF_DELAY`|0||
|`EKF2_OF_QMIN`|10||
|`EKF2_OF_N_MIN`|0.05||
|`EKF2_OF_N_MAX`|0.2||
|`EKF2_HGT_MODE`|2 (*Range sensor*)|If the [rangefinder](laser.md) is present and flying over horizontal floor|
|`EKF2_EVA_NOISE`|0.1||
|`EKF2_EVP_NOISE`|0.1||
|`EKF2_EV_DELAY`|0||
|`EKF2_MAG_TYPE`|5 (*None*)|Disabling usage of the magnetometer (when navigating indoor)|
<!-- markdownlint-enable MD031 -->
> **Info** See also: list of default parameters of the [Clover simulator](simulation.md): https://github.com/CopterExpress/clover/blob/master/clover_simulation/airframes/4500_clover.
## Additional information
The `SYS_MC_EST_GROUP` parameter defines the estimator subsystem to use.
Estimator subsystem is a group of modules that calculates the current state of the copter using readings from the sensors. The copter state includes:
* Angle rate of the copter – pitch_rate, roll_rate, yaw_rate;
* Copter orientation (in the local coordinate system) – pitch, roll, yaw (one of presentations);
@@ -57,9 +101,7 @@ These parameters adjust the flight of the copter by position (POSCTL, OFFBOARD,
## LPE + Q attitude estimator
These parameters configure the behavior of the `lpe` and `q` modules, which compute the state (orientation, position) of the copter. These parameters apply **only** if the `SYS_MC_EST_GROUP` parameter is set to `1` (local_position_estimator, attitude_estimator_q)
TODO
These parameters configure the behavior of the `lpe` and `q` modules, which compute the state (orientation, position) of the copter. These parameters apply **only** if the `SYS_MC_EST_GROUP` parameter is set to `1` (local_position_estimator, attitude_estimator_q).
## Commander
@@ -68,5 +110,3 @@ Prearm checks, switching the modes and states of the copter.
## Sensors
Enabling, disabling and configuring various sensors.
TODO

27
docs/en/setup.md
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@@ -27,28 +27,29 @@ Main article: https://docs.qgroundcontrol.com/en/SetupView/Firmware.html
> **Note** Do not connect your flight controller prior to flashing.
We recommend using the modified version of PX4 by CopterExpress for the Clover drone, especially for autonomous flights. Download the latest stable version **<a class="latest-firmware v4" href="https://github.com/CopterExpress/Firmware/releases">from our GitHub</a>**.
We recommend using the modified version of [PX4 with COEX patches](firmware.md) for the Clover drone, especially for autonomous flights. Download the latest stable version **<a class="latest-firmware v4" href="https://github.com/CopterExpress/Firmware/releases">from our GitHub</a>**.
> **Info** For Pixhawk-based quadcopters there is a separate firmware version. See details in "[Pixhawk / Pixracer firmware flashing](firmware.md)" article.
To use all the most recent PX4 functions you also can use the latest official firmware version (experimentally).
Flash the flight controller with this firmware:
<img src="../assets/qgc-firmware.png" alt="QGroundControl firmware upload" class="zoom">
1. Launch QGroundControl software.
2. Open the *Vehicle Setup* tab.
3. Select the *Firmware* menu.
1. Disconnect the flight controller from computer (if connected).
2. Launch QGroundControl software.
3. Go to *Vehicle Setup* panel (click on the QGroundControl logo in the top-left corner) and select *Firmware* menu.
4. Connect your flight controller to your PC over USB.
5. Wait for the flight controller to connect to QGroundControl.
6. Select *PX4 Flight Stack* in the right bar.
5. Select *PX4 Flight Stack* in the right bar appeared.
To use the recommended Copter Express firmware:
<img src="../assets/qgc-firmware.png" alt="QGroundControl firmware upload" class="zoom">
* Check *Advanced Settings* checkbox.
* Select *Custom firmware file...* from the dropdown list.
* Press *OK* and select the file that you've downloaded.
6. To use **COEX patched firmware**:
To use the latest official stable firmware just press *OK*.
* Check *Advanced Settings* checkbox.
* Select *Custom firmware file...* from the dropdown list.
* Press *OK* and select the file that you've downloaded.
To use the latest **official stable firmware** just press *OK*.
Wait for QGroundControl to finish flashing the flight controller.
@@ -82,7 +83,7 @@ This is how the main QGroundControl settings window will look like:
### Setting parameters
Open the *Vehicle Setup* tab and select the *Parameters* menu. You can use the *Search* field to find parameters by name.
Open the *Vehicle Setup* tab and select the *Parameters* menu. You can use the *Search* field to find parameters by name. Recommended parameters values are given in the further documentation and also in the [parameters summary article](parameters.md).
<img src="../assets/qgc-parameters.png" alt="QGroundControl parameters" class="zoom">

24
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.
@@ -312,14 +303,9 @@ Landing the drone (command line):
rosservice call /land "{}"
```
<!--
### release
> **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.
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).