Merge branch 'v0.24-release' into simple-offboard-update

* aruco_pose: rename parameter known_tilt to known_vertical

* More clean variable names

* aruco_pose: add flip_vertical parameter and get rid of map_flipped

* selfcheck.py: support flip_vertical parameter

* aruco_pose: document flip_vertical parameter

* selfcheck.py: fix known_vertical description

* Fix editorconfig

.github/workflows/docs.yml

@@ -11,10 +11,6 @@ permissions:
   pages: write
   id-token: write
 
-concurrency:
-  group: "pages"
-  cancel-in-progress: true
-
 defaults:
   run:
     shell: bash
@@ -75,6 +71,9 @@ jobs:
 
   deploy-docs:
     if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
+    concurrency:
+        group: "pages"
+        cancel-in-progress: true
     environment:
       name: github-pages
       url: ${{ steps.deployment.outputs.page_url }}

README.md

@@ -20,7 +20,7 @@ Clover drone is used on a wide range of educational events, including [Copter Ha
 
 Preconfigured image for Raspberry Pi with installed and configured software, ready to fly, is available [in the Releases section](https://github.com/CopterExpress/clover/releases).
 
-![GitHub Workflow Status](https://img.shields.io/github/workflow/status/CopterExpress/clover/CI)
+![GitHub Workflow Status](https://img.shields.io/github/actions/workflow/status/CopterExpress/clover/build-image.yaml?branch=master)
 ![GitHub all releases](https://img.shields.io/github/downloads/CopterExpress/clover/total)
 
 Image features:

aruco_pose/README.md

@@ -43,7 +43,8 @@ It's recommended to run it within the same nodelet manager with the camera nodel
 * `~frame_id_prefix` (*string*) – prefix for TF transforms names, marker's ID is appended (default: `aruco_`)
 * `~length` (*double*) – markers' sides length
 * `~length_override` (*map*) – lengths of markers with specified ids
-* `~known_tilt` (*string*) – known tilt (pitch and roll) of all the markers as a frame
+* `~known_vertical` (*string*) – known vertical (Z axis) of all the markers as a frame
+* `~flip_vertical` – flip vertical vector
 
 ### Topics
 
@@ -71,7 +72,8 @@ 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` – known tilt (pitch and roll) of markers map as a frame
+* `~known_vertical` – known vertical (Z axis) of markers map as a frame
+* `~flip_vertical` – flip vertical vector
 * `~image_width` – debug image width (default: 2000)
 * `~image_height` – debug image height (default: 2000)
 * `~image_margin` – debug image margin (default: 200)

aruco_pose/package.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>aruco_pose</name>
   <version>0.23.0</version>
   <description>Positioning with ArUco markers</description>
@@ -28,6 +28,8 @@
   <depend>sensor_msgs</depend>
   <depend>rostest</depend>
   <depend>dynamic_reconfigure</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python-docopt</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3-docopt</depend>
 
   <test_depend>image_publisher</test_depend>
   <test_depend>ros_pytest</test_depend>

aruco_pose/src/aruco_detect.cpp

@@ -71,12 +71,12 @@ private:
 	ros::Publisher markers_pub_, vis_markers_pub_;
 	ros::Subscriber map_markers_sub_;
 	ros::ServiceServer set_markers_srv_;
-	bool estimate_poses_, send_tf_, auto_flip_, use_map_markers_;
+	bool estimate_poses_, send_tf_, flip_vertical_, auto_flip_, use_map_markers_;
 	bool waiting_for_map_;
 	double length_;
 	ros::Duration transform_timeout_;
 	std::unordered_map<int, double> length_override_;
-	std::string frame_id_prefix_, known_tilt_;
+	std::string frame_id_prefix_, known_vertical_;
 	Mat camera_matrix_, dist_coeffs_;
 	aruco_pose::MarkerArray array_;
 	std::unordered_set<int> map_markers_ids_;
@@ -105,7 +105,8 @@ public:
 		readLengthOverride(nh_priv_);
 		transform_timeout_ = ros::Duration(nh_priv_.param("transform_timeout", 0.02));
 
-		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
+		known_vertical_ = nh_priv_.param("known_vertical", nh_priv_.param("known_tilt", std::string(""))); // known_tilt is an old name
+		flip_vertical_ = nh_priv_.param<bool>("flip_vertical", false);
 		auto_flip_ = nh_priv_.param("auto_flip", false);
 
 		frame_id_prefix_ = nh_priv_.param<std::string>("frame_id_prefix", "aruco_");
@@ -144,7 +145,7 @@ private:
 		vector<vector<cv::Point2f>> corners, rejected;
 		vector<cv::Vec3d> rvecs, tvecs;
 		vector<cv::Point3f> obj_points;
-		geometry_msgs::TransformStamped snap_to;
+		geometry_msgs::TransformStamped vertical;
 
 		// Detect markers
 		cv::aruco::detectMarkers(image, dictionary_, corners, ids, parameters_, rejected);
@@ -179,12 +180,12 @@ private:
 					}
 				}
 
-				if (!known_tilt_.empty()) {
+				if (!known_vertical_.empty()) {
 					try {
-						snap_to = tf_buffer_->lookupTransform(msg->header.frame_id, known_tilt_,
-						                                      msg->header.stamp, transform_timeout_);
+						vertical = tf_buffer_->lookupTransform(msg->header.frame_id, known_vertical_,
+						                                       msg->header.stamp, transform_timeout_);
 					} catch (const tf2::TransformException& e) {
-						NODELET_WARN_THROTTLE(5, "can't snap: %s", e.what());
+						NODELET_WARN_THROTTLE(5, "can't retrieve known vertical: %s", e.what());
 					}
 				}
 			}
@@ -205,9 +206,9 @@ private:
 				if (estimate_poses_) {
 					fillPose(marker.pose, rvecs[i], tvecs[i]);
 
-					// snap orientation (if enabled and snap frame available)
-					if (!known_tilt_.empty() && !snap_to.header.frame_id.empty()) {
-						snapOrientation(marker.pose.orientation, snap_to.transform.rotation, auto_flip_);
+					// apply known vertical (if enabled and vertical frame available)
+					if (!known_vertical_.empty() && !vertical.header.frame_id.empty()) {
+						applyVertical(marker.pose.orientation, vertical.transform.rotation, false, auto_flip_);
 					}
 
 					if (send_tf_) {

aruco_pose/src/aruco_map.cpp

@@ -81,9 +81,9 @@ private:
 	bool enabled_ = true;
 	std::string type_;
 	visualization_msgs::MarkerArray vis_array_;
-	std::string known_tilt_, map_, markers_frame_, markers_parent_frame_;
+	std::string known_vertical_, map_, markers_frame_, markers_parent_frame_;
 	int image_width_, image_height_, image_margin_;
-	bool auto_flip_, image_axis_;
+	bool flip_vertical_, auto_flip_, image_axis_;
 
 public:
 	virtual void onInit()
@@ -104,7 +104,8 @@ public:
 
 		type_ = nh_priv_.param<std::string>("type", "map");
 		transform_.child_frame_id = nh_priv_.param<std::string>("frame_id", "aruco_map");
-		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
+		known_vertical_ = nh_priv_.param("known_vertical", nh_priv_.param("known_tilt", std::string(""))); // known_tilt is an old name
+		flip_vertical_ = nh_priv_.param<bool>("flip_vertical", false);
 		auto_flip_ = nh_priv_.param("auto_flip", false);
 		image_width_ = nh_priv_.param("image_width" , 2000);
 		image_height_ = nh_priv_.param("image_height", 2000);
@@ -177,7 +178,7 @@ public:
 			corners.push_back(marker_corners);
 		}
 
-		if (known_tilt_.empty()) {
+		if (known_vertical_.empty()) {
 			// simple estimation
 			valid = cv::aruco::estimatePoseBoard(corners, ids, board_, camera_matrix_, dist_coeffs_,
 			                                     rvec, tvec, false);
@@ -191,7 +192,7 @@ public:
 
 		} else {
 			Mat obj_points, img_points;
-			// estimation with "snapping"
+			// estimation with known vertical
 			cv::aruco::getBoardObjectAndImagePoints(board_, corners, ids, obj_points, img_points);
 			if (obj_points.empty()) goto publish_debug;
 
@@ -203,11 +204,11 @@ public:
 
 			fillTransform(transform_.transform, rvec, tvec);
 			try {
-				geometry_msgs::TransformStamped snap_to = tf_buffer_.lookupTransform(markers->header.frame_id,
-				                                          known_tilt_, markers->header.stamp, ros::Duration(0.02));
-				snapOrientation(transform_.transform.rotation, snap_to.transform.rotation, auto_flip_);
+				geometry_msgs::TransformStamped vertical = tf_buffer_.lookupTransform(markers->header.frame_id,
+				                                           known_vertical_, markers->header.stamp, ros::Duration(0.02));
+				applyVertical(transform_.transform.rotation, vertical.transform.rotation, flip_vertical_, auto_flip_);
 			} catch (const tf2::TransformException& e) {
-				NODELET_WARN_THROTTLE(1, "can't snap: %s", e.what());
+				NODELET_WARN_THROTTLE(1, "can't retrieve known vertical: %s", e.what());
 			}
 
 			geometry_msgs::TransformStamped shift;

aruco_pose/src/utils.h

@@ -106,26 +106,25 @@ inline bool isFlipped(tf::Quaternion& q)
 	return (abs(pitch) > M_PI / 2) || (abs(roll) > M_PI / 2);
 }
 
-/* Set roll and pitch from "from" to "to", keeping yaw */
-inline void snapOrientation(geometry_msgs::Quaternion& to, const geometry_msgs::Quaternion& from, bool auto_flip = false)
+/* Apply a vertical to an orientation */
+inline void applyVertical(geometry_msgs::Quaternion& orientation, const geometry_msgs::Quaternion& vertical,
+                          bool flip_vertical = false, bool auto_flip = false) // editorconfig-checker-disable-line
 {
-	tf::Quaternion _from, _to;
-	tf::quaternionMsgToTF(from, _from);
-	tf::quaternionMsgToTF(to, _to);
+	tf::Quaternion _vertical, _orientation;
+	tf::quaternionMsgToTF(vertical, _vertical);
+	tf::quaternionMsgToTF(orientation, _orientation);
 
-	if (auto_flip) {
-		if (!isFlipped(_from)) {
-			static const tf::Quaternion flip = tf::createQuaternionFromRPY(M_PI, 0, 0);
-			_from *= flip; // flip "from"
-		}
+	if (flip_vertical || (auto_flip && !isFlipped(_orientation))) {
+		static const tf::Quaternion flip = tf::createQuaternionFromRPY(M_PI, 0, 0);
+		_vertical *= flip; // flip vertical
 	}
 
-	auto diff = tf::Matrix3x3(_to).transposeTimes(tf::Matrix3x3(_from));
+	auto diff = tf::Matrix3x3(_orientation).transposeTimes(tf::Matrix3x3(_vertical));
 	double _, yaw;
 	diff.getRPY(_, _, yaw);
 	auto q = tf::createQuaternionFromRPY(0, 0, -yaw);
-	_from = _from * q; // set yaw from "to" to "from"
-	tf::quaternionTFToMsg(_from, to); // set "from" to "to"
+	_vertical = _vertical * q; // set yaw from orientation to vertical
+	tf::quaternionTFToMsg(_vertical, orientation); // set vertical to orientation
 }
 
 inline void transformToPose(const geometry_msgs::Transform& transform, geometry_msgs::Pose& pose)

builder/image-ros.sh

@@ -151,6 +151,9 @@ catkin_make run_tests #&& catkin_test_results
 echo_stamp "Change permissions for catkin_ws"
 chown -Rf pi:pi /home/pi/catkin_ws
 
+echo_stamp "Update www"
+sudo -u pi sh -c ". devel/setup.sh && rosrun clover www"
+
 echo_stamp "Make \$HOME/examples symlink"
 ln -s "$(catkin_find clover examples --first-only)" /home/pi
 chown -Rf pi:pi /home/pi/examples

builder/test/tests.py

@@ -35,6 +35,7 @@ import pymavlink
 from pymavlink import mavutil
 # from espeak import espeak
 from pyzbar import pyzbar
+import docopt
 
 print(cv2.getBuildInformation())
 

builder/test/tests.sh

@@ -71,7 +71,25 @@ if [ -z $VM ]; then
 	[[ $(rosversion cv_camera) == "0.5.1" ]] # patched version with init fix
 fi
 
+# determine user home directory
 [ $VM ] && H="/home/clover" || H="/home/pi"
 
+# test basic ros tool work
+source $H/catkin_ws/devel/setup.bash
+roscd
+rosrun
+rosmsg
+rossrv
+rosnode || [ $? -eq 64 ] # usage output code is 64
+rostopic || [ $? -eq 64 ]
+rosservice || [ $? -eq 64 ]
+rosparam
+roslaunch -h
+
 # validate examples are present
 [[ $(ls $H/examples/*) ]]
+
+# validate web tools present
+[ -d $H/.ros/www ]
+[ "$(readlink $H/.ros/www/clover)" = "$H/catkin_ws/src/clover/clover/www" ]
+[ "$(readlink $H/.ros/www/clover_blocks)" = "$H/catkin_ws/src/clover/clover_blocks/www" ]

clover/CMakeLists.txt

@@ -80,11 +80,10 @@ catkin_python_setup()
 ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 
 ## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
+add_message_files(
+  FILES
+  State.msg
+)
 
 ## Generate services in the 'srv' folder
 add_service_files(
@@ -92,6 +91,9 @@ add_service_files(
   GetTelemetry.srv
   Navigate.srv
   NavigateGlobal.srv
+  SetAltitude.srv
+  SetYaw.srv
+  SetYawRate.srv
   SetPosition.srv
   SetVelocity.srv
   SetAttitude.srv
@@ -306,4 +308,5 @@ endif()
 if (CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
   add_rostest(test/basic.test)
+  add_rostest(test/offboard.test)
 endif()

clover/examples/camera.py

@@ -5,7 +5,7 @@
 # - cuts out a central square from the camera image;
 # - publishes this cropped image to the topic `/cv/center`;
 # - computes the average color of it;
-# - prints its name to the console. 
+# - prints its name to the console.
 
 import rospy
 import cv2
@@ -21,7 +21,7 @@ center_pub = rospy.Publisher('~center', Image, queue_size=1)
 
 def get_color_name(h):
     if h < 15: return 'red'
-    if h < 30: return 'orange'
+    elif h < 30: return 'orange'
     elif h < 60: return 'yellow'
     elif h < 90: return 'green'
     elif h < 120: return 'cyan'

clover/examples/navigate_wait.py

@@ -16,11 +16,8 @@ set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
 set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
 land = rospy.ServiceProxy('land', Trigger)
 
-def navigate_wait(x=0, y=0, z=0, yaw=float('nan'), yaw_rate=0, speed=0.5, \
-        frame_id='body', tolerance=0.2, auto_arm=False):
-
-    res = navigate(x=x, y=y, z=z, yaw=yaw, yaw_rate=yaw_rate, speed=speed, \
-        frame_id=frame_id, auto_arm=auto_arm)
+def navigate_wait(x=0, y=0, z=0, yaw=math.nan, speed=0.5, frame_id='body', tolerance=0.2, auto_arm=False):
+    res = navigate(x=x, y=y, z=z, yaw=yaw, speed=speed, frame_id=frame_id, auto_arm=auto_arm)
 
     if not res.success:
         return res

clover/launch/aruco.launch

@@ -19,8 +19,8 @@
         <param name="estimate_poses" value="true"/>
         <param name="send_tf" value="true"/>
         <param name="use_map_markers" value="true"/>
-        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
-        <param name="known_tilt" value="map_flipped" if="$(eval placement == 'ceiling')"/>
+        <param name="known_vertical" value="map" if="$(eval placement == 'floor' or placement == 'ceiling')"/>
+        <param name="flip_vertical" value="true" if="$(eval placement == 'ceiling')"/>
         <param name="length" value="$(arg length)"/>
         <param name="transform_timeout" value="0.1"/>
         <!-- aruco detector parameters -->
@@ -36,8 +36,8 @@
         <remap from="camera_info" to="main_camera/camera_info"/>
         <remap from="markers" to="aruco_detect/markers"/>
         <param name="map" value="$(find aruco_pose)/map/$(arg map)"/>
-        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
-        <param name="known_tilt" value="map_flipped" if="$(eval placement == 'ceiling')"/>
+        <param name="known_vertical" value="map" if="$(eval placement == 'floor' or placement == 'ceiling')"/>
+        <param name="flip_vertical" value="true" if="$(eval placement == 'ceiling')"/>
         <param name="image_axis" value="true"/>
         <param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
         <param name="frame_id" value="aruco_map" unless="$(arg aruco_vpe)"/>
@@ -53,8 +53,4 @@
         <param name="force_init" value="$(arg force_init)"/>
         <param name="offset_frame_id" value="aruco_map"/>
     </node>
-
-    <!-- run map_flipped frame if placement is ceiling -->
-    <node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame"
-        args="0 0 0 3.1415926 3.1415926 0 map map_flipped" if="$(eval placement == 'ceiling')"/>
 </launch>

clover/launch/clover.launch

@@ -45,7 +45,7 @@
         <remap from="camera_info" to="main_camera/camera_info"/>
         <param name="calc_flow_gyro" value="true"/>
         <param name="roi_rad" value="0.8"/>
-        <param name="disable_on_vpe" value="false"/>
+        <param name="disable_on_vpe" value="true"/>
     </node>
 
     <!-- simplified offboard control -->
@@ -85,8 +85,4 @@
         <param name="use_fake_gcs" value="false"/>
     </node>
 
-    <!-- Update static directory -->
-    <node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true">
-        <param name="default_package" value="clover"/>
-    </node>
 </launch>

clover/launch/simulator.launch

@@ -1,4 +1,4 @@
 <launch>
-    <!-- shurtcut for running the simulation (`roslaunch clover simulator.launch`) -->
+    <!-- shortcut for running the simulation (`roslaunch clover simulator.launch`) -->
     <include file="$(find clover_simulation)/launch/simulator.launch"/>
 </launch>

clover/msg/State.msg

@@ -0,0 +1,38 @@
+uint8 MODE_NONE = 0
+uint8 MODE_NAVIGATE = 1
+uint8 MODE_NAVIGATE_GLOBAL = 2
+uint8 MODE_POSITION = 3
+uint8 MODE_VELOCITY = 4
+uint8 MODE_ATTITUDE = 5
+uint8 MODE_RATES = 6
+
+uint8 YAW_MODE_YAW = 0
+uint8 YAW_MODE_YAW_RATE = 1
+uint8 YAW_MODE_YAW_TOWARDS = 2
+
+# type of offboard control
+uint8 mode
+uint8 yaw_mode
+
+# targets
+float32 x
+float32 y
+float32 z
+float32 speed
+float32 lat
+float32 lon
+float32 vx
+float32 vy
+float32 vz
+float32 roll
+float32 pitch
+float32 yaw
+float32 roll_rate
+float32 pitch_rate
+float32 yaw_rate
+float32 thrust
+
+# frames of reference
+string xy_frame_id
+string z_frame_id
+string yaw_frame_id

clover/package.xml

@@ -43,8 +43,7 @@
   <depend condition="$ROS_PYTHON_VERSION == 3">python3-lxml</depend>
   <depend>dynamic_reconfigure</depend>
   <exec_depend>python-pymavlink</exec_depend>
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
+  <test_depend>ros_pytest</test_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>

clover/requirements.txt

@@ -1,5 +1,4 @@
 flask==1.1.1
-docopt==0.6.2
 geopy==1.11.0
 smbus2==0.3.0
 VL53L1X==0.0.5

clover/src/autotest/autotest_aruco.py

@@ -13,7 +13,12 @@ from util import handle_response
 
 rospy.init_node('autotest_aruco', disable_signals=True) # disable signals to allow interrupting with ctrl+c
 
-flow_client = dynamic_reconfigure.client.Client('optical_flow')
+try:
+    flow_client = dynamic_reconfigure.client.Client('optical_flow', timeout=2)
+except rospy.ROSException:
+    flow_client = None
+    print('Cannot configure optical flow, skip')
+
 get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
 navigate = handle_response(rospy.ServiceProxy('navigate', srv.Navigate))
 land = handle_response(rospy.ServiceProxy('land', Trigger))
@@ -30,11 +35,8 @@ def print_current_map_position():
     dist = rospy.wait_for_message('rangefinder/range', Range).range
     print('Map position:\tx={:.1f}\ty={:.1f}\tz={:.1f}\tyaw={:.1f}\tdist={:.2f}'.format(telem.x, telem.y, telem.z, telem.yaw, dist))
 
-def navigate_wait(x=0, y=0, z=0, yaw=float('nan'), yaw_rate=0, speed=0.5, \
-        frame_id='body', tolerance=0.2, auto_arm=False):
-
-    res = navigate(x=x, y=y, z=z, yaw=yaw, yaw_rate=yaw_rate, speed=speed, \
-        frame_id=frame_id, auto_arm=auto_arm)
+def navigate_wait(x=0, y=0, z=0, yaw=math.nan, speed=0.5, frame_id='body', tolerance=0.2, auto_arm=False):
+    res = navigate(x=x, y=y, z=z, yaw=yaw, speed=speed, frame_id=frame_id, auto_arm=auto_arm)
 
     if not res.success:
         return res
@@ -67,12 +69,13 @@ input('Go to center %g %g 1.5 speed 5 [enter] ' % (center_x, center_y))
 navigate_wait(x=center_x, y=center_y, z=1.5, speed=5, frame_id='aruco_map')
 print_current_map_position()
 
-input('Disable optical flow and keep hovering [enter] ')
-flow_client.update_configuration({'enabled': False})
-rospy.sleep(5)
+if flow_client:
+    input('Disable optical flow and keep hovering [enter] ')
+    flow_client.update_configuration({'enabled': False})
+    rospy.sleep(5)
 
-input('Enable optical flow back [enter] ')
-flow_client.update_configuration({'enabled': True})
+    input('Enable optical flow back [enter] ')
+    flow_client.update_configuration({'enabled': True})
 
 input('Go to side 1 %g 2 heading top [enter] ' % (center_y))
 navigate_wait(x=1, y=center_y, z=2, yaw=1.57, frame_id='aruco_map')

clover/src/autotest/autotest_flight.py

@@ -2,7 +2,7 @@
 
 import rospy
 import math
-from math import nan
+from math import nan, inf
 import signal
 import sys
 from clover import srv
@@ -15,6 +15,8 @@ rospy.init_node('autotest_flight', disable_signals=True) # disable signals to al
 get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
 navigate = handle_response(rospy.ServiceProxy('navigate', srv.Navigate))
 navigate_global = handle_response(rospy.ServiceProxy('navigate_global', srv.NavigateGlobal))
+set_yaw = handle_response(rospy.ServiceProxy('set_yaw', srv.SetYaw))
+set_yaw_rate = handle_response(rospy.ServiceProxy('set_yaw_rate', srv.SetYawRate))
 set_position = handle_response(rospy.ServiceProxy('set_position', srv.SetPosition))
 set_velocity = handle_response(rospy.ServiceProxy('set_velocity', srv.SetVelocity))
 set_attitude = handle_response(rospy.ServiceProxy('set_attitude', srv.SetAttitude))
@@ -28,11 +30,8 @@ def interrupt(sig, frame):
 
 signal.signal(signal.SIGINT, interrupt)
 
-def navigate_wait(x=0, y=0, z=0, yaw=nan, yaw_rate=0, speed=0.5, \
-        frame_id='body', tolerance=0.2, auto_arm=False):
-
-    res = navigate(x=x, y=y, z=z, yaw=yaw, yaw_rate=yaw_rate, speed=speed, \
-        frame_id=frame_id, auto_arm=auto_arm)
+def navigate_wait(x=0, y=0, z=0, yaw=nan, speed=0.5, frame_id='body', tolerance=0.2, auto_arm=False):
+    res = navigate(x=x, y=y, z=z, yaw=yaw, speed=speed, frame_id=frame_id, auto_arm=auto_arm)
 
     if not res.success:
         return res
@@ -69,17 +68,17 @@ set_velocity(vx=1, vy=0.0, vz=0, frame_id='body')
 rospy.sleep(2)
 set_position(frame_id='body')
 
-input('Rotate right 90° [enter] ')
-navigate(yaw=-math.pi / 2, frame_id='navigate_target')
+input('Rotate right 90° using set_yaw [enter] ')
+set_yaw(yaw=-math.pi / 2, frame_id='navigate_target')
 rospy.sleep(3)
 
 input('Use set_attitude to fly backwards [enter]')
-set_attitude(pitch=-0.3, roll=0, yaw=0, thrust=0.5, frame_id='body')
+set_attitude(roll=0, pitch=-0.3, yaw=0, thrust=0.5, frame_id='body')
 rospy.sleep(0.3)
 set_position(frame_id='body')
 
 input('Use set_attitude to fly right [enter]')
-set_attitude(pitch=0, roll=0.3, yaw=0, thrust=0.5, frame_id='body')
+set_attitude(roll=0.3, pitch=0, yaw=0, thrust=0.5, frame_id='body')
 rospy.sleep(0.5)
 set_position(frame_id='body')
 
@@ -88,13 +87,13 @@ set_rates(roll_rate=1.2, thrust=0.5)
 rospy.sleep(0.4)
 set_position(frame_id='body')
 
-input('Rotate 360° to the right using yaw_rate [enter]')
-set_position(x=nan, y=nan, z=nan, frame_id='body', yaw=nan, yaw_rate=-1)
+input('Rotate 360° to the right using set_yaw_rate [enter]')
+set_yaw_rate(yaw_rate=-1)
 rospy.sleep(2 * math.pi)
 set_position(frame_id='body')
 
-input('Return to start point [enter]')
-navigate_wait(x=start.x, y=start.y, z=start.z, yaw=start.yaw, speed=1, frame_id='map')
+input('Return to start point heading forward [enter]')
+navigate_wait(x=start.x, y=start.y, z=start.z, yaw=inf, speed=1, frame_id='map')
 
 input('Land [enter]')
 land()

clover/src/selfcheck.py

@@ -9,7 +9,7 @@
 # The above copyright notice and this permission notice shall be included in all
 # copies or substantial portions of the Software.
 
-import os
+import os, sys
 import math
 import subprocess
 import re
@@ -50,6 +50,16 @@ thread_local = threading.local()
 reports_lock = Lock()
 
 
+# formatting colors
+if sys.stdout.isatty():
+    GREY = '\033[90m'
+    GREEN = '\033[92m'
+    RED = '\033[31m'
+    END = '\033[0m'
+else:
+    GREY = GREEN = RED = END = ''
+
+
 def failure(text, *args):
     msg = text % args
     thread_local.reports += [{'failure': msg}]
@@ -75,9 +85,9 @@ def check(name):
                     if 'failure' in report:
                         rospy.logerr('%s: %s', name, report['failure'])
                     elif 'info' in report:
-                        rospy.loginfo('\033[90m%s\033[0m: %s', name, report['info'])
+                        rospy.loginfo(GREY + name + END + ': ' + report['info'])
                 if not thread_local.reports:
-                    rospy.loginfo('\033[90m%s\033[0m: \033[92mOK\033[0m', name)
+                    rospy.loginfo(GREY + name + END + ': ' + GREEN + 'OK' + END)
                 if rospy.get_param('~time', False):
                     rospy.loginfo('%s: %.1f sec', name, rospy.get_time() - start)
         return wrapper
@@ -87,7 +97,7 @@ def check(name):
 def ff(value, precision=2):
     # safely format float or int
     if value is None:
-        return '\033[31m???\033[0m'
+        return RED + '???' + END
     if isinstance(value, float):
         return ('{:.' + str(precision + 1) + '}').format(value)
     elif isinstance(value, int):
@@ -224,6 +234,7 @@ def check_fcu():
         state = rospy.wait_for_message('mavros/state', State, timeout=3)
         if not state.connected:
             failure('no connection to the FCU (check wiring)')
+            info('fcu_url = %s', rospy.get_param('mavros/fcu_url', '?'))
             return
 
         if not is_process_running('px4', exact=True): # can't use px4 console in SITL
@@ -306,6 +317,7 @@ def check_fcu():
 
     except rospy.ROSException:
         failure('no MAVROS state (check wiring)')
+        info('fcu_url = %s', rospy.get_param('mavros/fcu_url', '?'))
 
 
 def describe_direction(v):
@@ -386,15 +398,18 @@ def check_aruco():
 
     if is_process_running('aruco_detect', full=True):
         try:
-            info('aruco_detect/length = %g m', rospy.get_param('aruco_detect/length'))
+            info('aruco_detect/length = %g m', rospy.get_param('aruco_detect/length', '?'))
         except KeyError:
             failure('aruco_detect/length parameter is not set')
-        known_tilt = rospy.get_param('aruco_detect/known_tilt', '')
-        if known_tilt == 'map':
-            known_tilt += ' (ALL markers are on the floor)'
-        elif known_tilt == 'map_flipped':
-            known_tilt += ' (ALL markers are on the ceiling)'
-        info('aruco_detect/known_tilt = %s', known_tilt)
+        known_vertical = rospy.get_param('aruco_detect/known_vertical', '')
+        flip_vertical = rospy.get_param('aruco_detect/flip_vertical', False)
+        description = ''
+        if known_vertical == 'map' and not flip_vertical:
+            description = ' (all markers are on the floor)'
+        elif known_vertical == 'map' and flip_vertical:
+            description = ' (all markers are on the ceiling)'
+        info('aruco_detect/known_vertical = %s', known_vertical)
+        info('aruco_detect/flip_vertical = %s%s', flip_vertical, description)
         try:
             markers = rospy.wait_for_message('aruco_detect/markers', MarkerArray, timeout=0.8)
         except rospy.ROSException:
@@ -405,12 +420,15 @@ def check_aruco():
         return
 
     if is_process_running('aruco_map', full=True):
-        known_tilt = rospy.get_param('aruco_map/known_tilt', '')
-        if known_tilt == 'map':
-            known_tilt += ' (marker\'s map is on the floor)'
-        elif known_tilt == 'map_flipped':
-            known_tilt += ' (marker\'s map is on the ceiling)'
-        info('aruco_map/known_tilt = %s', known_tilt)
+        known_vertical = rospy.get_param('aruco_map/known_vertical', '')
+        flip_vertical = rospy.get_param('aruco_map/flip_vertical', False)
+        description = ''
+        if known_vertical == 'map' and not flip_vertical:
+            description += ' (markers map is on the floor)'
+        elif known_vertical == 'map' and flip_vertical:
+            description += ' (markers map is on the ceiling)'
+        info('aruco_map/known_vertical = %s', known_vertical)
+        info('aruco_map/flip_vertical = %s%s', flip_vertical, description)
 
         try:
             visualization = rospy.wait_for_message('aruco_map/visualization', VisualizationMarkerArray, timeout=0.8)
@@ -450,7 +468,8 @@ def check_vpe():
         except rospy.ROSException:
             if not is_process_running('vpe_publisher', full=True):
                 info('no vision position estimate, vpe_publisher is not running')
-            elif rospy.get_param('aruco_map/known_tilt') == 'map_flipped':
+            elif rospy.get_param('aruco_map/known_vertical', '') == 'map' \
+                   and rospy.get_param('aruco_map/flip_vertical', False):
                 failure('no vision position estimate, markers are on the ceiling')
             elif is_on_the_floor():
                 info('no vision position estimate, the drone is on the floor')
@@ -593,6 +612,10 @@ def check_global_position():
 
 @check('Optical flow')
 def check_optical_flow():
+    if not is_process_running('optical_flow', full=True):
+        info('optical_flow is not running')
+        return
+
     # TODO:check FPS!
     try:
         rospy.wait_for_message('mavros/px4flow/raw/send', OpticalFlowRad, timeout=0.5)

clover/src/simple_offboard.cpp

@@ -23,6 +23,7 @@
 #include <tf2_ros/static_transform_broadcaster.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <std_srvs/Trigger.h>
+#include <geometry_msgs/PointStamped.h>
 #include <geometry_msgs/PoseStamped.h>
 #include <geometry_msgs/TwistStamped.h>
 #include <geometry_msgs/Vector3Stamped.h>
@@ -37,14 +38,19 @@
 #include <mavros_msgs/State.h>
 #include <mavros_msgs/StatusText.h>
 #include <mavros_msgs/ManualControl.h>
+#include <mavros_msgs/Altitude.h>
 
 #include <clover/GetTelemetry.h>
 #include <clover/Navigate.h>
 #include <clover/NavigateGlobal.h>
+#include <clover/SetAltitude.h>
+#include <clover/SetYaw.h>
+#include <clover/SetYawRate.h>
 #include <clover/SetPosition.h>
 #include <clover/SetVelocity.h>
 #include <clover/SetAttitude.h>
 #include <clover/SetRates.h>
+#include <clover/State.h>
 
 using std::string;
 using std::isnan;
@@ -54,6 +60,7 @@ using namespace clover;
 using mavros_msgs::PositionTarget;
 using mavros_msgs::AttitudeTarget;
 using mavros_msgs::Thrust;
+using mavros_msgs::Altitude;
 
 // tf2
 tf2_ros::Buffer tf_buffer;
@@ -81,33 +88,40 @@ bool land_only_in_offboard, nav_from_sp, check_kill_switch;
 std::map<string, string> reference_frames;
 
 // Publishers
-ros::Publisher attitude_pub, attitude_raw_pub, position_pub, position_raw_pub, rates_pub, thrust_pub;
+ros::Publisher attitude_pub, attitude_raw_pub, position_pub, position_raw_pub, rates_pub, thrust_pub, state_pub;
 
 // Service clients
 ros::ServiceClient arming, set_mode;
 
 // Containers
 ros::Timer setpoint_timer;
-tf::Quaternion tq;
 PoseStamped position_msg;
 PositionTarget position_raw_msg;
-AttitudeTarget att_raw_msg;
-Thrust thrust_msg;
-TwistStamped rates_msg;
+//TwistStamped rates_msg;
 TransformStamped target, setpoint;
 geometry_msgs::TransformStamped body;
+geometry_msgs::TransformStamped terrain;
 
 // State
 PoseStamped nav_start;
-PoseStamped setpoint_position, setpoint_position_transformed;
-Vector3Stamped setpoint_velocity, setpoint_velocity_transformed;
-QuaternionStamped setpoint_attitude, setpoint_attitude_transformed;
-float setpoint_yaw_rate;
+PointStamped setpoint_position;
+PointStamped setpoint_altitude;
+Vector3Stamped setpoint_velocity;
+float setpoint_yaw, setpoint_roll, setpoint_pitch;
+Vector3 setpoint_rates;
+string yaw_frame_id;
+float setpoint_thrust;
 float nav_speed;
+float setpoint_lat = NAN, setpoint_lon = NAN;
 bool busy = false;
 bool wait_armed = false;
 bool nav_from_sp_flag = false;
 
+// Last published
+PoseStamped setpoint_pose_local;
+Vector3Stamped setpoint_velocity_local;
+float yaw_local;
+
 enum setpoint_type_t {
 	NONE,
 	NAVIGATE,
@@ -115,7 +129,10 @@ enum setpoint_type_t {
 	POSITION,
 	VELOCITY,
 	ATTITUDE,
-	RATES
+	RATES,
+	_ALTITUDE,
+	_YAW,
+	_YAW_RATE,
 };
 
 enum setpoint_type_t setpoint_type = NONE;
@@ -170,7 +187,7 @@ void handleLocalPosition(const PoseStamped& pose)
 {
 	local_position = pose;
 	publishBodyFrame();
-	// TODO: terrain?, home?
+	// TODO: home?
 }
 
 // wait for transform without interrupting publishing setpoints
@@ -188,6 +205,20 @@ inline bool waitTransform(const string& target, const string& source,
 	return false;
 }
 
+void handleAltitude(const Altitude& alt)
+{
+	// publish terrain frame
+	if (!std::isfinite(alt.bottom_clearance)) return;
+	// terrain.header.stamp = alt.header.stamp;
+
+	if (!waitTransform(local_frame, body.child_frame_id, alt.header.stamp, ros::Duration(0.1))) return;
+
+	auto t = tf_buffer.lookupTransform(local_frame, body.child_frame_id, alt.header.stamp);
+	t.child_frame_id = terrain.child_frame_id;
+	t.transform.translation.z -= alt.bottom_clearance;
+	static_transform_broadcaster->sendTransform(t);
+}
+
 #define TIMEOUT(msg, timeout) (msg.header.stamp.isZero() || (ros::Time::now() - msg.header.stamp > timeout))
 
 bool getTelemetry(GetTelemetry::Request& req, GetTelemetry::Response& res)
@@ -207,11 +238,11 @@ bool getTelemetry(GetTelemetry::Request& req, GetTelemetry::Response& res)
 	res.vx = NAN;
 	res.vy = NAN;
 	res.vz = NAN;
-	res.pitch = NAN;
 	res.roll = NAN;
+	res.pitch = NAN;
 	res.yaw = NAN;
-	res.pitch_rate = NAN;
 	res.roll_rate = NAN;
+	res.pitch_rate = NAN;
 	res.yaw_rate = NAN;
 	res.voltage = NAN;
 	res.cell_voltage = NAN;
@@ -341,20 +372,20 @@ inline float getDistance(const Point& from, const Point& to)
 	return hypot(from.x - to.x, from.y - to.y, from.z - to.z);
 }
 
-void getNavigateSetpoint(const ros::Time& stamp, float speed, Point& nav_setpoint)
+void getNavigateSetpoint(const ros::Time& stamp, const float speed, Point& nav_setpoint)
 {
 	if (wait_armed) {
 		// don't start navigating if we're waiting arming
 		nav_start.header.stamp = stamp;
 	}
 
-	float distance = getDistance(nav_start.pose.position, setpoint_position_transformed.pose.position);
+	float distance = getDistance(nav_start.pose.position, setpoint_pose_local.pose.position);
 	float time = distance / speed;
 	float passed = std::min((stamp - nav_start.header.stamp).toSec() / time, 1.0);
 
-	nav_setpoint.x = nav_start.pose.position.x + (setpoint_position_transformed.pose.position.x - nav_start.pose.position.x) * passed;
-	nav_setpoint.y = nav_start.pose.position.y + (setpoint_position_transformed.pose.position.y - nav_start.pose.position.y) * passed;
-	nav_setpoint.z = nav_start.pose.position.z + (setpoint_position_transformed.pose.position.z - nav_start.pose.position.z) * passed;
+	nav_setpoint.x = nav_start.pose.position.x + (setpoint_pose_local.pose.position.x - nav_start.pose.position.x) * passed;
+	nav_setpoint.y = nav_start.pose.position.y + (setpoint_pose_local.pose.position.y - nav_start.pose.position.y) * passed;
+	nav_setpoint.z = nav_start.pose.position.z + (setpoint_pose_local.pose.position.z - nav_start.pose.position.z) * passed;
 }
 
 PoseStamped globalToLocal(double lat, double lon)
@@ -385,44 +416,101 @@ PoseStamped globalToLocal(double lat, double lon)
 	return pose;
 }
 
+// publish navigate_target frame
+void publishTarget(ros::Time stamp, bool _static = false)
+{
+	bool single_frame = (setpoint_position.header.frame_id == setpoint_altitude.header.frame_id);
+
+	// handle yaw for target frame
+	if (setpoint_yaw_type == YAW || setpoint_yaw_type == YAW_RATE) { // use last set yaw for yaw_rate
+		if (setpoint_altitude.header.frame_id == yaw_frame_id) {
+			target.transform.rotation = tf::createQuaternionMsgFromYaw(setpoint_yaw);
+		} else {
+			single_frame = false;
+			target.transform.rotation = tf::createQuaternionMsgFromYaw(yaw_local);
+		}
+	} else if (setpoint_yaw_type == TOWARDS) {
+		single_frame = false;
+		target.transform.rotation = tf::createQuaternionMsgFromYaw(yaw_local);
+	}
+
+	if (_static && single_frame) {
+		// publish at user's command, if all frames are the same
+		target.header.frame_id = setpoint_position.header.frame_id;
+		target.header.stamp = stamp;
+		target.transform.translation.x = setpoint_position.point.x;
+		target.transform.translation.y = setpoint_position.point.y;
+		target.transform.translation.z = setpoint_position.point.z;
+
+	} else if (!_static) {
+		// publish at each iteration, if frames are different
+		target.header = setpoint_pose_local.header;
+		target.transform.translation.x = setpoint_pose_local.pose.position.x;
+		target.transform.translation.y = setpoint_pose_local.pose.position.y;
+		target.transform.translation.z = setpoint_pose_local.pose.position.z;
+	}
+
+	static_transform_broadcaster->sendTransform(target);
+}
+
 void publish(const ros::Time stamp)
 {
 	if (setpoint_type == NONE) return;
 
 	position_raw_msg.header.stamp = stamp;
-	thrust_msg.header.stamp = stamp;
-	rates_msg.header.stamp = stamp;
 
-	try {
-		// transform position and/or yaw
-		if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION || setpoint_type == VELOCITY || setpoint_type == ATTITUDE) {
-			setpoint_position.header.stamp = stamp;
-			tf_buffer.transform(setpoint_position, setpoint_position_transformed, local_frame, ros::Duration(0.05));
+	// transform position
+	if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION) {
+		setpoint_position.header.stamp = stamp;
+		setpoint_altitude.header.stamp = stamp;
+		// transform xy
+		try {
+			auto xy = tf_buffer.transform(setpoint_position, local_frame, ros::Duration(0.05));
+			setpoint_pose_local.header = xy.header;
+			setpoint_pose_local.pose.position.x = xy.point.x;
+			setpoint_pose_local.pose.position.y = xy.point.y;
+		} catch (tf2::TransformException& ex) {
+			// can't transform xy, use last known
+			ROS_WARN_THROTTLE(10, "can't transform: %s", ex.what());
 		}
-
-		// transform velocity
-		if (setpoint_type == VELOCITY) {
-			setpoint_velocity.header.stamp = stamp;
-			tf_buffer.transform(setpoint_velocity, setpoint_velocity_transformed, local_frame, ros::Duration(0.05));
+		// transform altitude
+		try {
+			setpoint_pose_local.pose.position.z = tf_buffer.transform(setpoint_altitude, local_frame, ros::Duration(0.05)).point.z;
+		} catch (tf2::TransformException& ex) {
+			// can't transform altitude, use last known
+			ROS_WARN_THROTTLE(10, "can't transform: %s", ex.what());
 		}
-
-	} catch (const tf2::TransformException& e) {
-		ROS_WARN_THROTTLE(10, "can't transform");
 	}
 
+	// transform yaw
+	if (setpoint_yaw_type == YAW) {
+		try {
+			QuaternionStamped q;
+			q.header.stamp = stamp;
+			q.header.frame_id = yaw_frame_id;
+			q.quaternion = tf::createQuaternionMsgFromYaw(setpoint_yaw);
+			yaw_local = tf2::getYaw(tf_buffer.transform(q, local_frame, ros::Duration(0.05)).quaternion);
+		} catch (tf2::TransformException& ex) {
+			// can't transform yaw, use last known
+			ROS_WARN_THROTTLE(10, "can't transform: %s", ex.what());
+		}
+	}
+
+	// compute navigate setpoint
 	if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL) {
-		position_msg.pose.orientation = setpoint_position_transformed.pose.orientation; // copy yaw
 		getNavigateSetpoint(stamp, nav_speed, position_msg.pose.position);
 
 		if (setpoint_yaw_type == TOWARDS) {
-			double yaw_towards = atan2(position_msg.pose.position.y - nav_start.pose.position.y,
-			                           position_msg.pose.position.x - nav_start.pose.position.x);
-			position_msg.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(0, 0, yaw_towards);
+			yaw_local = atan2(position_msg.pose.position.y - nav_start.pose.position.y,
+			                  position_msg.pose.position.x - nav_start.pose.position.x);
 		}
+
+		position_msg.pose.orientation = tf::createQuaternionMsgFromYaw(yaw_local);
 	}
 
 	if (setpoint_type == POSITION) {
-		position_msg = setpoint_position_transformed;
+		position_msg = setpoint_pose_local;
+		position_msg.pose.orientation = tf::createQuaternionMsgFromYaw(yaw_local);
 	}
 
 	if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL) {
@@ -439,14 +527,14 @@ void publish(const ros::Time stamp)
 			                             PositionTarget::IGNORE_AFY +
 			                             PositionTarget::IGNORE_AFZ +
 			                             PositionTarget::IGNORE_YAW;
-			position_raw_msg.yaw_rate = setpoint_yaw_rate;
+			position_raw_msg.yaw_rate = setpoint_rates.z;
 			position_raw_msg.position = position_msg.pose.position;
 			position_raw_pub.publish(position_raw_msg);
 		}
 
 		// publish setpoint frame
 		if (!setpoint.child_frame_id.empty()) {
-			if (setpoint.header.stamp == position_msg.header.stamp) {
+			if (setpoint.header.stamp >= position_msg.header.stamp) {
 				return; // avoid TF_REPEATED_DATA warnings
 			}
 
@@ -458,9 +546,22 @@ void publish(const ros::Time stamp)
 			setpoint.header.stamp = position_msg.header.stamp;
 			transform_broadcaster->sendTransform(setpoint);
 		}
+
+		// publish dynamic target frame
+		publishTarget(stamp);
 	}
 
 	if (setpoint_type == VELOCITY) {
+		// transform velocity to local frame
+		setpoint_velocity.header.stamp = stamp;
+		try {
+			setpoint_velocity_local = tf_buffer.transform(setpoint_velocity, local_frame, ros::Duration(0.05));
+		} catch (tf2::TransformException& ex) {
+			// can't transform velocity, use last known
+			ROS_WARN_THROTTLE(10, "can't transform: %s", ex.what());
+		}
+
+		// publish velocity
 		position_raw_msg.type_mask = PositionTarget::IGNORE_PX +
 		                             PositionTarget::IGNORE_PY +
 		                             PositionTarget::IGNORE_PZ +
@@ -468,14 +569,22 @@ void publish(const ros::Time stamp)
 		                             PositionTarget::IGNORE_AFY +
 		                             PositionTarget::IGNORE_AFZ;
 		position_raw_msg.type_mask += setpoint_yaw_type == YAW ? PositionTarget::IGNORE_YAW_RATE : PositionTarget::IGNORE_YAW;
-		position_raw_msg.velocity = setpoint_velocity_transformed.vector;
-		position_raw_msg.yaw = tf2::getYaw(setpoint_position_transformed.pose.orientation);
-		position_raw_msg.yaw_rate = setpoint_yaw_rate;
+		position_raw_msg.velocity = setpoint_velocity_local.vector;
+		position_raw_msg.yaw = yaw_local;
+		position_raw_msg.yaw_rate = setpoint_rates.z;
 		position_raw_pub.publish(position_raw_msg);
 	}
 
 	if (setpoint_type == ATTITUDE) {
-		attitude_pub.publish(setpoint_position_transformed);
+		PoseStamped msg;
+		msg.header.stamp = stamp;
+		msg.header.frame_id = local_frame;
+		msg.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(setpoint_roll, setpoint_pitch, yaw_local);
+		attitude_pub.publish(msg);
+
+		Thrust thrust_msg;
+		thrust_msg.header.stamp = stamp;
+		thrust_msg.thrust = setpoint_thrust;
 		thrust_pub.publish(thrust_msg);
 	}
 
@@ -484,11 +593,12 @@ void publish(const ros::Time stamp)
 		// thrust_pub.publish(thrust_msg);
 		// mavros rates topics waits for rates in local frame
 		// use rates in body frame for simplicity
+		AttitudeTarget att_raw_msg;
 		att_raw_msg.header.stamp = stamp;
 		att_raw_msg.header.frame_id = fcu_frame;
 		att_raw_msg.type_mask = AttitudeTarget::IGNORE_ATTITUDE;
-		att_raw_msg.body_rate = rates_msg.twist.angular;
-		att_raw_msg.thrust = thrust_msg.thrust;
+		att_raw_msg.body_rate = setpoint_rates;
+		att_raw_msg.thrust = setpoint_thrust;
 		attitude_raw_pub.publish(att_raw_msg);
 	}
 }
@@ -528,10 +638,59 @@ inline void checkState()
 		throw std::runtime_error("No connection to FCU, https://clover.coex.tech/connection");
 }
 
+void publishState()
+{
+	clover::State msg;
+	msg.mode = setpoint_type;
+	msg.yaw_mode = setpoint_yaw_type;
+
+	if (setpoint_position.header.frame_id.empty()) {
+		msg.x = NAN;
+		msg.y = NAN;
+		msg.z = NAN;
+	} else {
+		msg.x = setpoint_position.point.x;
+		msg.y = setpoint_position.point.y;
+		msg.z = setpoint_altitude.point.z;
+	}
+
+	msg.speed = nav_speed;
+	msg.lat = setpoint_lat;
+	msg.lon = setpoint_lon;
+	msg.vx = setpoint_velocity.vector.x;
+	msg.vy = setpoint_velocity.vector.y;
+	msg.vz = setpoint_velocity.vector.z;
+	msg.roll = setpoint_roll;
+	msg.pitch = setpoint_pitch;
+	msg.yaw = !yaw_frame_id.empty() ? setpoint_yaw : NAN;
+
+	msg.roll_rate = setpoint_rates.x;
+	msg.pitch_rate = setpoint_rates.y;
+	msg.yaw_rate = setpoint_rates.z;
+	msg.thrust = setpoint_thrust;
+
+	if (setpoint_type == VELOCITY) {
+		msg.xy_frame_id = setpoint_velocity.header.frame_id;
+		msg.z_frame_id = setpoint_velocity.header.frame_id;
+	} else {
+		msg.xy_frame_id = setpoint_position.header.frame_id;
+		msg.z_frame_id = setpoint_altitude.header.frame_id;
+	}
+	msg.yaw_frame_id = yaw_frame_id;
+
+	state_pub.publish(msg);
+}
+
+inline float safe(float value) {
+	return std::isfinite(value) ? value : 0;
+}
+
 #define ENSURE_FINITE(var) { if (!std::isfinite(var)) throw std::runtime_error(#var " argument cannot be NaN or Inf"); }
 
+#define ENSURE_NON_INF(var) { if (std::isinf(var)) throw std::runtime_error(#var " argument cannot be Inf"); }
+
 bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, float vy, float vz,
-           float pitch, float roll, float yaw, float pitch_rate, float roll_rate, float yaw_rate, // editorconfig-checker-disable-line
+           float roll, float pitch, float yaw, float roll_rate, float pitch_rate, float yaw_rate, // editorconfig-checker-disable-line
            float lat, float lon, float thrust, float speed, string frame_id, bool auto_arm, // editorconfig-checker-disable-line
            uint8_t& success, string& message) // editorconfig-checker-disable-line
 {
@@ -558,69 +717,40 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 		auto search = reference_frames.find(frame_id);
 		const string& reference_frame = search == reference_frames.end() ? frame_id : search->second;
 
-		// Serve "partial" commands
+		ENSURE_NON_INF(x);
+		ENSURE_NON_INF(y);
+		ENSURE_NON_INF(z);
+		ENSURE_NON_INF(speed); // TODO: allow inf
+		ENSURE_NON_INF(vx);
+		ENSURE_NON_INF(vy);
+		ENSURE_NON_INF(vz);
+		ENSURE_NON_INF(roll);
+		ENSURE_NON_INF(pitch);
+		ENSURE_NON_INF(roll_rate);
+		ENSURE_NON_INF(pitch_rate);
+		ENSURE_NON_INF(yaw_rate);
+		ENSURE_NON_INF(thrust);
 
-		if (!auto_arm && std::isfinite(yaw) &&
-		    isnan(x) && isnan(y) && isnan(z) && isnan(vx) && isnan(vy) && isnan(vz) &&
-		    isnan(pitch) && isnan(roll) && isnan(thrust) &&
-		    isnan(lat) && isnan(lon)) {
-			// change only the yaw
-			if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == VELOCITY) {
-				if (!waitTransform(setpoint_position.header.frame_id, frame_id, stamp, transform_timeout))
-					throw std::runtime_error("Can't transform from " + frame_id + " to " + setpoint_position.header.frame_id);
-
-				message = "Changing yaw only";
-
-				QuaternionStamped q;
-				q.header.frame_id = frame_id;
-				q.header.stamp = stamp;
-				q.quaternion = tf::createQuaternionMsgFromYaw(yaw); // TODO: pitch=0, roll=0 is not totally correct
-				setpoint_position.pose.orientation = tf_buffer.transform(q, setpoint_position.header.frame_id).quaternion;
-				setpoint_yaw_type = YAW;
-				goto publish_setpoint;
-			} else {
-				throw std::runtime_error("Setting yaw is possible only when position or velocity setpoints active");
-			}
-		}
-
-		if (!auto_arm && std::isfinite(yaw_rate) &&
-		    isnan(x) && isnan(y) && isnan(z) && isnan(vx) && isnan(vy) && isnan(vz) &&
-		    isnan(pitch) && isnan(roll) && isnan(yaw) && isnan(thrust) &&
-		    isnan(lat) && isnan(lon)) {
-			// change only the yaw rate
-			if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == VELOCITY) {
-				message = "Changing yaw rate only";
-
-				setpoint_yaw_type = YAW_RATE;
-				setpoint_yaw_rate = yaw_rate;
-				goto publish_setpoint;
-			} else {
-				throw std::runtime_error("Setting yaw rate is possible only when position or velocity setpoints active");
-			}
-		}
-
-		// Serve normal commands
-
-		if (sp_type == NAVIGATE || sp_type == POSITION) {
-			ENSURE_FINITE(x);
-			ENSURE_FINITE(y);
-			ENSURE_FINITE(z);
-		} else if (sp_type == NAVIGATE_GLOBAL) {
+		if (sp_type == NAVIGATE_GLOBAL) {
 			ENSURE_FINITE(lat);
 			ENSURE_FINITE(lon);
-			ENSURE_FINITE(z);
-		} else if (sp_type == VELOCITY) {
-			ENSURE_FINITE(vx);
-			ENSURE_FINITE(vy);
-			ENSURE_FINITE(vz);
-		} else if (sp_type == ATTITUDE) {
-			ENSURE_FINITE(pitch);
-			ENSURE_FINITE(roll);
-			ENSURE_FINITE(thrust);
-		} else if (sp_type == RATES) {
-			ENSURE_FINITE(pitch_rate);
-			ENSURE_FINITE(roll_rate);
-			ENSURE_FINITE(thrust);
+		}
+
+		if (isfinite(x) != isfinite(y)) {
+			throw std::runtime_error("x and y can be set only together");
+		}
+
+		if (isfinite(yaw_rate)) {
+			if (sp_type > RATES && setpoint_type == ATTITUDE) {
+				throw std::runtime_error("Yaw rate cannot be set in attitude mode.");
+			}
+		}
+
+		// set_altitude
+		if (sp_type == _ALTITUDE) {
+			if (setpoint_type == VELOCITY || setpoint_type == ATTITUDE || setpoint_type == RATES) {
+				throw std::runtime_error("Altitude cannot be set in velocity, attitude or rates mode.");
+			}
 		}
 
 		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL) {
@@ -634,20 +764,13 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 				speed = default_speed;
 		}
 
-		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == POSITION || sp_type == VELOCITY) {
-			if (yaw_rate != 0 && !std::isnan(yaw))
-				throw std::runtime_error("Yaw value should be NaN for setting yaw rate");
-
-			if (std::isnan(yaw_rate) && std::isnan(yaw))
-				throw std::runtime_error("Both yaw and yaw_rate cannot be NaN");
-		}
-
 		if (sp_type == NAVIGATE_GLOBAL) {
 			if (TIMEOUT(global_position, global_position_timeout))
 				throw std::runtime_error("No global position");
 		}
 
-		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == POSITION || sp_type == VELOCITY || sp_type == ATTITUDE) {
+		// if any value need to be transformed to reference frame
+		if (isfinite(x) || isfinite(y) || isfinite(z) || isfinite(vx) || isfinite(vy) || isfinite(vz) || isfinite(yaw)) {
 			// make sure transform from frame_id to reference frame available
 			if (!waitTransform(reference_frame, frame_id, stamp, transform_timeout))
 				throw std::runtime_error("Can't transform from " + frame_id + " to " + reference_frame);
@@ -664,15 +787,26 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 			auto xy_in_req_frame = tf_buffer.transform(pose_local, frame_id);
 			x = xy_in_req_frame.pose.position.x;
 			y = xy_in_req_frame.pose.position.y;
+			setpoint_lat = lat;
+			setpoint_lon = lon;
 		}
 
 		// Everything fine - switch setpoint type
-		setpoint_type = sp_type;
+		if (sp_type <= RATES) {
+			setpoint_type = sp_type;
+		}
 
-		if (sp_type != NAVIGATE && sp_type != NAVIGATE_GLOBAL) {
+		if (setpoint_type != NAVIGATE && setpoint_type != NAVIGATE_GLOBAL) {
 			nav_from_sp_flag = false;
 		}
 
+		if (auto_arm || setpoint_type == VELOCITY || setpoint_type == ATTITUDE || setpoint_type == RATES) {
+			// invalidate position setpoint
+			setpoint_position.header.frame_id = "";
+			setpoint_altitude.header.frame_id = "";
+			yaw_frame_id = "";
+		}
+
 		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL) {
 			// starting point
 			if (nav_from_sp && nav_from_sp_flag) {
@@ -681,89 +815,139 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 			} else {
 				nav_start = local_position;
 			}
-			nav_speed = speed;
+
+			if (!isnan(speed)) {
+				nav_speed = speed;
+			}
+
 			nav_from_sp_flag = true;
 		}
 
-		// if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == POSITION || sp_type == VELOCITY) {
-		// 	if (std::isnan(yaw) && yaw_rate == 0) {
-		// 		// keep yaw unchanged
-		//		// TODO: this is incorrect, because we need yaw in desired frame
-		// 		yaw = tf2::getYaw(local_position.pose.orientation);
-		// 	}
-		// }
+		// handle position
+		if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION) {
 
-		if (sp_type == POSITION || sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == VELOCITY || sp_type == ATTITUDE) {
-			// destination point and/or attitude
-			PoseStamped ps;
-			ps.header.frame_id = frame_id;
-			ps.header.stamp = stamp;
-			ps.pose.position.x = x;
-			ps.pose.position.y = y;
-			ps.pose.position.z = z;
-			ps.pose.orientation.w = 1.0; // Ensure quaternion is always valid
+			PointStamped desired;
+			desired.header.frame_id = frame_id;
+			desired.header.stamp = stamp;
+			desired.point.x = safe(x);
+			desired.point.y = safe(y);
+			desired.point.z = safe(z);
 
-			if (sp_type == ATTITUDE) {
-				ps.pose.position.x = 0;
-				ps.pose.position.y = 0;
-				ps.pose.position.z = 0;
-				ps.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(roll, pitch, yaw);
-			} else if (std::isnan(yaw)) {
-				setpoint_yaw_type = YAW_RATE;
-				setpoint_yaw_rate = yaw_rate;
-			} else if (std::isinf(yaw) && yaw > 0) {
-				// yaw towards
-				setpoint_yaw_type = TOWARDS;
-				yaw = 0;
-				setpoint_yaw_rate = 0;
-			} else {
-				setpoint_yaw_type = YAW;
-				setpoint_yaw_rate = 0;
-				ps.pose.orientation = tf::createQuaternionMsgFromYaw(yaw);
+			// transform to reference frame
+			desired = tf_buffer.transform(desired, reference_frame);
+
+			// set horizontal position
+			if (isfinite(x) && isfinite(y)) {
+				setpoint_position = desired;
+			} else if (setpoint_position.header.frame_id.empty()) {
+				 // TODO: use transform for current stamp
+				setpoint_position.header = local_position.header;
+				setpoint_position.point = local_position.pose.position;
 			}
 
-			tf_buffer.transform(ps, setpoint_position, reference_frame);
+			// set altitude
+			if (isfinite(z)) {
+				setpoint_altitude = desired;
+			} else if (setpoint_altitude.header.frame_id.empty()) {
+				setpoint_altitude.header = local_position.header;
+				setpoint_altitude.point = local_position.pose.position;
+			}
 		}
 
+		// handle velocity
 		if (sp_type == VELOCITY) {
-			Vector3Stamped vel;
-			vel.header.frame_id = frame_id;
-			vel.header.stamp = stamp;
-			vel.vector.x = vx;
-			vel.vector.y = vy;
-			vel.vector.z = vz;
-			tf_buffer.transform(vel, setpoint_velocity, reference_frame);
+			// TODO: allow setting different modes by altitude and xy
+			Vector3Stamped desired;
+			desired.header.frame_id = frame_id;
+			desired.header.stamp = stamp;
+			desired.vector.x = safe(vx);
+			desired.vector.y = safe(vy);
+			desired.vector.z = safe(vz);
+
+			// transform to reference frame
+			desired = tf_buffer.transform(desired, reference_frame);
+			setpoint_velocity.header = desired.header;
+
+			// set horizontal velocity
+			if (isfinite(vx) && isfinite(vy)) {
+				setpoint_velocity.vector.x = desired.vector.x;
+				setpoint_velocity.vector.y = desired.vector.y;
+			}
+
+			// set vertical velocity
+			if (isfinite(vz)) {
+				setpoint_velocity.vector.z = desired.vector.z;
+			}
 		}
 
-		if (sp_type == ATTITUDE || sp_type == RATES) {
-			thrust_msg.thrust = thrust;
+		// handle yaw
+		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == POSITION || sp_type == VELOCITY || sp_type == ATTITUDE || sp_type == _YAW) {
+			if (isfinite(yaw)) {
+				setpoint_yaw_type = YAW;
+				QuaternionStamped desired;
+				desired.header.frame_id = frame_id;
+				desired.header.stamp = stamp;
+				desired.quaternion = tf::createQuaternionMsgFromYaw(yaw);
+
+				// transform to reference frame
+				desired = tf_buffer.transform(desired, reference_frame);
+				setpoint_yaw = tf2::getYaw(desired.quaternion);
+				yaw_frame_id = reference_frame;
+
+			} else if (isinf(yaw) && yaw > 0) {
+				// yaw towards
+				setpoint_yaw_type = TOWARDS;
+
+			} else if (yaw_frame_id.empty() || sp_type == _YAW) {
+				// yaw is nan and not set previously OR set_yaw(yaw=nan) was called
+				setpoint_yaw_type = YAW;
+				setpoint_yaw = tf2::getYaw(local_position.pose.orientation); // set yaw to current yaw
+				yaw_frame_id = local_position.header.frame_id;
+			}
 		}
 
-		if (sp_type == RATES) {
-			rates_msg.twist.angular.x = roll_rate;
-			rates_msg.twist.angular.y = pitch_rate;
-			rates_msg.twist.angular.z = yaw_rate;
+		// handle roll
+		if (isfinite(roll)) {
+			setpoint_roll = roll;
+		}
+
+		// handle pitch
+		if (isfinite(pitch)) {
+			setpoint_pitch = pitch;
+		}
+
+		// handle yaw rate
+		if (isfinite(yaw_rate)) {
+			setpoint_yaw_type = YAW_RATE;
+			setpoint_rates.z = yaw_rate;
+		}
+
+		// handle pitch rate
+		if (isfinite(roll_rate)) {
+			setpoint_rates.x = roll_rate;
+		}
+
+		// handle roll rate
+		if (isfinite(pitch_rate)) {
+			setpoint_rates.y = pitch_rate;
+		}
+
+		// handle thrust
+		if (isfinite(thrust)) {
+			setpoint_thrust = thrust;
 		}
 
 		wait_armed = auto_arm;
 
-publish_setpoint:
 		publish(stamp); // calculate initial transformed messages first
 		setpoint_timer.start();
 
-		// publish target frame
-		if (!target.child_frame_id.empty()) {
-			if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION) {
-				target.header.frame_id = setpoint_position.header.frame_id;
-				target.header.stamp = stamp;
-				target.transform.translation.x = setpoint_position.pose.position.x;
-				target.transform.translation.y = setpoint_position.pose.position.y;
-				target.transform.translation.z = setpoint_position.pose.position.z;
-				target.transform.rotation = setpoint_position.pose.orientation;
-				static_transform_broadcaster->sendTransform(target);
-			}
+		if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION) {
+			publishTarget(stamp, true);
 		}
 
+		publishState();
+
 		if (auto_arm) {
 			offboardAndArm();
 			wait_armed = false;
@@ -788,27 +972,39 @@ publish_setpoint:
 }
 
 bool navigate(Navigate::Request& req, Navigate::Response& res) {
-	return serve(NAVIGATE, req.x, req.y, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, NAN, NAN, NAN, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
+	return serve(NAVIGATE, req.x, req.y, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, NAN, NAN, NAN, NAN, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
 }
 
 bool navigateGlobal(NavigateGlobal::Request& req, NavigateGlobal::Response& res) {
-	return serve(NAVIGATE_GLOBAL, NAN, NAN, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, req.lat, req.lon, NAN, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
+	return serve(NAVIGATE_GLOBAL, NAN, NAN, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, NAN, req.lat, req.lon, NAN, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
+}
+
+bool setAltitude(SetAltitude::Request& req, SetAltitude::Response& res) {
+	return serve(_ALTITUDE, NAN, NAN, req.z, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.frame_id, false, res.success, res.message);
+}
+
+bool setYaw(SetYaw::Request& req, SetYaw::Response& res) {
+	return serve(_YAW, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.frame_id, false, res.success, res.message);
+}
+
+bool setYawRate(SetYawRate::Request& req, SetYawRate::Response& res) {
+	return serve(_YAW_RATE, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.yaw_rate, NAN, NAN, NAN, NAN, "", false, res.success, res.message);
 }
 
 bool setPosition(SetPosition::Request& req, SetPosition::Response& res) {
-	return serve(POSITION, req.x, req.y, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, NAN, NAN, NAN, NAN, req.frame_id, req.auto_arm, res.success, res.message);
+	return serve(POSITION, req.x, req.y, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.frame_id, req.auto_arm, res.success, res.message);
 }
 
 bool setVelocity(SetVelocity::Request& req, SetVelocity::Response& res) {
-	return serve(VELOCITY, NAN, NAN, NAN, req.vx, req.vy, req.vz, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, NAN, NAN, NAN, NAN, req.frame_id, req.auto_arm, res.success, res.message);
+	return serve(VELOCITY, NAN, NAN, NAN, req.vx, req.vy, req.vz, NAN, NAN, req.yaw, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.frame_id, req.auto_arm, res.success, res.message);
 }
 
 bool setAttitude(SetAttitude::Request& req, SetAttitude::Response& res) {
-	return serve(ATTITUDE, NAN, NAN, NAN, NAN, NAN, NAN, req.pitch, req.roll, req.yaw, NAN, NAN, NAN, NAN, NAN, req.thrust, NAN, req.frame_id, req.auto_arm, res.success, res.message);
+	return serve(ATTITUDE, NAN, NAN, NAN, NAN, NAN, NAN, req.roll, req.pitch, req.yaw, NAN, NAN, NAN, NAN, NAN, req.thrust, NAN, req.frame_id, req.auto_arm, res.success, res.message);
 }
 
 bool setRates(SetRates::Request& req, SetRates::Response& res) {
-	return serve(RATES, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.pitch_rate, req.roll_rate, req.yaw_rate, NAN, NAN, req.thrust, NAN, "", req.auto_arm, res.success, res.message);
+	return serve(RATES, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.roll_rate, req.pitch_rate, req.yaw_rate, NAN, NAN, req.thrust, NAN, "", req.auto_arm, res.success, res.message);
 }
 
 bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
@@ -840,9 +1036,7 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 		auto start = ros::Time::now();
 		while (ros::ok()) {
 			if (state.mode == "AUTO.LAND") {
-				res.success = true;
-				busy = false;
-				return true;
+				break;
 			}
 			if (ros::Time::now() - start > land_timeout)
 				throw std::runtime_error("Land request timed out");
@@ -851,6 +1045,18 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 			r.sleep();
 		}
 
+		// stop setpoints and invalidate position setpoint
+		setpoint_timer.stop();
+		setpoint_type = NONE;
+		setpoint_position.header.frame_id = "";
+		setpoint_altitude.header.frame_id = "";
+		yaw_frame_id = "";
+		publishState();
+
+		res.success = true;
+		busy = false;
+		return true;
+
 	} catch (const std::exception& e) {
 		res.message = e.what();
 		ROS_INFO("%s", e.what());
@@ -863,6 +1069,11 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 bool release(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 {
 	setpoint_timer.stop();
+	setpoint_type = NONE;
+	setpoint_position.header.frame_id = "";
+	setpoint_altitude.header.frame_id = "";
+	yaw_frame_id = "";
+	publishState();
 	res.success = true;
 	return true;
 }
@@ -888,6 +1099,7 @@ int main(int argc, char **argv)
 	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.param<string>("terrain_frame", terrain.child_frame_id, "terrain");
 	nh_priv.getParam("reference_frames", reference_frames);
 
 	// Default reference frames
@@ -923,6 +1135,12 @@ int main(int argc, char **argv)
 	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);
 
+	ros::Subscriber altitude_sub;
+	if (!body.child_frame_id.empty() && !terrain.child_frame_id.empty()) {
+		terrain.header.frame_id = local_frame;
+		altitude_sub = nh.subscribe(mavros + "/altitude", 1, &handleAltitude);
+	}
+
 	// Setpoint publishers
 	position_pub = nh.advertise<PoseStamped>(mavros + "/setpoint_position/local", 1);
 	position_raw_pub = nh.advertise<PositionTarget>(mavros + "/setpoint_raw/local", 1);
@@ -931,10 +1149,16 @@ int main(int argc, char **argv)
 	rates_pub = nh.advertise<TwistStamped>(mavros + "/setpoint_attitude/cmd_vel", 1);
 	thrust_pub = nh.advertise<Thrust>(mavros + "/setpoint_attitude/thrust", 1);
 
+	// State publisher
+	state_pub = nh_priv.advertise<clover::State>("state", 1, true);
+
 	 // Service servers
 	auto gt_serv = nh.advertiseService("get_telemetry", &getTelemetry);
 	auto na_serv = nh.advertiseService("navigate", &navigate);
 	auto ng_serv = nh.advertiseService("navigate_global", &navigateGlobal);
+	auto sl_serv = nh.advertiseService("set_altitude", &setAltitude);
+	auto ya_serv = nh.advertiseService("set_yaw", &setYaw);
+	auto yr_serv = nh.advertiseService("set_yaw_rate", &setYawRate);
 	auto sp_serv = nh.advertiseService("set_position", &setPosition);
 	auto sv_serv = nh.advertiseService("set_velocity", &setVelocity);
 	auto sa_serv = nh.advertiseService("set_attitude", &setAttitude);
@@ -948,7 +1172,7 @@ int main(int argc, char **argv)
 	position_msg.header.frame_id = local_frame;
 	position_raw_msg.header.frame_id = local_frame;
 	position_raw_msg.coordinate_frame = PositionTarget::FRAME_LOCAL_NED;
-	rates_msg.header.frame_id = fcu_frame;
+	//rates_msg.header.frame_id = fcu_frame;
 
 	ROS_INFO("ready");
 	ros::spin();

clover/src/vpe_publisher.cpp

@@ -25,7 +25,7 @@
 using std::string;
 using namespace geometry_msgs;
 
-bool reset_flag = false;
+bool reset_flag = true; // offset should be reset on the start
 string local_frame_id, frame_id, child_frame_id, offset_frame_id;
 tf2_ros::Buffer tf_buffer;
 ros::Publisher vpe_pub;

clover/src/www

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+
+export ROSWWW_DEFAULT=clover
+rosrun roswww_static update

clover/srv/GetTelemetry.srv

@@ -13,11 +13,11 @@ float32 alt
 float32 vx
 float32 vy
 float32 vz
-float32 pitch
 float32 roll
+float32 pitch
 float32 yaw
-float32 pitch_rate
 float32 roll_rate
+float32 pitch_rate
 float32 yaw_rate
 float32 voltage
 float32 cell_voltage

clover/srv/Navigate.srv

@@ -2,7 +2,6 @@ float32 x
 float32 y
 float32 z
 float32 yaw
-float32 yaw_rate
 float32 speed
 string frame_id
 bool auto_arm

clover/srv/NavigateGlobal.srv

@@ -2,7 +2,6 @@ float64 lat
 float64 lon
 float32 z
 float32 yaw
-float32 yaw_rate
 float32 speed
 string frame_id
 bool auto_arm

clover/srv/SetAltitude.srv

@@ -0,0 +1,5 @@
+float32 z
+string frame_id
+---
+bool success
+string message

clover/srv/SetAttitude.srv

@@ -1,5 +1,5 @@
-float32 pitch
 float32 roll
+float32 pitch
 float32 yaw
 float32 thrust
 string frame_id

clover/srv/SetPosition.srv

@@ -2,7 +2,6 @@ float32 x
 float32 y
 float32 z
 float32 yaw
-float32 yaw_rate
 string frame_id
 bool auto_arm
 ---

clover/srv/SetRates.srv

@@ -1,5 +1,5 @@
-float32 pitch_rate
 float32 roll_rate
+float32 pitch_rate
 float32 yaw_rate
 float32 thrust
 bool auto_arm

clover/srv/SetVelocity.srv

@@ -2,7 +2,6 @@ float32 vx
 float32 vy
 float32 vz
 float32 yaw
-float32 yaw_rate
 string frame_id
 bool auto_arm
 ---

clover/srv/SetYaw.srv

@@ -0,0 +1,5 @@
+float32 yaw
+string frame_id
+---
+bool success
+string message

clover/srv/SetYawRate.srv

@@ -0,0 +1,4 @@
+float32 yaw_rate
+---
+bool success
+string message

clover/test/offboard.py

@@ -0,0 +1,402 @@
+import rospy
+import pytest
+from pytest import approx
+import threading
+import mavros_msgs.msg
+from geometry_msgs.msg import PoseStamped
+from clover import srv
+from clover.msg import State
+from math import nan, inf
+import tf2_ros
+import tf2_geometry_msgs
+
+@pytest.fixture()
+def node():
+    return rospy.init_node('offboard_test', anonymous=True)
+
+@pytest.fixture
+def tf_buffer():
+    buf = tf2_ros.Buffer()
+    tf2_ros.TransformListener(buf)
+    return buf
+
+def get_state():
+    return rospy.wait_for_message('/simple_offboard/state', State, timeout=1)
+
+def get_navigate_target(tf_buffer):
+    target = tf_buffer.lookup_transform('map', 'navigate_target', rospy.get_rostime(), rospy.Duration(1))
+    assert target.child_frame_id == 'navigate_target'
+    return target
+
+def test_offboard(node, tf_buffer):
+    navigate = rospy.ServiceProxy('navigate', srv.Navigate)
+    set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
+    set_altitude = rospy.ServiceProxy('set_altitude', srv.SetAltitude)
+    set_yaw = rospy.ServiceProxy('set_yaw', srv.SetYaw)
+    set_yaw_rate = rospy.ServiceProxy('set_yaw_rate', srv.SetYawRate)
+    set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
+    set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
+    set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
+    get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
+    res = navigate()
+    assert res.success == False
+    assert res.message.startswith('State timeout')
+
+    telem = get_telemetry()
+    assert telem.connected == False
+
+    state_pub = rospy.Publisher('/mavros/state', mavros_msgs.msg.State, latch=True, queue_size=1)
+    state_msg = mavros_msgs.msg.State(mode='OFFBOARD', armed=True)
+
+    def publish_state():
+        r = rospy.Rate(2)
+        while not rospy.is_shutdown():
+            state_msg.header.stamp = rospy.Time.now()
+            state_pub.publish(state_msg)
+            r.sleep()
+
+    # start publishing state
+    threading.Thread(target=publish_state, daemon=True).start()
+    rospy.sleep(0.5)
+
+    telem = get_telemetry()
+    assert telem.connected == False
+
+    res = navigate()
+    assert res.success == False
+    assert res.message.startswith('No connection to FCU')
+
+    state_msg.connected = True
+    rospy.sleep(1)
+
+    telem = get_telemetry()
+    assert telem.connected == True
+
+    res = navigate()
+    assert res.success == False
+    assert res.message.startswith('No local position')
+
+    local_position_pub = rospy.Publisher('/mavros/local_position/pose', PoseStamped, latch=True, queue_size=1)
+    local_position_msg = PoseStamped()
+    local_position_msg.header.frame_id = 'map'
+    local_position_msg.pose.position.x = 1
+    local_position_msg.pose.position.y = 2
+    local_position_msg.pose.position.z = 3
+    local_position_msg.pose.orientation.w = 1
+
+    def publish_local_position():
+        r = rospy.Rate(30)
+        while not rospy.is_shutdown():
+            local_position_msg.header.stamp = rospy.Time.now()
+            local_position_pub.publish(local_position_msg)
+            r.sleep()
+
+    # start publishing local position
+    threading.Thread(target=publish_local_position, daemon=True).start()
+    rospy.sleep(0.5)
+
+    # check body frame
+    body = tf_buffer.lookup_transform('map', 'body', rospy.get_rostime(), rospy.Duration(1))
+    assert body.child_frame_id == 'body'
+    assert body.transform.translation.x == approx(1)
+    assert body.transform.translation.y == approx(2)
+    assert body.transform.translation.z == approx(3)
+
+    res = navigate(x=3, y=2, z=1, frame_id='map')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 3
+    assert state.y == 2
+    assert state.z == 1
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'map'
+    assert state.yaw_frame_id == 'map'
+    target = get_navigate_target(tf_buffer)
+    assert target.header.frame_id == 'map'
+    assert target.transform.translation.x == approx(3)
+    assert target.transform.translation.y == approx(2)
+    assert target.transform.translation.z == approx(1)
+    assert target.transform.rotation.x == 0
+    assert target.transform.rotation.y == 0
+    assert target.transform.rotation.z == 0
+    assert target.transform.rotation.w == 1
+
+    # try to set only the y
+    res = navigate(x=nan, y=1, z=nan)
+    assert res.success == False
+    assert res.message.startswith('x and y can be set only together')
+
+    # set z in body frame
+    res = navigate(x=nan, y=nan, z=1, frame_id='body')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 3
+    assert state.y == 2
+    assert state.z == 4
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'map'
+    assert state.yaw_frame_id == 'map'
+
+    # set xy in test frame
+    res = navigate(x=1, y=2, z=nan, frame_id='test')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 1
+    assert state.y == 2
+    assert state.z == 4
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'test'
+    assert state.z_frame_id == 'map'
+    assert state.yaw_frame_id == 'test'
+
+    # auto_arm should invalidate the setpoint
+    res = navigate(x=nan, y=nan, z=1, frame_id='map', auto_arm=True)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 1
+    assert state.y == 2
+    assert state.z == 1
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'map'
+    assert state.yaw_frame_id == 'map'
+
+    # set_attitude should invalidate the setpoint
+    res = set_attitude()
+    assert res.success == True
+
+    res = navigate(x=5, y=6, z=nan, yaw=nan, frame_id='map')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 5
+    assert state.y == 6
+    assert state.z == 3
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'map'
+    assert state.yaw_frame_id == 'map'
+
+    # test set_altitude
+    res = set_altitude(z=7, frame_id='test')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 5
+    assert state.y == 6
+    assert state.z == 7
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'test'
+    assert state.yaw_frame_id == 'map'
+
+    # test set_yaw
+    res = set_yaw(yaw=0.5, frame_id='test2')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 5
+    assert state.y == 6
+    assert state.z == 7
+    assert state.yaw == 0.5
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'test'
+    assert state.yaw_frame_id == 'test2'
+
+    # test set_yaw_rate
+    res = set_yaw_rate(yaw_rate=2)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
+    assert state.x == 5
+    assert state.y == 6
+    assert state.z == 7
+    assert state.yaw_rate == 2
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'test'
+
+    # navigate(yaw=nan) should keep yaw rate mode
+    res = navigate(x=nan, y=nan, z=nan, yaw=nan)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
+    assert state.x == 5
+    assert state.y == 6
+    assert state.z == 7
+    assert state.yaw_rate == 2
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'test'
+
+    # set_yaw(nan) should change back to yaw mode
+    res = set_yaw(yaw=nan)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.yaw == 0
+    assert state.yaw_frame_id == 'map'
+
+    # test set_position
+    res = set_position(x=nan, y=nan, z=13, yaw=nan, frame_id='test2')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_POSITION
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 5
+    assert state.y == 6
+    assert state.z == 13
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'test2'
+    assert state.yaw_frame_id == 'map'
+
+    # set_altitude should not change the mode
+    res = set_altitude(z=3, frame_id='test')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_POSITION
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 5
+    assert state.y == 6
+    assert state.z == 3
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'test'
+    assert state.yaw_frame_id == 'map'
+
+    # set_yaw should not change the main mode
+    res = set_yaw(yaw=1, frame_id='test2')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_POSITION
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 5
+    assert state.y == 6
+    assert state.z == 3
+    assert state.yaw == 1
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'test'
+    assert state.yaw_frame_id == 'test2'
+
+    # test set_velocity
+    res = set_velocity(vx=1, frame_id='body')
+    state = get_state()
+    assert state.mode == State.MODE_VELOCITY
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.vx == 1
+    assert state.vy == 0
+    assert state.vz == 0
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'map'
+    assert state.z_frame_id == 'map'
+    assert state.yaw_frame_id == 'map'
+
+    # set_altitude should not work in velocity mode
+    res = set_altitude(z=3, frame_id='test')
+    assert res.success == False
+    assert res.message.startswith('Altitude cannot be set in')
+
+    # test set_attitude
+    res = set_attitude(roll=0.1, pitch=0.2, yaw=0.3, thrust=0.5)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_ATTITUDE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.roll == approx(0.1)
+    assert state.pitch == approx(0.2)
+    assert state.yaw == approx(0.3)
+    assert state.thrust == approx(0.5)
+    assert state.yaw_frame_id == 'map'
+    msg = rospy.wait_for_message('/mavros/setpoint_attitude/attitude', PoseStamped, timeout=3)
+    # Tait-Bryan ZYX angle (rzyx) converted to quaternion
+    assert msg.pose.orientation.x == approx(0.0342708)
+    assert msg.pose.orientation.y == approx(0.10602051)
+    assert msg.pose.orientation.z == approx(0.14357218)
+    assert msg.pose.orientation.w == approx(0.98334744)
+    msg = rospy.wait_for_message('/mavros/setpoint_attitude/thrust', mavros_msgs.msg.Thrust, timeout=3)
+    assert msg.thrust == approx(0.5)
+
+    # set_yaw should work in attitude mode
+    res = set_yaw(yaw=0.7, frame_id='test2')
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_ATTITUDE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.roll == approx(0.1)
+    assert state.pitch == approx(0.2)
+    assert state.yaw == approx(0.7)
+    assert state.thrust == approx(0.5)
+    assert state.yaw_frame_id == 'test2'
+
+    # set_yaw_rate should not work in attitude mode
+    res = set_yaw_rate(yaw_rate=0.3)
+    assert res.success == False
+    assert res.message.startswith('Yaw rate cannot be set in')
+
+    # test set_rates
+    res = set_rates(roll_rate=nan, pitch_rate=nan, yaw_rate=0.3, thrust=0.6)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_RATES
+    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
+    assert state.roll_rate == approx(0)
+    assert state.pitch_rate == approx(0)
+    assert state.yaw_rate == approx(0.3)
+    assert state.thrust == approx(0.6)
+    msg = rospy.wait_for_message('/mavros/setpoint_raw/attitude', mavros_msgs.msg.AttitudeTarget, timeout=3)
+    assert msg.thrust == approx(0.6)
+
+    res = set_rates(roll_rate=0.3, pitch_rate=0.2, yaw_rate=0.1, thrust=0.4)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_RATES
+    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
+    assert state.roll_rate == approx(0.3)
+    assert state.pitch_rate == approx(0.2)
+    assert state.yaw_rate == approx(0.1)
+    assert state.thrust == approx(0.4)
+
+    res = set_rates(roll_rate=nan, pitch_rate=nan, yaw_rate=nan, thrust=0.3)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_RATES
+    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
+    assert state.roll_rate == approx(0.3)
+    assert state.pitch_rate == approx(0.2)
+    assert state.yaw_rate == approx(0.1)
+    assert state.thrust == approx(0.3)
+    msg = rospy.wait_for_message('/mavros/setpoint_raw/attitude', mavros_msgs.msg.AttitudeTarget, timeout=3)
+    assert msg.type_mask == mavros_msgs.msg.AttitudeTarget.IGNORE_ATTITUDE
+    assert msg.body_rate.x == approx(0.3)
+    assert msg.body_rate.y == approx(0.2)
+    assert msg.body_rate.z == approx(0.1)
+
+    # set_yaw_rate should work in rates mode
+    res = set_yaw_rate(yaw_rate=0.4)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_RATES
+    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
+    assert state.roll_rate == approx(0.3)
+    assert state.pitch_rate == approx(0.2)
+    assert state.yaw_rate == approx(0.4)
+    assert state.thrust == approx(0.3)
+
+    res = set_rates(roll_rate=inf)
+    assert res.success == False
+    assert res.message == 'roll_rate argument cannot be Inf'

clover/test/offboard.test

@@ -0,0 +1,10 @@
+<launch>
+    <node name="simple_offboard" pkg="clover" type="simple_offboard" required="true" output="screen"/>
+
+    <node pkg="tf2_ros" type="static_transform_publisher" name="test_frame" args="10 20 30 0 0 0 map test"/>
+
+    <node pkg="tf2_ros" type="static_transform_publisher" name="test2_frame" args="100 200 300 0 0 0 map test2"/>
+
+    <param name="test_module" value="$(find clover)/test/offboard.py"/>
+    <test test-name="offboard_test" pkg="ros_pytest" type="ros_pytest_runner"/>
+</launch>

clover_blocks/www/blocks.js

@@ -15,6 +15,7 @@ const COLOR_GPIO = 200;
 const DOCS_URL = 'https://clover.coex.tech/en/blocks.html';
 
 var frameIds = [["body", "BODY"], ["markers map", "ARUCO_MAP"], ["marker", "ARUCO"], ["last navigate target", "NAVIGATE_TARGET"], ["map", "MAP"]];
+var frameIdsWithTerrain = frameIds.concat([["terrain", "TERRAIN"]]);
 
 function considerFrameId(e) {
 	if (!(e instanceof Blockly.Events.Change || e instanceof Blockly.Events.Create)) return;
@@ -22,7 +23,7 @@ function considerFrameId(e) {
 	var frameId = this.getFieldValue('FRAME_ID');
 	// set appropriate coordinates labels
 	if (this.getInput('X')) { // block has x-y-z fields
-		if (frameId == 'BODY' || frameId == 'NAVIGATE_TARGET' || frameId == 'BASE_LINK') {
+		if (frameId == 'BODY' || frameId == 'NAVIGATE_TARGET' || frameId == 'BASE_LINK' || frameId == 'TERRAIN') {
 			this.getInput('X').fieldRow[0].setValue('forward');
 			this.getInput('Y').fieldRow[0].setValue('left');
 			this.getInput('Z').fieldRow[0].setValue('up');
@@ -59,8 +60,8 @@ function updateSetpointBlock(e) {
 	this.getInput('VY').setVisible(velocity);
 	this.getInput('VZ').setVisible(velocity);
 	this.getInput('YAW').setVisible(attitude);
-	this.getInput('PITCH').setVisible(attitude);
 	this.getInput('ROLL').setVisible(attitude);
+	this.getInput('PITCH').setVisible(attitude);
 	this.getInput('THRUST').setVisible(attitude);
 	this.getInput('RELATIVE_TO').setVisible(type != 'RATES');
 
@@ -73,7 +74,7 @@ function updateSetpointBlock(e) {
 
 Blockly.Blocks['navigate'] = {
 	init: function () {
-		let navFrameId = frameIds.slice();
+		let navFrameId = frameIdsWithTerrain.slice();
 		navFrameId.push(['global', 'GLOBAL_LOCAL'])
 		navFrameId.push(['global, WGS 84 alt.', 'GLOBAL'])
 		this.appendDummyInput()
@@ -163,14 +164,14 @@ Blockly.Blocks['setpoint'] = {
 		this.appendValueInput("VZ")
 			.setCheck("Number")
 			.appendField("vz");
-		this.appendValueInput("PITCH")
-			.setCheck("Number")
-			.appendField("pitch")
-			.setVisible(false);
 		this.appendValueInput("ROLL")
 			.setCheck("Number")
 			.appendField("roll")
 			.setVisible(false);
+		this.appendValueInput("PITCH")
+			.setCheck("Number")
+			.appendField("pitch")
+			.setVisible(false);
 		this.appendValueInput("YAW")
 			.setCheck("Number")
 			.appendField("yaw")
@@ -213,7 +214,7 @@ Blockly.Blocks['get_position'] = {
 			.appendField("current")
 			.appendField(new Blockly.FieldDropdown([["x", "X"], ["y", "Y"], ["z", "Z"], ["vx", "VX"], ["vy", "VY"], ["vz", "VZ"]]), "FIELD")
 			.appendField("relative to")
-			.appendField(new Blockly.FieldDropdown(frameIds), "FRAME_ID");
+			.appendField(new Blockly.FieldDropdown(frameIdsWithTerrain), "FRAME_ID");
 		this.appendValueInput("ID")
 			.setCheck("Number")
 			.appendField("with ID")
@@ -247,7 +248,7 @@ Blockly.Blocks['get_attitude'] = {
 	init: function () {
 		this.appendDummyInput()
 			.appendField("current")
-			.appendField(new Blockly.FieldDropdown([["pitch", "PITCH"], ["roll", "ROLL"], ["pitch rate", "PITCH_RATE"], ["roll rate", "ROLL_RATE"], ["yaw rate", "YAW_RATE"]]), "FIELD");
+			.appendField(new Blockly.FieldDropdown([["roll", "ROLL"], ["pitch", "PITCH"], ["roll rate", "ROLL_RATE"], ["pitch rate", "PITCH_RATE"], ["yaw rate", "YAW_RATE"]]), "FIELD");
 		this.setOutput(true, "Number");
 		this.setColour(COLOR_STATE);
 		this.setTooltip("Returns current orientation or angle rates in degree or degree per second (not radian).");
@@ -509,7 +510,7 @@ Blockly.Blocks['distance'] = {
 			.appendField("z");
 		this.appendDummyInput()
 			.appendField("relative to")
-			.appendField(new Blockly.FieldDropdown([["markers map", "ARUCO_MAP"], ["marker", "ARUCO"], ["last navigate target", "NAVIGATE_TARGET"]]), "FRAME_ID");
+			.appendField(new Blockly.FieldDropdown([["markers map", "ARUCO_MAP"], ["marker", "ARUCO"], ["last navigate target", "NAVIGATE_TARGET"], ["terrain", "TERRAIN"]]), "FRAME_ID");
 		this.appendValueInput("ID")
 			.setCheck("Number")
 			.appendField("with ID")

clover_blocks/www/index.html

@@ -69,8 +69,8 @@
 				<value name="VX"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="VY"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="VZ"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
-				<value name="PITCH"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="ROLL"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
+				<value name="PITCH"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="YAW"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="THRUST"><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>

clover_blocks/www/python.js

@@ -81,7 +81,7 @@ function generateROSDefinitions() {
 		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`;
+			code += `navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)\n`;
 		}
 		if (rosDefinitions.setVelocity) {
 			code += `set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)\n`;
@@ -276,10 +276,11 @@ Blockly.Python.angle = function(block) {
 }
 
 Blockly.Python.set_yaw = function(block) {
+	rosDefinitions.setYaw = true;
 	simpleOffboard();
 	let yaw = Blockly.Python.valueToCode(block, 'YAW', Blockly.Python.ORDER_NONE);
 	let frameId = buildFrameId(block);
-	let code = `navigate(x=float('nan'), y=float('nan'), z=float('nan'), yaw=${yaw}, frame_id=${frameId})\n`;
+	let code = `set_yaw(yaw=${yaw}, frame_id=${frameId})\n`;
 	if (block.getFieldValue('WAIT') == 'TRUE') {
 		rosDefinitions.waitYaw = true;
 		simpleOffboard();
@@ -328,11 +329,11 @@ Blockly.Python.setpoint = function(block) {
 	} else if (type == 'ATTITUDE') {
 		rosDefinitions.setAttitude = true;
 		simpleOffboard();
-		return `set_attitude(pitch=${pitch}, roll=${roll}, yaw=${yaw}, thrust=${thrust}, frame_id=${frameId})\n`;
+		return `set_attitude(roll=${roll}, pitch=${pitch}, yaw=${yaw}, thrust=${thrust}, frame_id=${frameId})\n`;
 	} else if (type == 'RATES') {
 		rosDefinitions.setRates = true;
 		simpleOffboard();
-		return `set_rates(pitch_rate=${pitch}, roll_rate=${roll}, yaw_rate=${yaw}, thrust=${thrust})\n`;
+		return `set_rates(roll_rate=${roll}, pitch_rate=${pitch}, yaw_rate=${yaw}, thrust=${thrust})\n`;
 	}
 }
 

clover_simulation/package.xml

@@ -1,4 +1,4 @@
-<package format="2">
+<package format="3">
     <name>clover_simulation</name>
     <version>0.23.0</version>
     <description>The clover_simulation package provides worlds and launch files for Gazebo.</description>
@@ -22,6 +22,8 @@
     <depend>gazebo_ros</depend>
     <depend>gazebo_plugins</depend>
     <depend>rospy</depend>
+    <depend condition="$ROS_PYTHON_VERSION == 2">python-docopt</depend>
+    <depend condition="$ROS_PYTHON_VERSION == 3">python3-docopt</depend>
 
     <export>
         <gazebo_ros gazebo_media_path="${prefix}"/>

docs/en/SUMMARY.md

@@ -36,7 +36,7 @@
   * [Optical Flow](optical_flow.md)
   * [Autonomous flight (OFFBOARD)](simple_offboard.md)
   * [Coordinate systems (frames)](frames.md)
-  * [Code snippets](snippets.md)
+  * [Code examples](snippets.md)
   * [Interfacing with a laser rangefinder](laser.md)
   * [LED strip](leds.md)
   * [Working with GPIO](gpio.md)

docs/en/camera.md

@@ -14,7 +14,7 @@ The `clover` service must be restarted after the launch-file has been edited:
 sudo systemctl restart clover
 ```
 
-You may use rqt or [web_video_server](web_video_server.md) to view the camera stream.
+You may use [rqt](rviz.md) or [web_video_server](web_video_server.md) to view the camera stream.
 
 ## Troubleshooting
 
@@ -52,8 +52,6 @@ The [SD card image](image.md) comes with a preinstalled [OpenCV](https://opencv.
 
 ### Python
 
-Main article: http://wiki.ros.org/cv_bridge/Tutorials/ConvertingBetweenROSImagesAndOpenCVImagesPython.
-
 An example of creating a subscriber for a topic with an image from the main camera for processing with OpenCV:
 
 ```python
@@ -61,12 +59,14 @@ import rospy
 import cv2
 from sensor_msgs.msg import Image
 from cv_bridge import CvBridge
+from clover import long_callback
 
-rospy.init_node('computer_vision_sample')
+rospy.init_node('cv')
 bridge = CvBridge()
 
+@long_callback
 def image_callback(data):
-    cv_image = bridge.imgmsg_to_cv2(data, 'bgr8')  # OpenCV image
+    img = bridge.imgmsg_to_cv2(data, 'bgr8')  # OpenCV image
     # Do any image processing with cv2...
 
 image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback)
@@ -74,19 +74,31 @@ image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback)
 rospy.spin()
 ```
 
+> **Note** Image processing may take significant time to finish. This can cause an [issue](https://github.com/ros/ros_comm/issues/1901) in rospy library, which would lead to processing stale camera frames. To solve this problem you need to use `long_callback` decorator from `clover` library, as in the example above.
+
+#### Limiting CPU usage
+
+When using the `main_camera/image_raw` topic, the script will process the maximum number of frames from the camera, actively utilizing the CPU (up to 100%). In tasks, where processing each camera frame is not critical, you can use the topic, where the frames are published at rate 5 Hz: `main_camera/image_raw_throttled`:
+
+```python
+image_sub = rospy.Subscriber('main_camera/image_raw_throttled', Image, image_callback, queue_size=1)
+```
+
+#### Publishing images
+
 To debug image processing, you can publish a separate topic with the processed image:
 
 ```python
 image_pub = rospy.Publisher('~debug', Image)
 ```
 
-Publishing the processed image (at the end of the image_callback function):
+Publishing the processed image:
 
 ```python
-image_pub.publish(bridge.cv2_to_imgmsg(cv_image, 'bgr8'))
+image_pub.publish(bridge.cv2_to_imgmsg(img, 'bgr8'))
 ```
 
-The obtained images can be viewed using [web_video_server](web_video_server.md).
+The published images can be viewed using [web_video_server](web_video_server.md) or [rqt](rviz.md).
 
 #### Retrieving one frame
 
@@ -97,7 +109,7 @@ import rospy
 from sensor_msgs.msg import Image
 from cv_bridge import CvBridge
 
-rospy.init_node('computer_vision_sample')
+rospy.init_node('cv')
 bridge = CvBridge()
 
 # ...
@@ -119,40 +131,32 @@ QR codes recognition in Python:
 ```python
 import rospy
 from pyzbar import pyzbar
+import cv2
 from cv_bridge import CvBridge
 from sensor_msgs.msg import Image
+from clover import long_callback
 
+rospy.init_node('cv')
 bridge = CvBridge()
 
-rospy.init_node('barcode_test')
-
-# Image subscriber callback function
-def image_callback(data):
-    cv_image = bridge.imgmsg_to_cv2(data, 'bgr8')  # OpenCV image
-    barcodes = pyzbar.decode(cv_image)
+@long_callback
+def image_callback(msg):
+    img = bridge.imgmsg_to_cv2(msg, 'bgr8')
+    barcodes = pyzbar.decode(img)
     for barcode in barcodes:
-        b_data = barcode.data.decode("utf-8")
+        b_data = barcode.data.decode('utf-8')
         b_type = barcode.type
         (x, y, w, h) = barcode.rect
         xc = x + w/2
         yc = y + h/2
-        print("Found {} with data {} with center at x={}, y={}".format(b_type, b_data, xc, yc))
+        print('Found {} with data {} with center at x={}, y={}'.format(b_type, b_data, xc, yc))
 
-image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
+image_sub = rospy.Subscriber('main_camera/image_raw_throttled', Image, image_callback, queue_size=1)
 
 rospy.spin()
 ```
 
-The script will take up to 100% CPU capacity. To slow down the script artificially, you can use [throttling](http://wiki.ros.org/topic_tools/throttle) of frames from the camera, for example, at 5 Hz (`main_camera.launch`):
-
-> **Note** Starting from [image](image.md) version **0.24** `image_raw_throttled` topic is available without addition configuration.
-
-```xml
-<node pkg="topic_tools" name="cam_throttle" type="throttle"
-    args="messages main_camera/image_raw 5.0 main_camera/image_raw_throttled"/>
-```
-
-The topic for the subscriber in this case should be changed for `main_camera/image_raw_throttled`.
+> **Hint** See other computer vision examples in the `~/examples` directory of the [RPi image](image.md).
 
 ## Video recording
 

docs/en/copterhack2023.md

@@ -8,6 +8,28 @@ To learn more about the articles of the CopterHack finalist teams follow the lin
 
 The proposed projects are supposed to be open-source and be compatible with the Clover quadcopter platform. Teams-participants are supposed to work on their projects throughout the competition, bringing them closer to the state of the finished product while being assisted by industry experts through lectures and regular feedback.
 
+## Projects of the contest's participants {#participants}
+
+|Place|Team|Project|Points|
+|:-:|-|-|-|
+||🇷🇺 Clover Cloud Team|[Clover Cloud Platform](https://github.com/DevMBS/clover/blob/clover-cloud-platform/docs/en/clover-cloud-platform.md)||
+||🇰🇬 Zavarka|[Система обмена грузами с помощью конвейера](https://github.com/aiurobotics/clover/blob/conveyance/docs/ru/conveyance.md)||
+||🇮🇳 DJS PHOENIX|[Autonomous Racing Drone](https://github.com/DJSPhoenix/clover/blob/DJSPhoenix_chetak/docs/ru/djs_phoenix_chetak.md)||
+||🇷🇺 FSOTM|[Drone Interceptor](https://github.com/deadln/clover/blob/interceptor/docs/ru/interceptor.md)||
+||🇰🇬 Homelesses|[Trash Collector](https://github.com/Isa-jesus/clover/blob/trash-collector/docs/ru/trash-collector.md)||
+||🇷🇺 Digital otters|[Digital otters](https://github.com/Mentalsupernova/clover_cool/blob/new-article.md/docs/ru/new-article.md)||
+||🇷🇺 Light Flight|[Сопровождение БПЛА при посадке](https://github.com/SirSerow/clover_inertial_ns/blob/inertial-1/Description.md)||
+||🇰🇬 LiveSavers|[LiveSavers](https://github.com/Sarvar00/clover/blob/livesavers/docs/ru/livesaver.md)||
+||🇷🇺 C305|[Система радио-навигации](https://github.com/Lukerrr/clover-c305/blob/nav_beacon/docs/ru/nav-beacon.md)||
+||🇷🇺 XenCOM|[Bound by fate](https://github.com/xenkek/clover/blob/xenkek-patch-1/docs/ru/bound_by_fate.md)||
+||🇨🇦 Clover with Motion Capture System|[Clover with Motion Capture System](https://github.com/ssmith-81/clover/blob/MoCap_Clover/docs/en/mocap_clover.md)||
+||🇧🇷 Atena|[Swarm in Blocks 2](https://github.com/Grupo-SEMEAR-USP/clover/blob/swarm_in_blocks_2/docs/en/swarm_in_blocks_2.md)||
+||🇧🇾 FTL|[Advanced Clover 2](https://github.com/FTL-team/clover/blob/FTL-advancedClover3/docs/ru/advanced_clover_simulator_platform.md)||
+||🇷🇺 Лицей №128|[Платформа для зарядки квадрокоптера](https://github.com/Juli-Shvetsova/clover/blob/liceu128-1/docs/ru/liceu128.md)||
+||🇷🇺 Ava_Clover|[DoubleClover](https://github.com/bessiaka/clover/blob/Ava_Clover/docs/ru/soosocta.md)||
+||🇷🇺 TPU_1|[Совместная транспортировка груза](https://github.com/shamoleg/clover/blob/tpu_1/docs/ru/tpu_1.md)||
+||🇷🇺 TPU_2|[Алгоритм полета сквозь лесную местность](https://github.com/shamoleg/clover/blob/tpu_2/docs/ru/tpu_2.md)| |
+
 ## CopterHack 2023 stages
 
 The qualifying and project development stages will be held in an online format, however, the final round will be in a hybrid mode (offline + online). The competition involves monthly updates from the teams with regular feedback from the jury. All teams are required to prepare a final video and presentation on the project's results to participate in the final stage.

docs/en/parameters.md

@@ -60,8 +60,8 @@ The `SYS_MC_EST_GROUP` parameter defines the estimator subsystem to use.
 
 Estimator subsystem is a group of modules that calculates the current state of the copter using readings from the sensors. The copter state includes:
 
-* Angle rate of the copter – pitch_rate, roll_rate, yaw_rate;
-* Copter orientation (in the local coordinate system) – pitch, roll, yaw (one of presentations);
+* Angle rate of the copter – roll_rate, pitch_rate, yaw_rate;
+* Copter orientation (in the local coordinate system) – roll, pitch, yaw (one of presentations);
 * Copter position (in the local coordinate system) – x, y, z;
 * Copter speed (in the local coordinate system) – vx, vy, vz;
 * Global coordinates of the copter – latitude, longitude, altitude;

docs/en/simple_offboard.md

@@ -51,11 +51,11 @@ Response format:
 * `lat, lon` – drone latitude and longitude *(degrees)*, requires [GPS](gps.md) module;
 * `alt` – altitude in the global coordinate system (according to [WGS-84](https://ru.wikipedia.org/wiki/WGS_84) standard, not <abbr title="Above Mean Sea Level">AMSL</abbr>!), requires [GPS](gps.md) module;
 * `vx, vy, vz` – drone velocity *(m/s)*;
-* `pitch` – pitch angle *(radians)*;
 * `roll` – roll angle *(radians)*;
+* `pitch` – pitch angle *(radians)*;
 * `yaw` — yaw angle *(radians)*;
-* `pitch_rate` — angular pitch velocity *(rad/s)*;
 * `roll_rate` – angular roll velocity *(rad/s)*;
+* `pitch_rate` — angular pitch velocity *(rad/s)*;
 * `yaw_rate` – angular yaw velocity *(rad/s)*;
 * `voltage` – total battery voltage *(V)*;
 * `cell_voltage` – battery cell voltage *(V)*.
@@ -261,22 +261,22 @@ set_velocity(vx=1, vy=0.0, vz=0, frame_id='body')
 
 ### set_attitude
 
-Set pitch, roll, yaw and throttle level (similar to [the `STABILIZED` mode](modes.md)). This service may be used for lower level control of the drone behavior, or controlling the drone when no reliable data on its position is available.
+Set roll, pitch, yaw and throttle level (similar to [the `STABILIZED` mode](modes.md)). This service may be used for lower level control of the drone behavior, or controlling the drone when no reliable data on its position is available.
 
 Parameters:
 
-* `pitch`, `roll`, `yaw` – requested pitch, roll, and yaw angle *(radians)*;
+* `roll`, `pitch`, `yaw` – requested roll, pitch, and yaw angle *(radians)*;
 * `thrust` — throttle level, ranges from 0 (no throttle, propellers are stopped) to 1 (full throttle).
 * `auto_arm` – switch the drone to `OFFBOARD` mode and arm automatically (**the drone will take off**);
 * `frame_id` – [coordinate system](frames.md) for `yaw` (Default value: `map`).
 
 ### set_rates
 
-Set pitch, roll, and yaw rates and the throttle level (similar to [the `ACRO` mode](modes.md)). This is the lowest drone control level (excluding direct control of motor rotation speed). This service may be used to automatically perform aerobatic tricks (e.g., flips).
+Set roll, pitch, and yaw rates and the throttle level (similar to [the `ACRO` mode](modes.md)). This is the lowest drone control level (excluding direct control of motor rotation speed). This service may be used to automatically perform aerobatic tricks (e.g., flips).
 
 Parameters:
 
-* `pitch_rate`, `roll_rate`, `yaw_rate` – pitch, roll, and yaw rates *(rad/s)*;
+* `roll_rate`, `pitch_rate`, `yaw_rate` – pitch, roll, and yaw rates *(rad/s)*;
 * `thrust` — throttle level, ranges from 0 (no throttle, propellers are stopped) to 1 (full throttle).
 * `auto_arm` – switch the drone to `OFFBOARD` and arm automatically (**the drone will take off**);
 

docs/en/simulation_native.md

@@ -147,6 +147,8 @@ sudo systemctl enable roscore
 sudo systemctl start roscore
 ```
 
+### Web tools setup
+
 Install any web server to serve Clover's web tools (`~/.ros/www` directory), e. g. Monkey:
 
 ```bash
@@ -158,3 +160,11 @@ sudo cp ~/catkin_ws/src/clover/builder/assets/monkey.service /etc/systemd/system
 sudo systemctl enable monkey
 sudo systemctl start monkey
 ```
+
+Create `~/.ros/www` using the following command:
+
+```bash
+rosrun clover www
+```
+
+If the set of packages containing a web part (through `www` directory) is changed, the above command also must be run.

docs/en/snippets.md

@@ -144,7 +144,7 @@ Determine whether the copter is turned upside-down:
 PI_2 = math.pi / 2
 telem = get_telemetry()
 
-flipped = abs(telem.pitch) > PI_2 or abs(telem.roll) > PI_2
+flipped = abs(telem.roll) > PI_2 or abs(telem.pitch) > PI_2
 ```
 
 ### # {#angle-hor}
@@ -155,8 +155,8 @@ Calculate the copter horizontal angle:
 PI_2 = math.pi / 2
 telem = get_telemetry()
 
-flipped = not -PI_2 <= telem.pitch <= PI_2 or not -PI_2 <= telem.roll <= PI_2
-angle_to_horizon = math.atan(math.hypot(math.tan(telem.pitch), math.tan(telem.roll)))
+flipped = not -PI_2 <= telem.roll <= PI_2 or not -PI_2 <= telem.pitch <= PI_2
+angle_to_horizon = math.atan(math.hypot(math.tan(telem.roll), math.tan(telem.pitch)))
 if flipped:
     angle_to_horizon = math.pi - angle_to_horizon
 ```
@@ -324,7 +324,7 @@ def flip():
 
     while True:
         telem = get_telemetry()
-        flipped = abs(telem.pitch) > PI_2 or abs(telem.roll) > PI_2
+        flipped = abs(telem.roll) > PI_2 or abs(telem.pitch) > PI_2
         if flipped:
             break
 

docs/en/wall_aruco.md

@@ -49,10 +49,10 @@ If you are using the marker map, where the markers have equal distances along th
 
 After you fill out the map, you need to apply it. To do it, edit the file `aruco.launch`, located in `~/catkin_ws/src/clover/clover/launch/`. Change the line `<param name="map" value="$(find aruco_pose)/map/map_name.txt"/>`, where `map_name.txt` is the name of your map file.
 
-If you are using markers that are not linked to horizontal surfaces (floor, ceiling), you must disable the parameter `known_tilt` both in the module `aruco_detect` and `aruco_map` in the same file. To do it automatically, enter:
+If you are using markers that are not linked to horizontal surfaces (floor, ceiling), you must blank the `placement` argument in the same file:
 
-```bash
-sed -i "/known_tilt/s/value=\".*\"/value=\"\"/" /home/pi/catkin_ws/src/clover/clover/launch/aruco.launch
+```xml
+<arg name="placement" default=""/>
 ```
 
 After all the settings, call `sudo systemctl restart clover` to restart the `clover` service.

docs/ru/camera.md

@@ -54,8 +54,6 @@ raspistill -o test.jpg
 
 ### Python
 
-Основная статья: http://wiki.ros.org/cv_bridge/Tutorials/ConvertingBetweenROSImagesAndOpenCVImagesPython.
-
 Пример создания подписчика на топик с изображением с основной камеры для обработки с использованием OpenCV:
 
 ```python
@@ -63,12 +61,14 @@ import rospy
 import cv2
 from sensor_msgs.msg import Image
 from cv_bridge import CvBridge
+from clover import long_callback
 
-rospy.init_node('computer_vision_sample')
+rospy.init_node('cv')
 bridge = CvBridge()
 
+@long_callback
 def image_callback(data):
-    cv_image = bridge.imgmsg_to_cv2(data, 'bgr8')  # OpenCV image
+    img = bridge.imgmsg_to_cv2(data, 'bgr8')  # OpenCV image
     # Do any image processing with cv2...
 
 image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback)
@@ -76,19 +76,31 @@ image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback)
 rospy.spin()
 ```
 
+> **Note** Обработка изображения может занимать значительное время. Это может вызвать [проблему](https://github.com/ros/ros_comm/issues/1901) в библиотеке rospy, которая приведет к обработке устаревших кадров с камеры. Для решения этой проблемы необходимо использовать декоратор `long_callback` из библиотеки `clover`, как в примере выше.
+
+#### Ограничение использования CPU
+
+При использовании топика `main_camera/image_raw` скрипт будет обрабатывать максимальное количество кадров с камеры, активно используя CPU (вплоть до 100%). В задачах, где обработка каждого кадра не критична, можно использовать топик, где кадры публикуются с частотой 5 Гц: `main_camera/image_raw_throttled`:
+
+```python
+image_sub = rospy.Subscriber('main_camera/image_raw_throttled', Image, image_callback, queue_size=1)
+```
+
+#### Публикация изображений
+
 Для отладки обработки изображения можно публиковать отдельный топик с обработанным изображением:
 
 ```python
 image_pub = rospy.Publisher('~debug', Image)
 ```
 
-Публикация обработанного изображения (в конце функции image_callback):
+Публикация обработанного изображения:
 
 ```python
-image_pub.publish(bridge.cv2_to_imgmsg(cv_image, 'bgr8'))
+image_pub.publish(bridge.cv2_to_imgmsg(img, 'bgr8'))
 ```
 
-Получаемые изображения можно просматривать используя [web_video_server](web_video_server.md).
+Получаемые изображения можно просматривать используя [web_video_server](web_video_server.md) или [rqt](rviz.md).
 
 #### Получение одного кадра
 
@@ -99,12 +111,12 @@ import rospy
 from sensor_msgs.msg import Image
 from cv_bridge import CvBridge
 
-rospy.init_node('computer_vision_sample')
+rospy.init_node('cv')
 bridge = CvBridge()
 
 # ...
 
-# Получение кадра:
+# Retrieve a frame:
 img = bridge.imgmsg_to_cv2(rospy.wait_for_message('main_camera/image_raw', Image), 'bgr8')
 ```
 
@@ -121,40 +133,32 @@ img = bridge.imgmsg_to_cv2(rospy.wait_for_message('main_camera/image_raw', Image
 ```python
 import rospy
 from pyzbar import pyzbar
+import cv2
 from cv_bridge import CvBridge
 from sensor_msgs.msg import Image
+from clover import long_callback
 
+rospy.init_node('cv')
 bridge = CvBridge()
 
-rospy.init_node('barcode_test')
-
-# Image subscriber callback function
-def image_callback(data):
-    cv_image = bridge.imgmsg_to_cv2(data, 'bgr8')  # OpenCV image
-    barcodes = pyzbar.decode(cv_image)
+@long_callback
+def image_callback(msg):
+    img = bridge.imgmsg_to_cv2(msg, 'bgr8')
+    barcodes = pyzbar.decode(img)
     for barcode in barcodes:
-        b_data = barcode.data.decode("utf-8")
+        b_data = barcode.data.decode('utf-8')
         b_type = barcode.type
         (x, y, w, h) = barcode.rect
         xc = x + w/2
         yc = y + h/2
-        print("Found {} with data {} with center at x={}, y={}".format(b_type, b_data, xc, yc))
+        print('Found {} with data {} with center at x={}, y={}'.format(b_type, b_data, xc, yc))
 
-image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
+image_sub = rospy.Subscriber('main_camera/image_raw_throttled', Image, image_callback, queue_size=1)
 
 rospy.spin()
 ```
 
-Скрипт будет занимать 100% процессора. Для искусственного замедления работы скрипта можно запустить [throttling](http://wiki.ros.org/topic_tools/throttle) кадров с камеры, например, в 5 Гц (`main_camera.launch`):
-
-> **Note** Начиная с версии [образа](image.md) **0.24** топик `image_raw_throttled` доступен без дополнительной конфигурации.
-
-```xml
-<node pkg="topic_tools" name="cam_throttle" type="throttle"
-    args="messages main_camera/image_raw 5.0 main_camera/image_raw_throttled"/>
-```
-
-Топик для подписчика в этом случае необходимо поменять на `main_camera/image_raw_throttled`.
+> **Hint** Смотрите другие примеры по работе с компьютерным зрением в каталоге `~/examples` [образа для RPi](image.md).
 
 ## Запись видео
 

docs/ru/copterhack2023.md

@@ -8,6 +8,28 @@ CopterHack 2023 — это международный конкурс по ра
 
 На конкурс принимаются проекты с открытым исходным кодом и совместимые с платформой квадрокоптера "Клевер". На протяжении конкурса команды работают на собственными идеями и разработками, приближая их к состоянию готового продукта. В этом участникам помогают эксперты отрасли через лекции и регулярную обратную связь.
 
+## Проекты участников конкурса {#participants}
+
+|Место|Команда|Проект|Балл|
+|:-:|-|-|-|
+||🇷🇺 Clover Cloud Team|[Clover Cloud Platform](https://github.com/DevMBS/clover/blob/clover-cloud-platform/docs/en/clover-cloud-platform.md)||
+||🇰🇬 Zavarka|[Система обмена грузами с помощью конвейера](https://github.com/aiurobotics/clover/blob/conveyance/docs/ru/conveyance.md)||
+||🇮🇳 DJS PHOENIX|[Autonomous Racing Drone](https://github.com/DJSPhoenix/clover/blob/DJSPhoenix_chetak/docs/ru/djs_phoenix_chetak.md)||
+||🇷🇺 FSOTM|[Дрон-перехватчик](https://github.com/deadln/clover/blob/interceptor/docs/ru/interceptor.md)||
+||🇰🇬 Бездомные|[Дрон-бездомный](https://github.com/Isa-jesus/clover/blob/trash-collector/docs/ru/trash-collector.md)||
+||🇷🇺 Digital otters|[Digital otters](https://github.com/Mentalsupernova/clover_cool/blob/new-article.md/docs/ru/new-article.md)||
+||🇷🇺 Light Flight|[Сопровождение БПЛА при посадке](https://github.com/SirSerow/clover_inertial_ns/blob/inertial-1/Description.md)||
+||🇰🇬 LiveSavers|[LiveSavers](https://github.com/Sarvar00/clover/blob/livesavers/docs/ru/livesaver.md)||
+||🇷🇺 C305|[Система радио-навигации](https://github.com/Lukerrr/clover-c305/blob/nav_beacon/docs/ru/nav-beacon.md)||
+||🇷🇺 XenCOM|[Bound by fate](https://github.com/xenkek/clover/blob/xenkek-patch-1/docs/ru/bound_by_fate.md)||
+||🇨🇦 Clover with Motion Capture System|[Clover with Motion Capture System](https://github.com/ssmith-81/clover/blob/MoCap_Clover/docs/en/mocap_clover.md)||
+||🇧🇷 Atena|[Swarm in Blocks 2](https://github.com/Grupo-SEMEAR-USP/clover/blob/swarm_in_blocks_2/docs/en/swarm_in_blocks_2.md)||
+||🇧🇾 FTL|[Advanced Clover 2](https://github.com/FTL-team/clover/blob/FTL-advancedClover3/docs/ru/advanced_clover_simulator_platform.md)||
+||🇷🇺 Лицей №128|[Платформа для зарядки квадрокоптера](https://github.com/Juli-Shvetsova/clover/blob/liceu128-1/docs/ru/liceu128.md)||
+||🇷🇺 Ava_Clover|[DoubleClover](https://github.com/bessiaka/clover/blob/Ava_Clover/docs/ru/soosocta.md)||
+||🇷🇺 TPU_1|[Совместная транспортировка груза](https://github.com/shamoleg/clover/blob/tpu_1/docs/ru/tpu_1.md)||
+||🇷🇺 TPU_2|[Алгоритм полета сквозь лесную местность](https://github.com/shamoleg/clover/blob/tpu_2/docs/ru/tpu_2.md)| |
+
 ## Этапы CopterHack 2023
 
 Отборочный и проектный этапы конкурса проходят в онлайн-формате, формат проведения финала – гибридный (оффлайн + онлайн). Конкурс подразумевает ежемесячные апдейты от команд с получением регулярной обратной связи от жюри. Для участия в заключительном этапе необходимо подготовить финальное видео и презентацию о результатах проекта.

docs/ru/parameters.md

@@ -60,8 +60,8 @@
 
 Estimator это подсистема, которая вычисляет текущее состояние (state) коптера, используя показания с датчиков. В состояние коптера входит:
 
-* угловая скорость коптера – pitch_rate, roll_rate, yaw_rate;
-* ориентация коптера (в локальной системе координат) – pitch (тангаж), roll (крен), yaw (рысканье) (одно из представлений);
+* угловая скорость коптера – roll_rate, pitch_rate, yaw_rate;
+* ориентация коптера (в локальной системе координат) – roll (крен), pitch (тангаж), yaw (рысканье) (одно из представлений);
 * позиция коптера (в локальной системе координат) – x, y, z;
 * скорость коптера (в локальной системе координат) – vx, vy, vz;
 * глобальные координаты коптера – latitude, longitude, altitude;

docs/ru/simple_offboard.md

@@ -51,11 +51,11 @@ land = rospy.ServiceProxy('land', Trigger)
 * `lat, lon` – широта, долгота *(градусы)*, необходимо наличие [GPS](gps.md);
 * `alt` – высота в глобальной системе координат (стандарт [WGS-84](https://ru.wikipedia.org/wiki/WGS_84), не <abbr title="Above Mean Sea Level, выше среднего уровня моря">AMSL</abbr>!), необходимо наличие [GPS](gps.md);
 * `vx, vy, vz` – скорость коптера *(м/с)*;
-* `pitch` – угол по тангажу *(радианы)*;
 * `roll` – угол по крену *(радианы)*;
+* `pitch` – угол по тангажу *(радианы)*;
 * `yaw` – угол по рысканью *(радианы)*;
-* `pitch_rate` – угловая скорость по тангажу *(рад/с)*;
 * `roll_rate` – угловая скорость по крену *(рад/с)*;
+* `pitch_rate` – угловая скорость по тангажу *(рад/с)*;
 * `yaw_rate` – угловая скорость по рысканью *(рад/с)*;
 * `voltage` – общее напряжение аккумулятора *(В)*;
 * `cell_voltage` – напряжение аккумулятора на ячейку *(В)*.
@@ -265,7 +265,7 @@ set_velocity(vx=1, vy=0.0, vz=0, frame_id='body')
 
 Параметры:
 
-* `pitch`, `roll`, `yaw` – необходимый угол по тангажу, крену и рысканью *(радианы)*;
+* `roll`, `pitch`, `yaw` – необходимый угол по тангажу, крену и рысканью *(радианы)*;
 * `thrust` – уровень газа от 0 (нет газа, пропеллеры остановлены) до 1 (полный газ);
 * `auto_arm` – перевести коптер в `OFFBOARD` и заармить автоматически (**коптер взлетит**);
 * `frame_id` – [система координат](frames.md), в которой задан `yaw` (по умолчанию: `map`).
@@ -276,7 +276,7 @@ set_velocity(vx=1, vy=0.0, vz=0, frame_id='body')
 
 Параметры:
 
-* `pitch_rate`, `roll_rate`, `yaw_rate` – угловая скорость по тангажу, крену и рыканью *(рад/с)*;
+* `roll_rate`, `pitch_rate`, `yaw_rate` – угловая скорость по тангажу, крену и рыканью *(рад/с)*;
 * `thrust` – уровень газа от 0 (нет газа, пропеллеры остановлены) до 1 (полный газ).
 * `auto_arm` – перевести коптер в `OFFBOARD` и заармить автоматически (**коптер взлетит**);
 

docs/ru/simulation_native.md

@@ -147,6 +147,8 @@ sudo systemctl enable roscore
 sudo systemctl start roscore
 ```
 
+### Конфигурация веб-инструментов
+
 Установите любой веб-сервер, чтобы раздавать веб-инструменты Клевера (директория `~/.ros/www`), например, Monkey:
 
 ```bash
@@ -158,3 +160,11 @@ sudo cp ~/catkin_ws/src/clover/builder/assets/monkey.service /etc/systemd/system
 sudo systemctl enable monkey
 sudo systemctl start monkey
 ```
+
+Создайте директорию `~/.ros/www` следующей командой:
+
+```bash
+rosrun clover www
+```
+
+При обновлении набора пакетов, содержащих веб-часть (через каталог `www`), также необходимо выполнение данной команды.

docs/ru/snippets.md

@@ -154,7 +154,7 @@ new_pose = tf_buffer.transform(pose, frame_id, transform_timeout)
 PI_2 = math.pi / 2
 telem = get_telemetry()
 
-flipped = abs(telem.pitch) > PI_2 or abs(telem.roll) > PI_2
+flipped = abs(telem.roll) > PI_2 or abs(telem.pitch) > PI_2
 ```
 
 ### # {#angle-hor}
@@ -165,7 +165,7 @@ flipped = abs(telem.pitch) > PI_2 or abs(telem.roll) > PI_2
 PI_2 = math.pi / 2
 telem = get_telemetry()
 
-flipped = not -PI_2 <= telem.pitch <= PI_2 or not -PI_2 <= telem.roll <= PI_2
+flipped = not -PI_2 <= telem.roll <= PI_2 or not -PI_2 <= telem.pitch <= PI_2
 angle_to_horizon = math.atan(math.hypot(math.tan(telem.pitch), math.tan(telem.roll)))
 if flipped:
     angle_to_horizon = math.pi - angle_to_horizon
@@ -335,7 +335,7 @@ def flip():
 
     while True:
         telem = get_telemetry()
-        flipped = abs(telem.pitch) > PI_2 or abs(telem.roll) > PI_2
+        flipped = abs(telem.roll) > PI_2 or abs(telem.pitch) > PI_2
         if flipped:
             break
 

docs/ru/wall_aruco.md

@@ -51,10 +51,10 @@ sed -i "/direction_y/s/default=\".*\"/default=\"\"/" /home/pi/catkin_ws/src/clov
 
 После того, как вы заполните карту, необходимо применить ее — для этого отредактируйте файл `aruco.launch`, расположенный в `~/catkin_ws/src/clover/clover/launch/`. Измените в нем строку `<param name="map" value="$(find aruco_pose)/map/map_name.txt"/>`, где `map_name.txt` название вашего файла с картой.
 
-При использовании маркеров,  не привязанных к горизонтальным плоскостям(пол, потолок), необходимо отключить параметр `known_tilt` как в модуле `aruco_detect`, так и в модуле `aruco_map` в том же файле. Для того, чтобы сделать это автоматически, введите:
+При использовании маркеров, не привязанных к горизонтальным плоскостям (пол, потолок), необходимо также сделать пустым значение аргумента `placement` в том же файле:
 
-```bash
-sed -i "/known_tilt/s/value=\".*\"/value=\"\"/" /home/pi/catkin_ws/src/clover/clover/launch/aruco.launch
+```xml
+<arg name="placement" default=""/>
 ```
 
 После всех настроек вызовите `sudo systemctl restart clover` для перезагрузки сервиса `clover`.

roswww_static/CMakeLists.txt

@@ -5,8 +5,6 @@ find_package(catkin REQUIRED)
 
 catkin_package()
 
-install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
-catkin_install_python(PROGRAMS main.py
+catkin_install_python(PROGRAMS src/update
     DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )

roswww_static/README.md

@@ -6,12 +6,14 @@ Note: you should configure your web server to make it follow symlinks.
 
 ## Instructions
 
-* Run `main.py` node and it will generate the symlinks and index file.
+* Run `update` script and it will generate the symlinks and index file: `rosrun roswww_static update`.
 * Point your static web server path to `~/.ros/www`.
 
-You can rerun `main.py` if the list of installed packages changes.
+You can rerun `update` if the list of installed packages changes.
 
 ## Parameters
 
-* `index` – path for index page, otherwise packages list would be generated.
-* `default_package` – if set then the index page would redirect to this package's page.
+Parameters are passed through environment variables:
+
+* `ROSWWW_INDEX` – path for index page, otherwise packages list would be generated.
+* `ROSWWW_DEFAULT` – if set then the index page would redirect to this package's page.

roswww_static/launch/example.launch

@@ -1,6 +0,0 @@
-<launch>
-    <node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true" output="screen">
-        <!-- <param name="index" value="$(find my_package)/www/index.html"/> -->
-        <!-- <param name="default_package" value="my_package"/> -->
-    </node>
-</launch>

roswww_static/src/update

@@ -13,17 +13,15 @@
 
 import os
 import shutil
-import rospy
 import rospkg
 
-rospy.init_node('roswww_static')
-
 rospack = rospkg.RosPack()
 
 www = rospkg.get_ros_home() + '/www'
-index_file = rospy.get_param('~index_file', None)
-default_package = rospy.get_param('~default_package', None)
+index_file = os.environ.get('ROSWWW_INDEX')
+default_package = os.environ.get('ROSWWW_DEFAULT')
 
+print('using www dir: ' + www)
 shutil.rmtree(www, ignore_errors=True)  # reset www directory content
 os.mkdir(www)
 
@@ -34,7 +32,7 @@ index = '<h1>Packages list</h1>\n<ul>\n'
 for name in packages:
     path = rospack.get_path(name)
     if os.path.exists(path + '/www'):
-        rospy.loginfo('found www path for %s package', name)
+        print('found www path for %s package' % name)
         os.symlink(path + '/www', www + '/' + name)
         index += '<li><a href="{name}/">{name}</a></li>'.format(name=name)
 
@@ -42,7 +40,7 @@ if default_package is not None:
     redirect_html = '<meta http-equiv=refresh content="0; url={name}/">'.format(name=default_package)
     open(www + '/index.html', 'w').write(redirect_html)
 elif index_file is not None:
-    rospy.loginfo('symlinking index file')
+    print('symlinking index file')
     os.symlink(index_file, www + '/index.html')
 else:
     open(www + '/index.html', 'w').write(index)