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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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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).