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docs: edit snippets articles

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Oleg Kalachev
2020-08-21 22:46:39 +03:00
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docs/en/snippets.md
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Code examples
===
# Code examples
Python
---
## Python
### # {#navigate_wait}
@@ -10,7 +8,7 @@ Python
<a name="block-takeoff"></a><!-- old name of anchor -->
Flying towards a point and waiting for copter's arrival:
Fly towards a point and wait for copter's arrival:
```python
import math
@@ -45,7 +43,7 @@ navigate_wait(z=1, frame_id='body', auto_arm=True)
<a name="block-land"></a><!-- old name of anchor -->
Landing and waiting until the copter lands:
Land and wait until the copter lands:
```python
land()
@@ -78,7 +76,7 @@ def wait_arrival(tolerance=0.2):
### # {#get_distance}
Calculating the distance between two points (**important**: the points are to be in the same [system of coordinates](frames.md)):
Calculate the distance between two points (**important**: the points are to be in the same [coordinate system](frames.md)):
```python
def get_distance(x1, y1, z1, x2, y2, z2):
@@ -96,7 +94,7 @@ def get_distance_global(lat1, lon1, lat2, lon2):
### # {#disarm}
Quadcopter disarm (disabling propellers **the copter will fall down**):
Disarm the drone (propellers will stop, **the drone will fall down**):
```python
# Declaring a proxy:
@@ -110,7 +108,7 @@ arming(False) # дизарм
### # {#transform}
Transforming the position (`PoseStamped`) from one system of coordinates ([of frame](frames.md)) to another one using [tf2] (http://wiki.ros.org/tf2):
Transform the position (`PoseStamped`) from one [coordinate system](frames.md) to another using [tf2](http://wiki.ros.org/tf2):
```python
import tf2_ros
@@ -122,25 +120,25 @@ tf_listener = tf2_ros.TransformListener(tf_buffer)
# ...
# PoseStamped object creation (or getting it from a topic):
# Create PoseStamped object (or get it from a topic):
pose = PoseStamped()
pose.header.frame_id = 'map' # frame, which is the position is specified
pose.header.stamp = rospy.get_rostime() # the instant for which the position is specified (current time)
pose.header.frame_id = 'map' # coordinate frame, in which the position is specified
pose.header.stamp = rospy.get_rostime() # the time for which the position is specified (current time)
pose.pose.position.x = 1
pose.pose.position.y = 2
pose.pose.position.z = 3
pose.pose.orientation.w = 1
frame_id = 'base_link' # target frame
transform_timeout = rospy.Duration(0.2) # wait for transformation timeout
frame_id = 'base_link' # target coordinate frame
transform_timeout = rospy.Duration(0.2) # timeout for transformation
# Transforming the position from the old frame to the new one:
# Transform the position from the old frame to the new one:
new_pose = tf_buffer.transform(pose, frame_id, transform_timeout)
```
### # {#upside-down}
Determining whether the copter is turned upside-down:
Determine whether the copter is turned upside-down:
```python
PI_2 = math.pi / 2
@@ -151,7 +149,7 @@ flipped = abs(telem.pitch) > PI_2 or abs(telem.roll) > PI_2
### # {#angle-hor}
Calculating the copter total horizontal angle:
Calculate the copter horizontal angle:
```python
PI_2 = math.pi / 2
@@ -165,7 +163,7 @@ if flipped:
### # {#circle}
Flying along a circular path:
Fly along a circular path:
```python
RADIUS = 0.6 # m
@@ -187,7 +185,7 @@ while not rospy.is_shutdown():
### # {#rate}
repeating an action at a frequency of 10 Hz:
Repeat an action at a frequency of 10 Hz:
```python
r = rospy.Rate(10)
@@ -198,7 +196,7 @@ while not rospy.is_shutdown():
### # {#mavros-sub}
An example of subscription to a topic from MAVROS
An example of subscription to a topic from MAVROS:
```python
from geometry_msgs.msg import PoseStamped, TwistStamped
@@ -228,7 +226,7 @@ Information about MAVROS topics is available at [the link](mavros.md).
<!-- markdownlint-enable MD044 -->
Sending an arbitrary [MAVLink message](mavlink.md) to the copter:
Send an arbitrary [MAVLink message](mavlink.md) to the copter:
```python
# ...
@@ -252,15 +250,15 @@ mavlink_pub.publish(ros_msg)
### # {#rc-sub}
Return on mode switching with the transmitter (may be used for starting an autonomous flight, see [example](https://gist.github.com/okalachev/b709f04522d2f9af97e835baedeb806b)):
React to the drone's mode switching (may be used for starting an autonomous flight, see [example](https://gist.github.com/okalachev/b709f04522d2f9af97e835baedeb806b)):
```python
from mavros_msgs.msg import RCIn
# Called when new data is received from the transmitter
def rc_callback(data):
# Return on switch toggling of the transmitter
if data.channels[5] < 1100:
# React on toggling the mode of the transmitter
if data.channels[5] < 1100:
# ...
pass
elif data.channels[5] > 1900:
@@ -328,7 +326,7 @@ rospy.loginfo('flip')
flip()
```
Requires the [special PX4 firmware for Clover](firmware.md#modified-firmware-for-clover). Before running a flip, take all necessary safty precautions.
Requires the [special PX4 firmware for Clover](firmware.md#modified-firmware-for-clover). Before running a flip, take all necessary safety precautions.
### # {#calibrate-gyro}

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docs/ru/snippets.md
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Примеры кода
===
# Примеры кода
Python
---
## Python
<!-- markdownlint-disable MD031 -->