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docs: updates (en)

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Oleg Kalachev
2022-02-01 11:19:40 +03:00
parent be76ea82d7
commit f34e8b4774
5 changed files with 17 additions and 17 deletions
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4
docs/en/failsafe.md
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@@ -4,10 +4,10 @@ Main article is available at https://docs.px4.io/master/en/config/safety.html.
The *Safety* panel allows you to configure actions that should be performed when a failsafe is triggered. You should at the very least configure the RC Loss failsafe, which is triggered when the RC transmitter link is lost:
1. Open the *Safety* panel.
1. In QGroundControl software, go to the *Vehicle Setup* panel and choose the *Safety* menu.
2. Select one of the following actions in the *RC Loss Failsafe Trigger* option:
* *Land mode* – transition to automatic land mode;
* *Terminate* – set all outputs to their failsafe values.
3. Set the timeout value before RC Loss triggers in the *RC Loss Timeout* field. We recommend setting it to 0.5 s.
3. Set the timeout value before RC Loss triggers in the *RC Loss Timeout* field. We recommend setting it to 2 s.
<img src="../assets/qgc-failsafe.png" alt="QGroundControl failsafe" class="zoom">

11
docs/en/modes.md
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@@ -4,10 +4,11 @@ PX4 **mode** determines how the vehicle should react to commands and RC signals.
In order to configure flight modes:
1. Open the *Vehicle Setup* tab in QGroundControl.
1. Open the *Vehicle Setup* panel in QGroundControl.
2. Select the *Flight Modes* menu.
3. Choose SwC (Channel 6) as mode selection switch.
4. Set desired flight modes.
3. Set the *Mode Channel* to the SwC switch (*Channel 6*).
4. Optionally, set the *Emergency Kill Switch Channel* to SwA switch (*Channel 5*).
5. Set desired flight modes.
The following flight modes are recommended:
@@ -15,8 +16,8 @@ In order to configure flight modes:
* Flight Mode 4: *Altitude*.
* Flight Mode 6: *Position*.
5. Check mode switching by changing the switch position.
6. Choose SwA (Channel 5) as emergency motor stop (*Kill switch*).
6. Check mode switching by changing the switch position.
7. Choose SwA (Channel 5) as emergency motor stop (*Kill switch*).
<img src="../assets/qgc-modes.png" class="zoom" alt="QGroundControl modes">

8
docs/en/optical_flow.md
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@@ -1,12 +1,10 @@
# Use of Optical Flow
Running the technology "Optical Flow" offers the possibility of POSCTL flight mode, and autonomous flight operating on a camera pointed downwards that detects changes of ground texture.
Running the "Optical Flow" function offers the possibility of POSCTL flight mode, and autonomous flight operating on a camera pointed downwards that detects changes of ground texture.
## Enabling
> **Hint** It is recommended to use [special PX4 firmware for Clover](firmware.md).
The use of a rangefinder is essential. [Connect and setup laser-ranging sensor VL53L1X](laser.md), according to the manual.
> **Hint** For Optical Flow to work it's required that the laser rangefinder is [connected and configured](laser.md).
Enable Optical Flow in the file `~/catkin_ws/src/clover/clover/launch/clover.launch`:
@@ -14,7 +12,7 @@ Enable Optical Flow in the file `~/catkin_ws/src/clover/clover/launch/clover.lau
<arg name="optical_flow" default="true"/>
```
Optical Flow publishes data in `mavros/px4flow/raw/send` topic. In the topic `optical_flow/debug` is also published a visualization, that can be viewed with [web_video_server](web_video_server.md).
Optical Flow publishes data in `/mavros/px4flow/raw/send` topic. In the topic `/optical_flow/debug` is also published a visualization, that can be viewed with [web_video_server](web_video_server.md).
> **Info** Correct connection and [setup](camera.md) of the camera module is needed for proper functioning.

9
docs/en/power.md
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@@ -6,15 +6,16 @@ Open the *Vehicle Setup* tab and select the *Power* menu.
> **Note** Power sensor calibration should be done with the battery pack connected to the drone.
If there is no voltage indicator or manual calibration is not possible, set the average value of the voltage divider for the Clover 4 kit (*Voltage divider* = 11).
1. Set the *Number of cells* parameter according to the number of cells in your battery (*3* for the Clover 4 drone).
2. Calculate the voltage divider:
1. In QGroundControl software, go the *Vehicle Setup* panel and choose the *Power* menu.
2. Set the *Number of cells* parameter according to the number of cells in your battery (*3* for the Clover 4 drone).
3. Calculate the voltage divider:
* Measure voltage across the battery (you may use a battery voltage tester for that).
* Press the *Calculate* button next to the *Voltage divider* label.
* Put the battery voltage into the prompt and click *Calculate*.
* Press *Close* to save the calculated value.
If there is no voltage indicator or manual calibration is not possible, set the average value of the voltage divider for the Clover 4 kit (*Voltage divider* = 11).
<img src="../assets/qgc-voltage-divider.png" class="zoom">
Further reading: https://docs.qgroundcontrol.com/en/SetupView/Power.html.

2
docs/en/radio.md
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@@ -9,7 +9,7 @@ Before connecting and calibrating the RC, make sure that:
## Connecting the RC transmitter
1. Open the *Vehicle Setup* tab and select the *Radio* menu.
1. In QGroundControl software, go the *Vehicle Setup* panel and choose the *Radio* menu.
2. Power on the transmitter by sliding the **POWER** slider up.
3. Make sure the transmitter-receiver link is working.