simple_offboard: detect killswitch when auto_arm is set (#280 )

* simple_offboard: subscribe to manual control * simple_offboard: read check_kill_switch parameter * simple_offboard: check kill switch status * Fixes
led.launch: add led_count and gpio_pin arguments (#279 )
2026-06-01 15:39:32 +00:00 · 2020-10-20 09:58:32 +03:00 · 2020-10-19 20:58:31 +03:00 · 2020-10-19 16:23:37 +03:00 · 2020-10-19 15:55:07 +03:00 · 2020-10-17 07:44:37 +03:00
125 changed files with 123013 additions and 403 deletions
--- a/clover/launch/led.launch
+++ b/clover/launch/led.launch
@@ -2,14 +2,17 @@
    <arg name="ws281x" default="true"/>
    <arg name="led_effect" default="true"/>
    <arg name="led_notify" default="true"/>
+    <arg name="led_count" default="58"/>
+    <arg name="gpio_pin" default="21"/>
+
    <arg name="simulator" default="false"/>

    <!-- For additional help go to https://clover.coex.tech/led -->

    <!-- ws281x led strip driver -->
    <node pkg="ws281x" name="led" type="ws281x_node" clear_params="true" output="screen" if="$(eval ws281x and not simulator)">
-        <param name="led_count" value="58"/>
-        <param name="gpio_pin" value="21"/>
+        <param name="led_count" value="$(arg led_count)"/>
+        <param name="gpio_pin" value="$(arg gpio_pin)"/>
        <param name="brightness" value="64"/>
        <param name="strip_type" value="WS2811_STRIP_GRB"/>
        <param name="target_frequency" value="800000"/>
@@ -32,7 +35,7 @@
            altctl: { r: 255, g: 255, b: 40 }
            posctl: { r: 50, g: 100, b: 220 }
            offboard: { r: 220, g: 20, b: 250 }
-            low_battery: { threshold: 3.7, effect: blink_fast, r: 255, g: 0, b: 0 }
+            low_battery: { threshold: 3.6, effect: blink_fast, r: 255, g: 0, b: 0 }
            error: { effect: flash, r: 255, g: 0, b: 0 }
        </rosparam>
    </node>
--- a/clover/launch/main_camera.launch
+++ b/clover/launch/main_camera.launch
@@ -9,6 +9,8 @@
    <node if="$(eval direction_z == 'down' and direction_y == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 1.5707963 0 3.1415926 base_link main_camera_optical"/>
    <node if="$(eval direction_z == 'up' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 1.5707963 0 0 base_link main_camera_optical"/>
    <node if="$(eval direction_z == 'up' and direction_y == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 -1.5707963 0 0 base_link main_camera_optical"/>
+    <node if="$(eval direction_z == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.03 0 0.05 -1.5707963 0 -1.5707963 base_link main_camera_optical"/>
+    <node if="$(eval direction_z == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="-0.03 0 0.05 1.5707963 0 -1.5707963 base_link main_camera_optical"/>

    <!-- Template for custom camera orientation -->
    <!-- Camera position and orientation are represented by base_link -> main_camera_optical transform -->
--- a/clover/src/simple_offboard.cpp
+++ b/clover/src/simple_offboard.cpp
@@ -36,6 +36,7 @@
 #include <mavros_msgs/Thrust.h>
 #include <mavros_msgs/State.h>
 #include <mavros_msgs/StatusText.h>
+#include <mavros_msgs/ManualControl.h>

 #include <clover/GetTelemetry.h>
 #include <clover/Navigate.h>
@@ -74,7 +75,7 @@ ros::Duration global_position_timeout;
 ros::Duration battery_timeout;
 float default_speed;
 bool auto_release;
-bool land_only_in_offboard, nav_from_sp;
+bool land_only_in_offboard, nav_from_sp, check_kill_switch;
 std::map<string, string> reference_frames;

 // Publishers
@@ -122,6 +123,7 @@ enum { YAW, YAW_RATE, TOWARDS } setpoint_yaw_type;
 // Last received telemetry messages
 mavros_msgs::State state;
 mavros_msgs::StatusText statustext;
+mavros_msgs::ManualControl manual_control;
 PoseStamped local_position;
 TwistStamped velocity;
 NavSatFix global_position;
@@ -486,6 +488,18 @@ void publishSetpoint(const ros::TimerEvent& event)
 	publish(event.current_real);
 }

+inline void checkKillSwitch()
+{
+	if (!TIMEOUT(manual_control, state_timeout))
+		throw std::runtime_error("Manual control timeout, can't check kill switch status");
+
+	const int KILL_SWITCH_BIT = 12; // https://github.com/PX4/Firmware/blob/c302514a0809b1765fafd13c014d705446ae1113/src/modules/mavlink/mavlink_messages.cpp#L3975
+	bool kill_switch = manual_control.buttons & (1 << KILL_SWITCH_BIT);
+
+	if (kill_switch)
+		throw std::runtime_error("Kill switch is on");
+}
+
 inline void checkState()
 {
 	if (TIMEOUT(state, state_timeout))
@@ -513,6 +527,10 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 		// Checks
 		checkState();

+		if (auto_arm && check_kill_switch) {
+			checkKillSwitch();
+		}
+
 		// default frame is local frame
 		if (frame_id.empty())
 			frame_id = local_frame;
@@ -834,6 +852,7 @@ int main(int argc, char **argv)
 	nh_priv.param("auto_release", auto_release, true);
 	nh_priv.param("land_only_in_offboard", land_only_in_offboard, true);
 	nh_priv.param("nav_from_sp", nav_from_sp, true);
+	nh_priv.param("check_kill_switch", check_kill_switch, true);
 	nh_priv.param("default_speed", default_speed, 0.5f);
 	nh_priv.param<string>("body_frame", body.child_frame_id, "body");
 	nh_priv.getParam("reference_frames", reference_frames);
@@ -860,6 +879,7 @@ int main(int argc, char **argv)
 	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
--- a/clover_blocks/README.md
+++ b/clover_blocks/README.md
@@ -30,7 +30,9 @@ 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).
 * `~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).

 These parameters also can be set as URL GET-parameters, for example:

--- a/clover_blocks/src/clover_blocks
+++ b/clover_blocks/src/clover_blocks
@@ -1,5 +1,13 @@
 #!/usr/bin/env python

+# Copyright (C) 2020 Copter Express Technologies
+#
+# Author: Oleg Kalachev <okalachev@gmail.com>
+#
+# Distributed under MIT License (available at https://opensource.org/licenses/MIT).
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+
 from __future__ import print_function

 import rospy
--- a/clover_blocks/www/blocks.js
+++ b/clover_blocks/www/blocks.js
@@ -1,3 +1,13 @@
+/*
+ * Copyright (C) 2020 Copter Express Technologies
+ *
+ * Author: Oleg Kalachev <okalachev@gmail.com>
+ *
+ * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ */
+
 const COLOR_FLIGHT = 293;
 const COLOR_STATE = 36;
 const COLOR_LED = 143;
--- a/clover_blocks/www/main.js
+++ b/clover_blocks/www/main.js
@@ -1,3 +1,13 @@
+/*
+ * Copyright (C) 2020 Copter Express Technologies
+ *
+ * Author: Oleg Kalachev <okalachev@gmail.com>
+ *
+ * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ */
+
 import * as ros from './ros.js';
 import './blocks.js';
 import {generateCode, generateUserCode} from './python.js';
@@ -29,7 +39,9 @@ var workspace = Blockly.inject('blockly', {
 function readParams() {
 	return Promise.all([
 		ros.readParam('navigate_tolerance', true, 0.2),
-		ros.readParam('sleep_time', true, 0.2)
+		ros.readParam('yaw_tolerance', true, 20),
+		ros.readParam('sleep_time', true, 0.2),
+		ros.readParam('confirm_run', true, true),
 	]);
 }

@@ -97,7 +109,7 @@ new ROSLIB.Topic({ ros: ros.ros, name: ros.priv + 'prompt', messageType: 'clover
 		name: ros.priv + 'input/' + msg.id,
 		messageType: 'std_msgs/String',
 		latch: true
-	}).publish(new ROSLIB.Message({ data: response }));
+	}).publish(new ROSLIB.Message({ data: response || '' }));
 });

 window.stopProgram = function() {
@@ -113,7 +125,7 @@ ros.ros.on('close', update);
 ready.then(() => runButton.disabled = false);

 window.runProgram = function() {
-	if (!confirm('Run program?')) return;
+	if (ros.params.confirm_run && !confirm('Run program?')) return;

 	runRequest = true;
 	update();
--- a/clover_blocks/www/python.js
+++ b/clover_blocks/www/python.js
@@ -1,3 +1,13 @@
+/*
+ * Copyright (C) 2020 Copter Express Technologies
+ *
+ * Author: Oleg Kalachev <okalachev@gmail.com>
+ *
+ * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ */
+
 import {params} from './ros.js';

 // If any new block imports any library, add that library name here.
@@ -8,14 +18,9 @@ Blockly.Python.addReservedWords('pigpio,pi,Range');
 Blockly.Python.addReservedWords('SetLEDEffect,set_effect');
 Blockly.Python.addReservedWords('SetLEDs,LEDState,set_leds');

-// TODO: parametrize
-const navigate_tolerance = 0.2;
-const sleep_time = 0.2;
-
 const IMPORT_SRV = `from clover import srv
 from std_srvs.srv import Trigger`;

-// TODO: tolerance to parameters
 const NAVIGATE_WAIT = () => `\ndef navigate_wait(x=0, y=0, z=0, speed=0.5, frame_id='body', auto_arm=False):
    res = navigate(x=x, y=y, z=z, yaw=float('nan'), speed=speed, frame_id=frame_id, auto_arm=auto_arm)

@@ -33,15 +38,13 @@ const LAND_WAIT = () => `\ndef land_wait():
    while get_telemetry().armed:
        rospy.sleep(${params.sleep_time})\n`;

-// TODO: tolerance to parameters
 const WAIT_YAW = () => `\ndef wait_yaw():
    while not rospy.is_shutdown():
        telem = get_telemetry(frame_id='navigate_target')
-        if abs(telem.yaw) < math.radians(20):
+        if abs(telem.yaw) < math.radians(${params.yaw_tolerance}):
            return
        rospy.sleep(${params.sleep_time})\n`;

-// TODO: tolerance to parameters
 const WAIT_ARRIVAL = () => `\ndef wait_arrival():
    while not rospy.is_shutdown():
        telem = get_telemetry(frame_id='navigate_target')
@@ -49,7 +52,6 @@ const WAIT_ARRIVAL = () => `\ndef wait_arrival():
            return
        rospy.sleep(${params.sleep_time})\n`;

-// TODO: tolerance to parameters
 const ARRIVED = () => `\ndef arrived():
    telem = get_telemetry(frame_id='navigate_target')
    return math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < ${params.navigate_tolerance}\n`
--- a/clover_blocks/www/ros.js
+++ b/clover_blocks/www/ros.js
@@ -1,3 +1,13 @@
+/*
+ * Copyright (C) 2020 Copter Express Technologies
+ *
+ * Author: Oleg Kalachev <okalachev@gmail.com>
+ *
+ * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ */
+
 var url = 'ws://' + location.hostname + ':9090';
 export var ros = new ROSLIB.Ros({ url });

--- a/docs/assets/assembling_soldering_clever_4/coex_fc_1.png
+++ b/docs/assets/assembling_soldering_clever_4/coex_fc_1.png
--- a/docs/assets/assembling_soldering_clever_4/coex_fc_2.png
+++ b/docs/assets/assembling_soldering_clever_4/coex_fc_2.png
--- a/docs/assets/assembling_soldering_clever_4/coex_fc_3.png
+++ b/docs/assets/assembling_soldering_clever_4/coex_fc_3.png
--- a/docs/assets/assembling_soldering_clever_4/coex_pix_1.png
+++ b/docs/assets/assembling_soldering_clever_4/coex_pix_1.png
--- a/docs/assets/assembling_soldering_clever_4/coex_pix_2.png
+++ b/docs/assets/assembling_soldering_clever_4/coex_pix_2.png
--- a/docs/assets/assembling_soldering_clever_4/esc_1.png
+++ b/docs/assets/assembling_soldering_clever_4/esc_1.png
--- a/docs/assets/assembling_soldering_clever_4/esc_10.png
+++ b/docs/assets/assembling_soldering_clever_4/esc_10.png
--- a/docs/assets/assembling_soldering_clever_4/esc_2.png
+++ b/docs/assets/assembling_soldering_clever_4/esc_2.png
--- a/docs/assets/assembling_soldering_clever_4/esc_3.png
+++ b/docs/assets/assembling_soldering_clever_4/esc_3.png
--- a/docs/assets/assembling_soldering_clever_4/esc_4.png
+++ b/docs/assets/assembling_soldering_clever_4/esc_4.png
--- a/docs/assets/assembling_soldering_clever_4/esc_5.png
+++ b/docs/assets/assembling_soldering_clever_4/esc_5.png
--- a/docs/assets/assembling_soldering_clever_4/esc_6.png
+++ b/docs/assets/assembling_soldering_clever_4/esc_6.png
--- a/docs/assets/assembling_soldering_clever_4/esc_7.png
+++ b/docs/assets/assembling_soldering_clever_4/esc_7.png
--- a/docs/assets/assembling_soldering_clever_4/esc_8.png
+++ b/docs/assets/assembling_soldering_clever_4/esc_8.png
--- a/docs/assets/assembling_soldering_clever_4/esc_9.png
+++ b/docs/assets/assembling_soldering_clever_4/esc_9.png
--- a/docs/assets/assembling_soldering_clever_4/fc_connection_1.png
+++ b/docs/assets/assembling_soldering_clever_4/fc_connection_1.png
--- a/docs/assets/assembling_soldering_clever_4/fc_connection_2.png
+++ b/docs/assets/assembling_soldering_clever_4/fc_connection_2.png
--- a/docs/assets/assembling_soldering_clever_4/fc_connection_3.png
+++ b/docs/assets/assembling_soldering_clever_4/fc_connection_3.png
--- a/docs/assets/assembling_soldering_clever_4/fc_connection_4.png
+++ b/docs/assets/assembling_soldering_clever_4/fc_connection_4.png
--- a/docs/assets/assembling_soldering_clever_4/fc_connection_5.png
+++ b/docs/assets/assembling_soldering_clever_4/fc_connection_5.png
--- a/docs/assets/assembling_soldering_clever_4/frame_1.png
+++ b/docs/assets/assembling_soldering_clever_4/frame_1.png
--- a/docs/assets/assembling_soldering_clever_4/frame_2.png
+++ b/docs/assets/assembling_soldering_clever_4/frame_2.png
--- a/docs/assets/assembling_soldering_clever_4/frame_3.png
+++ b/docs/assets/assembling_soldering_clever_4/frame_3.png
--- a/docs/assets/assembling_soldering_clever_4/frame_4.png
+++ b/docs/assets/assembling_soldering_clever_4/frame_4.png
--- a/docs/assets/assembling_soldering_clever_4/frame_5.png
+++ b/docs/assets/assembling_soldering_clever_4/frame_5.png
--- a/docs/assets/assembling_soldering_clever_4/frame_6.png
+++ b/docs/assets/assembling_soldering_clever_4/frame_6.png
--- a/docs/assets/assembling_soldering_clever_4/frame_7.png
+++ b/docs/assets/assembling_soldering_clever_4/frame_7.png
--- a/docs/assets/assembling_soldering_clever_4/guard_1.png
+++ b/docs/assets/assembling_soldering_clever_4/guard_1.png
--- a/docs/assets/assembling_soldering_clever_4/guard_2.png
+++ b/docs/assets/assembling_soldering_clever_4/guard_2.png
--- a/docs/assets/assembling_soldering_clever_4/guard_3.png
+++ b/docs/assets/assembling_soldering_clever_4/guard_3.png
--- a/docs/assets/assembling_soldering_clever_4/led_1.png
+++ b/docs/assets/assembling_soldering_clever_4/led_1.png
--- a/docs/assets/assembling_soldering_clever_4/led_2.png
+++ b/docs/assets/assembling_soldering_clever_4/led_2.png
--- a/docs/assets/assembling_soldering_clever_4/led_3.png
+++ b/docs/assets/assembling_soldering_clever_4/led_3.png
--- a/docs/assets/assembling_soldering_clever_4/led_4.png
+++ b/docs/assets/assembling_soldering_clever_4/led_4.png
--- a/docs/assets/assembling_soldering_clever_4/led_5.png
+++ b/docs/assets/assembling_soldering_clever_4/led_5.png
--- a/docs/assets/assembling_soldering_clever_4/led_6.png
+++ b/docs/assets/assembling_soldering_clever_4/led_6.png
--- a/docs/assets/assembling_soldering_clever_4/led_7.png
+++ b/docs/assets/assembling_soldering_clever_4/led_7.png
--- a/docs/assets/assembling_soldering_clever_4/led_8.png
+++ b/docs/assets/assembling_soldering_clever_4/led_8.png
--- a/docs/assets/assembling_soldering_clever_4/led_9.png
+++ b/docs/assets/assembling_soldering_clever_4/led_9.png
--- a/docs/assets/assembling_soldering_clever_4/motor_1.png
+++ b/docs/assets/assembling_soldering_clever_4/motor_1.png
--- a/docs/assets/assembling_soldering_clever_4/motor_2.png
+++ b/docs/assets/assembling_soldering_clever_4/motor_2.png
--- a/docs/assets/assembling_soldering_clever_4/raspberry_1.png
+++ b/docs/assets/assembling_soldering_clever_4/raspberry_1.png
--- a/docs/assets/assembling_soldering_clever_4/raspberry_10.png
+++ b/docs/assets/assembling_soldering_clever_4/raspberry_10.png
--- a/docs/assets/assembling_soldering_clever_4/raspberry_11.png
+++ b/docs/assets/assembling_soldering_clever_4/raspberry_11.png
--- a/docs/assets/assembling_soldering_clever_4/raspberry_12.png
+++ b/docs/assets/assembling_soldering_clever_4/raspberry_12.png
--- a/docs/assets/assembling_soldering_clever_4/raspberry_13.png
+++ b/docs/assets/assembling_soldering_clever_4/raspberry_13.png
--- a/docs/assets/assembling_soldering_clever_4/raspberry_14.png
+++ b/docs/assets/assembling_soldering_clever_4/raspberry_14.png
--- a/docs/assets/assembling_soldering_clever_4/raspberry_15.png
+++ b/docs/assets/assembling_soldering_clever_4/raspberry_15.png
--- a/docs/assets/assembling_soldering_clever_4/raspberry_16.png
+++ b/docs/assets/assembling_soldering_clever_4/raspberry_16.png
--- a/docs/assets/assembling_soldering_clever_4/raspberry_17.png
+++ b/docs/assets/assembling_soldering_clever_4/raspberry_17.png
--- a/docs/assets/assembling_soldering_clever_4/raspberry_18.png
+++ b/docs/assets/assembling_soldering_clever_4/raspberry_18.png
--- a/docs/assets/assembling_soldering_clever_4/raspberry_2.png
+++ b/docs/assets/assembling_soldering_clever_4/raspberry_2.png
--- a/docs/assets/assembling_soldering_clever_4/raspberry_3.png
+++ b/docs/assets/assembling_soldering_clever_4/raspberry_3.png
--- a/docs/assets/assembling_soldering_clever_4/raspberry_4.png
+++ b/docs/assets/assembling_soldering_clever_4/raspberry_4.png
--- a/docs/assets/assembling_soldering_clever_4/raspberry_5.png
+++ b/docs/assets/assembling_soldering_clever_4/raspberry_5.png
--- a/docs/assets/assembling_soldering_clever_4/raspberry_6.png
+++ b/docs/assets/assembling_soldering_clever_4/raspberry_6.png
--- a/docs/assets/assembling_soldering_clever_4/raspberry_7.png
+++ b/docs/assets/assembling_soldering_clever_4/raspberry_7.png
--- a/docs/assets/assembling_soldering_clever_4/raspberry_8.png
+++ b/docs/assets/assembling_soldering_clever_4/raspberry_8.png
--- a/docs/assets/assembling_soldering_clever_4/raspberry_9.png
+++ b/docs/assets/assembling_soldering_clever_4/raspberry_9.png
--- 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.png
+++ b/docs/assets/dxf/4.2/deck_mount.png
--- 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/deck_mount_small.png
+++ b/docs/assets/dxf/4.2/deck_mount_small.png
--- a/docs/assets/dxf/4.2/grab_deck.dxf
+++ b/docs/assets/dxf/4.2/grab_deck.dxf
--- a/docs/assets/dxf/4.2/grab_deck.png
+++ b/docs/assets/dxf/4.2/grab_deck.png
--- 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/led_mount_plate.png
+++ b/docs/assets/dxf/4.2/led_mount_plate.png
--- 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.png
+++ b/docs/assets/dxf/4.2/prop_guard.png
--- 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/prop_guard_mount.png
+++ b/docs/assets/dxf/4.2/prop_guard_mount.png
--- a/docs/assets/dxf/4.2/small_leg.dxf
+++ b/docs/assets/dxf/4.2/small_leg.dxf
--- a/docs/assets/dxf/4.2/small_leg.png
+++ b/docs/assets/dxf/4.2/small_leg.png
--- a/docs/assets/logmein_vpn/add_net_1.png
+++ b/docs/assets/logmein_vpn/add_net_1.png
--- a/docs/assets/logmein_vpn/add_net_2.png
+++ b/docs/assets/logmein_vpn/add_net_2.png
--- a/docs/assets/logmein_vpn/add_net_3.png
+++ b/docs/assets/logmein_vpn/add_net_3.png
--- a/docs/assets/logmein_vpn/add_user.png
+++ b/docs/assets/logmein_vpn/add_user.png
--- a/docs/assets/logmein_vpn/change_net.png
+++ b/docs/assets/logmein_vpn/change_net.png
--- a/docs/assets/logmein_vpn/check_connection.png
+++ b/docs/assets/logmein_vpn/check_connection.png
--- a/docs/assets/logmein_vpn/main_menu.png
+++ b/docs/assets/logmein_vpn/main_menu.png
--- a/docs/assets/logmein_vpn/win_1.png
+++ b/docs/assets/logmein_vpn/win_1.png
--- a/docs/assets/logmein_vpn/win_2.png
+++ b/docs/assets/logmein_vpn/win_2.png
--- a/docs/assets/logmein_vpn/win_3.png
+++ b/docs/assets/logmein_vpn/win_3.png
--- a/docs/assets/logmein_vpn/win_4.png
+++ b/docs/assets/logmein_vpn/win_4.png
--- a/docs/assets/logmein_vpn/win_5.png
+++ b/docs/assets/logmein_vpn/win_5.png
--- a/docs/assets/right-hand-rotate.png
+++ b/docs/assets/right-hand-rotate.png
--- a/docs/assets/right-hand-rule.svg
+++ b/docs/assets/right-hand-rule.svg
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--- a/docs/assets/simulator.jpg
+++ b/docs/assets/simulator.jpg
--- a/docs/clover.css
+++ b/docs/clover.css
@@ -69,6 +69,11 @@ footer img {
 table.versions td {
 	text-align: center;
 	background: white;
+}
+
+table.versions .subversion {
+	font-size: 80%;
+}

 .circle {
 	width: 0.8em;
--- a/docs/en/assemble_4_2.md
+++ b/docs/en/assemble_4_2.md
@@ -9,43 +9,43 @@
        <td><img src="../assets/assembling_clever4_2/type_size/m3x10.png" width=70 class="center"></td>
        <td>Screw M3x10</td>
        <td><img src="../assets/assembling_clever4_2/type_size/aluminium_40.png" width=100 class="center"></td>
-        <td>Aluminium rack 40mm</td>
+        <td>Aluminium rack 40 mm</td>
    </tr>
    <tr>
        <td><img src="../assets/assembling_clever4_2/type_size/m3x8.png" width=60 class="center"></td>
        <td>Screw M3x8</td>
        <td><img src="../assets/assembling_clever4_2/type_size/aluminium_20.png" width=70 class="center"></td>
-        <td>Aluminium rack 15mm</td>
+        <td>Aluminium rack 15 mm</td>
    </tr>
    <tr>
        <td><img src="../assets/assembling_clever4_2/type_size/m3x5.png" width=40 class="center"></td>
        <td>Screw M3x5</td>
        <td><img src="../assets/assembling_clever4_2/type_size/htp-40.png" width=100 class="center"></td>
-        <td>Nylon rack 40mm</td>
+        <td>Nylon rack 40 mm</td>
    </tr>
    <tr>
        <td><img src="../assets/assembling_clever4_2/type_size/m2x5.png" width=40 class="center"></td>
        <td>Screw M2x5</td>
        <td><img src="../assets/assembling_clever4_2/type_size/htp-30.png" width=80 class="center"></td>
-        <td>Nylon rack 30mm</td>
+        <td>Nylon rack 30 mm</td>
    </tr>
    <tr>
        <td><img src="../assets/assembling_clever4_2/type_size/nut_metal.png" width=25 class="center"></td>
        <td> Nut M3 (self-locking)</td>
        <td><img src="../assets/assembling_clever4_2/type_size/htp-20.png" width=70 class="center"></td>
-        <td>Nylon rack 20mm</td>
+        <td>Nylon rack 20 mm</td>
    </tr>
    <tr>
        <td><img src="../assets/assembling_clever4_2/type_size/nut_nylon.png" width=25 class="center"></td>
        <td> Nut M3 (nylon)</td>
        <td><img src="../assets/assembling_clever4_2/type_size/htp-15.png" width=60 class="center"></td>
-        <td>Nylon rack 15mm</td>
+        <td>Nylon rack 15 mm</td>
    </tr>
    <tr>
        <td><img src="../assets/assembling_clever4_2/type_size/dumper.png" width=50 class="center"></td>
        <td>Damper rack</td>
        <td><img src="../assets/assembling_clever4_2/type_size/hts-6.png" width=50 class="center"></td>
-        <td> Nylon rack 6mm</td>
+        <td> Nylon rack 6 mm</td>
    </tr>
 </table>

@@ -78,7 +78,7 @@

    <img src="../assets/assembling_clever4_2/frame_7.png" width=300 class="zoom border center">

-## Installating motors
+## Installing motors

 1. When installing motors, pay attention to the rotation scheme of the motors. The rotation marking on the motors must match the rotation pattern.

@@ -112,7 +112,7 @@

 ## Installing Flight Controller

-Set *Clover 4* allows you to install various flight controllers, for example *COEX Pix* and *Pixracer*.
+Clover 4 drone kit allows you to install various flight controllers, for example [COEX Pix](coex_pix.md) and Pixracer.

 > **Caution** During installation the flight controller, pay attention to the arrow located on the board, it should be directed to the copter bow.

@@ -120,7 +120,7 @@ Set *Clover 4* allows you to install various flight controllers, for example *CO

 > **Hint** Before installing the damper struts, screw 2 layers of nylon nuts, for a stronger fix or bite off the excess thread using side cutters.

-Install the damper struts, fix *COEX Pix* on them with nylon nuts.
+Install the damper struts, fix COEX Pix on them with nylon nuts.

 <img src="../assets/assembling_clever4_2/coex_pix.png" width=300 class="zoom border center">

@@ -130,7 +130,7 @@ Install the damper struts, fix *COEX Pix* on them with nylon nuts.

    <img src="../assets/assembling_clever4_2/pixracer_1.png" width=300 class="zoom border center">

-2. Glue 3-4 layers of double-sided tape, glue it in the center of the small deck and install *Pixracer* on top.
+2. Glue 3-4 layers of double-sided tape, glue it in the center of the small deck and install Pixracer on top.

    <img src="../assets/assembling_clever4_2/pixracer_2.png" width=300 class="zoom border center">

@@ -153,14 +153,14 @@ Install the damper struts, fix *COEX Pix* on them with nylon nuts.

 ## Installing Raspberry Pi

-1. Install the 20mm racks on the main deck, fix them with the M3x8 screws.
+1. Install the 20 mm racks on the main deck, fix them with the M3x8 screws.

    <div class="image-group">
        <img src="../assets/assembling_clever4_2/fc_connection_5.png" width=300 class="zoom border">
        <img src="../assets/assembling_clever4_2/fc_connection_6.png" width=300 class="zoom border">
    </div>

-2. On a mounting deck, install 6mm racks and 30mm racks, fasten them with the M3x5 and M3x12 bolts, respectively.
+2. On a mounting deck, install 6 mm racks and 30 mm racks, fasten them with the M3x5 and M3x12 bolts, respectively.

    <img src="../assets/assembling_clever4_2/raspberry_1.png" width=300 class="zoom border center">

@@ -168,7 +168,7 @@ Install the damper struts, fix *COEX Pix* on them with nylon nuts.

    <img src="../assets/assembling_clever4_2/raspberry_2.png" width=300 class="zoom border center">

-4. Install the *Raspberry Pi* circuit board and fix with nylon nuts.
+4. Install the Raspberry Pi circuit board and fix with nylon nuts.

    <img src="../assets/assembling_clever4_2/raspberry_3.png" width=300 class="zoom border center">

@@ -176,7 +176,7 @@ Install the damper struts, fix *COEX Pix* on them with nylon nuts.

    <img src="../assets/assembling_clever4_2/raspberry_5.png" width=300 class="zoom border center">

-6. Install 4 20mm racks and fix them with the M3x8 screws.
+6. Install 4 20 mm racks and fix them with the M3x8 screws.

    <img src="../assets/assembling_clever4_2/raspberry_6.png" width=300 class="zoom border center">

@@ -192,11 +192,11 @@ Install the damper struts, fix *COEX Pix* on them with nylon nuts.

    <img src="../assets/assembling_clever4_2/raspberry_9.png" width=300 class="zoom border center">

-10. Connect to the *Raspberry Pi* rangefinder and power cable.
+10. Connect to the Raspberry Pi rangefinder and power cable.

    <img src="../assets/assembling_clever4_2/raspberry_10.png" width=300 class="zoom border center">

-11. Connect the camera cable to *Raspberry Pi*.
+11. Connect the camera cable to Raspberry Pi.

    <img src="../assets/assembling_clever4_2/raspberry_11.png" width=300 class="zoom border center">

@@ -226,7 +226,7 @@ Install the damper struts, fix *COEX Pix* on them with nylon nuts.

    <img src="../assets/assembling_clever4_2/led_5.png" width=300 class="zoom border center">

-7. Connect the signal output of the LED strip (white cable) to *Raspberry Ri*, to pin *GPIO 21*.
+7. Connect the signal output of the LED strip (white cable) to Raspberry Ri, to pin *GPIO21*.

    <img src="../assets/assembling_clever4_2/led_6.png" width=300 class="zoom border center">

@@ -250,7 +250,7 @@ Install the damper struts, fix *COEX Pix* on them with nylon nuts.

 ## Flight preparation

-1. Install the battery strap and connect the flight controller to the *Raspberry Pi* using a USB cable.
+1. Install the battery strap and connect the flight controller to the Raspberry Pi using a USB cable.

    <div class="image-group">
        <img src="../assets/assembling_clever4_2/final_1.png" width=300 class="zoom border">
@@ -265,4 +265,4 @@ Install the damper struts, fix *COEX Pix* on them with nylon nuts.

    <img src="../assets/assembling_clever4_2/final_4.png" width=300 class="zoom border center">

-> **Success** The drone is assembled, then make ["setup"](setup.md).
+> **Success** The drone is assembled, then perform [setup](setup.md).
--- a/docs/en/assembly.md
+++ b/docs/en/assembly.md
@@ -6,22 +6,24 @@ This section contains articles describing the assembly of each version of Clover
     <tr><th>Version</th><th>Image</th></tr>
     <tr>
          <td><a href="assemble_4_2.md">Clover&nbsp;4.2</a></td>
+          <td><a href="assemble_4_2.md"><img src="../assets/versions/clover_4.jpg" width=200></a></td>
+     </tr>
+     <!-- <tr>
+          <td><a href="assemble_4_1.md">Clover&nbsp;4.1</a></td>
          <td><img src="../assets/versions/clover_4.jpg" width=200></td>
+     </tr> -->
+     <tr>
+          <td><a href="assemble_4.md">Clover&nbsp;4</a></td>
+          <td><a href="assemble_4.md"><img src="../assets/versions/clover_4.jpg" width=200></a></td>
     </tr>
     <tr>
-          <td><a href="assemble_4_2.md">Clover&nbsp;4.1</a></td>
-          <td><img src="../assets/versions/clover_4.jpg" width=200></td>
+          <td><a href="assemble_3.md">Clover&nbsp;3</a></td>
+          <td><a href="assemble_3.md"><img src="../assets/versions/clover_3.jpg" width=200></a></td>
     </tr>
     <tr>
-          <td><a href="assemble_4_2.md">Clover&nbsp;4</a></td>
-          <td><img src="../assets/versions/clover_4.jpg" width=200></td>
-     </tr>
-     <tr>
-          <td><a href="assemble_4_2.md">Clover&nbsp;3</a></td>
-          <td><img src="../assets/versions/clover_3.jpg" width=200></td>
-     </tr>
-     <tr>
-          <td><a href="assemble_4_2.md">Clover&nbsp;2</a></td>
-          <td><img src="../assets/versions/clover_2.jpg" width=200></td>
+          <td><a href="assemble_2.md">Clover&nbsp;2</a></td>
+          <td><a href="assemble_2.md"><img src="../assets/versions/clover_2.jpg" width=200></a></td>
     </tr>
 </table>
+
+Links to Clover's parts CAD-models are available in the "[CAD-models](models.md)" article.
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Oleg Kalachev	048a605f2f	simple_offboard: detect killswitch when auto_arm is set (#280 ) * simple_offboard: subscribe to manual control * simple_offboard: read check_kill_switch parameter * simple_offboard: check kill switch status * Fixes	2020-10-20 09:58:32 +03:00
Oleg Kalachev	0e0d4fe5cc	led.launch: add led_count and gpio_pin arguments (#279 ) * led.launch: add led_count and gpio_pin arguments * docs: new args in led.launch	2020-10-19 20:58:31 +03:00
Oleg Kalachev	37bbd7522c	Merge branch 'master' of github.com:CopterExpress/clover	2020-10-19 16:23:37 +03:00
Oleg Kalachev	f206b2ea18	docs: update projects list	2020-10-19 15:55:07 +03:00
Oleg Kalachev	ae7f3ccfbc	docs: new cad models (#277 ) * docs: add new cad models for milling * docs: Сompleted new model table * docs: orthography Co-authored-by: Volga <gonzalez1139@gmail.com>	2020-10-17 07:44:37 +03:00
Oleg Kalachev	da28c61f1e	main_camera.launch: add forward and backward camera shortcuts	2020-10-15 18:40:17 +03:00
Oleg Kalachev	b7ce588b07	blocks: add yaw_tolerance parameter	2020-10-13 15:22:13 +03:00
Oleg Kalachev	f663a62c1e	blocks: add confirm_run parameter for disabling running confirmation	2020-10-13 15:14:41 +03:00
Oleg Kalachev	5b370ee96b	blocks: treat cancel in prompt as empty string	2020-10-13 15:06:26 +03:00
Oleg Kalachev	e0512c209e	Add code headers	2020-10-13 01:15:56 +03:00
Oleg Kalachev	7385f673de	blocks: remove unused code	2020-10-13 01:12:30 +03:00
Oleg Kalachev	5629b0a9b3	led: change default low battery threshold to 3.6	2020-10-08 21:06:29 +03:00
Alamoris	9de0034fb9	docs: add article on assembling Clover 4.2 ws (#275 ) * docs: add article about soldering clever * Rename soldering 4.2 to 4.2 WorldSkills * Change 4.2 article title * Add link to 4.2 WS to assembly page * Edit orthography in 4.2 WS assembly * Edit orthography in 4.2 assembly * Edit orthography in 4.2 assemble (en) * Edit ponctuation in 4.2 WS assemble article * Edit punctuation in 4.2 assemble article * assemble 4.2 WS: remove unnecessary emphases + editing * assemble 4.2: remove unnecessary emphases + editing * Edit assemble 4.2, remove unnecessary emphases (en) * Make COEX Pix a link in assemble 4.2 article * Make COEX Pix a link in assemble 4.2 WS article Co-authored-by: Oleg Kalachev <okalachev@gmail.com>	2020-10-08 20:45:03 +03:00
Oleg Kalachev	ae29fe00d3	docs: fix typo in css	2020-10-08 06:23:42 +03:00
Oleg Kalachev	7295c6c040	docs: make images in assembly articles links	2020-10-08 05:31:18 +03:00
Oleg Kalachev	11bdf2d3da	docs: fix link in assembly articles	2020-10-08 05:10:01 +03:00
Alamoris	89ccca3c30	docs: instructions for connecting to LogMeIn VPN (#276 ) * docs: add article about connection to vpn * docs: fix * docs: add instruction for connecting using Windows * Edit vpn_hamachi article * docs: update hamachi_vpn article Co-authored-by: Oleg Kalachev <okalachev@gmail.com>	2020-10-07 18:39:06 +03:00
Oleg Kalachev	50218a8822	docs: add COEX Pix mention in firmware flashing article	2020-10-07 03:53:14 +03:00
Oleg Kalachev	11d5da5db2	docs: minor change	2020-10-07 00:18:02 +03:00
Oleg Kalachev	757129782e	docs: add simulator screenshot	2020-10-07 00:17:28 +03:00
Oleg Kalachev	f7c1f4330d	docs: add link to cad-models article to assembly section	2020-10-06 04:18:22 +03:00
Oleg Kalachev	b36292cdb8	blocks: add print-range example	2020-10-06 01:40:07 +03:00
Oleg Kalachev	a9f6fe329b	docs: minor summary change	2020-10-06 01:38:19 +03:00
Oleg Kalachev	f89cc92736	docs: rename glossary articles back to glossary.md	2020-10-06 01:36:17 +03:00
Oleg Kalachev	60755fa1b5	gitbook: enable collapsible-menu (#270 ) * gitbook: enable collapsible-menu * Collapse main menu (en) * Update events and supplementary materials articles * Fix collapsed items of main menu * Add Copter Hack 2021 article	2020-10-06 01:05:53 +03:00
Oleg Kalachev	792352d072	blocks: add flip example	2020-10-01 22:20:37 +03:00
Oleg Kalachev	2f6d9639c1	blocks: fix setpoint block	2020-10-01 22:20:26 +03:00
Oleg Kalachev	d52175bb30	docs: css cicle class	2020-10-01 05:10:26 +03:00
Oleg Kalachev	be6e894b80	docs: add led events table	2020-10-01 05:09:00 +03:00
Oleg Kalachev	2f6125ce54	Implement block programming (using Blockly) (#272 ) * Clover Blockly: add first blocks set * Adjust Blockly settings * Fix get_position output type * Add screenshot * Rename readme.md to README.md * Resize screenshot * Add package.xml * Little change * Fixes * Add python_compressed to blockly * Implement some of the Clover blocks in Python * Make Python indentation 4 spaces * Fixes to Python blocks implementation * Implement set_velocity block in Python * Implement wait_arrival block in Python * Fix indentation in Python implementation of blocks * Fix * Fix land_wait template * Set reserved words in Python * Change default frame_id to aruco_map in get_position block * Fix * Move blocks definitions to blocks.js * Get rid of missing favicon error * Simplify navigate * Rearrange layout, add tabs * Generate Python code * Small style change * -console.log * Code style * Use modules * Move modules to the header * Correct order for ROS definitions + generating "backend" code * Fix rangefinder_distance block * simple_offboard: commands to change only yaw and yaw rate * Implement set_yaw block * Start working on Blockly documentation * Implement print block with a topic * Unneeded code * Little fixes * Fix indentation * Fixes * Fix wait_arival, get_distance * Implement running Blockly programs, implement prompt block, fixes * Add land button * Little change * Fix reserved words + little fixes * +x for main.py * Simplify run button * Auto-save and load workspace * Make land button work * Handle exceptions * Minor change * Add help URL for blocks * Fix * Implement arrived block * Mark blockly and highlight.js as linguist-vendored * Add forgotten CMakeLists.txt * Add wait checkbox to set_yaw block * Disable run button when disconnected * Add message and service files * Add some comments * Add tooltip to some blocks * Implement GPIO blocks * Don’t latch print message to prevent duplication * Prevent duplication prompts * Add ROS init code to backend code anyways * Make GPIO blocks color a constant * Minor fix * More correctly update blocks on input value changes * Minor fixes * Remove unneeded readonly attribute * Add marker ID shadow blocks to toolbox * Add lacking reserved words * Fix frame id generation for complex marker id expressions * Consider frame_id in set_yaw block * Shorten ros module import * Implement stop service * Disable and enable run button correctly * Don’t print KeyboardInterrupt exceptions * Put notifications to notifications element * Add 'running' mark * Disable signal in backend python code * Sleep a little bit to let rospy initialize publishers * Remove accidental code * Make ROS namespace and private namespace constants * editorconfig-lint: don’t check Blockly code * Use private namespace constant in Python generator * Implement ~running topic to display current program status more robustly * Make navigate tolerance and sleep time constants * Make set_leds and and set_effect services proxies persistent * Replace a number with constant * Limit ~block topic publishing rate Otherwise messages get queued making the frontend to freeze * Improve internal documentation * Append 'map' to frames list * Return degrees in get_attitude block * Move getting yaw in a separate block * Improve block tooltips * Add some more files to editorconfig-lint excludes * Add get_yaw block to toolbox * Implement get_time block * Implement ~store and ~load services for storing user programs * Set auto_arm only in take_off block * Minor CSS fixes * Make 'Python' tab textarea-like * Implement saving and loading programs * Adjust styles * Retrieve only .xml files in load service * Forgotten code * Documentation on store and load services * Add some examples * Add blocks programming arg to launch file * Update docs * Add package’s dependencies * Add dependency * Add title to select * Fix syntax * Minor fix in docs * Add forgotten roslib.js * Run user program in the same process * Use print function for print block in Python 2 * Add variables example * Fix url * Add functions example * Fix set_servo block * Fix gpio_read block * Update blocks screenshot * Update docs * Update docs * Fix set_effect block * Minor fix in example * Add setpoint block, remove set_velocity from toolbox * Remove unused modules * Unused variable * Add English article skeleton * Clarify backend node link error * Remove unused variable * Update documentation * Fix link to documentation * Add Blockly logo * Update English article * Add Blocks programming link to the main page * Minor change * Add catkin_install_python to CMakeLists.txt * Make navigate tolerance and sleep time configurable * Add minor todo * Add blockly examples directory to editorconfig-lint excludes * Rename main node to clover_blocks * Add a warning to the old blocks programming article * Fix editorconfig-lint exclude	2020-09-30 17:07:03 +03:00
Volga	c6a238c671	docs: fixed gpio port assignment	2020-09-10 14:46:58 +03:00
Volga	28851f39ad	docs: add notice	2020-09-10 13:56:57 +03:00