Increase timeouts for aruco_pose test

Run catkin_test_results in image build
Basic tests for Blocks
2026-06-01 07:29:32 +00:00 · 2022-02-19 04:16:49 +03:00 · 2022-02-19 04:16:11 +03:00 · 2022-02-18 22:52:59 +03:00 · 2022-02-18 22:52:29 +03:00 · 2022-02-18 21:24:14 +03:00
257 changed files with 3931 additions and 131979 deletions
--- a/.github/workflows/build-image.yaml
+++ b/.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' }}
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -7,14 +7,14 @@ on:
    branches: [ master ]

 jobs:
-  build-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:
+  # 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
+  noetic:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v2
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -7,9 +7,13 @@ on:
    branches: [ master ]

 jobs:
-  documentation:
+  docs:
    runs-on: ubuntu-18.04
    steps:
+      - name: Cancel previous runs
+        uses: styfle/cancel-workflow-action@0.9.1
+        with:
+          access_token: ${{ github.token }}
      - uses: actions/checkout@v2
      - name: Use Node.js
        uses: actions/setup-node@v1
@@ -18,9 +22,8 @@ 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
-          npm install markdownlint-cli -g
+          builder/assets/install_gitbook.sh
+          npm install markdownlint-cli@0.28.1 -g # FIXME: https://github.com/DavidAnson/markdownlint/issues/435
          npm install svgexport -g
          gitbook -V
          markdownlint -V
--- a/.github/workflows/editorconfig.yaml
+++ b/.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|\.material"
--- a/.gitignore
+++ b/.gitignore
@@ -6,3 +6,4 @@ _book/
 package-lock.json
 clover_blocks/programs/*.*
 !clover_blocks/programs/examples/*
+/.vscode/
--- a/README.md
+++ b/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.

--- a/apps/ios/cleverrc/README.md
+++ b/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):

--- a/aruco_pose/README.md
+++ b/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)
--- a/aruco_pose/package.xml
+++ b/aruco_pose/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
  <name>aruco_pose</name>
-  <version>0.21.1</version>
+  <version>0.23.0</version>
  <description>Positioning with ArUco markers</description>

  <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
--- a/aruco_pose/src/genmap.py
+++ b/aruco_pose/src/genmap.py
@@ -30,7 +30,7 @@ Options:
  -o <filename>  Output map file name in the 'map' subdirectory of aruco_pose package

 Example:
-  rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 > $(catkin_find aruco_pose map)/test_map.txt
+  rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 -o test_map.txt
 """

 from __future__ import print_function
--- a/aruco_pose/test/crash_opencv.py
+++ b/aruco_pose/test/crash_opencv.py
@@ -9,10 +9,10 @@ def node():
    return rospy.init_node('aruco_pose_opencv_crash', anonymous=True)

 def test_opencv_crashes_img01(node):
-    rospy.wait_for_message('aruco_detect_01/visualization', VisMarkerArray, timeout=5)
+    rospy.wait_for_message('aruco_detect_01/visualization', VisMarkerArray, timeout=20)

 def test_opencv_crashes_img02(node):
-    rospy.wait_for_message('aruco_detect_02/visualization', VisMarkerArray, timeout=5)
+    rospy.wait_for_message('aruco_detect_02/visualization', VisMarkerArray, timeout=20)

 def test_opencv_crashes_img03(node):
-    rospy.wait_for_message('aruco_detect_03/visualization', VisMarkerArray, timeout=5)
+    rospy.wait_for_message('aruco_detect_03/visualization', VisMarkerArray, timeout=20)
--- a/book.json
+++ b/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",
--- a/builder/assets/clover.service
+++ b/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
--- a/builder/assets/install_gitbook.sh
+++ b/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
--- a/builder/image-build.sh
+++ b/builder/image-build.sh
@@ -113,15 +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'
--- a/builder/image-ros.sh
+++ b/builder/image-ros.sh
@@ -13,7 +13,7 @@
 # copies or substantial portions of the Software.
 #

-set -e # Exit immidiately on non-zero result
+set -ex # exit on error, echo commands

 REPO=$1
 REF=$2
@@ -90,7 +90,7 @@ echo_stamp "Installing OpenCV 4.2-compatible ROS packages"
 apt install -y --no-install-recommends \
 ros-${ROS_DISTRO}-compressed-image-transport=1.14.0-0buster \
 ros-${ROS_DISTRO}-cv-bridge=1.15.0-0buster \
-ros-${ROS_DISTRO}-cv-camera=0.5.0-0buster \
+ros-${ROS_DISTRO}-cv-camera=0.5.1-0buster \
 ros-${ROS_DISTRO}-image-publisher=1.15.3-0buster \
 ros-${ROS_DISTRO}-web-video-server=0.2.1-0buster
 apt-mark hold \
@@ -112,7 +112,7 @@ my_travis_retry pip3 install wheel
 my_travis_retry pip3 install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt
 source /opt/ros/${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
+catkin_make -j2 -DCMAKE_BUILD_TYPE=RelWithDebInfo
 source devel/setup.bash

 echo_stamp "Install clever package (for backwards compatibility)"
@@ -122,9 +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

@@ -147,7 +146,7 @@ echo_stamp "Install GeographicLib datasets (needed for mavros)" \
 echo_stamp "Running tests"
 cd /home/pi/catkin_ws
 # FIXME: Investigate failing tests
-catkin_make run_tests #&& catkin_test_results
+catkin_make run_tests && catkin_test_results

 echo_stamp "Change permissions for catkin_ws"
 chown -Rf pi:pi /home/pi/catkin_ws
@@ -156,6 +155,16 @@ 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'
--- a/builder/image-software.sh
+++ b/builder/image-software.sh
@@ -137,6 +137,8 @@ pip3 --version
 echo_stamp "Install and enable Butterfly (web terminal)"
 echo_stamp "Workaround for tornado >= 6.0 breaking butterfly"
 export CRYPTOGRAPHY_DONT_BUILD_RUST=1
+my_travis_retry pip3 install cryptography==3.4.6 # https://stackoverflow.com/a/68472128/6850197
+my_travis_retry pip3 install pyOpenSSL==20.0.1
 my_travis_retry pip3 install tornado==5.1.1
 my_travis_retry pip3 install butterfly
 my_travis_retry pip3 install butterfly[systemd]
--- a/builder/image-validate.sh
+++ b/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
--- a/builder/test/tests.sh
+++ b/builder/test/tests.sh
@@ -34,6 +34,7 @@ i2cdetect -V
 butterfly -h
 # espeak --version
 mjpg_streamer --version
+systemctl --version

 # ros stuff

@@ -57,5 +58,9 @@ rosversion rosshow
 rosversion nodelet
 rosversion image_view

+# validate some versions
+[[ $(rosversion cv_camera) == "0.5.1" ]] # patched version with init fix
+[[ $(rosversion ws281x) == "0.0.12" ]]
+
 # validate examples are present
 [[ $(ls /home/pi/examples/*) ]]
--- a/check_unused_assets.py
+++ b/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

--- a/clover/CMakeLists.txt
+++ b/clover/CMakeLists.txt
@@ -270,6 +270,8 @@ 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
@@ -278,7 +280,7 @@ 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()
--- a/clover/README.md
+++ b/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
 ```

--- a/clover/examples/flight.py
+++ b/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()
--- a/clover/examples/flight_marker.py
+++ b/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()
--- a/clover/examples/gps.py
+++ b/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()
--- a/clover/examples/navigate_wait.py
+++ b/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()
--- a/clover/examples/subscriber.py
+++ b/clover/examples/subscriber.py
@@ -0,0 +1,15 @@
+# Information: https://clover.coex.tech/en/laser.html
+
+import rospy
+from sensor_msgs.msg import Range
+
+rospy.init_node('process_rangefinder')
+
+def range_callback(msg):
+    # Process data from the rangefinder
+    print('Rangefinder distance:', msg.range)
+
+# Subscribe to laser rangefinder data
+rospy.Subscriber('rangefinder/range', Range, range_callback)
+
+rospy.spin()
--- a/clover/launch/aruco.launch
+++ b/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')"/>
--- a/clover/launch/clover.launch
+++ b/clover/launch/clover.launch
@@ -47,9 +47,6 @@

    <!-- simplified offboard control -->
    <node name="simple_offboard" pkg="clover" type="simple_offboard" output="screen" clear_params="true">
-        <param name="reference_frames/body" value="map"/>
-        <param name="reference_frames/base_link" value="map"/>
-        <param name="reference_frames/navigate_target" value="map"/>
        <param name="reference_frames/main_camera_optical" value="map"/>
    </node>

--- a/clover/launch/mavros.launch
+++ b/clover/launch/mavros.launch
@@ -39,7 +39,7 @@
        <rosparam command="load" file="$(find clover)/launch/mavros_config.yaml"/>

        <!-- remap rangefinder -->
-        <remap from="mavros/distance_sensor/rangefinder_sub" to="rangefinder/range"/>
+        <remap from="mavros/distance_sensor/rangefinder_sub" to="$(arg distance_sensor_remap)" if="$(eval bool(distance_sensor_remap))"/>

        <rosparam param="plugin_whitelist">
            - altitude
--- a/clover/launch/mavros_config.yaml
+++ b/clover/launch/mavros_config.yaml
@@ -1,11 +1,11 @@
 # Config file for mavros
 # Based on https://raw.githubusercontent.com/mavlink/mavros/master/mavros/launch/px4_config.yaml

-startup_px4_usb_quirk: true
+startup_px4_usb_quirk: false

 conn:
-  heartbeat_rate: 1.0    # send hertbeat rate in Hertz
-  timeout: 10.0          # hertbeat timeout in seconds
+  heartbeat_rate: 1.0    # send heartbeat rate in Hertz
+  timeout: 10.0          # heartbeat timeout in seconds
  timesync_rate: 10.0    # TIMESYNC rate in Hertz (feature disabled if 0.0)
  system_time_rate: 1.0  # send system time to FCU rate in Hertz (disabled if 0.0)

@@ -13,6 +13,7 @@ time:
  time_ref_source: "fcu"  # time_reference source
  timesync_mode: MAVLINK
  timesync_avg_alpha: 0.6 # timesync averaging factor
+  publish_sim_time: false # don't publish /clock

 global_position:
  frame_id: "map"             # origin frame
@@ -77,6 +78,9 @@ distance_sensor:
      field_of_view: 0.5
  rangefinder_sub:
      subscriber: true
+      id: 1
+      orientation: PITCH_270
+      covariance: 1  # cm

 # fake_gps
 fake_gps:
--- a/clover/package.xml
+++ b/clover/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
  <name>clover</name>
-  <version>0.21.1</version>
+  <version>0.23.0</version>
  <description>The Clover package</description>

  <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
--- a/clover/src/optical_flow.cpp
+++ b/clover/src/optical_flow.cpp
@@ -53,6 +53,7 @@ private:
 	std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
 	std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
 	bool calc_flow_gyro_;
+	float flow_gyro_default_;

 	void onInit()
 	{
@@ -69,15 +70,13 @@ private:
 		roi_px_ = nh_priv.param("roi", 128);
 		roi_rad_ = nh_priv.param("roi_rad", 0.0);
 		calc_flow_gyro_ = nh_priv.param("calc_flow_gyro", false);
+		flow_gyro_default_ = nh_priv.param("flow_gyro_default", NAN);

 		img_pub_ = it_priv.advertise("debug", 1);
 		flow_pub_ = nh.advertise<mavros_msgs::OpticalFlowRad>("mavros/px4flow/raw/send", 1);
 		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 +178,7 @@ 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 +195,11 @@ 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 = flow_gyro_default_;
+			flow_.integrated_ygyro = flow_gyro_default_;
+			flow_.integrated_zgyro = flow_gyro_default_;
+
 			if (calc_flow_gyro_) {
 				try {
 					auto flow_gyro_camera = calcFlowGyro(msg->header.frame_id, prev_stamp_, msg->header.stamp);
@@ -205,9 +209,7 @@ 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
 				}
 			}

--- a/clover/src/selfcheck.py
+++ b/clover/src/selfcheck.py
@@ -43,6 +43,8 @@ from mavros import mavlink

 rospy.init_node('selfcheck')

+os.environ['ROSCONSOLE_FORMAT']='[${severity}]: ${message}'
+

 tf_buffer = tf2_ros.Buffer()
 tf_listener = tf2_ros.TransformListener(tf_buffer)
@@ -483,6 +485,12 @@ def check_local_position():
            failure('roll is %.2f deg; place copter horizontally or redo level horizon calib',
                    math.degrees(roll))

+        if not tf_buffer.can_transform('base_link', pose.header.frame_id, rospy.get_rostime(), rospy.Duration(0.5)):
+            failure('can\'t transform from %s to base_link (timeout 0.5 s): is TF enabled?', pose.header.frame_id)
+
+        if not tf_buffer.can_transform('body', pose.header.frame_id, rospy.get_rostime(), rospy.Duration(0.5)):
+            failure('can\'t transform from %s to body (timeout 0.5 s)', pose.header.frame_id)
+
    except rospy.ROSException:
        failure('no local position')

@@ -612,13 +620,13 @@ def check_boot_duration():
    output = subprocess.check_output('systemd-analyze').decode()
    r = re.compile(r'([\d\.]+)s\s*$', flags=re.MULTILINE)
    duration = float(r.search(output).groups()[0])
-    if duration > 15:
+    if duration > 20:
        failure('long Raspbian boot duration: %ss (systemd-analyze for analyzing)', duration)


@check('CPU usage')
 def check_cpu_usage():
-    WHITELIST = 'nodelet',
+    WHITELIST = 'nodelet', 'gzclient', 'gzserver'
    CMD = "top -n 1 -b -i | tail -n +8 | awk '{ printf(\"%-8s\\t%-8s\\t%-8s\\n\", $1, $9, $12); }'"
    output = subprocess.check_output(CMD, shell=True).decode()
    processes = output.split('\n')
@@ -646,13 +654,22 @@ def check_clover_service():
    elif 'failed' in output:
        failure('service failed to run, check your launch-files')

-    r = re.compile(r'^(.*)\[(FATAL|ERROR)\] \[\d+.\d+\]: (.*?)(\x1b(.*))?$')
+    BLACKLIST = 'Unexpected command 520', 'Time jump detected', 'different index:'
+
+    r = re.compile(r'^(.*)\[(FATAL|ERROR| WARN)\] \[\d+.\d+\]: (.*?)(\x1b(.*))?$')
    error_count = OrderedDict()
    try:
        for line in open('/tmp/clover.err', 'r'):
+            skip = False
+            for substr in BLACKLIST:
+                if substr in line:
+                    skip = True
+            if skip:
+                continue
+
            node_error = r.search(line)
            if node_error:
-                msg = node_error.groups()[1] + ': ' + node_error.groups()[2]
+                msg = node_error.groups()[1].strip() + ': ' + node_error.groups()[2]
                if msg in error_count:
                    error_count[msg] += 1
                else:
@@ -723,6 +740,14 @@ def check_network():

@check('RPi health')
 def check_rpi_health():
+    try:
+        import shutil
+        total, used, free = shutil.disk_usage('/')
+        if free < 1024 * 1024 * 1024:
+            failure('disk space is less than 1 GB; consider removing logs (~/.ros/log/)')
+    except Exception as e:
+        info('could not check the disk free space: %s', str(e))
+
    # `vcgencmd get_throttled` output codes taken from
    # https://github.com/raspberrypi/documentation/blob/JamesH65-patch-vcgencmd-vcdbg-docs/raspbian/applications/vcgencmd.md#get_throttled
    # TODO: support more base platforms?
@@ -753,7 +778,7 @@ def check_rpi_health():
        # with some of the FLAGs OR'ed together
        output = subprocess.check_output(['vcgencmd', 'get_throttled']).decode()
    except OSError:
-        failure('could not call vcgencmd binary; not a Raspberry Pi?')
+        info('could not call vcgencmd binary; not a Raspberry Pi?')
        return

    throttle_mask = int(output.split('=')[1], base=16)
--- a/clover/src/simple_offboard.cpp
+++ b/clover/src/simple_offboard.cpp
@@ -61,6 +61,7 @@ std::shared_ptr<tf2_ros::TransformBroadcaster> transform_broadcaster;
 std::shared_ptr<tf2_ros::StaticTransformBroadcaster> static_transform_broadcaster;

 // Parameters
+string mavros;
 string local_frame;
 string fcu_frame;
 ros::Duration transform_timeout;
@@ -181,9 +182,10 @@ inline bool waitTransform(const string& target, const string& source,
 		ros::spinOnce();
 		r.sleep();
 	}
+	return false;
 }

-#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 +443,10 @@ 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;
@@ -843,6 +849,7 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 		busy = false;
 		return true;
 	}
+	return false;
 }

 int main(int argc, char **argv)
@@ -855,8 +862,9 @@ int main(int argc, char **argv)
 	static_transform_broadcaster = std::make_shared<tf2_ros::StaticTransformBroadcaster>();

 	// Params
-	nh.param<string>("mavros/local_position/tf/frame_id", local_frame, "map");
-	nh.param<string>("mavros/local_position/tf/child_frame_id", fcu_frame, "base_link");
+	nh_priv.param("mavros", mavros, string("mavros")); // for case of using multiple connections
+	nh.param<string>(mavros + "/local_position/tf/frame_id", local_frame, "map");
+	nh.param<string>(mavros + "/local_position/tf/child_frame_id", fcu_frame, "base_link");
 	nh_priv.param("target_frame", target.child_frame_id, string("navigate_target"));
 	nh_priv.param("setpoint", setpoint.child_frame_id, string("setpoint"));
 	nh_priv.param("auto_release", auto_release, true);
@@ -867,6 +875,13 @@ int main(int argc, char **argv)
 	nh_priv.param<string>("body_frame", body.child_frame_id, "body");
 	nh_priv.getParam("reference_frames", reference_frames);

+	// Default reference frames
+	std::map<string, string> default_reference_frames;
+	default_reference_frames[body.child_frame_id] = local_frame;
+	default_reference_frames[fcu_frame] = local_frame;
+	if (!target.child_frame_id.empty()) default_reference_frames[target.child_frame_id] = local_frame;
+	reference_frames.insert(default_reference_frames.begin(), default_reference_frames.end()); // merge defaults
+
 	state_timeout = ros::Duration(nh_priv.param("state_timeout", 3.0));
 	local_position_timeout = ros::Duration(nh_priv.param("local_position_timeout", 2.0));
 	velocity_timeout = ros::Duration(nh_priv.param("velocity_timeout", 2.0));
@@ -881,25 +896,25 @@ int main(int argc, char **argv)
 	arming_timeout = ros::Duration(nh_priv.param("arming_timeout", 4.0));

 	// Service clients
-	arming = nh.serviceClient<mavros_msgs::CommandBool>("mavros/cmd/arming");
-	set_mode = nh.serviceClient<mavros_msgs::SetMode>("mavros/set_mode");
+	arming = nh.serviceClient<mavros_msgs::CommandBool>(mavros + "/cmd/arming");
+	set_mode = nh.serviceClient<mavros_msgs::SetMode>(mavros + "/set_mode");

 	// Telemetry subscribers
-	auto state_sub = nh.subscribe("mavros/state", 1, &handleState);
-	auto velocity_sub = nh.subscribe("mavros/local_position/velocity_body", 1, &handleMessage<TwistStamped, velocity>);
-	auto global_position_sub = nh.subscribe("mavros/global_position/global", 1, &handleMessage<NavSatFix, global_position>);
-	auto battery_sub = nh.subscribe("mavros/battery", 1, &handleMessage<BatteryState, battery>);
-	auto statustext_sub = nh.subscribe("mavros/statustext/recv", 1, &handleMessage<mavros_msgs::StatusText, statustext>);
-	auto manual_control_sub = nh.subscribe("mavros/manual_control/control", 1, &handleMessage<mavros_msgs::ManualControl, manual_control>);
-	auto local_position_sub = nh.subscribe("mavros/local_position/pose", 1, &handleLocalPosition);
+	auto state_sub = nh.subscribe(mavros + "/state", 1, &handleState);
+	auto velocity_sub = nh.subscribe(mavros + "/local_position/velocity_body", 1, &handleMessage<TwistStamped, velocity>);
+	auto global_position_sub = nh.subscribe(mavros + "/global_position/global", 1, &handleMessage<NavSatFix, global_position>);
+	auto battery_sub = nh.subscribe(mavros + "/battery", 1, &handleMessage<BatteryState, battery>);
+	auto statustext_sub = nh.subscribe(mavros + "/statustext/recv", 1, &handleMessage<mavros_msgs::StatusText, statustext>);
+	auto manual_control_sub = nh.subscribe(mavros + "/manual_control/control", 1, &handleMessage<mavros_msgs::ManualControl, manual_control>);
+	auto local_position_sub = nh.subscribe(mavros + "/local_position/pose", 1, &handleLocalPosition);

 	// Setpoint publishers
-	position_pub = nh.advertise<PoseStamped>("mavros/setpoint_position/local", 1);
-	position_raw_pub = nh.advertise<PositionTarget>("mavros/setpoint_raw/local", 1);
-	attitude_pub = nh.advertise<PoseStamped>("mavros/setpoint_attitude/attitude", 1);
-	attitude_raw_pub = nh.advertise<AttitudeTarget>("mavros/setpoint_raw/attitude", 1);
-	rates_pub = nh.advertise<TwistStamped>("mavros/setpoint_attitude/cmd_vel", 1);
-	thrust_pub = nh.advertise<Thrust>("mavros/setpoint_attitude/thrust", 1);
+	position_pub = nh.advertise<PoseStamped>(mavros + "/setpoint_position/local", 1);
+	position_raw_pub = nh.advertise<PositionTarget>(mavros + "/setpoint_raw/local", 1);
+	attitude_pub = nh.advertise<PoseStamped>(mavros + "/setpoint_attitude/attitude", 1);
+	attitude_raw_pub = nh.advertise<AttitudeTarget>(mavros + "/setpoint_raw/attitude", 1);
+	rates_pub = nh.advertise<TwistStamped>(mavros + "/setpoint_attitude/cmd_vel", 1);
+	thrust_pub = nh.advertise<Thrust>(mavros + "/setpoint_attitude/thrust", 1);

 	 // Service servers
 	auto gt_serv = nh.advertiseService("get_telemetry", &getTelemetry);
--- a/clover/test/basic.py
+++ b/clover/test/basic.py
@@ -33,3 +33,29 @@ def test_web_video_server(node):
        # Python 3
        import urllib.request as urllib
    urllib.urlopen("http://localhost:8080").read()
+
+def test_blocks(node):
+    rospy.wait_for_service('clover_blocks/run', timeout=5)
+    rospy.wait_for_service('clover_blocks/stop', timeout=5)
+    rospy.wait_for_service('clover_blocks/load', timeout=5)
+    rospy.wait_for_service('clover_blocks/store', timeout=5)
+
+    from std_msgs.msg import String
+    from clover_blocks.srv import Run
+
+    def wait_print():
+        try:
+            wait_print.result = rospy.wait_for_message('clover_blocks/print', String, timeout=5).data
+        except Exception as e:
+            wait_print.result = str(e)
+
+    import threading
+    t = threading.Thread(target=wait_print)
+    t.start()
+    rospy.sleep(0.1)
+
+    run = rospy.ServiceProxy('clover_blocks/run', Run)
+    assert run(code='print("test")').success == True
+
+    t.join()
+    assert wait_print.result == 'test'
--- a/clover/test/basic.test
+++ b/clover/test/basic.test
@@ -23,10 +23,7 @@

    <node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame" args="0 0 0 3.1415926 3.1415926 0 map map_flipped" required="true"/>

-    <node name="simple_offboard" pkg="clover" type="simple_offboard" required="true" output="screen">
-        <param name="reference_frames/body" value="map"/>
-        <param name="reference_frames/base_link" value="map"/>
-    </node>
+    <node name="simple_offboard" pkg="clover" type="simple_offboard" required="true" output="screen"/>

    <node name="tf2_web_republisher" pkg="tf2_web_republisher" type="tf2_web_republisher" required="true"/>

@@ -38,6 +35,8 @@
        <rosparam param="notify">startup: { r: 255, g: 255, b: 255 }</rosparam>
    </node>

+    <node name="clover_blocks" pkg="clover_blocks" type="clover_blocks" output="screen" required="true"/>
+
    <param name="test_module" value="$(find clover)/test/basic.py"/>
    <test test-name="basic_test" pkg="ros_pytest" type="ros_pytest_runner"/>
 </launch>
--- a/clover/config/99-px4fmu.rules
+++ b/clover/config/99-px4fmu.rules
@@ -12,4 +12,6 @@ SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0016", ATTRS{produ
 SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0013", ATTRS{product}=="PX4 FMU v4.x PRO", SYMLINK+="px4fmu"
 # Omnibus
 SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0001", ATTRS{product}=="PX4 OmnibusF4SD", SYMLINK+="px4fmu"
+# CUAV X7 Pro
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3163", ATTRS{idProduct}=="004c", ATTRS{product}=="PX4 CUAV X7Pro", SYMLINK+="px4fmu"

--- a/clover/www/clover.err
+++ b/clover/www/clover.err
@@ -1 +0,0 @@
-/tmp/clover.err
--- a/clover/www/clover.log
+++ b/clover/www/clover.log
@@ -0,0 +1 @@
+/var/log/clover.log
--- a/clover/www/console.html
+++ b/clover/www/console.html
@@ -0,0 +1,23 @@
+<h1>
+	/var/log/clover.log
+	<a style="font-size: 0.5em; vertical-align: super; font-weight: normal" href="clover.log" download>download</a>
+</h1>
+
+<pre></pre>
+
+<script type="module">
+	var pre = document.querySelector('pre');
+
+	fetch('clover.log?' + Math.random()).then(function(response) { // random to forbid caching
+		if (response.status == 404) {
+			pre.innerHTML = '/var/log/clover.log does not exist';
+			return;
+		} else if (response.status !== 200) {
+			pre.innerHTML('Error ' + response.status);
+			return;
+		}
+		response.text().then(function(content) {
+			pre.innerHTML = content;
+		});
+	});
+</script>
--- a/clover/www/index.html
+++ b/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="console.html">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;
--- a/clover/www/js/json-to-pretty-yaml.js
+++ b/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*$/, "$1");
+        };
+    }
+
+    // CommonJS / npm / Ender.JS
+    module.exports = {
+        typeOf: typeOf,
+        isEmpty: isEmpty
+    };
+    global.typeOf = global.typeOf || typeOf;
+    global.isEmpty = global.isEmpty || isEmpty;
+}());
+
+},{}],3:[function(require,module,exports){
+"use strict";
+
+/**
+ * removeTrailingSpaces
+ * Remove the trailing spaces from a string.
+ *
+ * @name removeTrailingSpaces
+ * @function
+ * @param {String} input The input string.
+ * @returns {String} The output string.
+ */
+
+module.exports = function removeTrailingSpaces(input) {
+  // TODO If possible, use a regex
+  return input.split("\n").map(function (x) {
+    return x.trimRight();
+  }).join("\n");
+};
+},{}]},{},[1]);
--- a/clover/www/js/topics.js
+++ b/clover/www/js/topics.js
@@ -0,0 +1,83 @@
+const url = 'ws://' + location.hostname + ':9090';
+const ros = new ROSLIB.Ros({ url: url });
+const params = Object.fromEntries(new URLSearchParams(window.location.search).entries());
+
+ros.on('connection', function () {
+	document.body.classList.add('connected');
+	document.body.classList.remove('closed');
+	init();
+});
+
+ros.on('close', function () {
+	document.body.classList.remove('connected');
+	document.body.classList.add('closed');
+	setTimeout(function() {
+		// reconnect
+		ros.connect(url);
+	}, 2000);
+});
+
+const title = document.querySelector('h1');
+const topicsList = document.querySelector('#topics');
+const topicMessage = document.querySelector('#topic-message');
+
+function viewTopicsList() {
+	title.innerHTML = 'Topics:';
+
+	ros.getTopics(function(topics) {
+		topicsList.innerHTML = topics.topics.map(function(topic, i) {
+			const type = topics.types[i];
+			if (type == 'sensor_msgs/Image') {
+				let url = `${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) {
+	let index = '<a href=topics.html>Topics</a>';
+	title.innerHTML = `${index}: ${topic}`;
+	topicMessage.style.display = 'block';
+
+	ros.getTopicType(topic, function(typeStr) {
+		const [pack, type] = typeStr.split('/');
+		let href = `https://docs.ros.org/en/${rosdistro}/api/${pack}/html/msg/${type}.html`;
+		title.innerHTML = `${index}: ${topic} <a id="topic-type" href=${href} target="_blank">${typeStr}</a>`;
+	});
+
+	new ROSLIB.Topic({ ros: ros, name: topic }).subscribe(function(msg) {
+		document.title = topic;
+		if (mouseDown) return;
+
+		if (msg.header.stamp) {
+			if (params.date || params.offset) {
+				let date = new Date(msg.header.stamp.secs * 1e3 + msg.header.stamp.nsecs * 1e-6);
+				if (params.date) msg.header.date = date.toISOString();
+				if (params.offset) msg.header.offset = (new Date() - date) * 1e-3;
+			}
+		}
+
+		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() {
+	if (!params.topic) {
+		viewTopicsList();
+	} else {
+		new ROSLIB.Param({ ros: ros, name: '/rosdistro'}).get(function(value) {
+			rosdistro = value.trim();
+			viewTopic(params.topic);
+		});
+	}
+}
--- a/clover/www/topics.html
+++ b/clover/www/topics.html
@@ -0,0 +1,28 @@
+<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; }
+			body.closed { background-color: rgb(207, 207, 207); }
+		</style>
+	</head>
+	<body>
+		<h1>&nbsp;</h1>
+		<ul id="topics"></ul>
+		<code id="topic-message">No messages received</code>
+	</body>
+</html>
--- a/clover_blocks/CMakeLists.txt
+++ b/clover_blocks/CMakeLists.txt
@@ -78,6 +78,8 @@ install(DIRECTORY programs
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )

+install(DIRECTORY www DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
 #############
 ## Testing ##
 #############
--- a/clover_blocks/README.md
+++ b/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).

--- a/clover_blocks/package.xml
+++ b/clover_blocks/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
  <name>clover_blocks</name>
-  <version>0.21.1</version>
+  <version>0.23.0</version>
  <description>Blockly programming support for Clover</description>
  <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
  <license>MIT</license>
--- a/clover_blocks/www/blocks.js
+++ b/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);
 	}
 };
--- a/clover_blocks/www/index.html
+++ b/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>
--- a/clover_blocks/www/main.js
+++ b/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),
 	]);
@@ -210,7 +211,7 @@ function loadPrograms() {
 		updateChanged();
 	}, function(err) {
 		document.querySelector('.backend-fail').style.display = 'inline';
-		alert(`Error loading programs list.\n\nHave you enabled clover_blocks in clover.launch?`);
+		alert(`Error loading programs list.\n\nHave you enabled 'blocks' in clover.launch?`);
 		runButton.disabled = true;
 	})
 }
--- a/clover_blocks/www/python.js
+++ b/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();
@@ -415,7 +464,7 @@ Blockly.Python.led_count = function(block) {

 function pigpio() {
 	Blockly.Python.definitions_['import_pigpio'] = 'import pigpio';
-	Blockly.Python.definitions_['init_pigpio'] = 'pi = pigpio.pi()';
+	Blockly.Python.definitions_['init_pigpio'] = 'pi = pigpio.pi()\nif not pi.connected: raise Exception(\'Cannot connect to pigpiod\')';
 }

 const GPIO_READ = `\ndef gpio_read(pin):
--- a/clover_description/README.md
+++ b/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:

--- a/clover_description/launch/view_drone.launch
+++ b/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>
--- a/clover_description/package.xml
+++ b/clover_description/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
  <name>clover_description</name>
-  <version>0.21.1</version>
+  <version>0.23.0</version>
  <description>The clover_description package provides URDF models of the Clover series of quadcopters.</description>

  <maintainer email="sfalexrog@gmail.com">Alexey Rogachevskiy</maintainer>
--- a/clover_description/urdf/clover/clover4.xacro
+++ b/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>
--- a/clover_description/urdf/clover/clover4_base.xacro
+++ b/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 -->
--- a/clover_description/urdf/clover/clover4_gazebo.xacro
+++ b/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>
--- a/clover_description/urdf/clover/clover4_physics.xacro
+++ b/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" />
@@ -35,7 +35,7 @@
  <xacro:property name="sqrt2" value="1.4142135623730951" />
  <xacro:property name="rotor_drag_coefficient" value="1.75e-04" />
  <xacro:property name="rolling_moment_coefficient" value="0.000001" />
-  <xacro:property name="color" value="$(arg visual_material)" />
+  <xacro:property name="color" value="DarkGrey" />

  <!-- Property Blocks -->
  <!-- Clover body inertia -->
@@ -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
--- a/clover_description/urdf/sensors/distance_sensor.urdf.xacro
+++ b/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="${name}_joint" type="fixed">
--- a/clover_description/urdf/sensors/pinhole_camera.urdf.xacro
+++ b/clover_description/urdf/sensors/pinhole_camera.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <robot name="pinhole_camera" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include filename="$(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="${120.0*pi/180.0}"/>
 </robot>
--- a/clover_description/urdf/sensors/rpi_cam.urdf.xacro
+++ b/clover_description/urdf/sensors/rpi_cam.urdf.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <robot name="rpi_camera" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include filename="$(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">
--- a/clover_simulation/README.md
+++ b/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:

--- a/clover_simulation/airframes/4500_clover
+++ b/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
--- a/clover_simulation/launch/simulator.launch
+++ b/clover_simulation/launch/simulator.launch
@@ -4,16 +4,18 @@
    <arg name="est" default="ekf2"/> <!-- PX4 estimator: lpe, ekf2 -->
    <arg name="vehicle" default="clover"/> <!-- PX4 vehicle configuration: clover, clover_vpe -->
    <arg name="main_camera" default="true"/> <!-- Simulated vision position estimation camera (optical flow, ArUco) -->
+    <arg name="maintain_camera_rate" default="false"/> <!-- Slow simulation down to maintain camera rate -->
    <arg name="rangefinder" default="true"/> <!-- Simulated downward-facing rangefinder, vl53l1x-like -->
    <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>
@@ -27,13 +29,16 @@
    <!-- Clover model -->
    <include file="$(find clover_description)/launch/spawn_drone.launch" if="$(eval type == 'gazebo')">
        <arg name="main_camera" value="$(arg main_camera)"/>
+        <arg name="maintain_camera_rate" value="$(arg maintain_camera_rate)"/>
        <arg name="rangefinder" value="$(arg rangefinder)"/>
        <arg name="led" value="$(arg led)"/>
        <arg name="gps" value="$(arg gps)"/>
        <arg name="use_clover_physics" value="$(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 +48,10 @@
        <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>
--- a/clover_simulation/models/aruco_100/marker_100.sdf
+++ b/clover_simulation/models/aruco_100/marker_100.sdf
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<sdf version="1.5">
+    <model name="aruco_100">
+        <static>true</static>
+        <link name="marker_100_link">
+            <pose>0 0 1e-3 0 0 1.5707963267948966</pose>
+            <visual name="visual_marker_100">
+                <cast_shadows>false</cast_shadows>
+                <geometry>
+                    <box>
+                        <size>0.22 0.22 1e-3</size>
+                    </box>
+                </geometry>
+                <material>
+                    <script>
+                        <uri>model://aruco_100/materials/scripts</uri>
+                        <uri>model://aruco_100/materials/textures</uri>
+                        <name>aruco/marker_100</name>
+                    </script>
+                </material>
+            </visual>
+        </link>
+    </model>
+</sdf>
--- a/clover_simulation/models/aruco_100/materials/scripts/aruco_100.material
+++ b/clover_simulation/models/aruco_100/materials/scripts/aruco_100.material
@@ -0,0 +1,15 @@
+material aruco/marker_100
+{
+    technique
+    {
+        pass
+        {
+            texture_unit
+            {
+                texture aruco_marker_100.png
+                filtering none
+                scale 1.0 1.0
+            }
+        }
+    }
+}
--- a/clover_simulation/models/aruco_100/materials/textures/aruco_marker_100.png
+++ b/clover_simulation/models/aruco_100/materials/textures/aruco_marker_100.png
--- a/clover_simulation/models/aruco_100/model.config
+++ b/clover_simulation/models/aruco_100/model.config
@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<model>
+    <name>ArUco Marker 100</name>
+    <version>1.0</version>
+    <sdf version="1.5">marker_100.sdf</sdf>
+    <author>
+        <name>Marker Generator script</name>
+        <email>marker@generator.sh</email>
+    </author>
+    <description>
+        ArUco marker #100
+    </description>
+</model>
--- a/clover_simulation/models/aruco_101/marker_101.sdf
+++ b/clover_simulation/models/aruco_101/marker_101.sdf
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<sdf version="1.5">
+    <model name="aruco_101">
+        <static>true</static>
+        <link name="marker_101_link">
+            <pose>0 0 1e-3 0 0 1.5707963267948966</pose>
+            <visual name="visual_marker_101">
+                <cast_shadows>false</cast_shadows>
+                <geometry>
+                    <box>
+                        <size>0.44 0.44 1e-3</size>
+                    </box>
+                </geometry>
+                <material>
+                    <script>
+                        <uri>model://aruco_101/materials/scripts</uri>
+                        <uri>model://aruco_101/materials/textures</uri>
+                        <name>aruco/marker_101</name>
+                    </script>
+                </material>
+            </visual>
+        </link>
+    </model>
+</sdf>
--- a/clover_simulation/models/aruco_101/materials/scripts/aruco_101.material
+++ b/clover_simulation/models/aruco_101/materials/scripts/aruco_101.material
@@ -0,0 +1,15 @@
+material aruco/marker_101
+{
+    technique
+    {
+        pass
+        {
+            texture_unit
+            {
+                texture aruco_marker_101.png
+                filtering none
+                scale 1.0 1.0
+            }
+        }
+    }
+}
--- a/clover_simulation/models/aruco_101/materials/textures/aruco_marker_101.png
+++ b/clover_simulation/models/aruco_101/materials/textures/aruco_marker_101.png
--- a/clover_simulation/models/aruco_101/model.config
+++ b/clover_simulation/models/aruco_101/model.config
@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<model>
+    <name>ArUco Marker 101</name>
+    <version>1.0</version>
+    <sdf version="1.5">marker_101.sdf</sdf>
+    <author>
+        <name>Marker Generator script</name>
+        <email>marker@generator.sh</email>
+    </author>
+    <description>
+        ArUco marker #101
+    </description>
+</model>
--- a/clover_simulation/models/aruco_102/marker_102.sdf
+++ b/clover_simulation/models/aruco_102/marker_102.sdf
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<sdf version="1.5">
+    <model name="aruco_102">
+        <static>true</static>
+        <link name="marker_102_link">
+            <pose>0 0 1e-3 0 0 1.5707963267948966</pose>
+            <visual name="visual_marker_102">
+                <cast_shadows>false</cast_shadows>
+                <geometry>
+                    <box>
+                        <size>0.44 0.44 1e-3</size>
+                    </box>
+                </geometry>
+                <material>
+                    <script>
+                        <uri>model://aruco_102/materials/scripts</uri>
+                        <uri>model://aruco_102/materials/textures</uri>
+                        <name>aruco/marker_102</name>
+                    </script>
+                </material>
+            </visual>
+        </link>
+    </model>
+</sdf>
--- a/clover_simulation/models/aruco_102/materials/scripts/aruco_102.material
+++ b/clover_simulation/models/aruco_102/materials/scripts/aruco_102.material
@@ -0,0 +1,15 @@
+material aruco/marker_102
+{
+    technique
+    {
+        pass
+        {
+            texture_unit
+            {
+                texture aruco_marker_102.png
+                filtering none
+                scale 1.0 1.0
+            }
+        }
+    }
+}
--- a/clover_simulation/models/aruco_102/materials/textures/aruco_marker_102.png
+++ b/clover_simulation/models/aruco_102/materials/textures/aruco_marker_102.png
--- a/clover_simulation/models/aruco_102/model.config
+++ b/clover_simulation/models/aruco_102/model.config
@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<model>
+    <name>ArUco Marker 102</name>
+    <version>1.0</version>
+    <sdf version="1.5">marker_102.sdf</sdf>
+    <author>
+        <name>Marker Generator script</name>
+        <email>marker@generator.sh</email>
+    </author>
+    <description>
+        ArUco marker #102
+    </description>
+</model>
--- a/clover_simulation/models/camera/camera.sdf
+++ b/clover_simulation/models/camera/camera.sdf
@@ -0,0 +1,33 @@
+<?xml version="1.0"?>
+<sdf version="1.5">
+    <model name="camera">
+        <static>true</static>
+        <link name='camera_link'>
+            <pose>0 0 0 0 0 0</pose>
+            <sensor name='camera' type='camera'>
+                <camera>
+                    <horizontal_fov>1.8</horizontal_fov>
+                    <image>
+                        <format>B8G8R8</format>
+                        <width>640</width>
+                        <height>480</height>
+                    </image>
+                    <clip>
+                        <near>0.02</near>
+                        <far>300</far>
+                    </clip>
+                </camera>
+                <always_on>1</always_on>
+                <update_rate>30</update_rate>
+                <visualize>1</visualize>
+                <plugin name='camera_plugin' filename='libgazebo_ros_camera.so'>
+                    <alwaysOn>1</alwaysOn>
+                    <imageTopicName>image_raw</imageTopicName>
+                    <cameraTopicName>camera_info</cameraTopicName>
+                    <cameraName>camera</cameraName>
+                    <frameName>/camera</frameName>
+                </plugin>
+            </sensor>
+        </link>
+    </model>
+</sdf>
--- a/clover_simulation/models/camera/model.config
+++ b/clover_simulation/models/camera/model.config
@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<model>
+    <name>Camera</name>
+    <version>1.0</version>
+    <sdf version="1.5">camera.sdf</sdf>
+    <author>
+        <name>Oleg Kalachev</name>
+        <email>okalachev@gmail.com</email>
+    </author>
+    <description>
+        External camera
+    </description>
+</model>
--- a/clover_simulation/package.xml
+++ b/clover_simulation/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
    <name>clover_simulation</name>
-    <version>0.21.1</version>
+    <version>0.23.0</version>
    <description>The clover_simulation package provides worlds and launch files for Gazebo.</description>

    <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
--- a/clover_simulation/scripts/gzweb
+++ b/clover_simulation/scripts/gzweb
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+
+# script for running gzweb
+# usage: ./gzweb [<port>]
+
+export NVM_DIR=$HOME/.nvm
+source $NVM_DIR/nvm.sh
+npm start --prefix $HOME/gzweb -p ${1-8080}
--- a/clover_simulation/src/clover_simulation/world.py
+++ b/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')
--- a/docs/assets/butterfly.png
+++ b/docs/assets/butterfly.png
--- a/docs/assets/clover42-main-margin.png
+++ b/docs/assets/clover42-main-margin.png
--- a/docs/assets/dhcp.jpg
+++ b/docs/assets/dhcp.jpg
--- a/docs/assets/duocam/duocam_connections.jpg
+++ b/docs/assets/duocam/duocam_connections.jpg
--- a/docs/assets/duocam/image_topics.png
+++ b/docs/assets/duocam/image_topics.png
--- a/docs/assets/duocam/qgc_rtsp_settings.png
+++ b/docs/assets/duocam/qgc_rtsp_settings.png
--- a/docs/assets/dxf/4.2/big_leg.dxf
+++ b/docs/assets/dxf/4.2/big_leg.dxf
--- a/docs/assets/dxf/4.2/deck_mount.dxf
+++ b/docs/assets/dxf/4.2/deck_mount.dxf
--- a/docs/assets/dxf/4.2/deck_mount_small.dxf
+++ b/docs/assets/dxf/4.2/deck_mount_small.dxf
--- a/docs/assets/dxf/4.2/grab_deck.dxf
+++ b/docs/assets/dxf/4.2/grab_deck.dxf
--- a/docs/assets/dxf/4.2/grip_spacer.dxf
+++ b/docs/assets/dxf/4.2/grip_spacer.dxf
--- a/docs/assets/dxf/4.2/led_mount_plate.dxf
+++ b/docs/assets/dxf/4.2/led_mount_plate.dxf
--- a/docs/assets/dxf/4.2/prop_guard.dxf
+++ b/docs/assets/dxf/4.2/prop_guard.dxf
--- a/docs/assets/dxf/4.2/prop_guard_mount.dxf
+++ b/docs/assets/dxf/4.2/prop_guard_mount.dxf
--- a/docs/assets/dxf/4.2/small_leg.dxf
+++ b/docs/assets/dxf/4.2/small_leg.dxf
--- a/docs/assets/gps/gps_1.jpg
+++ b/docs/assets/gps/gps_1.jpg
--- a/docs/assets/gps/gps_2.jpg
+++ b/docs/assets/gps/gps_2.jpg
--- a/docs/assets/grip_load/add-on_for_load_support.stl
+++ b/docs/assets/grip_load/add-on_for_load_support.stl
--- a/Show More
+++ b/Show More