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

* 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

docs/en/parameters.md

@@ -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