diff --git a/docs/en/mavros.md b/docs/en/mavros.md index ac569eb3..317e73ce 100644 --- a/docs/en/mavros.md +++ b/docs/en/mavros.md @@ -1,46 +1,46 @@ # MAVROS -Main documentation: [http://wiki.ros.org/mavros](http://wiki.ros.org/mavros) +Main article is available in the official documentations: [http://wiki.ros.org/mavros](http://wiki.ros.org/mavros) -MAVROS \(MAVLink + ROS\) is a package for ROS that provides the possibility of controlling drones via the [MAVLink](mavlink.md) protocol. MAVROS supports flight stacks PX4 and APM. Communication is established via UART, USB, TCP or UDP. +MAVROS \(MAVLink + ROS\) is a ROS package that allows controlling drones via the [MAVLink](mavlink.md) protocol. MAVROS supports PX4 and APM flight stacks. Communication may be established via UART, USB, TCP or UDP. -MAVROS subscribes to certain ROS topics while waiting for commands, publishes telemetry to other topics, and provides services. +MAVROS subscribes to certain ROS topics that can be used to send commands, publishes telemetry to other topics, and provides services. -The MAVROS node is automatically started in the launch-file of Clever. For [setting the type of connection] (connection.md), see the `fcu_conn` argument. +The MAVROS node is automatically started in the Clever launch-file. In order to [set the type of connection](connection.md), change the `fcu_conn` argument. -> **Hint** Simplified interaction with the copter may be with the use of the [`simple_offboard`] package (simple_offboard.md). +> **Hint** Simplified interaction with the drone is possible with the use of [`simple_offboard`] package (simple_offboard.md). -> **Note** In the `clever` package, some MAVROS plugins are disabled (to save resources). For more information, see the `plugin_blacklist` parameter in file `/home/pi/catkin_ws/src/clever/clever/launch/mavros.launch`. +> **Note** Some MAVROS plugins are disabled by default in the `clever` package in order to save resources. For more information, see the `plugin_blacklist` parameter in `/home/pi/catkin_ws/src/clever/clever/launch/mavros.launch`. ## Main services -`/mavros/set_mode` — set [flight mode](modes.md) of the controller. Usually, the OFFBOARD mode is set \(for control from Raspberry Pi\). +`/mavros/set_mode` — set [flight mode](modes.md) of the controller. Most often used to set the OFFBOARD mode to accept commands from Raspberry Pi. -`/mavros/cmd/arming` — enable or disable drone motors \\ (change the armed status \\). +`/mavros/cmd/arming` — arm or disarm drone motors \(change arming status\). ## Main published topics -`/mavros/state` — status of connection to the flight controller. The flight controller mode. +`/mavros/state` — status of connection to the flight controller and flight controller mode. -`/mavros/local_position/pose` — local position of the copter in the ENU system of coordinates, and its orientation. +`/mavros/local_position/pose` — local position and orientation of the copter in the ENU coordinate system. -`/mavros/local_position/velocity` — current speed in the local coordinates. Angular velocities. +`/mavros/local_position/velocity` — current speed in local coordinates and angular velocities. -`/mavros/global_position/global` — the current global position \(latitude, longitude, altitude\). +`/mavros/global_position/global` — current global position \(latitude, longitude, altitude\). -`/mavros/global_position/local` — the global position in the [UTM] system of coordinates (https://ru.wikipedia.org/wiki/Система_координат_UTM). +`/mavros/global_position/local` — the global position in the [UTM](https://en.wikipedia.org/wiki/Universal_Transverse_Mercator_coordinate_system) coordinate system. -`/mavros/global_position/rel_alt` — relative altitude \(relative to the engines ON altitude\). +`/mavros/global_position/rel_alt` — relative altitude \(relative to the arming altitude\). -Messages published in the topics may be viewed by using the `rostopic` utility, e.g., `rostopic echo /mavros/state`. See more in [working with ROS](ros.md). +Messages published in the topics may be viewed with the `rostopic` utility, e.g., `rostopic echo /mavros/state`. See more in [working with ROS](ros.md). ## Main topics for publication -`/mavros/setpoint_position/local` — set the target position and the yaw of the drone \(in the ENU system of coordinates\). +`/mavros/setpoint_position/local` — set target position and yaw of the drone \(in the ENU coordinate system\). -`/mavros/setpoint_position/cmd_vel` — set the target linear velocity of the drone. +`/mavros/setpoint_position/cmd_vel` — set target linear velocity of the drone. `/mavros/setpoint_attitude/attitude` and `/mavros/setpoint_attitude/att_throttle` — set target attitude and throttle level. @@ -48,8 +48,8 @@ Messages published in the topics may be viewed by using the `rostopic` utility, ### Topics for sending raw packets -`/mavros/setpoint_raw/local` — sending packet [SET\_POSITION\_TARGET\_LOCAL\_NED](https://pixhawk.ethz.ch/mavlink/#SET_POSITION_TARGET_LOCAL_NED). Allows setting target position/target speed and target yaw/angular yaw velocity. The values to be set are selected using the `type_mask` field. +`/mavros/setpoint_raw/local` — sends [SET\_POSITION\_TARGET\_LOCAL\_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED) message. Allows setting target position/target speed and target yaw/angular yaw velocity. The values to be set are selected using the `type_mask` field. -`/mavros/setpoint_raw/attitude` — sending packet [SET\_ATTITUDE\_TARGET](https://pixhawk.ethz.ch/mavlink/#SET_ATTITUDE_TARGET). Allows setting the target attitude /angular velocity and throttle level. The values to be set are selected using the `type_mask` field +`/mavros/setpoint_raw/attitude` — sends [SET\_ATTITUDE\_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET) message. Allows setting the target attitude /angular velocity and throttle level. The values to be set are selected using the `type_mask` field -`/mavros/setpoint_raw/global` — sending packet [SET\_POSITION\_TARGET\_GLOBAL\_INT](https://pixhawk.ethz.ch/mavlink/#SET_POSITION_TARGET_GLOBAL_INT). Allows setting the target attitude in global coordinates \(latitude, longitude, altitude\) and flight speed. **Not supported in PX4** \([issue](https://github.com/PX4/Firmware/issues/7552)\). +`/mavros/setpoint_raw/global` — sends [SET\_POSITION\_TARGET\_GLOBAL\_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT). Allows setting the target attitude in global coordinates \(latitude, longitude, altitude\) and flight speed. **May not be supported in earlier releases of PX4** \([issue](https://github.com/PX4/Firmware/issues/7552)\).