blocks: implement global navigation

* Added the gsreamer's section in duocam_setup.md

Added the section on how to modify video using GStreamer

* Edit

Co-authored-by: Oleg Kalachev <okalachev@gmail.com>

.github/workflows/build-image.yaml

@@ -1,4 +1,4 @@
-name: Build RPi image
+name: RPi image
 
 on:
   push:
@@ -9,7 +9,7 @@ on:
     types: [ created ]
 
 jobs:
-  build-image:
+  build:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2
@@ -18,7 +18,7 @@ jobs:
           docker run --privileged --rm -v /dev:/dev -v $(pwd):/builder/repo -e TRAVIS_TAG="${{ github.event.release.tag_name }}" sfalexrog/img-tool:qemu-update
       - name: Compress image
         run: |
-          sudo chmod -R 777 images && zip -9 $(echo images/clover_*).zip images/clover_* && ls -l images
+          cd images && sudo chmod -R 777 . && zip -9 $(echo clover_*).zip clover_* && ls -l . && unzip -l clover_*.zip
       - name: Upload image
         uses: softprops/action-gh-release@v1
         if: ${{ github.event_name == 'release' }}

.github/workflows/build.yml

@@ -7,14 +7,14 @@ on:
     branches: [ master ]
 
 jobs:
-  build-melodic:
+  melodic:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2
       - name: Native Melodic build
         run: |
           docker run --rm -v $(pwd):/root/catkin_ws/src/clover ros:melodic-ros-base /root/catkin_ws/src/clover/builder/standalone-install.sh
-  build-noetic:
+  noetic:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2

.github/workflows/docs.yml

@@ -7,7 +7,7 @@ on:
     branches: [ master ]
 
 jobs:
-  documentation:
+  docs:
     runs-on: ubuntu-18.04
     steps:
       - uses: actions/checkout@v2
@@ -18,8 +18,7 @@ jobs:
         run: |
           sudo sh -c "echo ttf-mscorefonts-installer msttcorefonts/accepted-mscorefonts-eula select true | debconf-set-selections"
           sudo apt-get update && sudo apt-get install -y calibre msttcorefonts
-          npm install gitbook-cli -g
-          gitbook fetch 3.2.3 && npm i npm@3.10.10 --prefix=~/.gitbook/versions/3.2.3/ # fixing https://travis-ci.org/github/CopterExpress/clover/jobs/766541125#L932
+          builder/assets/install_gitbook.sh
           npm install markdownlint-cli -g
           npm install svgexport -g
           gitbook -V

.github/workflows/editorconfig.yaml

@@ -1,4 +1,4 @@
-name: Editorconfig lint
+name: Editorconfig
 
 on:
   push:
@@ -15,4 +15,4 @@ jobs:
         run: |
           wget --no-verbose https://github.com/okalachev/editorconfig-checker/releases/download/1.2.1-disable-spaces-amount/ec-linux-amd64
           chmod +x ec-linux-amd64
-          ./ec-linux-amd64 -spaces-after-tabs -e "roslib.js|ros3d.js|eventemitter2.js|draw.cpp|BinUtils.swift|\.idea|apps/android/app|blockly/|clover_blocks/programs/|highlight/|python.js|Assets.xcassets|test_parser_pass.txt|test_node_failure.txt|aruco_pose/vendor|\.stl|\.dxf|\.dae"
+          ./ec-linux-amd64 -spaces-after-tabs -e "roslib.js|ros3d.js|eventemitter2.js|json-to-pretty-yaml.js|draw.cpp|BinUtils.swift|\.idea|apps/android/app|blockly/|clover_blocks/programs/|highlight/|python.js|Assets.xcassets|test_parser_pass.txt|test_node_failure.txt|aruco_pose/vendor|\.stl|\.dxf|\.dae"

.gitignore

@@ -6,3 +6,4 @@ _book/
 package-lock.json
 clover_blocks/programs/*.*
 !clover_blocks/programs/examples/*
+/.vscode/

README.md

@@ -1,6 +1,6 @@
 # clover🍀: create autonomous drones easily
 
-<img src="docs/assets/clover42-main.png" align="right" width="400px" alt="COEX Clover Drone">
+<img src="docs/assets/clover42-main-margin.png" align="right" width="400px" alt="COEX Clover Drone">
 
 Clover is an open source [ROS](https://www.ros.org)-based framework, providing user-friendly tools to control [PX4](https://px4.io)-powered drones. Clover is available as a ROS package, but is shipped mainly as a preconfigured image for Raspberry Pi. Once you've installed Raspberry Pi on your drone and flashed the image to its microSD card, taking the drone up in the air is a matter of minutes.
 

apps/ios/cleverrc/README.md

@@ -1,5 +1,4 @@
-iOS-приложение для управления Клевером
---------------------------------------
+# iOS-приложение для управления Клевером
 
 Для установки зависимостей необходим [CocoaPods](https://cocoapods.org):
 

aruco_pose/CMakeLists.txt

@@ -202,11 +202,11 @@ set_property(TARGET aruco_pose
 # )
 
 ## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
 
 ## Mark cpp header files for installation
 # install(DIRECTORY include/${PROJECT_NAME}/
@@ -226,6 +226,10 @@ catkin_install_python(PROGRAMS src/genmap.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(DIRECTORY map DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
 #############
 ## Testing ##
 #############

aruco_pose/README.md

@@ -70,7 +70,7 @@ It's recommended to run it within the same nodelet manager with the camera nodel
 
 * `~map` – path to text file with markers list
 * `~frame_id` – published frame id (default: `aruco_map`)
-* `~known_tilt` – debug image width
+* `~known_tilt` – known tilt (pitch and roll) of markers map as a frame
 * `~image_width` – debug image width (default: 2000)
 * `~image_height` – debug image height (default: 2000)
 * `~image_margin` – debug image margin (default: 200)

book.json

@@ -10,7 +10,7 @@
         "yametrika",
         "anchors",
         "collapsible-menu",
-        "validate-links",
+        "validate-links@https://github.com/okalachev/gitbook-plugin-validate-links.git",
         "bulk-redirect@https://github.com/okalachev/gitbook-plugin-bulk-redirect.git",
         "sitemap@https://github.com/okalachev/plugin-sitemap.git",
         "toolbar@https://github.com/hamishwillee/gitbook-plugin-toolbar.git",

builder/assets/clover.service

@@ -8,5 +8,9 @@ ExecStart=/bin/bash -c ". /home/pi/catkin_ws/devel/setup.sh; \
                       ROS_HOSTNAME=`hostname`.local exec stdbuf -o L roslaunch clover clover.launch --wait --screen --skip-log-check \
                       2> >(tee /tmp/clover.err)"
 
+ExecStartPre=+rm /var/log/clover.log
+StandardOutput=file:/var/log/clover.log
+StandardError=file:/var/log/clover.log
+
 [Install]
 WantedBy=multi-user.target

builder/assets/install_gitbook.sh

@@ -0,0 +1,9 @@
+#!/usr/bin/env bash
+
+# GitBook CLI is deprecated, its installation is broken.
+# This script fixes it until we stop using GitBook.
+
+export NPM_CONFIG_UNSAFE_PERM=1
+
+npm install gitbook-cli -g
+gitbook fetch 3.2.3 && npm i npm@3.10.10 --prefix=~/.gitbook/versions/3.2.3/ # fixing https://travis-ci.org/github/CopterExpress/clover/jobs/766541125#L932

builder/image-build.sh

@@ -105,8 +105,6 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterf
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey.service' '/lib/systemd/system/'
 # software install
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software.sh'
-# examples
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/examples' '/home/pi/'  # TODO: symlink?
 # network setup
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.sh'
 # avahi setup
@@ -115,15 +113,11 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/avahi-s
 # If RPi then use a one thread to build a ROS package on RPi, else use all
 [[ $(arch) == 'armv7l' ]] && NUMBER_THREADS=1 || NUMBER_THREADS=$(nproc --all)
 # Clover
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/clover.service' '/lib/systemd/system/'
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/noetic-rosdep-clover.yaml' '/etc/ros/rosdep/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/ros_python_paths' '/etc/sudoers.d/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/pigpiod.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/launch.nanorc' '/usr/share/nano/'
 # ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-ros-clover.rosinstall' '/home/pi/ros_catkin_ws/'
-# Add PX4 udev rules
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${REPO_DIR}'/clover/config/99-px4fmu.rules' '/lib/udev/rules.d/'
 # Add rename script
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS}
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-validate.sh'

builder/image-ros.sh

@@ -113,6 +113,7 @@ my_travis_retry pip3 install -r /home/pi/catkin_ws/src/clover/clover/requirement
 source /opt/ros/${ROS_DISTRO}/setup.bash
 # Don't build simulation plugins for actual drone
 catkin_make -j2 -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCATKIN_BLACKLIST_PACKAGES=clover_gazebo_plugins
+source devel/setup.bash
 
 echo_stamp "Install clever package (for backwards compatibility)"
 cd /home/pi/catkin_ws/src/clover/builder/assets/clever
@@ -121,9 +122,8 @@ rm -rf build  # remove build artifacts
 
 echo_stamp "Build Clover documentation"
 cd /home/pi/catkin_ws/src/clover
-NPM_CONFIG_UNSAFE_PERM=true npm install gitbook-cli -g
-NPM_CONFIG_UNSAFE_PERM=true gitbook fetch 3.2.3 && npm i npm@3.10.10 --prefix=~/.gitbook/versions/3.2.3/ # fixing https://travis-ci.org/github/CopterExpress/clover/jobs/766541125#L932
-NPM_CONFIG_UNSAFE_PERM=true gitbook install
+builder/assets/install_gitbook.sh
+gitbook install
 gitbook build
 touch node_modules/CATKIN_IGNORE docs/CATKIN_IGNORE _book/CATKIN_IGNORE clover/www/CATKIN_IGNORE apps/CATKIN_IGNORE # ignore documentation files by catkin
 
@@ -151,9 +151,20 @@ catkin_make run_tests #&& catkin_test_results
 echo_stamp "Change permissions for catkin_ws"
 chown -Rf pi:pi /home/pi/catkin_ws
 
-echo_stamp "Change permissions for examples"
+echo_stamp "Make \$HOME/examples symlink"
+ln -s "$(catkin_find clover examples --first-only)" /home/pi
 chown -Rf pi:pi /home/pi/examples
 
+echo_stamp "Make systemd services symlinks"
+ln -s /home/pi/catkin_ws/src/clover/builder/assets/clover.service /lib/systemd/system/
+ln -s /home/pi/catkin_ws/src/clover/builder/assets/roscore.service /lib/systemd/system/
+# validate
+[ -f /lib/systemd/system/clover.service ]
+[ -f /lib/systemd/system/roscore.service ]
+
+echo_stamp "Make udev rules symlink"
+ln -s "$(catkin_find clover udev --first-only)"/* /lib/udev/rules.d/
+
 echo_stamp "Setup ROS environment"
 cat << EOF >> /home/pi/.bashrc
 LANG='C.UTF-8'

builder/image-validate.sh

@@ -31,5 +31,9 @@ cd /home/pi/catkin_ws/src/clover/builder/test/
 
 systemctl stop roscore
 
+# check documented packages available
+apt-cache show gst-rtsp-launch
+apt-cache show openvpn
+
 echo "Move /etc/ld.so.preload back to its original position"
 mv /etc/ld.so.preload.disabled-for-build /etc/ld.so.preload

builder/test/tests.sh

@@ -34,6 +34,7 @@ i2cdetect -V
 butterfly -h
 # espeak --version
 mjpg_streamer --version
+systemctl --version
 
 # ros stuff
 

check_unused_assets.py

@@ -5,7 +5,7 @@ import sys
 import subprocess
 
 EXCLUDE = ('clever4-front-white.png', 'clever4-front-white-large.png', '.DS_Store',
-    'clever4-front-black-large.png','clover42-black.png')
+    'clever4-front-black-large.png','clover42-black.png', 'clover42-main-margin.png')
 
 code = 0
 

clover/CMakeLists.txt

@@ -241,12 +241,12 @@ target_link_libraries(${PROJECT_NAME}
 #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 # )
 
-## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
+# Mark executables and/or libraries for installation
+install(TARGETS simple_offboard clover_rc camera_markers vpe_publisher clover_led shell clover
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
 
 ## Mark cpp header files for installation
 # install(DIRECTORY include/${PROJECT_NAME}/
@@ -266,13 +266,21 @@ catkin_install_python(PROGRAMS src/selfcheck.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(DIRECTORY examples DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(DIRECTORY www DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+# TODO: install www
+
 # Only install udev rules when building a Debian package
 # FIXME: Other operating systems may have other prefixes
 string(FIND ${CMAKE_INSTALL_PREFIX} "/opt/ros" _PREFIX_INDEX)
 if (${_PREFIX_INDEX} EQUAL 0)
   message(STATUS "Building as a Debian package - adding udev rules as installable files")
   install(FILES
-    config/99-px4fmu.rules
+    udev/99-px4fmu.rules
     DESTINATION /lib/udev/rules.d
   )
 else()

clover/README.md

@@ -36,7 +36,7 @@ curl https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/inst
 You may optionally install udev rules to provide `/dev/px4fmu` symlink to your PX4-based flight controller connected over USB. Copy `99-px4fmu.rules` to your `/lib/udev/rules.d` folder:
 
 ```bash
-cd ~/catkin_ws/src/clover/clover/config
+cd ~/catkin_ws/src/clover/clover/udev
 sudo cp 99-px4fmu.rules /lib/udev/rules.d
 ```
 

clover/examples/flight.py

@@ -15,17 +15,17 @@ set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
 set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
 land = rospy.ServiceProxy('land', Trigger)
 
-# Take off and hover 1 m above the ground
+print('Take off and hover 1 m above the ground')
 navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)
 
-# Wait for 3 seconds
-rospy.sleep(3)
+# Wait for 5 seconds
+rospy.sleep(5)
 
-# Fly forward 1 m
+print('Fly forward 1 m')
 navigate(x=1, y=0, z=0, frame_id='body')
 
-# Wait for 3 seconds
-rospy.sleep(3)
+# Wait for 5 seconds
+rospy.sleep(5)
 
-# Perform landing
+print('Perform landing')
 land()

clover/examples/flight_marker.py

@@ -15,23 +15,23 @@ set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
 set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
 land = rospy.ServiceProxy('land', Trigger)
 
-# Take off and hover 1 m above the ground
+print('Take off and hover 1 m above the ground')
 navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)
 
-# Wait for 3 seconds
-rospy.sleep(3)
+# Wait for 5 seconds
+rospy.sleep(5)
 
-# Fly 1 meter above ArUco marker 0
+print('Fly 1 meter above ArUco marker 0')
 navigate(x=0, y=0, z=1, frame_id='aruco_0')
 
-# Wait for 3 seconds
-rospy.sleep(3)
+# Wait for 5 seconds
+rospy.sleep(5)
 
-# Fly to x=1 y=1 z=1 relative to ArUco markers map
+print('Fly to x=1 y=1 z=1 relative to ArUco markers map')
 navigate(x=1, y=1, z=1, frame_id='aruco_map')
 
-# Wait for 3 seconds
-rospy.sleep(3)
+# Wait for 5 seconds
+rospy.sleep(5)
 
-# Perform landing
+print('Perform landing')
 land()

clover/examples/gps.py

@@ -0,0 +1,47 @@
+# Information: https://clover.coex.tech/en/simple_offboard.html#navigateglobal
+
+import rospy
+from clover import srv
+from std_srvs.srv import Trigger
+import math
+
+rospy.init_node('flight')
+
+get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
+navigate = rospy.ServiceProxy('navigate', srv.Navigate)
+navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)
+set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
+set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
+set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
+set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
+land = rospy.ServiceProxy('land', Trigger)
+
+# https://clover.coex.tech/en/snippets.html#wait_arrival
+def wait_arrival(tolerance=0.2):
+    while not rospy.is_shutdown():
+        telem = get_telemetry(frame_id='navigate_target')
+        if math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < tolerance:
+            break
+        rospy.sleep(0.2)
+
+start = get_telemetry()
+
+if math.isnan(start.lat):
+    raise Exception('No global position, install and configure GPS sensor: https://clover.coex.tech/gps')
+
+print('Start point global position: lat={}, lon={}'.format(start.lat, start.lon))
+
+print('Take off 3 meters')
+navigate(x=0, y=0, z=3, frame_id='body', auto_arm=True)
+wait_arrival()
+
+print('Fly 1 arcsecond to the North (approx. 30 meters)')
+navigate_global(lat=start.lat+1.0/60/60, lon=start.lon, z=start.z+3, yaw=math.inf, speed=5)
+wait_arrival()
+
+print('Fly to home position')
+navigate_global(lat=start.lat, lon=start.lon, z=start.z+3, yaw=math.inf, speed=5)
+wait_arrival()
+
+print('Land')
+land()

clover/examples/navigate_wait.py

@@ -31,11 +31,11 @@ def navigate_wait(x=0, y=0, z=0, yaw=float('nan'), yaw_rate=0, speed=0.5, \
             return res
         rospy.sleep(0.2)
 
-# Take off 1 meter
+print('Take off 1 meter')
 navigate_wait(z=1, frame_id='body', auto_arm=True)
 
-# Fly forward 1 m
+print('Fly forward 1 m')
 navigate_wait(x=1, frame_id='body')
 
-# Land
+print('Land')
 land()

clover/launch/aruco.launch

@@ -3,7 +3,7 @@
     <arg name="aruco_map" default="false"/>
     <arg name="aruco_vpe" default="false"/>
     <arg name="placement" default="floor"/> <!-- markers placement: floor, ceiling, unknown -->
-    <arg name="length" default="0.33"/> <!-- not-in-map markers length, m -->
+    <arg name="length" default="0.22"/> <!-- not-in-map markers length, m -->
     <arg name="map" default="map.txt"/> <!-- markers map file name -->
 
     <!-- For additional help go to https://clover.coex.tech/aruco -->
@@ -12,7 +12,7 @@
     <node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect main_camera_nodelet_manager" output="screen" clear_params="true" respawn="true">
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
-        <remap from="map_markers" to="aruco_map/markers" if="$(arg aruco_map)"/>
+        <remap from="map_markers" to="aruco_map/markers"/>
         <param name="estimate_poses" value="true"/>
         <param name="send_tf" value="true"/>
         <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>

clover/src/optical_flow.cpp

@@ -75,9 +75,6 @@ private:
 		velo_pub_ = nh_priv.advertise<geometry_msgs::TwistStamped>("angular_velocity", 1);
 		shift_pub_ = nh_priv.advertise<geometry_msgs::Vector3Stamped>("shift", 1);
 
-		flow_.integrated_xgyro = NAN; // no IMU available
-		flow_.integrated_ygyro = NAN;
-		flow_.integrated_zgyro = NAN;
 		flow_.time_delta_distance_us = 0;
 		flow_.distance = -1; // no distance sensor available
 		flow_.temperature = 0;
@@ -179,7 +176,7 @@ private:
 			double flow_x = atan2(points_undist[0].x, focal_length_x);
 			double flow_y = atan2(points_undist[0].y, focal_length_y);
 
-			// // Convert to FCU frame
+			// Convert to FCU frame
 			geometry_msgs::Vector3Stamped flow_camera, flow_fcu;
 			flow_camera.header.frame_id = msg->header.frame_id;
 			flow_camera.header.stamp = msg->header.stamp;
@@ -196,6 +193,11 @@ private:
 			ros::Duration integration_time = msg->header.stamp - prev_stamp_;
 			uint32_t integration_time_us = integration_time.toSec() * 1.0e6;
 
+			// Calculate flow gyro
+			flow_.integrated_xgyro = NAN;
+			flow_.integrated_ygyro = NAN;
+			flow_.integrated_zgyro = NAN;
+
 			if (calc_flow_gyro_) {
 				try {
 					auto flow_gyro_camera = calcFlowGyro(msg->header.frame_id, prev_stamp_, msg->header.stamp);
@@ -205,9 +207,7 @@ private:
 					flow_.integrated_ygyro = flow_gyro_fcu.vector.y;
 					flow_.integrated_zgyro = flow_gyro_fcu.vector.z;
 				} catch (const tf2::TransformException& e) {
-					// Invalidate previous frame
-					prev_.release();
-					goto publish_debug;
+					// Transform not available, keep NANs in flow gyro
 				}
 			}
 

clover/src/simple_offboard.cpp

@@ -183,7 +183,7 @@ inline bool waitTransform(const string& target, const string& source,
 	}
 }
 
-#define TIMEOUT(msg, timeout) (ros::Time::now() - msg.header.stamp > timeout)
+#define TIMEOUT(msg, timeout) (msg.header.stamp.isZero() || (ros::Time::now() - msg.header.stamp > timeout))
 
 bool getTelemetry(GetTelemetry::Request& req, GetTelemetry::Response& res)
 {
@@ -441,6 +441,10 @@ void publish(const ros::Time stamp)
 
 		// publish setpoint frame
 		if (!setpoint.child_frame_id.empty()) {
+			if (setpoint.header.stamp == position_msg.header.stamp) {
+				return; // avoid TF_REPEATED_DATA warnings
+			}
+
 			setpoint.transform.translation.x = position_msg.pose.position.x;
 			setpoint.transform.translation.y = position_msg.pose.position.y;
 			setpoint.transform.translation.z = position_msg.pose.position.z;

clover/www/clover.err

@@ -1 +0,0 @@
-/tmp/clover.err

clover/www/clover.log

@@ -0,0 +1 @@
+/var/log/clover.log

clover/www/index.html

@@ -4,12 +4,12 @@
 
 <ul>
 	<li><a href="docs">View documentation</a> (snapshot of <a href="https://clover.coex.tech">clover.coex.tech</a>)</li>
+	<li><a href="topics.html">View topics</a></li>
 	<li><a href="" id="wvs">View image topics</a> (<code>web_video_server</code>)</li>
 	<li><a href="" id="butterfly">Open web terminal</a> (<code>Butterfly</code>)</li>
-	<li><a href="viz.html">View 3D visualization</a> (<code>ros3djs</code>)</li>
-	<li><a href="aruco_map.html">3D visualization for markers map</a> (<code>ros3djs</code>)</li>
+	<li>View <a href="viz.html">View 3D visualization</a>, <a href="aruco_map.html">3D visualization for markers map</a> (<code>ros3djs</code>)</li>
 	<li><a href="../clover_blocks/">Blocks programming</a> (<code>Blockly</code>)</li>
-	<li><a href="clover.err">Clover console</a> (<code>/tmp/clover.err</code>)</li>
+	<li><a href="clover.log">Clover console</a> (<code>/var/log/clover.log</code>)</li>
 </ul>
 
 <div class="version"></div>
@@ -18,6 +18,14 @@
 	document.querySelector("#wvs").href = location.protocol + '//' + location.hostname + ':8080';
 	document.querySelector("#butterfly").href = location.protocol + '//' + location.hostname + ':57575';
 
+	document.querySelector("#butterfly").addEventListener('click', function(e) {
+		if (location.hostname == 'localhost' || location.hostname == '127.0.0.1') {
+			if (!confirm('Please use regular Terminal app on a local machine.\nClick OK to proceed to Butterfly anyway.')) {
+				e.preventDefault();
+			}
+		}
+	});
+
 	// Determine image version
 	fetch('clover_version').then(function(response) {
 		if (response.status !== 200) return;

clover/www/js/json-to-pretty-yaml.js

@@ -0,0 +1,236 @@
+// Browserified https://www.npmjs.com/package/json-to-pretty-yaml module
+
+(function(){function r(e,n,t){function o(i,f){if(!n[i]){if(!e[i]){var c="function"==typeof require&&require;if(!f&&c)return c(i,!0);if(u)return u(i,!0);var a=new Error("Cannot find module '"+i+"'");throw a.code="MODULE_NOT_FOUND",a}var p=n[i]={exports:{}};e[i][0].call(p.exports,function(r){var n=e[i][1][r];return o(n||r)},p,p.exports,r,e,n,t)}return n[i].exports}for(var u="function"==typeof require&&require,i=0;i<t.length;i++)o(t[i]);return o}return r})()({1:[function(require,module,exports){
+(function() {
+    "use strict";
+
+    var typeOf = require('remedial').typeOf;
+    var trimWhitespace = require('remove-trailing-spaces');
+
+    function stringify(data) {
+        var handlers, indentLevel = '';
+
+        handlers = {
+            "undefined": function() {
+                // objects will not have `undefined` converted to `null`
+                // as this may have unintended consequences
+                // For arrays, however, this behavior seems appropriate
+                return 'null';
+            },
+            "null": function() {
+                return 'null';
+            },
+            "number": function(x) {
+                return x;
+            },
+            "boolean": function(x) {
+                return x ? 'true' : 'false';
+            },
+            "string": function(x) {
+                // to avoid the string "true" being confused with the
+                // the literal `true`, we always wrap strings in quotes
+                return JSON.stringify(x);
+            },
+            "array": function(x) {
+                var output = '';
+
+                if (0 === x.length) {
+                    output += '[]';
+                    return output;
+                }
+
+                indentLevel = indentLevel.replace(/$/, '  ');
+                x.forEach(function(y, i) {
+                    // TODO how should `undefined` be handled?
+                    var handler = handlers[typeOf(y)];
+
+                    if (!handler) {
+                        throw new Error('what the crap: ' + typeOf(y));
+                    }
+
+                    output += '\n' + indentLevel + '- ' + handler(y, true);
+
+                });
+                indentLevel = indentLevel.replace(/  /, '');
+
+                return output;
+            },
+            "object": function(x, inArray, rootNode) {
+                var output = '';
+
+                if (0 === Object.keys(x).length) {
+                    output += '{}';
+                    return output;
+                }
+
+                if (!rootNode) {
+                    indentLevel = indentLevel.replace(/$/, '  ');
+                }
+
+                Object.keys(x).forEach(function(k, i) {
+                    var val = x[k],
+                        handler = handlers[typeOf(val)];
+
+                    if ('undefined' === typeof val) {
+                        // the user should do
+                        // delete obj.key
+                        // and not
+                        // obj.key = undefined
+                        // but we'll error on the side of caution
+                        return;
+                    }
+
+                    if (!handler) {
+                        throw new Error('what the crap: ' + typeOf(val));
+                    }
+
+                    if (!(inArray && i === 0)) {
+                        output += '\n' + indentLevel;
+                    }
+
+                    output += k + ': ' + handler(val);
+                });
+                indentLevel = indentLevel.replace(/  /, '');
+
+                return output;
+            },
+            "function": function() {
+                // TODO this should throw or otherwise be ignored
+                return '[object Function]';
+            }
+        };
+        return trimWhitespace(handlers[typeOf(data)](data, true, true) + '\n');
+
+    }
+
+    window.yamlStringify = stringify;
+    module.exports.stringify = stringify;
+}());
+
+},{"remedial":2,"remove-trailing-spaces":3}],2:[function(require,module,exports){
+/*jslint onevar: true, undef: true, nomen: true, eqeqeq: true, plusplus: true, bitwise: true, regexp: true, newcap: true, immed: true */
+(function () {
+    "use strict";
+
+    var global = Function('return this')()
+      , classes = "Boolean Number String Function Array Date RegExp Object".split(" ")
+      , i
+      , name
+      , class2type = {}
+      ;
+
+    for (i in classes) {
+      if (classes.hasOwnProperty(i)) {
+        name = classes[i];
+        class2type["[object " + name + "]"] = name.toLowerCase();
+      }
+    }
+
+    function typeOf(obj) {
+      return (null === obj || undefined === obj) ? String(obj) : class2type[Object.prototype.toString.call(obj)] || "object";
+    }
+
+    function isEmpty(o) {
+        var i, v;
+        if (typeOf(o) === 'object') {
+            for (i in o) { // fails jslint
+                v = o[i];
+                if (v !== undefined && typeOf(v) !== 'function') {
+                    return false;
+                }
+            }
+        }
+        return true;
+    }
+
+    if (!String.prototype.entityify) {
+        String.prototype.entityify = function () {
+            return this.replace(/&/g, "&amp;").replace(/</g,
+                "&lt;").replace(/>/g, "&gt;");
+        };
+    }
+
+    if (!String.prototype.quote) {
+        String.prototype.quote = function () {
+            var c, i, l = this.length, o = '"';
+            for (i = 0; i < l; i += 1) {
+                c = this.charAt(i);
+                if (c >= ' ') {
+                    if (c === '\\' || c === '"') {
+                        o += '\\';
+                    }
+                    o += c;
+                } else {
+                    switch (c) {
+                    case '\b':
+                        o += '\\b';
+                        break;
+                    case '\f':
+                        o += '\\f';
+                        break;
+                    case '\n':
+                        o += '\\n';
+                        break;
+                    case '\r':
+                        o += '\\r';
+                        break;
+                    case '\t':
+                        o += '\\t';
+                        break;
+                    default:
+                        c = c.charCodeAt();
+                        o += '\\u00' + Math.floor(c / 16).toString(16) +
+                            (c % 16).toString(16);
+                    }
+                }
+            }
+            return o + '"';
+        };
+    } 
+
+    if (!String.prototype.supplant) {
+        String.prototype.supplant = function (o) {
+            return this.replace(/{([^{}]*)}/g,
+                function (a, b) {
+                    var r = o[b];
+                    return typeof r === 'string' || typeof r === 'number' ? r : a;
+                }
+            );
+        };
+    }
+
+    if (!String.prototype.trim) {
+        String.prototype.trim = function () {
+            return this.replace(/^\s*(\S*(?:\s+\S+)*)\s*$/, "$1");
+        };
+    }
+
+    // CommonJS / npm / Ender.JS
+    module.exports = {
+        typeOf: typeOf,
+        isEmpty: isEmpty
+    };
+    global.typeOf = global.typeOf || typeOf;
+    global.isEmpty = global.isEmpty || isEmpty;
+}());
+
+},{}],3:[function(require,module,exports){
+"use strict";
+
+/**
+ * removeTrailingSpaces
+ * Remove the trailing spaces from a string.
+ *
+ * @name removeTrailingSpaces
+ * @function
+ * @param {String} input The input string.
+ * @returns {String} The output string.
+ */
+
+module.exports = function removeTrailingSpaces(input) {
+  // TODO If possible, use a regex
+  return input.split("\n").map(function (x) {
+    return x.trimRight();
+  }).join("\n");
+};
+},{}]},{},[1]);

clover/www/js/topics.js

@@ -0,0 +1,72 @@
+const url = 'ws://' + location.hostname + ':9090';
+const ros = new ROSLIB.Ros({ url: url });
+
+ros.on('connection', function () {
+	document.body.classList.add('connected');
+	init();
+});
+
+ros.on('close', function () {
+	document.body.classList.remove('connected');
+	setTimeout(function() {
+		// reconnect
+		ros.connect(url);
+	}, 2000);
+});
+
+const title = document.querySelector('h1');
+const topicsList = document.querySelector('#topics');
+const topicMessage = document.querySelector('#topic-message');
+
+function viewTopicsList() {
+	title.innerHTML = 'Topics:';
+
+	ros.getTopics(function(topics) {
+		topicsList.innerHTML = topics.topics.map(function(topic, i) {
+			const type = topics.types[i];
+			if (type == 'sensor_msgs/Image') {
+				let url = `${location.protocol}//${location.hostname}:8080/stream_viewer?topic=${topic}`; 
+				return `<li><a href="${url}" class=topic title=${type}>${topic}</a> &#x1F5BC;</li>`;
+			} else {
+				return `<li><a href="?topic=${topic}" class=topic title=${type}>${topic}</a></li>`;
+			}
+		}).join('');
+	});
+}
+
+let rosdistro;
+
+function viewTopic(topic) {
+	title.innerHTML = topic;
+	topicMessage.style.display = 'block';
+
+	ros.getTopicType(topic, function(typeStr) {
+		const [pack, type] = typeStr.split('/');
+		let href = `https://docs.ros.org/en/${rosdistro}/api/${pack}/html/msg/${type}.html`;
+		title.innerHTML = `${topic} <a id="topic-type" href=${href} target="_blank">${typeStr}</a>`;
+	});
+
+	new ROSLIB.Topic({ ros: ros, name: topic }).subscribe(function(msg) {
+		document.title = topic;
+		if (mouseDown) return;
+		topicMessage.innerHTML = yamlStringify(msg); // JSON.stringify(msg, null, 4);
+	});
+}
+
+let mouseDown;
+
+topicMessage.addEventListener('mousedown', function() { mouseDown = true; });
+topicMessage.addEventListener('mouseup', function() { mouseDown = false; });
+
+function init() {
+	const params = Object.fromEntries(new URLSearchParams(window.location.search).entries());
+
+	if (!params.topic) {
+		viewTopicsList();
+	} else {
+		new ROSLIB.Param({ ros: ros, name: '/rosdistro'}).get(function(value) {
+			rosdistro = value.trim();
+			viewTopic(params.topic);
+		});
+	}
+}

clover/www/topics.html

@@ -0,0 +1,27 @@
+<html lang="en">
+	<head>
+		<title>ROS topics</title>
+		<script src="js/roslib.js"></script>
+		<link rel="icon" href="data:,"> <!-- make chrome don't request icon -->
+		<script type="module" src="js/topics.js"></script>
+		<script src="js/json-to-pretty-yaml.js"></script>
+		<style>
+			#topics { line-height: 1.2em; }
+			#topic-view {
+				display: none;
+			}
+			#topic-message {
+				display: none;
+				white-space: pre;
+				font-family: monospace;
+			}
+			#topic-type { font-family: monospace; font-size: 0.5em; vertical-align: super; font-weight: normal; }
+			.topic { font-family: monospace; }
+		</style>
+	</head>
+	<body>
+		<h1>&nbsp;</h1>
+		<ul id="topics"></ul>
+		<code id="topic-message" title="Hold mouse button to pause">No messages received</code>
+	</body>
+</html>

clover_blocks/CMakeLists.txt

@@ -73,6 +73,13 @@ catkin_install_python(PROGRAMS src/clover_blocks
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
+# TODO: store programs in home directory?
+install(DIRECTORY programs
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(DIRECTORY www DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
 #############
 ## Testing ##
 #############

clover_blocks/README.md

@@ -10,7 +10,7 @@ Internal package documentation is given below.
 
 ## Frontend
 
-The frontend files are located in [`www`](./www/) subdirectory. The frontend application uses [`roblib.js`](http://wiki.ros.org/roslibjs) library for communicating with backend node and other ROS resources.
+The frontend files are located in [`www`](./www/) subdirectory. The frontend application uses [`roslib.js`](http://wiki.ros.org/roslibjs) library for communicating with backend node and other ROS resources.
 
 ## `clover_blocks` node
 
@@ -30,7 +30,8 @@ The frontend files are located in [`www`](./www/) subdirectory. The frontend app
 Parameters read by frontend:
 
 * `~navigate_tolerance` (*float*) – distance tolerance in meters, used for navigate-like blocks (default: 0.2).
-* `~yaw_tolerance` (*float*) – yaw angle tolerance in degrees, used in set_yaw block (default: 20).
+* `~navigate_global_tolerance` (*float*) – distance tolerance for global coordinates navigation (default: 1).
+* `~yaw_tolerance` (*float*) – yaw angle tolerance in degrees, used in set_yaw block (default: 1).
 * `~sleep_time` (*float*) – duration of sleep in loop cycles, used for navigate-like blocks (default: 0.2).
 * `~confirm_run` (*bool*) – enable confirmation to run the program (default: true).
 

clover_blocks/src/clover_blocks

@@ -146,6 +146,7 @@ def stop(req):
     return {'success': True}
 
 
+# TODO: find dir in installed package
 programs_path = rospy.get_param('~programs_dir', os.path.dirname(os.path.abspath(__file__)) + '/../programs')
 
 

clover_blocks/www/blocks.js

@@ -31,6 +31,14 @@ function considerFrameId(e) {
 			this.getInput('Y').fieldRow[0].setValue('y');
 			this.getInput('Z').fieldRow[0].setValue('z');
 		}
+		if (this.getInput('LAT')) { // block has global coordinates
+			let global = frameId.startsWith('GLOBAL');
+			this.getInput('LAT').setVisible(global);
+			this.getInput('LON').setVisible(global);
+			this.getInput('X').setVisible(!global);
+			this.getInput('Y').setVisible(!global);
+			this.getInput('Z').fieldRow[0].setValue(frameId == 'GLOBAL' ? 'altitude' : 'z');
+		}
 	}
 	if (this.getInput('ID')) { // block has marker id field
 		this.getInput('ID').setVisible(frameId == 'ARUCO'); // toggle id field
@@ -65,6 +73,9 @@ function updateSetpointBlock(e) {
 
 Blockly.Blocks['navigate'] = {
 	init: function () {
+		let navFrameId = frameIds.slice();
+		navFrameId.push(['global', 'GLOBAL_LOCAL'])
+		navFrameId.push(['global, WGS 84 alt.', 'GLOBAL'])
 		this.appendDummyInput()
 			.appendField("navigate to point");
 		this.appendValueInput("X")
@@ -73,12 +84,20 @@ Blockly.Blocks['navigate'] = {
 		this.appendValueInput("Y")
 			.setCheck("Number")
 			.appendField("left");
+		this.appendValueInput("LAT")
+			.setCheck("Number")
+			.appendField("latitude")
+			.setVisible(false);
+		this.appendValueInput("LON")
+			.setCheck("Number")
+			.appendField("longitude")
+			.setVisible(false)
 		this.appendValueInput("Z")
 			.setCheck("Number")
 			.appendField("up");
 		this.appendDummyInput()
 			.appendField("relative to")
-			.appendField(new Blockly.FieldDropdown(frameIds), "FRAME_ID");
+			.appendField(new Blockly.FieldDropdown(navFrameId), "FRAME_ID");
 		this.appendValueInput("ID")
 			.setCheck("Number")
 			.appendField("with ID")
@@ -268,7 +287,7 @@ Blockly.Blocks['mode'] = {
 			.appendField("current flight mode");
 		this.setOutput(true, "String");
 		this.setColour(COLOR_STATE);
-		this.setTooltip("");
+		this.setTooltip("Returns current flight mode (POSCTL, OFFBOARD, etc).");
 		this.setHelpUrl(DOCS_URL + '#' + this.type);
 	}
 };
@@ -375,7 +394,7 @@ Blockly.Blocks['take_off'] = {
 		this.setPreviousStatement(true, null);
 		this.setNextStatement(true, null);
 		this.setColour(COLOR_FLIGHT);
-		this.setTooltip("Take off on desired altitude in meters");
+		this.setTooltip("Take off on desired altitude in meters.");
 		this.setHelpUrl(DOCS_URL + '#' + this.type);
 	}
 };
@@ -391,7 +410,7 @@ Blockly.Blocks['land'] = {
 		this.setPreviousStatement(true, null);
 		this.setNextStatement(true, null);
 		this.setColour(COLOR_FLIGHT);
-		this.setTooltip("");
+		this.setTooltip("Land the drone.");
 		this.setHelpUrl(DOCS_URL + '#' + this.type);
 	}
 };
@@ -400,10 +419,10 @@ Blockly.Blocks['global_position'] = {
 	init: function () {
 		this.appendDummyInput()
 			.appendField("current")
-			.appendField(new Blockly.FieldDropdown([["latitude", "LATITUDE"], ["longitude", "LONGITUDE"], ["altitude", "ALTITUDE"]]), "NAME");
+			.appendField(new Blockly.FieldDropdown([["latitude", "LAT"], ["longitude", "LON"], ["altitude", "ALT"]]), "FIELD");
 		this.setOutput(true, "Number");
-		this.setColour(230);
-		this.setTooltip("");
+		this.setColour(COLOR_STATE);
+		this.setTooltip("Returns current global position (latitude, longitude, altitude above the WGS 84 ellipsoid).");
 		this.setHelpUrl(DOCS_URL + '#' + this.type);
 	}
 };

clover_blocks/www/index.html

@@ -52,6 +52,8 @@
 				<value name="X"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="Y"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="Z"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
+				<value name="LAT"><shadow type="math_number"><field name="NUM">47.397503</field></shadow></value>
+				<value name="LON"><shadow type="math_number"><field name="NUM">8.544945</field></shadow></value>
 				<value name="SPEED"><shadow type="math_number"><field name="NUM">0.5</field></shadow></value>
 				<value name="ID"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 			</block>
@@ -85,6 +87,7 @@
 				<value name="ID"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 			</block>
 			<block type="get_attitude"></block>
+			<block type="global_position"></block>
 			<block type="distance">
 				<value name="X"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="Y"><shadow type="math_number"><field name="NUM">0</field></shadow></value>

clover_blocks/www/main.js

@@ -39,7 +39,8 @@ var workspace = Blockly.inject('blockly', {
 function readParams() {
 	return Promise.all([
 		ros.readParam('navigate_tolerance', true, 0.2),
-		ros.readParam('yaw_tolerance', true, 20),
+		ros.readParam('navigate_global_tolerance', true, 1),
+		ros.readParam('yaw_tolerance', true, 1),
 		ros.readParam('sleep_time', true, 0.2),
 		ros.readParam('confirm_run', true, true),
 	]);

clover_blocks/www/python.js

@@ -33,6 +33,18 @@ const NAVIGATE_WAIT = () => `\ndef navigate_wait(x=0, y=0, z=0, speed=0.5, frame
             return
         rospy.sleep(${params.sleep_time})\n`;
 
+const NAVIGATE_GLOBAL_WAIT = () => `\ndef navigate_global_wait(lat, lon, z, speed=0.5):
+    res = navigate_global(lat=lat, lon=lon, z=z, yaw=float('inf'), speed=speed)
+
+    if not res.success:
+        raise Exception(res.message)
+
+    while not rospy.is_shutdown():
+        telem = get_telemetry(frame_id='navigate_target')
+        if math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < ${params.navigate_global_tolerance}:
+            return
+        rospy.sleep(${params.sleep_time})\n`;
+
 const LAND_WAIT = () => `\ndef land_wait():
     land()
     while get_telemetry().armed:
@@ -68,6 +80,9 @@ function generateROSDefinitions() {
 	if (rosDefinitions.offboard) {
 		code += `get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)\n`;
 		code += `navigate = rospy.ServiceProxy('navigate', srv.Navigate)\n`;
+		if (rosDefinitions.navigateGlobal) {
+		code += `navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)\n`;
+		}
 		if (rosDefinitions.setVelocity) {
 			code += `set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)\n`;
 		}
@@ -94,6 +109,10 @@ function generateROSDefinitions() {
 		Blockly.Python.definitions_['import_math'] = 'import math';
 		code += NAVIGATE_WAIT();
 	}
+	if (rosDefinitions.navigateGlobalWait) {
+		Blockly.Python.definitions_['import_math'] = 'import math';
+		code += NAVIGATE_GLOBAL_WAIT();
+	}
 	if (rosDefinitions.landWait) {
 		code += LAND_WAIT();
 	}
@@ -161,24 +180,48 @@ Blockly.Python.navigate = function(block) {
 	let x = Blockly.Python.valueToCode(block, 'X', Blockly.Python.ORDER_NONE);
 	let y = Blockly.Python.valueToCode(block, 'Y', Blockly.Python.ORDER_NONE);
 	let z = Blockly.Python.valueToCode(block, 'Z', Blockly.Python.ORDER_NONE);
-	let frameId = buildFrameId(block);
+	let lat = Blockly.Python.valueToCode(block, 'LAT', Blockly.Python.ORDER_NONE);
+	let lon = Blockly.Python.valueToCode(block, 'LON', Blockly.Python.ORDER_NONE);
+	let wait = block.getFieldValue('WAIT') == 'TRUE';
+	let frameId = block.getFieldValue('FRAME_ID');
 	let speed = Blockly.Python.valueToCode(block, 'SPEED', Blockly.Python.ORDER_NONE);
 
-	let params = [`x=${x}`, `y=${y}`, `z=${z}`, `frame_id=${frameId}`, `speed=${speed}`];
-
 	simpleOffboard();
 
-	if (block.getFieldValue('WAIT') == 'TRUE') {
-		rosDefinitions.navigateWait = true;
+	// global coordinates
+	if (frameId.startsWith('GLOBAL')) {
+		rosDefinitions.navigateGlobal = true;
 		simpleOffboard();
 
-		return `navigate_wait(${params.join(', ')})\n`;
+		if (frameId == 'GLOBAL') {
+			z = `${z} + get_telemetry().alt - get_telemetry().z`;
+		}
+
+		if (wait) {
+			rosDefinitions.navigateGlobalWait = true;
+			simpleOffboard();
+			return `navigate_global_wait(lat=${lat}, lon=${lon}, z=${z}, speed=${speed})\n`;
+
+		} else {
+			return `navigate_global(lat=${lat}, lon=${lon}, z=${z}, yaw=float('inf'), speed=${speed})\n`;
+		}
 
 	} else {
-		if (frameId != 'body') {
-			params.push(`yaw=float('nan')`);
+		frameId = buildFrameId(block);
+		let params = [`x=${x}`, `y=${y}`, `z=${z}`, `frame_id=${frameId}`, `speed=${speed}`];
+
+		if (wait) {
+			rosDefinitions.navigateWait = true;
+			simpleOffboard();
+
+			return `navigate_wait(${params.join(', ')})\n`;
+
+		} else {
+			if (frameId != 'body') {
+				params.push(`yaw=float('nan')`);
+			}
+			return `navigate(${params.join(', ')})\n`;
 		}
-		return `navigate(${params.join(', ')})\n`;
 	}
 }
 
@@ -315,6 +358,12 @@ Blockly.Python.get_attitude = function(block) {
 	return [code, Blockly.Python.ORDER_FUNCTION_CALL];
 }
 
+Blockly.Python.global_position = function(block) {
+	simpleOffboard();
+	var code = `get_telemetry().${block.getFieldValue('FIELD').toLowerCase()}`;
+	return [code, Blockly.Python.ORDER_FUNCTION_CALL];
+}
+
 Blockly.Python.distance = function(block) {
 	rosDefinitions.distance = true;
 	simpleOffboard();

clover_description/README.md

@@ -14,7 +14,7 @@ You may provide additional parameters for `spawn_drone.launch` as well:
 * `rangefinder` (*boolean*, default: *true*) - controls whether the drone will have a downward-facing laser rangefinder attached;
 * `led` (*boolean*, default: *true*) - controls whether the drone will have a programmable LED strip (requires plugins from `clover_simulation`);
 * `gps` (*boolean*, default: *true*) - controls whether the drone will have a simulated GPS attached (requires plugins from `sitl_gazebo`);
-* `maintain_camera_rate` (*boolean*, default: *false*) - slow down the simultion to maintain camera publishing rate (internally changes the camera plugin from `libgazebo_ros_camera.so` to `libthrottling_camera.so` from [`clover_simulation`](../clover_simulation/README.md#throttling-camera-plugin-throttling_camera)).
+* `maintain_camera_rate` (*boolean*, default: *false*) - slow down the simulation to maintain camera publishing rate (internally changes the camera plugin from `libgazebo_ros_camera.so` to `libthrottling_camera.so` from [`clover_simulation`](../clover_simulation/README.md#throttling-camera-plugin-throttling_camera)).
 
 For example, in order to spawn a drone without a GPS module, you may use the following command:
 

clover_description/launch/view_drone.launch

@@ -1,7 +1,7 @@
 <launch>
-  <arg name="model" default="$(find clover_description)/urdf/drones/clover4.xacro"/>
+  <arg name="model" default="$(find clover_description)/urdf/clover/clover4.xacro"/>
 
-  <param name="robot_description" command="$(find xacro)/xacro.py $(arg model)"/>
+  <param name="robot_description" command="xacro $(arg model)"/>
 
   <node name="rviz" pkg="rviz" type="rviz" required="true"/>
 </launch>

clover_description/urdf/clover/clover4.xacro

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot name="clover_camera" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="clover" xmlns:xacro="http://ros.org/wiki/xacro">
 
   <xacro:arg name="main_camera" default="true"/>
   <xacro:arg name="rangefinder" default="true"/>
@@ -8,10 +8,10 @@
   <xacro:arg name="maintain_camera_rate" default="false"/>
   <xacro:arg name="use_clover_physics" default="false"/>
 
-  <xacro:include filename="$(find clover_description)/urdf/clover/clover4_base.xacro" />
-  <xacro:include filename="$(find clover_description)/urdf/sensors/rpi_cam.urdf.xacro"/>
-  <xacro:include filename="$(find clover_description)/urdf/sensors/distance_sensor.urdf.xacro"/>
-  <xacro:include filename="$(find clover_description)/urdf/leds/led_strip.xacro"/>
+  <xacro:include filename="clover4_base.xacro" />
+  <xacro:include filename="../sensors/rpi_cam.urdf.xacro"/>
+  <xacro:include filename="../sensors/distance_sensor.urdf.xacro"/>
+  <xacro:include filename="../leds/led_strip.xacro"/>
 
   <!-- Create camera plugin -->
   <xacro:if value="$(arg main_camera)">
@@ -36,11 +36,17 @@
   </xacro:if>
 
   <xacro:if value="$(arg gps)">
-    <!-- Instantiate gps plugin. -->
-    <xacro:gps_plugin_macro
-      namespace="${namespace}"
-      gps_noise="true"
-      />
+    <gazebo>
+      <include>
+        <uri>model://gps</uri>
+        <pose>0.1 0 0 0 0 0</pose>
+        <name>gps0</name>
+      </include>
+      <joint name='gps0_joint' type='fixed'>
+        <child>gps0::link</child>
+        <parent>base_link</parent>
+      </joint>  
+    </gazebo>
   </xacro:if>
 
 </robot>

clover_description/urdf/clover/clover4_base.xacro

@@ -1,40 +1,15 @@
 <?xml version="1.0"?>
 
 <robot name="clover" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!-- Properties that can be assigned at build time as arguments.
-  Is there a reason not to make all properties arguments?
-  -->
-  <xacro:arg name='name' default='iris' />
-  <xacro:arg name='mavlink_addr' default='INADDR_ANY' />
-  <xacro:arg name='mavlink_udp_port' default='14560' />
-  <xacro:arg name='mavlink_tcp_port' default='4560' />
-  <xacro:arg name='serial_enabled' default='false' />
-  <xacro:arg name='serial_device' default='/dev/ttyACM0' />
-  <xacro:arg name='baudrate' default='921600' />
-  <xacro:arg name='qgc_addr' default='INADDR_ANY' />
-  <xacro:arg name='qgc_udp_port' default='14550' />
-  <xacro:arg name='sdk_addr' default='INADDR_ANY' />
-  <xacro:arg name='sdk_udp_port' default='14540' />
-  <xacro:arg name='hil_mode' default='false' />
-  <xacro:arg name='hil_state_level' default='false' />
-  <xacro:arg name='send_vision_estimation' default='false' />
-  <xacro:arg name='send_odometry' default='false' />
-  <xacro:arg name='enable_lockstep' default='true' />
-  <xacro:arg name='use_tcp' default='true' />
-  <xacro:arg name='vehicle_is_tailsitter' default='false' />
-  <xacro:arg name='visual_material' default='DarkGrey' />
-  <xacro:arg name='enable_mavlink_interface' default='true' />
   <xacro:arg name='enable_wind' default='false' />
-  <!-- The following causes segfault with multiple vehicles if defaults to true!!! -->
-  <xacro:arg name='enable_ground_truth' default='false' />
   <xacro:arg name='enable_logging' default='false' />
-  <xacro:arg name='log_file' default='iris' />
+  <xacro:arg name='log_file' default='clover' />
 
   <!-- macros for gazebo plugins, sensors -->
-  <xacro:include filename="$(find clover_description)/urdf/component_snippets.urdf.xacro" />
+  <xacro:include filename="../component_snippets.urdf.xacro" />
 
   <!-- Instantiate iris "mechanics" -->
-  <xacro:include filename="$(find clover_description)/urdf/clover/clover4_physics.xacro" />
+  <xacro:include filename="clover4_physics.xacro" />
 
   <xacro:if value="$(arg enable_wind)">
     <xacro:wind_plugin_macro
@@ -49,126 +24,8 @@
         />
   </xacro:if>
 
-  <!-- Instantiate magnetometer plugin. -->
-  <xacro:magnetometer_plugin_macro
-    namespace="${namespace}"
-    pub_rate="20"
-    noise_density="0.0004"
-    random_walk="0.0000064"
-    bias_correlation_time="600"
-    mag_topic="/mag"
-    >
-  </xacro:magnetometer_plugin_macro>
-
-  <!-- Instantiate barometer plugin. -->
-  <xacro:barometer_plugin_macro
-    namespace="${namespace}"
-    pub_rate="10"
-    baro_topic="/baro"
-    >
-  </xacro:barometer_plugin_macro>
-
-  <xacro:if value="$(arg enable_mavlink_interface)">
-  <!-- Instantiate mavlink telemetry interface. -->
-  <xacro:mavlink_interface_macro
-    namespace="${namespace}"
-    imu_sub_topic="/imu"
-    gps_sub_topic="/gps"
-    mag_sub_topic="/mag"
-    baro_sub_topic="/baro"
-    mavlink_addr="$(arg mavlink_addr)"
-    mavlink_udp_port="$(arg mavlink_udp_port)"
-    mavlink_tcp_port="$(arg mavlink_tcp_port)"
-    serial_enabled="$(arg serial_enabled)"
-    serial_device="$(arg serial_device)"
-    baudrate="$(arg baudrate)"
-    qgc_addr="$(arg qgc_addr)"
-    qgc_udp_port="$(arg qgc_udp_port)"
-    sdk_addr="$(arg sdk_addr)"
-    sdk_udp_port="$(arg sdk_udp_port)"
-    hil_mode="$(arg hil_mode)"
-    hil_state_level="$(arg hil_state_level)"
-    vehicle_is_tailsitter="$(arg vehicle_is_tailsitter)"
-    send_vision_estimation="$(arg send_vision_estimation)"
-    send_odometry="$(arg send_odometry)"
-    enable_lockstep="$(arg enable_lockstep)"
-    use_tcp="$(arg use_tcp)"
-    >
-  </xacro:mavlink_interface_macro>
-  </xacro:if>
-
-  <!-- Mount an ADIS16448 IMU. -->
-  <xacro:imu_plugin_macro
-    namespace="${namespace}"
-    imu_suffix=""
-    parent_link="base_link"
-    imu_topic="/imu"
-    mass_imu_sensor="0.015"
-    gyroscope_noise_density="0.0003394"
-    gyroscopoe_random_walk="0.000038785"
-    gyroscope_bias_correlation_time="1000.0"
-    gyroscope_turn_on_bias_sigma="0.0087"
-    accelerometer_noise_density="0.004"
-    accelerometer_random_walk="0.006"
-    accelerometer_bias_correlation_time="300.0"
-    accelerometer_turn_on_bias_sigma="0.1960"
-  >
-    <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
-    <origin xyz="0 0 0" rpy="0 0 0" />
-  </xacro:imu_plugin_macro>
-
-  <xacro:if value="$(arg enable_ground_truth)">
-    <!-- Mount an IMU providing ground truth. -->
-    <xacro:imu_plugin_macro
-      namespace="${namespace}"
-      imu_suffix="gt"
-      parent_link="base_link"
-      imu_topic="ground_truth/imu"
-      mass_imu_sensor="0.00001"
-      gyroscope_noise_density="0.0"
-      gyroscopoe_random_walk="0.0"
-      gyroscope_bias_correlation_time="1000.0"
-      gyroscope_turn_on_bias_sigma="0.0"
-      accelerometer_noise_density="0.0"
-      accelerometer_random_walk="0.0"
-      accelerometer_bias_correlation_time="300.0"
-      accelerometer_turn_on_bias_sigma="0.0"
-    >
-      <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
-      <origin xyz="0 0 0" rpy="0 0 0" />
-    </xacro:imu_plugin_macro>
-
-    <!-- Mount a generic odometry sensor providing ground truth. -->
-    <xacro:odometry_plugin_macro
-      namespace="${namespace}/ground_truth"
-      odometry_sensor_suffix="gt"
-      parent_link="base_link"
-      pose_topic="pose"
-      pose_with_covariance_topic="pose_with_covariance"
-      position_topic="position"
-      transform_topic="transform"
-      odometry_topic="odometry"
-      parent_frame_id="world"
-      mass_odometry_sensor="0.00001"
-      measurement_divisor="1"
-      measurement_delay="0"
-      unknown_delay="0.0"
-      noise_normal_position="0 0 0"
-      noise_normal_quaternion="0 0 0"
-      noise_normal_linear_velocity="0 0 0"
-      noise_normal_angular_velocity="0 0 0"
-      noise_uniform_position="0 0 0"
-      noise_uniform_quaternion="0 0 0"
-      noise_uniform_linear_velocity="0 0 0"
-      noise_uniform_angular_velocity="0 0 0"
-      enable_odometry_map="false"
-      odometry_map=""
-      image_scale=""
-    >
-      <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" /> <!-- [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] -->
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-    </xacro:odometry_plugin_macro>
-  </xacro:if>
+  <!-- Gazebo plugins -->
+  <xacro:include filename="$(find clover_description)/urdf/clover/clover4_gazebo.xacro" />
 
   <xacro:if value="$(arg enable_logging)">
     <!-- Instantiate a logger -->

clover_description/urdf/clover/clover4_gazebo.xacro

@@ -0,0 +1,183 @@
+<?xml version="1.0"?>
+
+<!-- Reference: https://github.com/PX4/PX4-SITL_gazebo/blob/7505aee97d2d3112fb2bd95198946345c6fa0b07/models/iris/iris.sdf.jinja#L430 -->
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <!-- IMU link -->
+  <link name="/imu_link">
+    <inertial>
+      <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001"/>
+      <mass value="0.015"/>
+      <!-- [kg] -->
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </inertial>
+  </link>
+
+  <!-- IMU joint -->
+  <joint name="/imu_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="/imu_link"/>
+    <!-- <limit upper="0" lower="0" effort="0" velocity="0" /> -->
+  </joint>
+
+  <gazebo reference="/imu_joint">
+    <disableFixedJointLumping>true</disableFixedJointLumping>
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+
+  <gazebo>
+    <plugin name='groundtruth_plugin' filename='libgazebo_groundtruth_plugin.so'>
+      <robotNamespace/>
+    </plugin>
+    <plugin name='magnetometer_plugin' filename='libgazebo_magnetometer_plugin.so'>
+      <robotNamespace/>
+      <pubRate>100</pubRate>
+      <noiseDensity>0.0004</noiseDensity>
+      <randomWalk>6.4e-06</randomWalk>
+      <biasCorrelationTime>600</biasCorrelationTime>
+      <magTopic>/mag</magTopic>
+    </plugin>
+    <plugin name='barometer_plugin' filename='libgazebo_barometer_plugin.so'>
+      <robotNamespace/>
+      <pubRate>50</pubRate>
+      <baroTopic>/baro</baroTopic>
+      <baroDriftPaPerSec>0</baroDriftPaPerSec>
+    </plugin>
+    <plugin name='mavlink_interface' filename='libgazebo_mavlink_interface.so'>
+      <robotNamespace/>
+      <imuSubTopic>/imu</imuSubTopic>
+      <magSubTopic>/mag</magSubTopic>
+      <baroSubTopic>/baro</baroSubTopic>
+      <mavlink_addr>INADDR_ANY</mavlink_addr>
+      <mavlink_tcp_port>4560</mavlink_tcp_port>
+      <mavlink_udp_port>14560</mavlink_udp_port>
+      <serialEnabled>false</serialEnabled>
+      <serialDevice>/dev/ttyACM0</serialDevice>
+      <baudRate>921600</baudRate>
+      <qgc_addr>INADDR_ANY</qgc_addr>
+      <qgc_udp_port>14550</qgc_udp_port>
+      <sdk_addr>INADDR_ANY</sdk_addr>
+      <sdk_udp_port>14540</sdk_udp_port>
+      <hil_mode>false</hil_mode>
+      <hil_state_level>0</hil_state_level>
+      <send_vision_estimation>0</send_vision_estimation>
+      <send_odometry>1</send_odometry>
+      <enable_lockstep>1</enable_lockstep>
+      <use_tcp>1</use_tcp>
+      <motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
+      <control_channels>
+        <channel name='rotor1'>
+          <input_index>0</input_index>
+          <input_offset>0</input_offset>
+          <input_scaling>1000</input_scaling>
+          <zero_position_disarmed>0</zero_position_disarmed>
+          <zero_position_armed>100</zero_position_armed>
+          <joint_control_type>velocity</joint_control_type>
+        </channel>
+        <channel name='rotor2'>
+          <input_index>1</input_index>
+          <input_offset>0</input_offset>
+          <input_scaling>1000</input_scaling>
+          <zero_position_disarmed>0</zero_position_disarmed>
+          <zero_position_armed>100</zero_position_armed>
+          <joint_control_type>velocity</joint_control_type>
+        </channel>
+        <channel name='rotor3'>
+          <input_index>2</input_index>
+          <input_offset>0</input_offset>
+          <input_scaling>1000</input_scaling>
+          <zero_position_disarmed>0</zero_position_disarmed>
+          <zero_position_armed>100</zero_position_armed>
+          <joint_control_type>velocity</joint_control_type>
+        </channel>
+        <channel name='rotor4'>
+          <input_index>3</input_index>
+          <input_offset>0</input_offset>
+          <input_scaling>1000</input_scaling>
+          <zero_position_disarmed>0</zero_position_disarmed>
+          <zero_position_armed>100</zero_position_armed>
+          <joint_control_type>velocity</joint_control_type>
+        </channel>
+        <channel name='rotor5'>
+          <input_index>4</input_index>
+          <input_offset>1</input_offset>
+          <input_scaling>324.6</input_scaling>
+          <zero_position_disarmed>0</zero_position_disarmed>
+          <zero_position_armed>0</zero_position_armed>
+          <joint_control_type>velocity</joint_control_type>
+          <joint_control_pid>
+            <p>0.1</p>
+            <i>0</i>
+            <d>0</d>
+            <iMax>0.0</iMax>
+            <iMin>0.0</iMin>
+            <cmdMax>2</cmdMax>
+            <cmdMin>-2</cmdMin>
+          </joint_control_pid>
+          <joint_name>zephyr_delta_wing::propeller_joint</joint_name>
+        </channel>
+        <channel name='rotor6'>
+          <input_index>5</input_index>
+          <input_offset>0</input_offset>
+          <input_scaling>0.524</input_scaling>
+          <zero_position_disarmed>0</zero_position_disarmed>
+          <zero_position_armed>0</zero_position_armed>
+          <joint_control_type>position</joint_control_type>
+          <joint_name>zephyr_delta_wing::flap_left_joint</joint_name>
+          <joint_control_pid>
+            <p>10.0</p>
+            <i>0</i>
+            <d>0</d>
+            <iMax>0</iMax>
+            <iMin>0</iMin>
+            <cmdMax>20</cmdMax>
+            <cmdMin>-20</cmdMin>
+          </joint_control_pid>
+        </channel>
+        <channel name='rotor7'>
+          <input_index>6</input_index>
+          <input_offset>0</input_offset>
+          <input_scaling>0.524</input_scaling>
+          <zero_position_disarmed>0</zero_position_disarmed>
+          <zero_position_armed>0</zero_position_armed>
+          <joint_control_type>position</joint_control_type>
+          <joint_name>zephyr_delta_wing::flap_right_joint</joint_name>
+          <joint_control_pid>
+            <p>10.0</p>
+            <i>0</i>
+            <d>0</d>
+            <iMax>0</iMax>
+            <iMin>0</iMin>
+            <cmdMax>20</cmdMax>
+            <cmdMin>-20</cmdMin>
+          </joint_control_pid>
+        </channel>
+        <channel name='rotor8'>
+          <input_index>7</input_index>
+          <input_offset>0</input_offset>
+          <input_scaling>0.524</input_scaling>
+          <zero_position_disarmed>0</zero_position_disarmed>
+          <zero_position_armed>0</zero_position_armed>
+          <joint_control_type>position</joint_control_type>
+        </channel>
+      </control_channels>
+    </plugin>
+    <static>0</static>
+    <plugin name='rotors_gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'>
+      <robotNamespace/>
+      <linkName>/imu_link</linkName>
+      <imuTopic>/imu</imuTopic>
+      <gyroscopeNoiseDensity>0.00018665</gyroscopeNoiseDensity>
+      <gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk>
+      <gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime>
+      <gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma>
+      <accelerometerNoiseDensity>0.00186</accelerometerNoiseDensity>
+      <accelerometerRandomWalk>0.006</accelerometerRandomWalk>
+      <accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime>
+      <accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma>
+    </plugin>
+  </gazebo>
+
+</robot>

clover_description/urdf/clover/clover4_physics.xacro

@@ -6,7 +6,7 @@
 
 -->
 
-<robot name="iris" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="clover" xmlns:xacro="http://ros.org/wiki/xacro">
   <!-- Properties -->
   <xacro:property name="namespace" value="" />
   <xacro:property name="rotor_velocity_slowdown_sim" value="10" />
@@ -84,7 +84,7 @@
   </xacro:unless>
 
   <!-- Included URDF Files -->
-  <xacro:include filename="$(find clover_description)/urdf/clover/clover4_macros.xacro" />
+  <xacro:include filename="clover4_macros.xacro" />
 
   <!-- Instantiate multirotor_base_macro once -->
   <xacro:clover4_base_macro

clover_description/urdf/sensors/distance_sensor.urdf.xacro

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <robot name="rpi_camera" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include filename="$(find clover_description)/urdf/camera_sensor.urdf.xacro"/>
+  <xacro:include filename="../camera_sensor.urdf.xacro"/>
 
   <xacro:macro name="distance_sensor" params="name:=lidar_vl53l1x parent x:=0 y:=0 z:=0 roll:=0 pitch:=0 yaw:=0 range_min:=0.01 range_max:=4.0 resolution:=0.01 rate:=10">
     <joint name="${name}_joint" type="fixed">

clover_description/urdf/sensors/pinhole_camera.urdf.xacro

@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <robot name="pinhole_camera" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include filename="$(find clover_description)/urdf/camera_sensor.urdf.xacro"/>
+  <xacro:include filename="../camera_sensor.urdf.xacro"/>
   <xacro:camera_sensor name="main_camera" width="640" height="480" rate="30" horizontal_fov="${120.0*pi/180.0}"/>
 </robot>

clover_description/urdf/sensors/rpi_cam.urdf.xacro

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <robot name="rpi_camera" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include filename="$(find clover_description)/urdf/camera_sensor.urdf.xacro"/>
+  <xacro:include filename="../camera_sensor.urdf.xacro"/>
 
   <xacro:macro name="rpi_cam" params="name:=rpi_cam parent x:=0 y:=0 z:=0 roll:=0 pitch:=0 yaw:=0 width:=320 height:=240 rate:=40 do_throttling:=false">
     <joint name="${name}_joint" type="fixed">

clover_simulation/README.md

@@ -55,7 +55,7 @@ A visual Gazebo plugin is used for the LED strip. An example of the plugin usage
 The plugin accepts the following parameters during instantiation:
 
 * `robotNamespace` (*string*, default: "") - a ROS namespace for the plugin;
-* `ledCount` (*integer*, required) - total numer of LEDs in a strip.
+* `ledCount` (*integer*, required) - total number of LEDs in a strip.
 
 The plugin will provide the following service:
 

clover_simulation/airframes/4500_clover

@@ -0,0 +1,36 @@
+#!/bin/sh
+#
+# @name COEX Clover Simulator
+#
+# @type Quadrotor X
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris # base on iris
+
+param set ATT_W_EXT_HDG 0.5
+param set ATT_EXT_HDG_M 1
+
+param set COM_DISARM_LAND 1.0
+
+param set LPE_FLW_SCALE 1.0
+param set LPE_FLW_R 0.2
+param set LPE_FLW_RR 0.0
+param set LPE_FLW_QMIN 10
+param set LPE_VIS_DELAY 0.0
+param set LPE_VIS_Z 0.1
+param set LPE_FUSION 86
+
+param set SENS_FLOW_ROT 0
+param set SENS_FLOW_MINHGT 0.01
+param set SENS_FLOW_MAXHGT 4.0
+param set SENS_FLOW_MAXR 10.0
+
+param set EKF2_AID_MASK 27 # gps + flow + vis pos + vis yaw
+param set EKF2_OF_DELAY 0
+param set EKF2_OF_QMIN 10
+param set EKF2_OF_N_MIN 0.05
+param set EKF2_OF_N_MAX 0.2
+param set EKF2_HGT_MODE 2
+param set EKF2_EVA_NOISE 0.1
+param set EKF2_EVP_NOISE 0.1
+param set EKF2_EV_DELAY 0

clover_simulation/launch/simulator.launch

@@ -8,12 +8,13 @@
     <arg name="led" default="true"/> <!-- Simulated LED strip, ws281x-like -->
     <arg name="gps" default="false"/> <!--Simulated GPS module -->
     <arg name="use_clover_physics" default="false"/> <!-- Use inertial parameters from CAD models -->
+    <arg name="gui" default="true"/> <!-- Run Gazebo with GUI -->
 
     <!-- Gazebo instance -->
     <include file="$(find gazebo_ros)/launch/empty_world.launch" if="$(eval type == 'gazebo')">
         <!-- Workaround for crashes in VMware -->
         <env name="SVGA_VGPU10" value="0"/>
-        <arg name="gui" value="true"/>
+        <arg name="gui" value="$(arg gui)"/>
         <arg name="world_name" value="$(find clover_simulation)/resources/worlds/clover_aruco.world"/>
         <arg name="verbose" value="true"/>
     </include>
@@ -33,7 +34,9 @@
         <arg name="use_clover_physics" value="$(arg use_clover_physics)"/>
     </include>
 
-    <node name="jmavsim" pkg="px4" type="jmavsim_run.sh" output="screen" if="$(eval type == 'jmavsim')"/>
+    <node name="jmavsim" pkg="px4" type="jmavsim_run.sh" output="screen" if="$(eval type == 'jmavsim')">
+        <env name="HEADLESS" value="1" if="$(eval not gui)"/>
+    </node>
 
     <param name="use_sim_time" value="false" if="$(eval type == 'jmavsim')"/>
 
@@ -43,10 +46,10 @@
         <arg name="fcu_conn" value="sitl"/>
         <arg name="fcu_ip" value="127.0.0.1"/>
         <arg name="gcs_bridge" value=""/>
-        <arg name="rc" default="false"/>
         <arg name="web_video_server" default="false" if="$(eval type == 'jmavsim')"/>
         <arg name="main_camera" default="false" if="$(eval type == 'jmavsim')"/>
         <arg name="aruco" default="false" if="$(eval type == 'jmavsim')"/>
+        <arg name="optical_flow" default="false" if="$(eval type == 'jmavsim')"/>
         <arg name="led" default="false" if="$(eval type == 'jmavsim')"/>
     </include>
 </launch>

clover_simulation/src/clover_simulation/world.py

@@ -41,4 +41,4 @@ def save_world(world, file):
     '''
     Save the world to file-like object
     '''
-    return world.write(file)
+    return world.write(file, encoding='unicode')

docs/en/4g.md

@@ -4,17 +4,52 @@ The fourth generation mobile communication is a convenient tool for transmitting
 
 > **Hint** To transfer any data from your drone to the ground control station (e.g., QGroundControl) and back, you need to set up your own VPN network.
 
-## Connecting Raspberry Pi to the VPN
+## Connecting 4G modem to Raspberry Pi
 
 Connect a 4G modem with SIM card to the USB port of your Raspberry Pi.
 
-Note that when connected, the modem must be recognized in the system as a network card, without any additional settings.
+When connected, some modems recognize in the system as a network card, without any additional settings.
 
 4G modem example: *USB 4G Huawei E3372H*
 
 <img src="../assets/4g/huawei.jpg" width=300 class="zoom center border">
 
-> **Hint** We suggest using the UDP transfer protocol to control the drone, which provides less delay, at the cost of no guarantee of receiving the package, which is very important during the flight.
+But some other popular modems, for instance *Quectel EP06*, do not start the internet connection automatic. In this case you should use utilities like `qmi-network` and `udhcpc`. To install this utilities enter the appropriate command line:
+
+```bash
+sudo apt install libqmi-utils udhcpc
+```
+
+Next to start the internet connection proceed following:
+
+```bash
+sudo ip link set wwan0 down
+echo 'Y' | sudo tee /sys/class/net/wwan0/qmi/raw_ip
+sudo ip link set wwan0 up
+sudo qmi-network /dev/cdc-wdm0 start
+sudo udhcpc -q -f -i wwan0
+```
+
+Reed more about it in [this article](https://docs.sixfab.com/page/setting-up-a-data-connection-over-qmi-interface-using-libqmi).
+
+<!-- markdownlint-disable MD031 -->
+
+> **Hint** To check the internet connection enter the appropriate command line:
+> ```bash
+> ping -I wwan0 -c 5 8.8.8.8
+> ```
+
+<!-- -->
+
+> **Hint** To check the speed of the internet connection you could use the `speedtest` utility:
+> ```bash
+> sudo apt install speedtest-cli
+> speedtest
+> ```
+
+<!-- markdownlint-enable MD031 -->
+
+## Connecting Raspberry Pi to the VPN
 
 Create the VPN network keys to connect Raspberry Pi and the ground station.
 
@@ -40,8 +75,14 @@ If everything is done correctly, every time the system restarts, the service cli
 
 > **Hint** Before starting work, do not forget to set up and enable VPN connection on your PC.
 
+<!-- -->
+
+> **Hint** Alternatively we recommend to use the [ZeroTier](zerotire_vpn.md) VPN-service.
+
 ## Copter control via QGroundControl
 
+> **Hint** We suggest using the UDP transfer protocol to control the drone, which provides less delay, at the cost of no guarantee of receiving the package, which is very important during the flight.
+
 Make sure your copter and ground station are connected to your network.
 
 To do this, you can use the command `ip addr`. The result will be a numbered list of the active networks enabled on your device. Note the connection with the prefix *tun* and the IP address you specify; if it is present in your list, your copter is connected to the network.
@@ -82,7 +123,8 @@ The drone is ready to fly!
 You can stream video from almost any camera connected to your Raspberry Pi. You will need to install or [build](https://github.com/sfalexrog/gst-rtsp-launch) the *gst-rtsp-launch* package:
 
 ```bash
-sudo apt-get install gst-rtsp-launch
+sudo apt update
+sudo apt install gst-rtsp-launch
 ```
 
 To start the transfer of images, you must enter the appropriate command line:
@@ -90,12 +132,15 @@ To start the transfer of images, you must enter the appropriate command line:
 <a id="command_line"></a>
 
 ```bash
-gst-rtsp-launch "( v4l2src device=/dev/video0 ! video/x-raw,framerate=30/1,width=320,height=240 ! v4l2h264enc output-io-mode=4 extra-controls=\"encode,frame_level_rate_control_enable=1,h264_profile=4,h264_level=13,video_bitrate=300000,h264_i_frame_period=5;\" ! rtph264pay name=pay0 pt=96 )"
+gst-rtsp-launch "( v4l2src device=/dev/video0 ! video/x-raw,framerate=30/1,width=320,height=240 ! videoconvert ! v4l2h264enc output-io-mode=4 extra-controls=\"encode,frame_level_rate_control_enable=1,h264_profile=4,h264_level=13,video_bitrate=300000,h264_i_frame_period=5;\" ! rtph264pay name=pay0 pt=96 )"
 ```
 
 This command line contains the parameters of the video stream, such as the source video device, framerate, image height/width, encoding, etc. You can see more examples [in the `gst-rtsp-launch` repository](https://github.com/sfalexrog/gst-rtsp-launch/blob/master/README.md).
 
-Make sure the stream is received and shown in QGroundControl.
+> **Info** A Raspberry Pi camera device `/dev/video0` could be used by `clover` systemd service. In this case `gst-rtsp-launch` will not get an access to the device. For stop the `clover` run command `sudo systemctl stop clover`.
+> Also you could stream from a USB-camera, for this change the source video device to `/dev/video1`.
+
+Make sure the stream by the address `rtsp://192.168.11.1:8554/video` (the IP-address of your Raspberry Pi could be different) is received and shown in QGroundControl.
 
 <img src="../assets/4g/video_stream.png" width=300 class="zoom center border">
 
@@ -113,7 +158,7 @@ In order to run the file, you have to mark it as executable.
 chmod a+x script_name.sh
 ```
 
-You can use systemd to launch this script every time on system startup. Create the *qgc_video.service* file in the */etc/systemd/system* directory:
+You can use systemd to launch this script every time on system startup. Create the `qgc_video.service` file in the `/etc/systemd/system` directory:
 
 ```bash
 sudo nano /etc/systemd/system/qgc_video.service

docs/en/SUMMARY.md

@@ -34,7 +34,7 @@
     * [Marker detection](aruco_marker.md)
     * [Map-based navigation](aruco_map.md)
   * [Optical Flow](optical_flow.md)
-  * [Simple OFFBOARD](simple_offboard.md)
+  * [Autonomous flight (OFFBOARD)](simple_offboard.md)
   * [Coordinate systems (frames)](frames.md)
   * [Code snippets](snippets.md)
   * [Interfacing with a laser rangefinder](laser.md)

docs/en/amls.md

@@ -116,7 +116,7 @@ while (GPS_serial.available() && new_line_found == 0) {
 	// If the received byte does not equal a $ character, increase the message_counter variable
 	else if (message_counter <= 99)
 		message_counter++;
-	
+
 	// Write the new received byte to the new position in the incoming_message array
 	incoming_message[message_counter] = read_serial_byte;
 
@@ -163,7 +163,7 @@ if (new_line_found == 1) {
 		lat_gps_actual /= 10;
 
 		// Filter minutes for the GGA line multiplied by 10
-		lon_gps_actual = ((int)incoming_message[33] - 48) * (long)10000000; 
+		lon_gps_actual = ((int)incoming_message[33] - 48) * (long)10000000;
 		lon_gps_actual += ((int)incoming_message[34] - 48) * (long)1000000;
 		lon_gps_actual += ((int)incoming_message[36] - 48) * (long)100000;
 		lon_gps_actual += ((int)incoming_message[37] - 48) * (long)10000;
@@ -192,7 +192,7 @@ if (new_line_found == 1) {
 		else
 			// When flying west of the prime meridian the longiude_east variable will be set to 0
 			longiude_east = 0;
-			
+
 		// Filter the number of satillites from the GGA line
 		number_used_sats = ((int)incoming_message[46] - 48) * (long)10;
 		number_used_sats += (int)incoming_message[47] - 48;
@@ -255,9 +255,9 @@ In the future, this will be used for the smooth drone's acceleration and deceler
 ### 1.5. Waypoint stabilization {#waypoint-stabilization}
 
 ```cpp
-if (waypoint_set == 1) {                           
+if (waypoint_set == 1) {
 	//If the waypoints are stored
-	
+
 	// Adjust l_lat_waypoint
 	if (l_lat_gps_float_adjust > 1) {
 		l_lat_waypoint++;
@@ -296,7 +296,7 @@ if (waypoint_set == 1) {
 	gps_lon_rotating_mem[gps_rotating_mem_location] = gps_lon_error - gps_lon_error_previous;
 	// Add the new value to the long term avarage value
 	gps_lon_total_avarage += gps_lon_rotating_mem[gps_rotating_mem_location];
-	
+
 	// Increase the rotating memory location
 	gps_rotating_mem_location++;
 	if (gps_rotating_mem_location == 35)
@@ -613,7 +613,7 @@ void speed_handler(void) {
 	// Convert acceleration to G
 	speed /= 4096.0;
 	// Convert to m/s^2
-	speed *= 9.81;	
+	speed *= 9.81;
 	// Multiply by dt to get instant speed in m/ms
 	speed *= (millis() - speed_loop_timer);
 
@@ -621,10 +621,10 @@ void speed_handler(void) {
 	speed_loop_timer = millis();
 
 	// Convert to m/s
-	speed /= 1000.0;						
+	speed /= 1000.0;
 	// Convert to km/h
-	speed *= 3.6;						
-	
+	speed *= 3.6;
+
 	// Accumulate instantaneous speed
 	speed_accumulator += speed;
 

docs/en/aruco_map.md

@@ -43,7 +43,6 @@ marker_id marker_size x y z z_angle y_angle x_angle
 
 `N_angle` is the angle of rotation along the `N` axis in radians.
 
-Файлы карт располагаются в каталоге `~/catkin_ws/src/clover/aruco_pose/map`. Название файла с картой задается в аргументе `map`:
 Map files are located at the `~/catkin_ws/src/clover/aruco_pose/map` directory. Map file name is defined in the `map` argument:
 
 ```xml
@@ -157,13 +156,19 @@ If the drone's altitude is not stable, try increasing the `MPC_Z_VEL_P` paramete
 
 In order to navigate using markers on the ceiling, mount the onboard camera so that it points up and [adjust the camera frame accordingly](camera_setup.md).
 
-You should also set the `placement` parameter to `ceilin` in `~/catkin_ws/src/clover/clover/launch/aruco.launch`:
+You should also set the `placement` parameter to `ceiling` in `~/catkin_ws/src/clover/clover/launch/aruco.launch`:
 
 ```xml
 <arg name="placement" default="ceiling"/>
 ```
 
-This will flip the `aruco_map` frame (making its **<font color=blue>z</font>** axis point downward). Thus, in order to fly 2 metres below ceiling, the `z` argument for the `navigate` service should be set to 2:
+With such a camera orientation the [Optical Flow](optical_flow.md) technology cannot work, so it should be disabled in the `~/catkin_ws/src/clover/clover/launch/clover.launch` file:
+
+```xml
+<arg name="optical_flow" default="false"/>
+```
+
+Such setup will flip the `aruco_map` frame (making its **<font color=blue>z</font>** axis point downward). Thus, in order to fly 2 metres below ceiling, the `z` argument for the `navigate` service should be set to 2:
 
 ```python
 navigate(x=1, y=1.1, z=2, speed=0.5, frame_id='aruco_map')

docs/en/assemble_2.md

@@ -16,7 +16,7 @@ Clover 2 construction kit assembly instruction
 * Side guard ×16.
 * Dalprop 5045 plastic propeller ×4.
 * Racerstar BR2205 2300kV brushless motor ×4.
-* Speed controllers ESC, DYS XSD20А ×4.
+* Speed controllers ESC, DYS XSD20A ×4.
 * Power controller XT60 pin ×1.
 * Power connector XT60 socket ×1.
 * Three-wire female-female flat cable ×2.
@@ -40,9 +40,9 @@ Clover 2 construction kit assembly instruction
 
 * 6 mm plastic legs ×28.
 * 30 mm plastic legs ×32.
-* М3х8 screws ×48.
-* М3х12 screws ×24.
-* М3х16 screws ×40.
+* M3x8 screws ×48.
+* M3x12 screws ×24.
+* M3x16 screws ×40.
 * Plastic nuts ×8.
 * Metal nuts ×48.
 * Stickers for the battery compartment ×8.
@@ -117,7 +117,7 @@ Tin wires
 #### Fix the motor on the mount
 
 * Install the motor on the engraved side of the mount.
-* Attach the motors to the mounts with М3х8 screws using a screwdriver.
+* Attach the motors to the mounts with M3x8 screws using a screwdriver.
 
 ![Fix the motor on the mount](../assets/brrc2205on.jpg)
 
@@ -248,14 +248,14 @@ Solder the 5V connector, taking into account the polarity on the contact pads.
 
 ### Installation of the power distribution board
 
-* Fix the power board to the frame with М3х8 screws and plastic nuts. ![Installation of the PDB board](../assets/mountPDB.png)
+* Fix the power board to the frame with M3x8 screws and plastic nuts. ![Installation of the PDB board](../assets/mountPDB.png)
     > **IMPORTANT** The white arrow on the BeeRotor board points towards the fore cutout.
 ![Installation of the PDB board](../assets/topviewmountPDB.png)
 
 #### Installation of elements
 
 1. Install the nuts into plastic holders. ![Installation of plastic holders](../assets/holderLegs.png)
-2. Fix the motor mounts to the frame with М3х16 screws.
+2. Fix the motor mounts to the frame with M3x16 screws.
     * The mounts are installed above the frame.
     * Plastic holders are installed beneath the frame. ![Installation of mounts](../assets/mountBeams.png)
 3. Arrangement of motors. Check arrangement of the motors (the motors with black nuts should be in the top left and lower right corners). ![Arrangement of motors](../assets/motorsTopview.png)
@@ -309,12 +309,12 @@ IMPORTANT NOTE about polarity
 
 ### Installation of the radio receiver
 
-1. Install the 30 mm plastic legs on the frame with М3х8 screws.
+1. Install the 30 mm plastic legs on the frame with M3x8 screws.
 2. Pass the 5V power connector through the slit. ![Installation of legs and the slot](../assets/mountReceiverStud.png)
 3. Attach the receiver to the bottom of the additional frame using double-sided adhesive tape and following the orientation of the engraved arrow. The antennas are to be pointing forward. ![Installation of the radio receiver on the deck](../assets/mountReceiverDeck.png)
 4. Install the 3-wire flat cable into the PPM / CH1 channel. ![Connecting the radio receiver](../assets/receiverPPM.png)
 5. Pass them through the slit to the 5 V connector.
-6. Screw the bottom an additional frame to the legs on the central frame with М3х8 screws. ![Bottom deck installation](../assets/mountBottomDeck.png)
+6. Screw the bottom an additional frame to the legs on the central frame with M3x8 screws. ![Bottom deck installation](../assets/mountBottomDeck.png)
     > **IMPORTANT** The directions of the arrows on the power supply board and the additional frame should coincide
 
 ### Installation of the flight controller
@@ -346,22 +346,22 @@ should be increased up to 4 – 5.
 
 ### Installation of guard
 
-1. Attach the lower guard with М3х16 screw to the motor mounts of the frame. ![Installation of beams guard](../assets/lowsafeDeck.png)
-2. Attach the feet to the plastic holders with М3х16 screws. ![Feet installation](../assets/safeLegs.png)
-3. Attach the 30 mm long legs to the holes of the lower guard with М3х12 screw. ![Installation of the lower radial guard](../assets/safelowRadial.png)
-4. Attach the top guard with М3х12 screws. ![Installation of the top radial guard](../assets/safehighRadial.png)
+1. Attach the lower guard with M3x16 screw to the motor mounts of the frame. ![Installation of beams guard](../assets/lowsafeDeck.png)
+2. Attach the feet to the plastic holders with M3x16 screws. ![Feet installation](../assets/safeLegs.png)
+3. Attach the 30 mm long legs to the holes of the lower guard with M3x12 screw. ![Installation of the lower radial guard](../assets/safelowRadial.png)
+4. Attach the top guard with M3x12 screws. ![Installation of the top radial guard](../assets/safehighRadial.png)
 
 ### Installation of the battery compartment
 
 Requires the following components:
 
-* М3х12 screws (4 pcs)
+* M3x12 screws (4 pcs)
 * M3 nuts (4 pcs)
 * Additional frame (1 pc)
 * Battery compartment (1 pc)
 
-1. Attach the battery compartment on top of the additional frame with М3х12 screws and nuts. ![Installation of the battery compartment](../assets/mountHolder.png)
-2. Attach the top additional frame to the legs with М3х8 screws. ![Installation of the battery compartment](../assets/isoViewmountHolder.png)
+1. Attach the battery compartment on top of the additional frame with M3x12 screws and nuts. ![Installation of the battery compartment](../assets/mountHolder.png)
+2. Attach the top additional frame to the legs with M3x8 screws. ![Installation of the battery compartment](../assets/isoViewmountHolder.png)
 3. Install the battery into the battery compartment.
 
 ### Installation of antennas

docs/en/assemble_3.md

@@ -23,7 +23,7 @@ TODO
 ## Motor installation
 
 1. Unpack the motors.
-2. Attach a motor to the motor mount with М3х6 hex screws (the shortest screws supplied with the motors).
+2. Attach a motor to the motor mount with M3x6 hex screws (the shortest screws supplied with the motors).
 
     A hex wrench is included.
 
@@ -31,7 +31,7 @@ TODO
 
     The choice is yours to use a long screw or pliers.
 
-4. Secure the motor mount, the lower motor mount guard and the holder with М3х12 screws, using a Phillips screwdriver.
+4. Secure the motor mount, the lower motor mount guard and the holder with M3x12 screws, using a Phillips screwdriver.
 5. Using a clamp connect the motor mount and its bottom guard.
 
     Cut the remaining part of the clamp (cable tie) with scissors.
@@ -40,9 +40,9 @@ TODO
 
 ## Frame elements installation
 
-1. Insert the M3 plastic nuts (4 pcs) for mounting the PDB on the frame with М3х8 screws.
-2. Install 6 mm legs (4 pcs) for attaching the Raspberry Pi to the frame with М3х8 screws.
-3. Attach the assembled unit to the frame with М3х16 screws, complying with the layout.
+1. Insert the M3 plastic nuts (4 pcs) for mounting the PDB on the frame with M3x8 screws.
+2. Install 6 mm legs (4 pcs) for attaching the Raspberry Pi to the frame with M3x8 screws.
+3. Attach the assembled unit to the frame with M3x16 screws, complying with the layout.
 4. Install the frame for the LED strip, using the slots in the leg holders.
 
 ![Legs installation on the frame](../assets/en/cl3_mountElements.JPG)
@@ -150,9 +150,9 @@ article [remote faults](radioerrors.md).
 ## Installation and connection of the Pixracer flight controller
 
 1. Install the Pixracer flight controller on double-sided 3M adhesive tape (2 – 3 layers).
-    The flight controller may also be removed from the housing and firmly mounted on the М3х6 leg.
+    The flight controller may also be removed from the housing and firmly mounted on the M3x6 leg.
 
-2. Install 40 mm legs using М3х8 screws.
+2. Install 40 mm legs using M3x8 screws.
 
     Connect the POWER connector.
 
@@ -184,14 +184,14 @@ article [remote faults](radioerrors.md).
 
 4. Assembling the mount for the RPi camera.
 
-    Use an М3х16 screw and an M3 nut
+    Use an M3x16 screw and an M3 nut
 
 ![Installation of Raspberry Pi Model B](../assets/cl3_mountRaspberryPi.JPG)
 
 ## Arduino and FlySky radio receiver installation
 
 1. Solder Arduino Nano micro-controller pins to its board.
-2. Install the micro-controller into a special mount, and attach to the lower deck using М3х16 screws (4 pcs).
+2. Install the micro-controller into a special mount, and attach to the lower deck using M3x16 screws (4 pcs).
 3. Using double-sided tape, attach the receiver as shown in the picture.
 4. Connect the ribbon cable from the radio receiver to Pixracer as shown in the picture.
 
@@ -204,12 +204,12 @@ article [remote faults](radioerrors.md).
 
 ## RPi camera installation
 
-1. Attach the mount for the RPi camera assembly to the lower deck with М3х12 screws (2 pcs.)
+1. Attach the mount for the RPi camera assembly to the lower deck with M3x12 screws (2 pcs.)
 2. Connect the ribbon cable to the RPi camera.
 3. Install the camera into the mount, secure it with M2 self-tappers.
 4. Attach Raspberry with 30 mm legs (4 pcs.).
 
-    Attach the lower deck assembly to the rack with М3х8 screws (4 pcs.)
+    Attach the lower deck assembly to the rack with M3x8 screws (4 pcs.)
 
 5. Install the legs into the mounts (4 pcs).
 
@@ -217,11 +217,11 @@ article [remote faults](radioerrors.md).
 
 ## Installation of the remaining structural elements
 
-1. Install the bottom guard using М3х12 screws (8 units) and the 30 mm legs (8 pcs).
-2. Install the top guard using М3х12 screws (8 pcs).
+1. Install the bottom guard using M3x12 screws (8 units) and the 30 mm legs (8 pcs).
+2. Install the top guard using M3x12 screws (8 pcs).
 3. Insert the strap into the upper deck for attaching the battery.
 
-    Secure the upper deck with М3х8 screws (4 pcs.)
+    Secure the upper deck with M3x8 screws (4 pcs.)
 
 ![Installation of the remaining structural elements](../assets/cl3_mountOtherElements.JPG)