vpe_publisher: allow taking pose data from topic

* aruco_pose: improved processing of axis visualization in the topic /aruco_map/image

* aruco_pose: reworked method for drawing axis arrow

* aruco_pose: fix indentation error

* Fix style

.markdownlint.json

@@ -103,7 +103,8 @@
             "SDA",
             "TCP",
             "UDP",
-            "QR"
+            "QR",
+            "Li-ion"
         ],
         "code_blocks": false
     },

.travis.yml

@@ -62,7 +62,8 @@ jobs:
         - markdownlint -V
       script:
         - markdownlint docs
-        - ./check_files_size.py
+        - ./check_assets_size.py
+        - ./check_unused_assets.py
         - gitbook install
         - gitbook build
       deploy:
@@ -72,8 +73,8 @@ jobs:
         github-token: ${GITHUB_OAUTH_TOKEN}
         keep-history: true
         target-branch: master
-        repo: CopterExpress/clever-gitbook
-        fqdn: clever.copterexpress.com
+        repo: CopterExpress/clever.coex.tech
+        fqdn: clever.coex.tech
         verbose: true
         on:
           branch: master

README.md

@@ -1,12 +1,12 @@
 # CLEVER
 
-<img src="docs/assets/clever3.png" align="right" width="300px" alt="CLEVER drone">
+<img src="docs/assets/clever4-front-white.png" align="right" width="400px" alt="CLEVER drone">
 
 CLEVER (Russian: *"Клевер"*, meaning *"Clover"*) is an educational programmable drone kit consisting of an unassembled quadcopter, open source software and documentation. The kit includes Pixhawk/Pixracer autopilot running PX4 firmware, Raspberry Pi 3 as companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices.
 
 Copter Express has implemented a large number of different autonomous drone projects using exactly the same platform: [automated pizza delivery](https://www.youtube.com/watch?v=hmkAoZOtF58) in Samara and Kazan, coffee delivery in Skolkovo Innovation Center, [autonomous quadcopter with charging station](https://www.youtube.com/watch?v=RjX6nUqw1mI) for site monitoring and security, winning drones on [Robocross-2016](https://www.youtube.com/watch?v=dGbDaz_VmYU) and [Robocross-2017](https://youtu.be/AQnd2CRczbQ) competitions and many others.
 
-**The main documentation in Russian is available [on our Gitbook](https://clever.copterexpress.com/).**
+**The main documentation is available [on Gitbook](https://clever.coex.tech/).**
 
 Use it to learn how to assemble, configure, pilot and program autonomous CLEVER drone.
 
@@ -26,7 +26,7 @@ Image includes:
 * Periphery drivers (`pigpiod`, `rpi_ws281x`, etc)
 * CLEVER software bundle for autonomous drone control
 
-API description (in Russian) for autonomous flights is available [on GitBook](https://clever.copterexpress.com/simple_offboard.html).
+API description (in Russian) for autonomous flights is available [on GitBook](https://clever.coex.tech/simple_offboard.html).
 
 ## Manual installation
 
@@ -73,7 +73,7 @@ Alternatively you may change the `fcu_url` property in `mavros.launch` file to p
 Enable systemd service `roscore` (if not running):
 
 ```bash
-sudo systemctl enable /home/<username>/catkin_ws/src/clever/deploy/roscore.service
+sudo systemctl enable /home/<username>/catkin_ws/src/clever/builder/assets/roscore.service
 sudo systemctl start roscore
 ```
 
@@ -97,3 +97,7 @@ Also, you can enable and start the systemd service:
 sudo systemctl enable /home/<username>/catkin_ws/src/clever/deploy/clever.service
 sudo systemctl start clever
 ```
+
+## License
+
+While the Clever platform source code is available under the MIT License, note, that the [documentation](docs/) is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.

aruco_pose/src/aruco_detect.cpp

@@ -19,6 +19,7 @@
 #include <string>
 #include <map>
 #include <unordered_map>
+#include <unordered_set>
 #include <ros/ros.h>
 #include <nodelet/nodelet.h>
 #include <pluginlib/class_list_macros.h>
@@ -62,12 +63,14 @@ private:
 	image_transport::Publisher debug_pub_;
 	image_transport::CameraSubscriber img_sub_;
 	ros::Publisher markers_pub_, vis_markers_pub_;
+	ros::Subscriber map_markers_sub_;
 	bool estimate_poses_, send_tf_, auto_flip_;
 	double length_;
 	std::unordered_map<int, double> length_override_;
 	std::string frame_id_prefix_, known_tilt_;
 	Mat camera_matrix_, dist_coeffs_;
 	aruco_pose::MarkerArray array_;
+	std::unordered_set<int> map_markers_ids_;
 	visualization_msgs::MarkerArray vis_array_;
 
 public:
@@ -81,7 +84,7 @@ public:
 		nh_priv_.param("estimate_poses", estimate_poses_, true);
 		nh_priv_.param("send_tf", send_tf_, true);
 		if (estimate_poses_ && !nh_priv_.getParam("length", length_)) {
-			ROS_FATAL("aruco_detect: can't estimate marker's poses as ~length parameter is not defined");
+			NODELET_FATAL("can't estimate marker's poses as ~length parameter is not defined");
 			ros::shutdown();
 		}
 		readLengthOverride();
@@ -101,12 +104,13 @@ public:
 		image_transport::ImageTransport it(nh_);
 		image_transport::ImageTransport it_priv(nh_priv_);
 
+		map_markers_sub_ = nh_.subscribe("map_markers", 1, &ArucoDetect::mapMarkersCallback, this);
 		debug_pub_ = it_priv.advertise("debug", 1);
 		markers_pub_ = nh_priv_.advertise<aruco_pose::MarkerArray>("markers", 1);
 		vis_markers_pub_ = nh_priv_.advertise<visualization_msgs::MarkerArray>("visualization", 1);
 		img_sub_ = it.subscribeCamera("image_raw", 1, &ArucoDetect::imageCallback, this);
 
-		ROS_INFO("aruco_detect: ready");
+		NODELET_INFO("ready");
 	}
 
 private:
@@ -158,7 +162,7 @@ private:
 						snap_to = tf_buffer_.lookupTransform(msg->header.frame_id, known_tilt_,
 						                                     msg->header.stamp, ros::Duration(0.02));
 					} catch (const tf2::TransformException& e) {
-						ROS_WARN_THROTTLE(5, "aruco_detect: can't snap: %s", e.what());
+						NODELET_WARN_THROTTLE(5, "can't snap: %s", e.what());
 					}
 				}
 			}
@@ -186,8 +190,8 @@ private:
 					if (send_tf_) {
 						transform.child_frame_id = getChildFrameId(ids[i]);
 
-						// check if such static transform exists
-						if (!tf_buffer_.canTransform(transform.header.frame_id, transform.child_frame_id, transform.header.stamp)) {
+						// check if such static transform is in the map
+						if (map_markers_ids_.find(ids[i]) == map_markers_ids_.end()) {
 							transform.transform.rotation = marker.pose.orientation;
 							fillTranslation(transform.transform.translation, tvecs[i]);
 							br_.sendTransform(transform);
@@ -329,6 +333,14 @@ private:
 			return length_;
 		}
 	}
+
+	void mapMarkersCallback(const aruco_pose::MarkerArray& msg)
+	{
+		map_markers_ids_.clear();
+		for (auto const& marker : msg.markers) {
+			map_markers_ids_.insert(marker.id);
+		}
+	}
 };
 
 PLUGINLIB_EXPORT_CLASS(ArucoDetect, nodelet::Nodelet)

aruco_pose/src/aruco_map.cpp

@@ -59,7 +59,7 @@ typedef message_filters::sync_policies::ExactTime<Image, CameraInfo, MarkerArray
 class ArucoMap : public nodelet::Nodelet {
 private:
 	ros::NodeHandle nh_, nh_priv_;
-	ros::Publisher img_pub_, pose_pub_, vis_markers_pub_;
+	ros::Publisher img_pub_, pose_pub_, markers_pub_, vis_markers_pub_;
 	image_transport::Publisher debug_pub_;
 	message_filters::Subscriber<Image> image_sub_;
 	message_filters::Subscriber<CameraInfo> info_sub_;
@@ -70,6 +70,7 @@ private:
 	geometry_msgs::TransformStamped transform_;
 	geometry_msgs::PoseWithCovarianceStamped pose_;
 	vector<geometry_msgs::TransformStamped> markers_transforms_;
+	aruco_pose::MarkerArray markers_;
 	tf2_ros::TransformBroadcaster br_;
 	tf2_ros::StaticTransformBroadcaster static_br_;
 	tf2_ros::Buffer tf_buffer_;
@@ -89,6 +90,7 @@ public:
 
 		// TODO: why image_transport doesn't work here?
 		img_pub_ = nh_priv_.advertise<sensor_msgs::Image>("image", 1, true);
+		markers_pub_ = nh_priv_.advertise<aruco_pose::MarkerArray>("markers", 1, true);
 
 		board_ = cv::makePtr<cv::aruco::Board>();
 		board_->dictionary = cv::aruco::getPredefinedDictionary(
@@ -116,7 +118,7 @@ public:
 		} else if (type == "gridboard") {
 			createGridBoard();
 		} else {
-			ROS_FATAL("aruco_map: unknown type: %s", type.c_str());
+			NODELET_FATAL("unknown type: %s", type.c_str());
 			ros::shutdown();
 		}
 
@@ -132,10 +134,11 @@ public:
 		sync_->registerCallback(boost::bind(&ArucoMap::callback, this, _1, _2, _3));
 
 		publishMarkersFrames();
+		publishMarkers();
 		publishMapImage();
 		vis_markers_pub_.publish(vis_array_);
 
-		ROS_INFO("aruco_map: ready");
+		NODELET_INFO("ready");
 	}
 
 	void callback(const sensor_msgs::ImageConstPtr& image,
@@ -195,7 +198,7 @@ public:
 				                                          known_tilt_, markers->header.stamp, ros::Duration(0.02));
 				snapOrientation(transform_.transform.rotation, snap_to.transform.rotation, auto_flip_);
 			} catch (const tf2::TransformException& e) {
-				ROS_WARN_THROTTLE(1, "aruco_map: can't snap: %s", e.what());
+				NODELET_WARN_THROTTLE(1, "can't snap: %s", e.what());
 			}
 
 			geometry_msgs::TransformStamped shift;
@@ -268,7 +271,7 @@ publish_debug:
 		std::string line;
 
 		if (!f.good()) {
-			ROS_FATAL("aruco_map: %s - %s", strerror(errno), filename.c_str());
+			NODELET_FATAL("%s - %s", strerror(errno), filename.c_str());
 			ros::shutdown();
 		}
 
@@ -286,7 +289,7 @@ publish_debug:
 			}
 
 			if (first == '#') {
-				ROS_DEBUG("aruco_map: Skipping line as a comment: %s", line.c_str());
+				NODELET_DEBUG("Skipping line as a comment: %s", line.c_str());
 				continue;
 			} else if (isdigit(first)) {
 				// Put the digit back into the stream
@@ -295,43 +298,43 @@ publish_debug:
 				s.putback(first);
 			} else {
 				// Probably garbage data; inform user and throw an exception, possibly killing nodelet
-				ROS_FATAL("aruco_map: Malformed input: %s", line.c_str());
+				NODELET_FATAL("Malformed input: %s", line.c_str());
 				ros::shutdown();
 				throw std::runtime_error("Malformed input");
 			}
 
 			if (!(s >> id >> length >> x >> y)) {
-				ROS_ERROR("aruco_map: Not enough data in line: %s; "
+				NODELET_ERROR("Not enough data in line: %s; "
 				          "Each marker must have at least id, length, x, y fields", line.c_str());
 				continue;
 			}
 			// Be less strict about z, yaw, pitch roll
 			if (!(s >> z)) {
-				ROS_DEBUG("aruco_map: No z coordinate provided for marker %d, assuming 0", id);
+				NODELET_DEBUG("No z coordinate provided for marker %d, assuming 0", id);
 				z = 0;
 			}
 			if (!(s >> yaw)) {
-				ROS_DEBUG("aruco_map: No yaw provided for marker %d, assuming 0", id);
+				NODELET_DEBUG("No yaw provided for marker %d, assuming 0", id);
 				yaw = 0;
 			}
 			if (!(s >> pitch)) {
-				ROS_DEBUG("aruco_map: No pitch provided for marker %d, assuming 0", id);
+				NODELET_DEBUG("No pitch provided for marker %d, assuming 0", id);
 				pitch = 0;
 			}
 			if (!(s >> roll)) {
-				ROS_DEBUG("aruco_map: No roll provided for marker %d, assuming 0", id);
+				NODELET_DEBUG("No roll provided for marker %d, assuming 0", id);
 				roll = 0;
 			}
 			addMarker(id, length, x, y, z, yaw, pitch, roll);
 		}
 
-		ROS_INFO("aruco_map: loading %s complete (%d markers)", filename.c_str(), static_cast<int>(board_->ids.size()));
+		NODELET_INFO("loading %s complete (%d markers)", filename.c_str(), static_cast<int>(board_->ids.size()));
 	}
 
 	void createGridBoard()
 	{
-		ROS_INFO("aruco_map: generate gridboard");
-		ROS_WARN("aruco_map: gridboard maps are deprecated");
+		NODELET_INFO("generate gridboard");
+		NODELET_WARN("gridboard maps are deprecated");
 
 		int markers_x, markers_y, first_marker;
 		double markers_side, markers_sep_x, markers_sep_y;
@@ -346,7 +349,7 @@ publish_debug:
 
 		if (nh_priv_.getParam("marker_ids", marker_ids)) {
 			if ((unsigned int)(markers_x * markers_y) != marker_ids.size()) {
-				ROS_FATAL("~marker_ids length should be equal to ~markers_x * ~markers_y");
+				NODELET_FATAL("~marker_ids length should be equal to ~markers_x * ~markers_y");
 				ros::shutdown();
 			}
 		} else {
@@ -363,7 +366,7 @@ publish_debug:
 			for(int x = 0; x < markers_x; x++) {
 				double x_pos = x * (markers_side + markers_sep_x);
 				double y_pos = max_y - y * (markers_side + markers_sep_y) - markers_side;
-				ROS_INFO("add marker %d %g %g", marker_ids[y * markers_y + x], x_pos, y_pos);
+				NODELET_INFO("add marker %d %g %g", marker_ids[y * markers_y + x], x_pos, y_pos);
 				addMarker(marker_ids[y * markers_y + x], markers_side, x_pos, y_pos, 0, 0, 0, 0);
 			}
 		}
@@ -390,14 +393,14 @@ publish_debug:
 		// Check whether the id is in range for current dictionary
 		int num_markers = board_->dictionary->bytesList.rows;
 		if (num_markers <= id) {
-			ROS_ERROR("aruco_map: Marker id %d is not in dictionary; current dictionary contains %d markers. "
-			          "Please see https://github.com/CopterExpress/clever/blob/master/aruco_pose/README.md#parameters for details",
+			NODELET_ERROR("Marker id %d is not in dictionary; current dictionary contains %d markers. "
+			              "Please see https://github.com/CopterExpress/clever/blob/master/aruco_pose/README.md#parameters for details",
 					  id, num_markers);
 			return;
 		}
 		// Check if marker is already in the board
 		if (std::count(board_->ids.begin(), board_->ids.end(), id) > 0) {
-			ROS_ERROR("aruco_map: Marker id %d is already in the map", id);
+			NODELET_ERROR("Marker id %d is already in the map", id);
 			return;
 		}
 		// Create transform
@@ -438,27 +441,36 @@ publish_debug:
 			markers_transforms_.push_back(marker_transform);
 		}
 
-		// Add visualization marker
-		visualization_msgs::Marker marker;
-		marker.header.frame_id = transform_.child_frame_id;
-		// marker.header.stamp = stamp;
-		marker.action = visualization_msgs::Marker::ADD;
-		marker.id = vis_array_.markers.size();
-		marker.ns = "aruco_map_marker";
-		marker.type = visualization_msgs::Marker::CUBE;
-		marker.scale.x = length;
-		marker.scale.y = length;
-		marker.scale.z = 0.001;
-		marker.color.r = 1;
-		marker.color.g = 0.5;
-		marker.color.b = 0.5;
-		marker.color.a = 0.8;
+		// Add marker to array
+		aruco_pose::Marker marker;
+		marker.id = id;
+		marker.length = length;
 		marker.pose.position.x = x;
 		marker.pose.position.y = y;
 		marker.pose.position.z = z;
 		tf::quaternionTFToMsg(q, marker.pose.orientation);
-		marker.frame_locked = true;
-		vis_array_.markers.push_back(marker);
+		markers_.markers.push_back(marker);
+
+		// Add visualization marker
+		visualization_msgs::Marker vis_marker;
+		vis_marker.header.frame_id = transform_.child_frame_id;
+		vis_marker.action = visualization_msgs::Marker::ADD;
+		vis_marker.id = vis_array_.markers.size();
+		vis_marker.ns = "aruco_map_marker";
+		vis_marker.type = visualization_msgs::Marker::CUBE;
+		vis_marker.scale.x = length;
+		vis_marker.scale.y = length;
+		vis_marker.scale.z = 0.001;
+		vis_marker.color.r = 1;
+		vis_marker.color.g = 0.5;
+		vis_marker.color.b = 0.5;
+		vis_marker.color.a = 0.8;
+		vis_marker.pose.position.x = x;
+		vis_marker.pose.position.y = y;
+		vis_marker.pose.position.z = z;
+		tf::quaternionTFToMsg(q, marker.pose.orientation);
+		vis_marker.frame_locked = true;
+		vis_array_.markers.push_back(vis_marker);
 
 		// Add linking line
 		// geometry_msgs::Point p;
@@ -475,6 +487,11 @@ publish_debug:
 		}
 	}
 
+	void publishMarkers()
+	{
+		markers_pub_.publish(markers_);
+	}
+
 	void publishMapImage()
 	{
 		cv::Size size(image_width_, image_height_);

aruco_pose/src/draw.cpp

@@ -2,6 +2,7 @@
 // with some improvements and fixes
 
 #include "draw.h"
+#include <math.h>
 
 using namespace cv;
 using namespace cv::aruco;
@@ -112,9 +113,32 @@ void _drawPlanarBoard(Board *_board, Size outSize, OutputArray _img, int marginS
 		auto out_copy = _img.getMat();
 
 		cv::Point center(ofs.x - minX / sizeX * float(out.cols), ofs.y + out.rows + minY / sizeY * float(out.rows));
-		line(out_copy, center, center + Point(300, 0), Scalar(255, 0, 0), 10); // x axis
-		line(out_copy, center, center + Point(0, -300), Scalar(0, 255, 0), 10); // y axis
-		line(out_copy, center, center + Point(-200, 200), Scalar(0, 0, 255), 10); // z axis
+
+		int axis_points[3][2] = {{300, 0}, {0, -300}, {-150, 150}};
+		Point axis_names[3] = {Point(270, 50), Point(25, -270), Point(-160, 115)};
+		Scalar colors[] = {Scalar(255, 0, 0), Scalar(0, 255, 0), Scalar(0, 0, 255)};
+		String names[] = {"X", "Y", "Z"};
+
+		int r_half = 14;
+		int height = 55;
+
+		for(int poly = 2; poly >= 0; poly--){
+			double alpha = atan2(0 - axis_points[poly][0], 0 - axis_points[poly][1]);
+			float x_delta = r_half * cos(alpha);
+			float y_delta = r_half * sin(alpha);
+
+			Point polygon_vertices[1][3];
+			polygon_vertices[0][0] = center + Point(axis_points[poly][0] + x_delta, axis_points[poly][1] - y_delta);
+			polygon_vertices[0][1] = center + Point(axis_points[poly][0] - x_delta, axis_points[poly][1] + y_delta);
+			polygon_vertices[0][2] = center + Point(axis_points[poly][0] - sin(alpha) * height, axis_points[poly][1] - cos(alpha) * height);
+
+			const Point* ppt[1] = {polygon_vertices[0]};
+			int npt[] = {3};
+
+			fillPoly(out_copy, ppt, npt, 1, colors[poly]);
+			putText(out_copy, names[poly], center + axis_names[poly], FONT_HERSHEY_SIMPLEX, 1.2, colors[poly], 7);
+			line(out_copy, center, center + Point(axis_points[poly][0], axis_points[poly][1]), colors[poly], 10);
+		}
 	}
 }
 

aruco_pose/test/basic.py

@@ -140,7 +140,62 @@ def test_map_image(node):
     img = rospy.wait_for_message('aruco_map/image', Image, timeout=5)
     assert img.width == 2000
     assert img.height == 2000
-    assert img.encoding == 'mono8'
+    assert img.encoding in ('mono8', 'rgb8')
+
+def test_map_markers(node):
+    markers = rospy.wait_for_message('aruco_map/markers', MarkerArray, timeout=5)
+    assert markers.markers[0].id == 1
+    assert markers.markers[1].id == 2
+    assert markers.markers[2].id == 3
+    assert markers.markers[3].id == 4
+    assert markers.markers[4].id == 10
+    assert markers.markers[5].id == 11
+    assert markers.markers[6].id == 12
+
+    assert markers.markers[0].pose.position.x == 0
+    assert markers.markers[0].pose.position.y == 0
+    assert markers.markers[0].pose.position.z == 0
+    assert markers.markers[0].pose.orientation.x == 0
+    assert markers.markers[0].pose.orientation.y == 0
+    assert markers.markers[0].pose.orientation.z == 0
+    assert markers.markers[0].pose.orientation.w == 1
+    assert markers.markers[0].length == approx(0.33)
+
+    assert markers.markers[1].pose.position.x == 1
+    assert markers.markers[1].pose.position.y == 0
+    assert markers.markers[1].pose.position.z == 0
+    assert markers.markers[1].pose.orientation.x == 0
+    assert markers.markers[1].pose.orientation.y == 0
+    assert markers.markers[1].pose.orientation.z == 0
+    assert markers.markers[1].pose.orientation.w == 1
+    assert markers.markers[1].length == approx(0.33)
+
+    assert markers.markers[2].pose.position.x == 0
+    assert markers.markers[2].pose.position.y == 1
+    assert markers.markers[2].pose.position.z == 0
+    assert markers.markers[2].pose.orientation.x == 0
+    assert markers.markers[2].pose.orientation.y == 0
+    assert markers.markers[2].pose.orientation.z == 0
+    assert markers.markers[2].pose.orientation.w == 1
+    assert markers.markers[2].length == approx(0.33)
+
+    assert markers.markers[3].pose.position.x == 1
+    assert markers.markers[3].pose.position.y == 1
+    assert markers.markers[3].pose.position.z == 0
+    assert markers.markers[3].pose.orientation.x == 0
+    assert markers.markers[3].pose.orientation.y == 0
+    assert markers.markers[3].pose.orientation.z == 0
+    assert markers.markers[3].pose.orientation.w == 1
+    assert markers.markers[3].length == approx(0.33)
+
+    assert markers.markers[4].pose.position.x == approx(0.5)
+    assert markers.markers[4].pose.position.y == 2
+    assert markers.markers[4].pose.position.z == 0
+    assert markers.markers[4].pose.orientation.x == 0
+    assert markers.markers[4].pose.orientation.y == 0
+    assert markers.markers[4].pose.orientation.z == approx(0.5646424733950354)
+    assert markers.markers[4].pose.orientation.w == approx(0.8253356149096783)
+    assert markers.markers[4].length == approx(0.5)
 
 def test_map_visualization(node):
     vis = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)

aruco_pose/test/largemap.py

@@ -17,7 +17,7 @@ class TestArucoPose(unittest.TestCase):
         img = rospy.wait_for_message('aruco_map/image', Image, timeout=5)
         self.assertEqual(img.width, 2000)
         self.assertEqual(img.height, 2000)
-        self.assertEqual(img.encoding, 'mono8')
+        self.assertIn(img.encoding, ('mono8', 'rgb8'))
 
     def test_map_visualization(self):
         vis = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)

aruco_pose/test/test_parser_pass.py

@@ -58,4 +58,4 @@ def test_map_image(node):
     img = rospy.wait_for_message('aruco_map/image', Image, timeout=5)
     assert img.width == 2000
     assert img.height == 2000
-    assert img.encoding == 'mono8'
+    assert img.encoding in ('mono8', 'rgb8')

book.json

@@ -2,17 +2,21 @@
     "title": "Clever",
     "description": "Конструктор квадрокоптера «Клевер»",
     "author": "Copter Express",
-    "language": "ru",
+    "language": "en",
     "root": "docs/",
     "gitbook": "^3.2.2",
     "plugins": [
-        "youtube",
         "richquotes@https://github.com/okalachev/gitbook-plugin-richquotes.git",
         "yametrika",
         "anchors",
         "validate-links",
         "bulk-redirect@https://github.com/okalachev/gitbook-plugin-bulk-redirect.git",
-        "sitemap@https://github.com/okalachev/plugin-sitemap.git"
+        "sitemap@https://github.com/okalachev/plugin-sitemap.git",
+        "toolbar@https://github.com/hamishwillee/gitbook-plugin-toolbar.git",
+        "addcssjs",
+        "localized-footer@https://github.com/okalachev/gitbook-plugin-localized-footer.git",
+        "image-zoom@https://github.com/okalachev/gitbook-plugin-image-zoom.git",
+        "language-picker@https://github.com/okalachev/gitbook-plugin-language-picker.git"
     ],
     "pluginsConfig": {
         "yametrika": {
@@ -20,10 +24,39 @@
         },
         "bulk-redirect": {
             "basepath": "",
-            "redirectsFile": "redirects.json"
+            "redirectsFile": "redirects.json",
+            "blank": true
         },
         "sitemap": {
-            "hostname": "https://clever.copterexpress.com"
+            "hostname": "https://clever.coex.tech"
+        },
+        "toolbar": {
+            "buttons":
+            [
+                {
+                    "label": "Edit page on github",
+                    "icon": "fa fa-pencil-square-o",
+                    "position" : "left",
+                    "url": "https://github.com/CopterExpress/clever/edit/master/docs/{{filepath_lang}}"
+                },
+                {
+                    "label": "GitHub",
+                    "icon": "fa fa-github",
+                    "position" : "left",
+                    "url": "https://github.com/CopterExpress/clever"
+                }
+            ]
+        },
+        "addcssjs": {
+            "css": ["../clever.css"],
+            "js": ["../clever.js"]
+        },
+        "language-picker": {
+            "languages": [["ru", "Russian"], ["en", "English"]]
+        },
+        "localized-footer": {
+            "hline": false,
+            "filename": "./FOOTER.md"
         }
     }
 }

builder/assets/clever.service

@@ -5,10 +5,9 @@ After=network.target
 
 [Service]
 User=pi
-ExecStart=/bin/sh -c ". /home/pi/catkin_ws/devel/setup.sh; \
-                      ROS_HOSTNAME=`hostname`.local exec roslaunch clever clever.launch --wait --screen --skip-log-check"
-Restart=on-failure
-RestartSec=3
+ExecStart=/bin/bash -c ". /home/pi/catkin_ws/devel/setup.sh; \
+                      ROS_HOSTNAME=`hostname`.local exec stdbuf -o L roslaunch clever clever.launch --wait --screen --skip-log-check \
+                      2> >(tee /tmp/clever.err)"
 
 [Install]
 WantedBy=multi-user.target

builder/assets/init_rpi.sh

@@ -35,14 +35,15 @@ echo_stamp() {
   echo -e ${TEXT}
 }
 
-echo_stamp "Rename SSID"
 NEW_SSID='CLEVER-'$(head -c 100 /dev/urandom | xxd -ps -c 100 | sed -e "s/[^0-9]//g" | cut -c 1-4)
+echo_stamp "Setting SSID to ${NEW_SSID}"
 sudo sed -i.OLD "s/CLEVER/${NEW_SSID}/" /etc/wpa_supplicant/wpa_supplicant.conf
 
-echo_stamp "Rename hostname to $NEW_SSID"
-hostnamectl set-hostname $NEW_SSID
-sed -i 's/127\.0\.1\.1.*/127.0.1.1\t'${NEW_SSID}' '${NEW_SSID}'.local/g' /etc/hosts
-# .local (mdns) hostname added to make it accesable when wlan and ethernet interfaces down
+NEW_HOSTNAME=$(echo ${NEW_SSID} | tr '[:upper:]' '[:lower:]')
+echo_stamp "Setting hostname to $NEW_HOSTNAME"
+hostnamectl set-hostname $NEW_HOSTNAME
+sed -i 's/127\.0\.1\.1.*/127.0.1.1\t'${NEW_HOSTNAME}' '${NEW_HOSTNAME}'.local/g' /etc/hosts
+# .local (mdns) hostname added to make it accesable when wlan and ethernet interfaces are down
 
 echo_stamp "Harware setup"
 /root/hardware_setup.sh

builder/assets/kinetic-rosdep-clever.yaml

@@ -529,6 +529,12 @@ libogg:
 vl53l1x:
   debian:
     stretch: [ros-kinetic-vl53l1x]
+ws281x:
+  debian:
+    stretch: [ros-kinetic-ws281x]
+led_msgs:
+  debian:
+    stretch: [ros-kinetic-led-msgs]
 interactive_markers:
   debian:
     stretch: [ros-kinetic-interactive-markers]

builder/assets/launch.nanorc

@@ -0,0 +1,22 @@
+## ROS .launch files (which are actually xml files)
+
+syntax "launch" "\.(launch)$"
+header "<\?xml.*version=.*\?>"
+magic "(XML|SGML) (sub)?document"
+comment "<!--|-->"
+
+# The entire content of the tag:
+color green  start="<" end=">"
+
+# The start and the end of the tag:
+color cyan   "<[^> ]+" ">"
+
+# The strings inside the tag:
+color magenta "\"[^"]*\""
+
+# Comments:
+color yellow start="<!DOCTYPE" end="[/]?>"
+color yellow start="<!--" end="-->"
+
+# Escapes:
+color red    "&[^;]*;"

builder/image-build.sh

@@ -113,6 +113,7 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-rosdep-clever.yaml' '/etc/ros/rosdep/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/ros_python_paths' '/etc/sudoers.d/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/pigpiod.service' '/lib/systemd/system/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/launch.nanorc' '/usr/share/nano/'
 # ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-ros-clever.rosinstall' '/home/pi/ros_catkin_ws/'
 # Add PX4 udev rules
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${REPO_DIR}'/clever/config/99-px4fmu.rules' '/lib/udev/rules.d/'

builder/image-ros.sh

@@ -174,6 +174,7 @@ apt-get install -y --no-install-recommends \
     ros-kinetic-rosserial \
     ros-kinetic-usb-cam \
     ros-kinetic-vl53l1x \
+    ros-kinetic-ws281x \
     ros-kinetic-opencv3=3.3.19-0stretch \
     ros-kinetic-rosshow
 
@@ -182,6 +183,7 @@ echo_stamp "Install GeographicLib datasets (needed for mavros)" \
 && wget -qO- https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | bash
 
 echo_stamp "Running tests"
+cd /home/pi/catkin_ws
 catkin_make run_tests && catkin_test_results
 
 echo_stamp "Change permissions for catkin_ws"

builder/image-software.sh

@@ -60,14 +60,14 @@ my_travis_retry() {
 echo_stamp "Install apt keys & repos"
 
 # TODO: This STDOUT consist 'OK'
-curl http://repo.coex.space/aptly_repo_signing.key 2> /dev/null | apt-key add -
+curl http://deb.coex.tech/aptly_repo_signing.key 2> /dev/null | apt-key add -
 apt-get update \
 && apt-get install --no-install-recommends -y -qq dirmngr=2.1.18-8~deb9u4 > /dev/null \
 && apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
 
 echo "deb http://packages.ros.org/ros/ubuntu stretch main" > /etc/apt/sources.list.d/ros-latest.list
-echo "deb http://repo.coex.space/rpi-ros-kinetic stretch main" > /etc/apt/sources.list.d/rpi-ros-kinetic.list
-echo "deb http://repo.coex.space/clever stretch main" > /etc/apt/sources.list.d/clever.list
+echo "deb http://deb.coex.tech/rpi-ros-kinetic stretch main" > /etc/apt/sources.list.d/rpi-ros-kinetic.list
+echo "deb http://deb.coex.tech/clever stretch main" > /etc/apt/sources.list.d/clever.list
 
 echo_stamp "Update apt cache"
 
@@ -107,18 +107,17 @@ espeak espeak-data python-espeak \
 ntpdate \
 python-dev \
 python3-dev \
-python-systemd \
 mjpg-streamer=2.0 \
 && echo_stamp "Everything was installed!" "SUCCESS" \
 || (echo_stamp "Some packages wasn't installed!" "ERROR"; exit 1)
 
 echo_stamp "Updating kernel to fix camera bug"
 apt-get install --no-install-recommends -y \
-	raspberrypi-kernel=1.20190709~stretch-1 \
-	raspberrypi-bootloader=1.20190709~stretch-1 \
-	libraspberrypi-bin=1.20190709~stretch-1 \
-	libraspberrypi-dev=1.20190709~stretch-1 \
-	libraspberrypi0=1.20190709~stretch-1 \
+	raspberrypi-kernel=1.20190819~stretch-1 \
+	raspberrypi-bootloader=1.20190819~stretch-1 \
+	libraspberrypi-bin=1.20190819~stretch-1 \
+	libraspberrypi-dev=1.20190819~stretch-1 \
+	libraspberrypi0=1.20190819~stretch-1 \
 	wireless-regdb=2018.05.09-0~rpt1 \
 	wpasupplicant=2:2.6-21~bpo9~rpt1
 

builder/test/tests.py

@@ -15,7 +15,7 @@ from mavros_msgs.srv import CommandBool, CommandLong, SetMode
 
 from std_srvs.srv import Trigger
 from clever.srv import GetTelemetry, Navigate, NavigateGlobal, SetPosition, SetVelocity, \
-    SetAttitude, SetRates
+    SetAttitude, SetRates, SetLEDEffect
 
 import tf2_ros
 import tf2_geometry_msgs

check_assets_size.py

@@ -10,11 +10,14 @@ def human_size(num, suffix='B'):
         num /= 1024.0
     return "%.1f %s%s" % (num, 'Yi', suffix)
 
-SIZE_LIMIT = 600 * 1024
+SIZE_LIMIT = 800 * 1024
 EXCLUDE = 'rviz.png', 'ssid.png', 'sitl_docker_demo.png', 'qgc-params.png', 'butterfly.png', \
     'Clever main.png', 'fpv_3.png', '1_4.png', 'fpv_4.png', 'detal1.png', 'lockradio.png', \
     'qground.png', 'allElements.png', 'download-log.png', 'explosion.png', 'rqt.png', \
-    'cl3_mountBEC.JPG', 'cl3_mountRpiCamera.JPG'
+    'cl3_mountBEC.JPG', 'cl3_mountRpiCamera.JPG', 'clever4-front-black-large.png', \
+    'qgc-battery.png', 'qgc-radio.png', 'qgc-cal-acc.png', 'qgc-esc.png', 'qgc-cal-compass.png', \
+    'qgc.png', 'qgc-parameters.png', 'clever4-front-white-large.png', 'qgc-modes.png', \
+    'qgc-requires-setup.png', 'clever4-front-white.png', 'clever4-kit-white.png', '26_1.png'
 
 code = 0
 

check_unused_assets.py

@@ -0,0 +1,22 @@
+#!/usr/bin/env python3
+
+import os
+import sys
+import subprocess
+
+EXCLUDE = ('clever4-front-white.png', '.DS_Store', 'clever4-front-black-large.png')
+code = 0
+
+os.chdir('./docs')
+
+for root, dirs, files in os.walk('assets'):
+    for f in files:
+        if f not in EXCLUDE:
+            path = os.path.join(root, f)
+            try:
+                subprocess.check_output(['grep', '-F', '-r', path, './ru', './en'])
+            except subprocess.CalledProcessError:
+                print('\x1b[1;31mAssets file {} is not used\x1b[0m'.format(path))
+                code = 1
+
+sys.exit(code)

clever/CMakeLists.txt

@@ -80,6 +80,7 @@ add_service_files(
   SetVelocity.srv
   SetAttitude.srv
   SetRates.srv
+  SetLEDEffect.srv
 )
 
 ## Generate actions in the 'action' folder
@@ -164,6 +165,8 @@ add_executable(camera_markers src/camera_markers.cpp)
 
 add_executable(vpe_publisher src/vpe_publisher.cpp)
 
+add_executable(led src/led.cpp)
+
 target_link_libraries(simple_offboard
   ${catkin_LIBRARIES}
   ${GeographicLib_LIBRARIES}
@@ -175,8 +178,12 @@ target_link_libraries(camera_markers ${catkin_LIBRARIES})
 
 target_link_libraries(vpe_publisher ${catkin_LIBRARIES})
 
+target_link_libraries(led ${catkin_LIBRARIES})
+
 add_dependencies(simple_offboard clever_generate_messages_cpp)
 
+add_dependencies(led clever_generate_messages_cpp)
+
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
 ## target back to the shorter version for ease of user use

clever/launch/aruco.launch

@@ -3,12 +3,13 @@
     <arg name="aruco_map" default="false"/>
     <arg name="aruco_vpe" default="false"/>
 
-    <!-- For additional help go to https://clever.copterexpress.com/aruco.html -->
+    <!-- For additional help go to https://clever.coex.tech/aruco -->
 
     <!-- aruco_detect: detect aruco markers, estimate poses -->
     <node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect nodelet_manager" output="screen" clear_params="true">
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
+        <remap from="map_markers" to="aruco_map/markers" if="$(arg aruco_map)"/>
         <param name="estimate_poses" value="true"/>
         <param name="send_tf" value="true"/>
         <param name="known_tilt" value="map"/>

clever/launch/clever.launch

@@ -7,8 +7,12 @@
     <arg name="main_camera" default="true"/>
     <arg name="optical_flow" default="false"/>
     <arg name="aruco" default="false"/>
-    <arg name="rc" default="true"/>
     <arg name="rangefinder_vl53l1x" default="false"/>
+    <arg name="led" default="false"/>
+    <arg name="rc" default="true"/>
+
+    <!-- log formatting -->
+    <env name="ROSCONSOLE_FORMAT" value="[${severity}] [${time}]: ${logger}: ${message}"/>
 
     <!-- mavros -->
     <include file="$(find clever)/launch/mavros.launch">
@@ -44,6 +48,7 @@
     <node name="simple_offboard" pkg="clever" type="simple_offboard" output="screen" clear_params="true">
         <param name="reference_frames/body" value="map"/>
         <param name="reference_frames/base_link" value="map"/>
+        <param name="reference_frames/navigate_target" value="map"/>
     </node>
 
     <!-- main camera -->
@@ -56,11 +61,13 @@
     <node name="tf2_web_republisher" pkg="tf2_web_republisher" type="tf2_web_republisher" output="screen" if="$(arg rosbridge)"/>
 
     <!-- vl53l1x ToF rangefinder -->
-    <node name="vl53l1x" pkg="vl53l1x" type="vl53l1x_node" output="screen" if="$(arg rangefinder_vl53l1x)">
+    <node name="rangefinder" pkg="vl53l1x" type="vl53l1x_node" output="screen" if="$(arg rangefinder_vl53l1x)">
         <param name="frame_id" value="rangefinder"/>
-        <remap from="~range" to="mavros/distance_sensor/rangefinder_sub"/> <!-- redirect data to FCU -->
     </node>
 
+    <!-- led strip -->
+    <include file="$(find clever)/launch/led.launch" if="$(arg led)"/>
+
     <!-- rc backend -->
     <node name="rc" pkg="clever" type="rc" output="screen" if="$(arg rc)"/>
 </launch>

clever/launch/led.launch

@@ -0,0 +1,38 @@
+<launch>
+    <arg name="ws281x" default="true"/>
+    <arg name="led_effect" default="true"/>
+    <arg name="led_notify" default="true"/>
+
+    <!-- For additional help go to https://clever.coex.tech/led -->
+
+    <!-- ws281x led strip driver -->
+    <node pkg="ws281x" name="led" type="ws281x_node" clear_params="true" output="screen" if="$(arg ws281x)">
+        <param name="led_count" value="58"/>
+        <param name="gpio_pin" value="21"/>
+        <param name="brightness" value="100"/>
+        <param name="strip_type" value="WS2811_STRIP_GRB"/>
+        <param name="target_frequency" value="800000"/>
+        <param name="dma" value="10"/>
+        <param name="invert" value="false"/>
+    </node>
+
+    <!-- high level led effects control, events notification with leds -->
+    <node pkg="clever" name="led_effect" type="led" ns="led" clear_params="true" output="screen" if="$(arg led_effect)">
+        <param name="blink_rate" value="2"/>
+        <param name="fade_period" value="0.5"/>
+        <param name="rainbow_period" value="5"/>
+        <!-- events effects table -->
+        <rosparam param="notify" if="$(arg led_notify)">
+            startup: { r: 255, g: 255, b: 255 }
+            connected: { effect: rainbow }
+            disconnected: { effect: blink, r: 255, g: 50, b: 50 }
+            acro: { r: 245, g: 155, b: 0 }
+            stabilized: { r: 30, g: 180, b: 50 }
+            altctl: { r: 255, g: 255, b: 40 }
+            posctl: { r: 50, g: 100, b: 220 }
+            offboard: { r: 220, g: 20, b: 250 }
+            low_battery: { threshold: 3.7, effect: blink_fast, r: 255, g: 0, b: 0 }
+            error: { effect: flash, r: 255, g: 0, b: 0 }
+        </rosparam>
+    </node>
+</launch>

clever/launch/main_camera.launch

@@ -2,7 +2,7 @@
     <!-- Camera position and orientation are represented by base_link -> main_camera_optical transform -->
     <!-- static_transform_publisher arguments: x y z yaw pitch roll frame_id child_frame_id -->
 
-    <!-- article about camera setup: https://clever.copterexpress.com/camera_frame.html -->
+    <!-- article about camera setup: https://clever.coex.tech/camera_frame -->
 
     <!-- camera is oriented downward, camera cable goes backward [option 1] -->
     <node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/>

clever/launch/mavros.launch

@@ -4,6 +4,7 @@
     <arg name="gcs_bridge" default="tcp"/>
     <arg name="viz" default="true"/>
     <arg name="respawn" default="true"/>
+    <arg name="distance_sensor_remap" default="rangefinder/range"/>
 
     <node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" respawn="$(arg respawn)" unless="$(eval fcu_conn == 'none')" respawn_delay="1" output="screen">
         <!-- UART connection -->
@@ -27,6 +28,9 @@
         <!-- basic params -->
         <rosparam command="load" file="$(find clever)/launch/mavros_config.yaml"/>
 
+        <!-- remap rangefinder -->
+        <remap from="mavros/distance_sensor/rangefinder_sub" to="rangefinder/range"/>
+
         <rosparam param="plugin_whitelist">
             - altitude
             - command
@@ -52,6 +56,14 @@
         </rosparam>
     </node>
 
+    <!-- remapped distance_sensor config -->
+    <rosparam param="$(arg distance_sensor_remap)" if="$(eval bool(distance_sensor_remap))">
+        subscriber: true
+        id: 1
+        orientation: PITCH_270
+        covariance: 1  # cm
+    </rosparam>
+
     <!-- Rangefinders frame -->
     <node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 base_link rangefinder"/>
 

clever/launch/mavros_config.yaml

@@ -77,9 +77,6 @@ distance_sensor:
       field_of_view: 0.5
   rangefinder_sub:
       subscriber: true
-      id: 1
-      orientation: PITCH_270
-      covariance: 1  # cm
 
 # fake_gps
 fake_gps:

clever/package.xml

@@ -7,7 +7,7 @@
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
   <license>MIT</license>
 
-  <url type="website">https://clever.copterexpress.com/</url>
+  <url type="website">https://clever.coex.tech/</url>
   <author email="okalachev@gmail.com">Oleg Kalachev</author>
   <author email="urpylka@gmail.com">Artem Smirnov</author>
 
@@ -26,6 +26,7 @@
   <depend>geometry_msgs</depend>
   <depend>sensor_msgs</depend>
   <depend>visualization_msgs</depend>
+  <depend>led_msgs</depend>
   <depend>geographiclib</depend>
   <depend>nodelet</depend>
   <depend>mavros</depend>

clever/src/led.cpp

@@ -0,0 +1,321 @@
+/*
+ * High level control for the LED strip
+ * Indicate flight events with the LED strip
+ * Copyright (C) 2019 Copter Express Technologies
+ *
+ * Author: Oleg Kalachev <okalachev@gmail.com>
+ *
+ * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ */
+
+#include <ros/ros.h>
+#include <string>
+#include <boost/algorithm/string.hpp>
+
+#include <clever/SetLEDEffect.h>
+#include <led_msgs/SetLEDs.h>
+#include <led_msgs/LEDState.h>
+#include <led_msgs/LEDStateArray.h>
+
+#include <sensor_msgs/BatteryState.h>
+#include <mavros_msgs/State.h>
+#include <rosgraph_msgs/Log.h>
+
+clever::SetLEDEffect::Request current_effect;
+int led_count;
+ros::Timer timer;
+ros::Time start_time;
+double blink_rate, blink_fast_rate, flash_delay, fade_period, wipe_period, rainbow_period;
+double low_battery_threshold;
+bool blink_state;
+led_msgs::SetLEDs set_leds;
+led_msgs::LEDStateArray state, start_state;
+ros::ServiceClient set_leds_srv;
+mavros_msgs::State mavros_state;
+int counter;
+
+void callSetLeds()
+{
+	bool res = set_leds_srv.call(set_leds);
+	if (!res) {
+		ROS_WARN_THROTTLE(5, "Error calling set_leds service");
+	} else if (!set_leds.response.success) {
+		ROS_WARN_THROTTLE(5, "Calling set_leds failed: %s", set_leds.response.message.c_str());
+	}
+}
+
+void rainbow(uint8_t n, uint8_t& r, uint8_t& g, uint8_t& b)
+{
+	if (n < 255 / 3) {
+		r = n * 3;
+		g = 255 - n * 3;
+		b = 0;
+	} else if (n < 255 / 3 * 2) {
+		n -= 255 / 3;
+		r = 255 - n * 3;
+		g = 0;
+		b = n * 3;
+	} else {
+		n -= 255 / 3 * 2;
+		r = 0;
+		g = n * 3;
+		b = 255 - n * 3;
+	}
+}
+
+void fill(uint8_t r, uint8_t g, uint8_t b)
+{
+	set_leds.request.leds.resize(led_count);
+	for (int i = 0; i < led_count; i++) {
+		set_leds.request.leds[i].index = i;
+		set_leds.request.leds[i].r = r;
+		set_leds.request.leds[i].g = g;
+		set_leds.request.leds[i].b = b;
+	}
+	callSetLeds();
+}
+
+void proceed(const ros::TimerEvent& event)
+{
+	counter++;
+	uint8_t r, g, b;
+	set_leds.request.leds.clear();
+	set_leds.request.leds.resize(led_count);
+
+	if (current_effect.effect == "blink" || current_effect.effect == "blink_fast") {
+		blink_state = !blink_state;
+		// toggle all leds
+		if (blink_state) {
+			fill(current_effect.r, current_effect.g, current_effect.b);
+		} else {
+			fill(0, 0, 0);
+		}
+
+	} else if (current_effect.effect == "fade") {
+		// fade all leds from starting state
+		double passed = std::min((event.current_real - start_time).toSec() / fade_period, 1.0);
+		double one_minus_passed = 1 - passed;
+		for (int i = 0; i < led_count; i++) {
+			set_leds.request.leds[i].index = i;
+			set_leds.request.leds[i].r = one_minus_passed * start_state.leds[i].r + passed * current_effect.r;
+			set_leds.request.leds[i].g = one_minus_passed * start_state.leds[i].g + passed * current_effect.g;
+			set_leds.request.leds[i].b = one_minus_passed * start_state.leds[i].b + passed * current_effect.b;
+		}
+		callSetLeds();
+		if (passed >= 1.0) {
+			// fade finished
+			timer.stop();
+		}
+
+	} else if (current_effect.effect == "wipe") {
+		set_leds.request.leds.resize(1);
+		set_leds.request.leds[0].index = counter - 1;
+		set_leds.request.leds[0].r = current_effect.r;
+		set_leds.request.leds[0].g = current_effect.g;
+		set_leds.request.leds[0].b = current_effect.b;
+		callSetLeds();
+		if (counter == led_count) {
+			// wipe finished
+			timer.stop();
+		}
+
+	} else if (current_effect.effect == "rainbow_fill") {
+		rainbow(counter % 255, r, g, b);
+		for (int i = 0; i < led_count; i++) {
+			set_leds.request.leds[i].index = i;
+			set_leds.request.leds[i].r = r;
+			set_leds.request.leds[i].g = g;
+			set_leds.request.leds[i].b = b;
+		}
+		callSetLeds();
+
+	} else if (current_effect.effect == "rainbow") {
+		for (int i = 0; i < led_count; i++) {
+			int pos = (int)round(counter + (255.0 * i / led_count)) % 255;
+			rainbow(pos % 255, r, g, b);
+			set_leds.request.leds[i].index = i;
+			set_leds.request.leds[i].r = r;
+			set_leds.request.leds[i].g = g;
+			set_leds.request.leds[i].b = b;
+		}
+		callSetLeds();
+	}
+}
+
+bool setEffect(clever::SetLEDEffect::Request& req, clever::SetLEDEffect::Response& res)
+{
+	res.success = true;
+
+	if (req.effect == "") {
+		req.effect = "fill";
+	}
+
+	if (req.effect != "flash" && req.effect != "fill" && current_effect.effect == req.effect &&
+	    current_effect.r == req.r && current_effect.g == req.g && current_effect.b == req.b) {
+		res.message = "Effect already set, skip";
+		return true;
+	}
+
+	if (req.effect == "fill") {
+		fill(req.r, req.g, req.b);
+
+	} else if (req.effect == "blink") {
+		timer.setPeriod(ros::Duration(1 / blink_rate), true);
+		timer.start();
+
+	} else if (req.effect == "blink_fast") {
+		timer.setPeriod(ros::Duration(1 / blink_fast_rate), true);
+		timer.start();
+
+	} else if (req.effect == "fade") {
+		timer.setPeriod(ros::Duration(0.05), true);
+		timer.start();
+
+	} else if (req.effect == "wipe") {
+		timer.setPeriod(ros::Duration(wipe_period / led_count), true);
+		timer.start();
+
+	} else if (req.effect == "flash") {
+		ros::Duration delay(flash_delay);
+		fill(0, 0, 0);
+		delay.sleep();
+		fill(req.r, req.g, req.b);
+		delay.sleep();
+		fill(0, 0, 0);
+		delay.sleep();
+		fill(req.r, req.g, req.b);
+		delay.sleep();
+		fill(0, 0, 0);
+		delay.sleep();
+		if (current_effect.effect == "fill"||
+		    current_effect.effect == "fade" ||
+		    current_effect.effect == "wipe") {
+			// restore previous filling
+			for (int i = 0; i < led_count; i++) {
+				fill(current_effect.r, current_effect.g, current_effect.b);
+			}
+			callSetLeds();
+		}
+		return true; // this effect happens only once
+
+	} else if (req.effect == "rainbow_fill") {
+		timer.setPeriod(ros::Duration(rainbow_period / 255), true);
+		timer.start();
+
+	} else if (req.effect == "rainbow") {
+		timer.setPeriod(ros::Duration(rainbow_period / 255), true);
+		timer.start();
+
+	} else {
+		res.message = "Unknown effect: " + req.effect + ". Available effects are fill, fade, wipe, blink, blink_fast, flash, rainbow, rainbow_fill.";
+		ROS_ERROR("%s", res.message.c_str());
+		res.success = false;
+		return true;
+	}
+
+	// set current effect
+	current_effect = req;
+	counter = 0;
+	start_state = state;
+	start_time = ros::Time::now();
+
+	return true;
+}
+
+void handleState(const led_msgs::LEDStateArray& msg)
+{
+	state = msg;
+	led_count = state.leds.size();
+}
+
+bool notify(const std::string& event)
+{
+	if (ros::param::has("~notify/" + event + "/effect") ||
+	    ros::param::has("~notify/" + event + "/r") ||
+	    ros::param::has("~notify/" + event + "/g") ||
+	    ros::param::has("~notify/" + event + "/b")) {
+		ROS_INFO_THROTTLE(5, "led: notify %s", event.c_str());
+		clever::SetLEDEffect effect;
+		effect.request.effect = ros::param::param("~notify/" + event + "/effect", std::string(""));
+		effect.request.r = ros::param::param("~notify/" + event + "/r", 0);
+		effect.request.g = ros::param::param("~notify/" + event + "/g", 0);
+		effect.request.b = ros::param::param("~notify/" + event + "/b", 0);
+		setEffect(effect.request, effect.response);
+	}
+}
+
+void handleMavrosState(const mavros_msgs::State& msg)
+{
+	if (msg.connected && !mavros_state.connected) {
+		notify("connected");
+	} else if (!msg.connected && mavros_state.connected) {
+		notify("disconnected");
+	} else if (msg.armed && !mavros_state.armed) {
+		notify("armed");
+	} else if (!msg.armed && mavros_state.armed) {
+		notify("disarmed");
+	} else if (msg.mode != mavros_state.mode) {
+		// mode changed
+		std::string mode = boost::algorithm::to_lower_copy(msg.mode);
+		if (mode.find(".") != std::string::npos) {
+			// remove the part before "."
+			mode = mode.substr(mode.find(".") + 1);
+		}
+		notify(mode);
+	}
+	mavros_state = msg;
+}
+
+void handleLog(const rosgraph_msgs::Log& log)
+{
+	if (log.level >= rosgraph_msgs::Log::ERROR) {
+		notify("error");
+	}
+}
+
+void handleBattery(const sensor_msgs::BatteryState& msg)
+{
+	for (auto const& voltage : msg.cell_voltage) {
+		if (voltage < low_battery_threshold) {
+			// notify low battery every time
+			notify("low_battery");
+		}
+	}
+}
+
+int main(int argc, char **argv)
+{
+	ros::init(argc, argv, "led");
+	ros::NodeHandle nh, nh_priv("~");
+
+	nh_priv.param("blink_rate", blink_rate, 2.0);
+	nh_priv.param("blink_fast_rate", blink_fast_rate, blink_rate * 2);
+	nh_priv.param("fade_period", fade_period, 0.5);
+	nh_priv.param("wipe_period", wipe_period, 0.5);
+	nh_priv.param("flash_delay", flash_delay, 0.1);
+	nh_priv.param("rainbow_period", rainbow_period, 5.0);
+
+	nh_priv.param("notify/low_battery/threshold", low_battery_threshold, 3.7);
+
+	ros::service::waitForService("set_leds"); // cannot work without set_leds service
+	set_leds_srv = nh.serviceClient<led_msgs::SetLEDs>("set_leds", true);
+
+	// wait for leds count info
+	handleState(*ros::topic::waitForMessage<led_msgs::LEDStateArray>("state", nh));
+
+	auto state_sub = nh.subscribe("state", 1, &handleState);
+
+	auto set_effect = nh.advertiseService("set_effect", &setEffect);
+
+	auto mavros_state_sub = nh.subscribe("/mavros/state", 1, &handleMavrosState);
+	auto battery_sub = nh.subscribe("/mavros/battery", 1, &handleBattery);
+	auto rosout_sub = nh.subscribe("/rosout_agg", 1, &handleLog);
+
+	timer = nh.createTimer(ros::Duration(0), &proceed, false, false);
+
+	ROS_INFO("ready");
+	notify("startup");
+	ros::spin();
+}

clever/src/optical_flow.cpp

@@ -80,7 +80,7 @@ private:
 		flow_.distance = -1; // no distance sensor available
 		flow_.temperature = 0;
 
-		ROS_INFO("Optical Flow initialized");
+		NODELET_INFO("Optical Flow initialized");
 	}
 
 	void parseCameraInfo(const sensor_msgs::CameraInfoConstPtr &cinfo) {

clever/src/selfcheck.py

@@ -12,16 +12,16 @@
 import math
 import subprocess
 import re
+from collections import OrderedDict
 import traceback
 from threading import Event
 import numpy
 import rospy
-from systemd import journal
 import tf2_ros
 import tf2_geometry_msgs
 from pymavlink import mavutil
 from std_srvs.srv import Trigger
-from sensor_msgs.msg import Image, CameraInfo, NavSatFix, Imu, Range
+from sensor_msgs.msg import BatteryState, Image, CameraInfo, NavSatFix, Imu, Range
 from mavros_msgs.msg import State, OpticalFlowRad, Mavlink
 from mavros_msgs.srv import ParamGet
 from geometry_msgs.msg import PoseStamped, TwistStamped, PoseWithCovarianceStamped, Vector3Stamped
@@ -209,7 +209,7 @@ def check_fcu():
                     is_clever_firmware = True
 
         if not is_clever_firmware:
-            failure('not running Clever PX4 firmware, check http://clever.copterexpress.com/firmware.html')
+            failure('not running Clever PX4 firmware, https://clever.coex.tech/firmware')
 
         est = get_param('SYS_MC_EST_GROUP')
         if est == 1:
@@ -236,6 +236,20 @@ def check_fcu():
             except KeyError:
                 failure('unknown board rotation %s', rot)
 
+        cbrk_usb_chk = get_param('CBRK_USB_CHK')
+        if cbrk_usb_chk != 197848:
+            failure('Set parameter CBRK_USB_CHK to 197848 for flying with USB connected')
+
+        try:
+            battery = rospy.wait_for_message('mavros/battery', BatteryState, timeout=3)
+            cell = battery.cell_voltage[0]
+            if cell > 4.3 or cell < 3.0:
+                failure('Incorrect cell voltage: %.2f V, https://clever.coex.tech/power', cell)
+            elif cell < 3.7:
+                failure('Critically low cell voltage: %.2f V, recharge battery', cell)
+        except rospy.ROSException:
+            failure('no battery state')
+
     except rospy.ROSException:
         failure('no MAVROS state (check wiring)')
 
@@ -463,7 +477,7 @@ def check_local_position():
 @check('Velocity estimation')
 def check_velocity():
     try:
-        velocity = rospy.wait_for_message('mavros/local_position/velocity', TwistStamped, timeout=1)
+        velocity = rospy.wait_for_message('mavros/local_position/velocity_local', TwistStamped, timeout=1)
         horiz = math.hypot(velocity.twist.linear.x, velocity.twist.linear.y)
         vert = velocity.twist.linear.z
         if abs(horiz) > 0.1:
@@ -471,6 +485,7 @@ def check_velocity():
         if abs(vert) > 0.1:
             failure('vertical velocity estimation is %.2f m/s; is copter staying still?' % vert)
 
+        velocity = rospy.wait_for_message('mavros/local_position/velocity_body', TwistStamped, timeout=1)
         angular = velocity.twist.angular
         ANGULAR_VELOCITY_LIMIT = 0.1
         if abs(angular.x) > ANGULAR_VELOCITY_LIMIT:
@@ -544,7 +559,7 @@ def check_rangefinder():
     # TODO: check FPS!
     rng = False
     try:
-        rospy.wait_for_message('mavros/distance_sensor/rangefinder_sub', Range, timeout=4)
+        rospy.wait_for_message('rangefinder/range', Range, timeout=4)
         rng = True
     except rospy.ROSException:
         failure('no rangefinder data from Raspberry')
@@ -613,27 +628,33 @@ def check_clever_service():
         failure('systemctl returned %s: %s', e.returncode, e.output)
         return
     if 'inactive' in output:
-        failure('clever.service is not running, try sudo systemctl restart clever')
+        failure('service is not running, try sudo systemctl restart clever')
         return
+    elif 'failed' in output:
+        failure('service failed to run, check your launch-files')
 
-    j = journal.Reader()
-    j.this_boot()
-    j.add_match(_SYSTEMD_UNIT='clever.service')
-    j.add_disjunction()
-    j.add_match(UNIT='clever.service')
-    node_errors = []
-    r = re.compile(r'^(.*)\[(FATAL|ERROR)\] \[\d+.\d+\]: (.*)$')
-    for event in j:
-        msg = event['MESSAGE']
-        if ('Stopped Clever ROS package' in msg) or ('Started Clever ROS package' in msg):
-            node_errors = []
-        elif ('[ERROR]' in msg) or ('[FATAL]' in msg):
-            msg = r.search(msg).groups()[2]
-            if msg in node_errors:
-                continue
-            node_errors.append(msg)
-    for error in node_errors:
-        failure(error)
+    r = re.compile(r'^(.*)\[(FATAL|ERROR)\] \[\d+.\d+\]: (.*?)(\x1b(.*))?$')
+    error_count = OrderedDict()
+    try:
+        for line in open('/tmp/clever.err', 'r'):
+            node_error = r.search(line)
+            if node_error:
+                msg = node_error.groups()[1] + ': ' + node_error.groups()[2]
+                if msg in error_count:
+                    error_count[msg] += 1
+                else:
+                    error_count.update({msg: 1})
+            else:
+                error_count.update({line.strip(): 1})
+
+        for error in error_count:
+            if error_count[error] == 1:
+                failure(error)
+            else:
+                failure('%s (%d)', error, error_count[error])
+
+    except IOError as e:
+        failure('%s', e)
 
 
 @check('Image')

clever/src/simple_offboard.cpp

@@ -20,6 +20,7 @@
 #include <tf2/utils.h>
 #include <tf2_ros/transform_listener.h>
 #include <tf2_ros/transform_broadcaster.h>
+#include <tf2_ros/static_transform_broadcaster.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <std_srvs/Trigger.h>
 #include <geometry_msgs/PoseStamped.h>
@@ -55,6 +56,7 @@ using mavros_msgs::Thrust;
 // tf2
 tf2_ros::Buffer tf_buffer;
 std::shared_ptr<tf2_ros::TransformBroadcaster> transform_broadcaster;
+std::shared_ptr<tf2_ros::StaticTransformBroadcaster> static_transform_broadcaster;
 
 // Parameters
 string local_frame;
@@ -71,7 +73,7 @@ ros::Duration global_position_timeout;
 ros::Duration battery_timeout;
 float default_speed;
 bool auto_release;
-bool land_only_in_offboard;
+bool land_only_in_offboard, nav_from_sp;
 std::map<string, string> reference_frames;
 
 // Publishers
@@ -100,6 +102,7 @@ float setpoint_yaw_rate;
 float nav_speed;
 bool busy = false;
 bool wait_armed = false;
+bool nav_from_sp_flag = false;
 
 enum setpoint_type_t {
 	NONE,
@@ -130,6 +133,15 @@ void handleMessage(const T& msg)
 	STORAGE = msg;
 }
 
+void handleState(const mavros_msgs::State& s)
+{
+	state = s;
+	if (s.mode != "OFFBOARD") {
+		// flight intercepted
+		nav_from_sp_flag = false;
+	}
+}
+
 inline void publishBodyFrame()
 {
 	if (body.child_frame_id.empty()) return;
@@ -214,7 +226,7 @@ bool getTelemetry(GetTelemetry::Request& req, GetTelemetry::Response& res)
 		res.pitch = pitch;
 		res.roll = roll;
 	} catch (const tf2::TransformException& e) {
-		ROS_DEBUG("simple_offboard: %s", e.what());
+		ROS_DEBUG("%s", e.what());
 	}
 
 	if (!TIMEOUT(velocity, velocity_timeout)) {
@@ -261,7 +273,7 @@ void offboardAndArm()
 
 	if (state.mode != "OFFBOARD") {
 		auto start = ros::Time::now();
-		ROS_INFO("simple_offboard: switch to OFFBOARD");
+		ROS_INFO("switch to OFFBOARD");
 		static mavros_msgs::SetMode sm;
 		sm.request.custom_mode = "OFFBOARD";
 
@@ -286,7 +298,7 @@ void offboardAndArm()
 
 	if (!state.armed) {
 		ros::Time start = ros::Time::now();
-		ROS_INFO("simple_offboard: arming");
+		ROS_INFO("arming");
 		mavros_msgs::CommandBool srv;
 		srv.request.value = true;
 		if (!arming.call(srv)) {
@@ -386,18 +398,7 @@ void publish(const ros::Time stamp)
 		}
 
 	} catch (const tf2::TransformException& e) {
-		ROS_WARN_THROTTLE(10, "simple_offboard: can't transform");
-	}
-
-	if (!target.child_frame_id.empty()) {
-		if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION) {
-			target.header = setpoint_position_transformed.header;
-			target.transform.translation.x = setpoint_position_transformed.pose.position.x;
-			target.transform.translation.y = setpoint_position_transformed.pose.position.y;
-			target.transform.translation.z = setpoint_position_transformed.pose.position.z;
-			target.transform.rotation = setpoint_position_transformed.pose.orientation;
-			transform_broadcaster->sendTransform(target);
-		}
+		ROS_WARN_THROTTLE(10, "can't transform");
 	}
 
 	if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL) {
@@ -478,7 +479,7 @@ inline void checkState()
 		throw std::runtime_error("State timeout, check mavros settings");
 
 	if (!state.connected)
-		throw std::runtime_error("No connection to FCU, https://clever.copterexpress.com/connection.html");
+		throw std::runtime_error("No connection to FCU, https://clever.coex.tech/connection");
 }
 
 #define ENSURE_FINITE(var) { if (!std::isfinite(var)) throw std::runtime_error(#var " argument cannot be NaN or Inf"); }
@@ -567,10 +568,20 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 		// Everything fine - switch setpoint type
 		setpoint_type = sp_type;
 
+		if (sp_type != NAVIGATE && sp_type != NAVIGATE_GLOBAL) {
+			nav_from_sp_flag = false;
+		}
+
 		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL) {
 			// starting point
-			nav_start = local_position;
+			if (nav_from_sp && nav_from_sp_flag) {
+				message = "Navigating from current setpoint";
+				nav_start = position_msg;
+			} else {
+				nav_start = local_position;
+			}
 			nav_speed = speed;
+			nav_from_sp_flag = true;
 		}
 
 		// if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == POSITION || sp_type == VELOCITY) {
@@ -632,6 +643,19 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 		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 (auto_arm) {
 			offboardAndArm();
 			wait_armed = false;
@@ -645,7 +669,7 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 
 	} catch (const std::exception& e) {
 		message = e.what();
-		ROS_INFO("simple_offboard: %s", message.c_str());
+		ROS_INFO("%s", message.c_str());
 		busy = false;
 		return true;
 	}
@@ -721,7 +745,7 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 
 	} catch (const std::exception& e) {
 		res.message = e.what();
-		ROS_INFO("simple_offboard: %s", e.what());
+		ROS_INFO("%s", e.what());
 		busy = false;
 		return true;
 	}
@@ -734,6 +758,7 @@ int main(int argc, char **argv)
 
 	tf2_ros::TransformListener tf_listener(tf_buffer);
 	transform_broadcaster = std::make_shared<tf2_ros::TransformBroadcaster>();
+	static_transform_broadcaster = std::make_shared<tf2_ros::StaticTransformBroadcaster>();
 
 	// Params
 	nh.param<string>("mavros/local_position/tf/frame_id", local_frame, "map");
@@ -741,6 +766,7 @@ int main(int argc, char **argv)
 	nh_priv.param("target_frame", target.child_frame_id, string("navigate_target"));
 	nh_priv.param("auto_release", auto_release, true);
 	nh_priv.param("land_only_in_offboard", land_only_in_offboard, true);
+	nh_priv.param("nav_from_sp", nav_from_sp, true);
 	nh_priv.param("default_speed", default_speed, 0.5f);
 	nh_priv.param<string>("body_frame", body.child_frame_id, "body");
 	nh_priv.getParam("reference_frames", reference_frames);
@@ -762,7 +788,7 @@ int main(int argc, char **argv)
 	set_mode = nh.serviceClient<mavros_msgs::SetMode>("mavros/set_mode");
 
 	// Telemetry subscribers
-	auto state_sub = nh.subscribe("mavros/state", 1, &handleMessage<mavros_msgs::State, state>);
+	auto state_sub = nh.subscribe("mavros/state", 1, &handleState);
 	auto velocity_sub = nh.subscribe("mavros/local_position/velocity_body", 1, &handleMessage<TwistStamped, velocity>);
 	auto global_position_sub = nh.subscribe("mavros/global_position/global", 1, &handleMessage<NavSatFix, global_position>);
 	auto battery_sub = nh.subscribe("mavros/battery", 1, &handleMessage<BatteryState, battery>);
@@ -795,6 +821,6 @@ int main(int argc, char **argv)
 	position_raw_msg.coordinate_frame = PositionTarget::FRAME_LOCAL_NED;
 	rates_msg.header.frame_id = fcu_frame;
 
-	ROS_INFO("simple_offboard: ready");
+	ROS_INFO("ready");
 	ros::spin();
 }

clever/src/vpe_publisher.cpp

@@ -14,16 +14,21 @@
 #include <tf2/transform_datatypes.h>
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
+#include <tf2_ros/transform_broadcaster.h>
 #include <tf2_ros/static_transform_broadcaster.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <geometry_msgs/TransformStamped.h>
 #include <geometry_msgs/PoseStamped.h>
 #include <geometry_msgs/PoseWithCovarianceStamped.h>
+#include <nav_msgs/Odometry.h>
+#include <std_srvs/Trigger.h>
 // #include <aruco_pose/MarkerArray.h>
 
 using std::string;
 using namespace geometry_msgs;
 
+bool use_tf;
+bool reset_flag = false;
 string local_frame_id, frame_id, child_frame_id, offset_frame_id;
 tf2_ros::Buffer tf_buffer;
 ros::Publisher vpe_pub;
@@ -34,13 +39,35 @@ ros::Time got_local_pos(0);
 ros::Duration publish_zero_timout, publish_zero_duration, offset_timeout;
 TransformStamped offset;
 
+inline geometry_msgs::TransformStamped poseToTransform(const geometry_msgs::PoseStamped& pose)
+{
+	geometry_msgs::TransformStamped result;
+	result.header.frame_id = pose.header.frame_id;
+	result.header.stamp = pose.header.stamp;
+	result.transform.translation.x = pose.pose.position.x;
+	result.transform.translation.y = pose.pose.position.y;
+	result.transform.translation.z = pose.pose.position.z;
+	result.transform.rotation = pose.pose.orientation;
+	return result;
+}
+
+inline geometry_msgs::Transform poseToTransform(const geometry_msgs::Pose& pose)
+{
+	geometry_msgs::Transform result;
+	result.translation.x = pose.position.x;
+	result.translation.y = pose.position.y;
+	result.translation.z = pose.position.z;
+	result.rotation = pose.orientation;
+	return result;
+}
+
 void publishZero(const ros::TimerEvent& e)
 {
 	if (e.current_real - vpe.header.stamp < publish_zero_timout) return; // have vpe
 
 	if (e.current_real - pose.header.stamp < publish_zero_timout) { // have local position
 		if (got_local_pos.isZero()) {
-			ROS_INFO("vpe_publisher: got local position");
+			ROS_INFO("got local position");
 			got_local_pos = e.current_real;
 		}
 
@@ -50,7 +77,7 @@ void publishZero(const ros::TimerEvent& e)
 		got_local_pos = ros::Time(0);
 	}
 
-	ROS_INFO_THROTTLE(10, "vpe_publisher: publish zero");
+	ROS_INFO_THROTTLE(10, "publish zero");
 	static geometry_msgs::PoseStamped zero;
 	zero.header.frame_id = local_frame_id;
 	zero.header.stamp = e.current_real;
@@ -64,68 +91,91 @@ inline Pose getPose(const PoseStampedConstPtr& pose) { return pose->pose; }
 
 inline Pose getPose(const PoseWithCovarianceStampedConstPtr& pose) { return pose->pose.pose; }
 
+inline Pose getPose(const nav_msgs::OdometryConstPtr& pose) { return pose->pose.pose; }
+
 template <typename T>
 void callback(const T& msg)
 {
 	static tf2_ros::StaticTransformBroadcaster br;
 
 	try {
-		if (!frame_id.empty()) {
-			// get VPE transform from TF
-			auto transform = tf_buffer.lookupTransform(frame_id, child_frame_id,
-													msg->header.stamp, ros::Duration(0.02));
-			vpe.pose.position.x = transform.transform.translation.x;
-			vpe.pose.position.y = transform.transform.translation.y;
-			vpe.pose.position.z = transform.transform.translation.z;
-			vpe.pose.orientation = transform.transform.rotation;
-		} else {
-			vpe.pose = getPose(msg);
+		if (!use_tf) {
+			// republish transform from pose for convenience
+			static tf2_ros::TransformBroadcaster tr_br;
+			tf2::Transform pose;
+			tf2::fromMsg(poseToTransform(getPose(msg)), pose);
+			pose = pose.inverse();
+			TransformStamped transform;
+			transform.transform = tf2::toMsg(pose);
+			transform.header.stamp = msg->header.stamp;
+			transform.header.frame_id = child_frame_id;
+			transform.child_frame_id = frame_id;
+			tr_br.sendTransform(transform);
 		}
 
+		// get VPE transform from TF
+		auto transform = tf_buffer.lookupTransform(frame_id, child_frame_id,
+												msg->header.stamp, ros::Duration(0.02));
+		vpe.pose.position.x = transform.transform.translation.x;
+		vpe.pose.position.y = transform.transform.translation.y;
+		vpe.pose.position.z = transform.transform.translation.z;
+		vpe.pose.orientation = transform.transform.rotation;
+
 		// offset
 		if (!offset_frame_id.empty()) {
-			if (msg->header.stamp - vpe.header.stamp > offset_timeout) {
+			if (reset_flag || msg->header.stamp - vpe.header.stamp > offset_timeout) {
 				// calculate the offset
 				offset = tf_buffer.lookupTransform(local_frame_id, frame_id,
 				                                   msg->header.stamp, ros::Duration(0.02));
 				// offset.header.frame_id = vpe.header.frame_id;
 				offset.child_frame_id = offset_frame_id;
 				br.sendTransform(offset);
-				ROS_INFO("vpe_publisher: offset reset");
+				reset_flag = false;
+				ROS_INFO("offset reset");
 			}
 			// apply the offset
 			tf2::doTransform(vpe, vpe, offset);
 		}
 
 		vpe.header.frame_id = local_frame_id;
-		vpe.header.stamp = msg->header.stamp;
+		vpe.header.stamp = ros::Time::now();//msg->header.stamp;
 		vpe_pub.publish(vpe);
 
 	} catch (const tf2::TransformException& e) {
-		ROS_WARN_THROTTLE(5, "vpe_publisher: %s", e.what());
+		ROS_WARN_THROTTLE(5, "%s", e.what());
 	}
 }
 
+bool reset(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
+{
+	reset_flag = true;
+	res.success = true;
+	return true;
+}
+
 int main(int argc, char **argv) {
 	ros::init(argc, argv, "vpe_publisher");
 	ros::NodeHandle nh, nh_priv("~");
 
 	tf2_ros::TransformListener tf_listener(tf_buffer);
 
+	string base_link;
 	nh_priv.param<string>("frame_id", frame_id, "");
 	nh_priv.param<string>("offset_frame_id", offset_frame_id, "");
 	nh_priv.param<string>("mavros/local_position/frame_id", local_frame_id, "map");
-	nh_priv.param<string>("mavros/local_position/tf/child_frame_id", child_frame_id, "base_link");
+	nh_priv.param<string>("mavros/local_position/tf/child_frame_id", base_link, "base_link");
+	nh_priv.param<string>("child_frame_id", child_frame_id, base_link);
 	offset_timeout = ros::Duration(nh_priv.param("offset_timeout", 3.0));
 
-	if (!frame_id.empty()) {
-		ROS_INFO("vpe_publisher: using data from TF");
+	if (use_tf) {
+		ROS_INFO("using data from TF");
 	} else {
-		ROS_INFO("vpe_publisher: using data topic");
+		ROS_INFO("using data topic");
 	}
 
 	auto pose_sub = nh_priv.subscribe<PoseStamped>("pose", 1, &callback);
 	auto pose_cov_sub = nh_priv.subscribe<PoseWithCovarianceStamped>("pose_cov", 1, &callback);
+	auto odom_sub = nh_priv.subscribe<nav_msgs::Odometry>("odom", 1, &callback, ros::TransportHints().tcpNoDelay());
 	//auto markers_sub = nh_priv.subscribe<aruco_pose::MarkerArray>("markers", 1, &callback);
 
 	vpe_pub = nh_priv.advertise<PoseStamped>("vpe", 1);
@@ -139,6 +189,8 @@ int main(int argc, char **argv) {
 		local_position_sub = nh.subscribe("mavros/local_position/pose", 1, &localPositionCallback);
 	}
 
-	ROS_INFO("vpe_publisher: ready");
+	auto reset_serv = nh_priv.advertiseService("reset", &reset);
+
+	ROS_INFO("ready");
 	ros::spin();
 }

clever/srv/SetLEDEffect.srv

@@ -0,0 +1,7 @@
+string effect
+uint8 r
+uint8 g
+uint8 b
+---
+bool success
+string message

clever/test/basic.test

@@ -32,6 +32,10 @@
 
     <node name="rc" pkg="clever" type="rc" required="true" output="screen"/>
 
+    <node pkg="clever" name="led_effect" type="led" ns="led" clear_params="true" output="screen" required="true">
+        <rosparam param="notify">startup: { r: 255, g: 255, b: 255 }</rosparam>
+    </node>
+
     <param name="test_module" value="$(find clever)/test/basic.py"/>
     <test test-name="basic_test" pkg="ros_pytest" type="ros_pytest_runner"/>
 </launch>

clever/www/index.html

@@ -1,7 +1,7 @@
 <h1>CLEVER Drone Kit Tools</h1>
 
 <ul>
-	<li><a href="docs">View documentation</a> (snapshot of <a href="http://clever.copterexpress.com">clever.copterexpress.com</a>)</li>
+	<li><a href="docs">View documentation</a> (snapshot of <a href="https://clever.coex.tech">clever.coex.tech</a>)</li>
 	<li><a href="" id="wvs">View image topics</a> (<code>web_video_server</code>)</li>
 	<li><a href="" id="butterfly">Open web terminal</a> (<code>Butterfly</code>)</li>
 	<li><a href="viz.html">View 3D visualization</a> (<code>ros3djs</code>)</li>

docs/LICENSE

@@ -0,0 +1,437 @@
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+     shall not be interpreted to, reduce, limit, restrict, or impose
+     conditions on any use of the Licensed Material that could lawfully
+     be made without permission under this Public License.
+
+  b. To the extent possible, if any provision of this Public License is
+     deemed unenforceable, it shall be automatically reformed to the
+     minimum extent necessary to make it enforceable. If the provision
+     cannot be reformed, it shall be severed from this Public License
+     without affecting the enforceability of the remaining terms and
+     conditions.
+
+  c. No term or condition of this Public License will be waived and no
+     failure to comply consented to unless expressly agreed to by the
+     Licensor.
+
+  d. Nothing in this Public License constitutes or may be interpreted
+     as a limitation upon, or waiver of, any privileges and immunities
+     that apply to the Licensor or You, including from the legal
+     processes of any jurisdiction or authority.
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+=======================================================================
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docs/assets/Clever3_LPE_020218.params

@@ -1,562 +0,0 @@
-# Onboard parameters for Vehicle 1
-#
-# Stack: PX4 Pro
-# Vehicle: Multi-Rotor
-# Version: 1.7.3 
-# Git Revision: 50bd148f53f1aeca
-#
-# Vehicle-Id Component-Id Name Value Type
-1	1	ATT_ACC_COMP	1	6
-1	1	ATT_BIAS_MAX	0.050000000745058060	9
-1	1	ATT_EXT_HDG_M	2	6
-1	1	ATT_MAG_DECL	0.000000000000000000	9
-1	1	ATT_MAG_DECL_A	1	6
-1	1	ATT_W_ACC	0.200000002980232239	9
-1	1	ATT_W_EXT_HDG	0.500000000000000000	9
-1	1	ATT_W_GYRO_BIAS	0.100000001490116119	9
-1	1	ATT_W_MAG	0.000000000000000000	9
-1	1	BAT_A_PER_V	36.367515563964843750	9
-1	1	BAT_CAPACITY	-1.000000000000000000	9
-1	1	BAT_CNT_V_CURR	0.000805664050858468	9
-1	1	BAT_CNT_V_VOLT	0.000805664050858468	9
-1	1	BAT_CRIT_THR	0.070000000298023224	9
-1	1	BAT_EMERGEN_THR	0.050000000745058060	9
-1	1	BAT_LOW_THR	0.150000005960464478	9
-1	1	BAT_N_CELLS	3	6
-1	1	BAT_R_INTERNAL	-1.000000000000000000	9
-1	1	BAT_SOURCE	0	6
-1	1	BAT_V_CHARGED	4.199999809265136719	9
-1	1	BAT_V_DIV	11.074123382568359375	9
-1	1	BAT_V_EMPTY	3.400000095367431641	9
-1	1	BAT_V_LOAD_DROP	0.300000011920928955	9
-1	1	BAT_V_OFFS_CURR	0.000000000000000000	9
-1	1	CAL_ACC0_EN	1	6
-1	1	CAL_ACC0_ID	3737098	6
-1	1	CAL_ACC0_XOFF	-0.098434448242187500	9
-1	1	CAL_ACC0_XSCALE	0.997351467609405518	9
-1	1	CAL_ACC0_YOFF	1.317526340484619141	9
-1	1	CAL_ACC0_YSCALE	1.046252608299255371	9
-1	1	CAL_ACC0_ZOFF	-0.126798629760742188	9
-1	1	CAL_ACC0_ZSCALE	1.000259757041931152	9
-1	1	CAL_ACC1_EN	1	6
-1	1	CAL_ACC1_ID	1442826	6
-1	1	CAL_ACC1_XOFF	-0.081950664520263672	9
-1	1	CAL_ACC1_XSCALE	1.000148773193359375	9
-1	1	CAL_ACC1_YOFF	0.202856063842773438	9
-1	1	CAL_ACC1_YSCALE	0.997385859489440918	9
-1	1	CAL_ACC1_ZOFF	0.050376892089843750	9
-1	1	CAL_ACC1_ZSCALE	0.988558351993560791	9
-1	1	CAL_ACC2_XOFF	0.000000000000000000	9
-1	1	CAL_ACC2_XSCALE	1.000000000000000000	9
-1	1	CAL_ACC2_YOFF	0.000000000000000000	9
-1	1	CAL_ACC2_YSCALE	1.000000000000000000	9
-1	1	CAL_ACC2_ZOFF	0.000000000000000000	9
-1	1	CAL_ACC2_ZSCALE	1.000000000000000000	9
-1	1	CAL_ACC_PRIME	3737098	6
-1	1	CAL_AIR_CMODEL	0	6
-1	1	CAL_AIR_TUBED_MM	1.500000000000000000	9
-1	1	CAL_AIR_TUBELEN	0.200000002980232239	9
-1	1	CAL_BARO_PRIME	0	6
-1	1	CAL_GYRO0_EN	1	6
-1	1	CAL_GYRO0_ID	3802634	6
-1	1	CAL_GYRO0_XOFF	-0.000510273908730596	9
-1	1	CAL_GYRO0_XSCALE	1.000000000000000000	9
-1	1	CAL_GYRO0_YOFF	-0.002145451959222555	9
-1	1	CAL_GYRO0_YSCALE	1.000000000000000000	9
-1	1	CAL_GYRO0_ZOFF	-0.005362632218748331	9
-1	1	CAL_GYRO0_ZSCALE	1.000000000000000000	9
-1	1	CAL_GYRO1_EN	1	6
-1	1	CAL_GYRO1_ID	2360330	6
-1	1	CAL_GYRO1_XOFF	0.011787598021328449	9
-1	1	CAL_GYRO1_XSCALE	1.000000000000000000	9
-1	1	CAL_GYRO1_YOFF	-0.009070184081792831	9
-1	1	CAL_GYRO1_YSCALE	1.000000000000000000	9
-1	1	CAL_GYRO1_ZOFF	0.010833776555955410	9
-1	1	CAL_GYRO1_ZSCALE	1.000000000000000000	9
-1	1	CAL_GYRO2_XOFF	0.000000000000000000	9
-1	1	CAL_GYRO2_XSCALE	1.000000000000000000	9
-1	1	CAL_GYRO2_YOFF	0.000000000000000000	9
-1	1	CAL_GYRO2_YSCALE	1.000000000000000000	9
-1	1	CAL_GYRO2_ZOFF	0.000000000000000000	9
-1	1	CAL_GYRO2_ZSCALE	1.000000000000000000	9
-1	1	CAL_GYRO_PRIME	3802634	6
-1	1	CAL_MAG0_EN	1	6
-1	1	CAL_MAG0_ID	66826	6
-1	1	CAL_MAG0_ROT	-1	6
-1	1	CAL_MAG0_XOFF	-0.095534555613994598	9
-1	1	CAL_MAG0_XSCALE	1.375232458114624023	9
-1	1	CAL_MAG0_YOFF	-0.516776323318481445	9
-1	1	CAL_MAG0_YSCALE	1.035408258438110352	9
-1	1	CAL_MAG0_ZOFF	0.725963234901428223	9
-1	1	CAL_MAG0_ZSCALE	0.721308171749114990	9
-1	1	CAL_MAG1_EN	1	6
-1	1	CAL_MAG1_ID	263178	6
-1	1	CAL_MAG1_ROT	-1	6
-1	1	CAL_MAG1_XOFF	-0.375689446926116943	9
-1	1	CAL_MAG1_XSCALE	1.188240885734558105	9
-1	1	CAL_MAG1_YOFF	0.270963609218597412	9
-1	1	CAL_MAG1_YSCALE	0.958104193210601807	9
-1	1	CAL_MAG1_ZOFF	0.543377697467803955	9
-1	1	CAL_MAG1_ZSCALE	0.874348759651184082	9
-1	1	CAL_MAG2_ID	0	6
-1	1	CAL_MAG2_ROT	-1	6
-1	1	CAL_MAG2_XOFF	0.000000000000000000	9
-1	1	CAL_MAG2_XSCALE	1.000000000000000000	9
-1	1	CAL_MAG2_YOFF	0.000000000000000000	9
-1	1	CAL_MAG2_YSCALE	1.000000000000000000	9
-1	1	CAL_MAG2_ZOFF	0.000000000000000000	9
-1	1	CAL_MAG2_ZSCALE	1.000000000000000000	9
-1	1	CAL_MAG3_ID	0	6
-1	1	CAL_MAG3_ROT	-1	6
-1	1	CAL_MAG3_XOFF	0.000000000000000000	9
-1	1	CAL_MAG3_XSCALE	1.000000000000000000	9
-1	1	CAL_MAG3_YOFF	0.000000000000000000	9
-1	1	CAL_MAG3_YSCALE	1.000000000000000000	9
-1	1	CAL_MAG3_ZOFF	0.000000000000000000	9
-1	1	CAL_MAG3_ZSCALE	1.000000000000000000	9
-1	1	CAL_MAG_PRIME	66826	6
-1	1	CAL_MAG_SIDES	63	6
-1	1	CBRK_AIRSPD_CHK	0	6
-1	1	CBRK_ENGINEFAIL	284953	6
-1	1	CBRK_FLIGHTTERM	121212	6
-1	1	CBRK_GPSFAIL	240024	6
-1	1	CBRK_IO_SAFETY	22027	6
-1	1	CBRK_RATE_CTRL	0	6
-1	1	CBRK_SUPPLY_CHK	0	6
-1	1	CBRK_USB_CHK	197848	6
-1	1	CBRK_VELPOSERR	0	6
-1	1	COM_ARM_AUTH	256010	6
-1	1	COM_ARM_EKF_AB	0.002400000113993883	9
-1	1	COM_ARM_EKF_GB	0.000869999988935888	9
-1	1	COM_ARM_EKF_HGT	1.000000000000000000	9
-1	1	COM_ARM_EKF_POS	0.500000000000000000	9
-1	1	COM_ARM_EKF_VEL	0.500000000000000000	9
-1	1	COM_ARM_EKF_YAW	0.500000000000000000	9
-1	1	COM_ARM_IMU_ACC	0.699999988079071045	9
-1	1	COM_ARM_IMU_GYR	0.250000000000000000	9
-1	1	COM_ARM_MAG	0.150000005960464478	9
-1	1	COM_ARM_MIS_REQ	0	6
-1	1	COM_ARM_SWISBTN	0	6
-1	1	COM_ARM_WO_GPS	1	6
-1	1	COM_DISARM_LAND	1	6
-1	1	COM_DL_LOSS_T	10	6
-1	1	COM_DL_REG_T	0	6
-1	1	COM_EF_C2T	5.000000000000000000	9
-1	1	COM_EF_THROT	0.500000000000000000	9
-1	1	COM_EF_TIME	10.000000000000000000	9
-1	1	COM_FLIGHT_UUID	182	6
-1	1	COM_FLTMODE1	8	6
-1	1	COM_FLTMODE2	1	6
-1	1	COM_FLTMODE3	2	6
-1	1	COM_FLTMODE4	-1	6
-1	1	COM_FLTMODE5	-1	6
-1	1	COM_FLTMODE6	-1	6
-1	1	COM_HOME_H_T	5.000000000000000000	9
-1	1	COM_HOME_V_T	10.000000000000000000	9
-1	1	COM_LOW_BAT_ACT	0	6
-1	1	COM_OBL_ACT	0	6
-1	1	COM_OBL_RC_ACT	0	6
-1	1	COM_OF_LOSS_T	0.000000000000000000	9
-1	1	COM_POSCTL_NAVL	0	6
-1	1	COM_POS_FS_DELAY	1	6
-1	1	COM_POS_FS_GAIN	10	6
-1	1	COM_POS_FS_PROB	30	6
-1	1	COM_RC_ARM_HYST	1000	6
-1	1	COM_RC_IN_MODE	0	6
-1	1	COM_RC_LOSS_T	0.500000000000000000	9
-1	1	COM_RC_OVERRIDE	0	6
-1	1	COM_RC_STICK_OV	12.000000000000000000	9
-1	1	COM_TAKEOFF_ACT	0	6
-1	1	FW_CLMBOUT_DIFF	10.000000000000000000	9
-1	1	GF_ACTION	1	6
-1	1	GF_ALTMODE	0	6
-1	1	GF_COUNT	-1	6
-1	1	GF_MAX_HOR_DIST	0.000000000000000000	9
-1	1	GF_MAX_VER_DIST	0.000000000000000000	9
-1	1	GF_SOURCE	0	6
-1	1	GPS_DUMP_COMM	0	6
-1	1	GPS_UBX_DYNMODEL	7	6
-1	1	IMU_ACCEL_CUTOFF	30.000000000000000000	9
-1	1	IMU_GYRO_CUTOFF	30.000000000000000000	9
-1	1	LNDMC_ALT_MAX	-1.000000000000000000	9
-1	1	LNDMC_FFALL_THR	2.000000000000000000	9
-1	1	LNDMC_FFALL_TTRI	0.300000011920928955	9
-1	1	LNDMC_ROT_MAX	45.000000000000000000	9
-1	1	LNDMC_THR_RANGE	0.500000000000000000	9
-1	1	LNDMC_XY_VEL_MAX	0.500000000000000000	9
-1	1	LNDMC_Z_VEL_MAX	1.000000000000000000	9
-1	1	LND_FLIGHT_T_HI	0	6
-1	1	LND_FLIGHT_T_LO	-807089101	6
-1	1	LPE_ACC_XY	0.012000000104308128	9
-1	1	LPE_ACC_Z	0.019999999552965164	9
-1	1	LPE_BAR_Z	3.000000000000000000	9
-1	1	LPE_EPH_MAX	3.000000000000000000	9
-1	1	LPE_EPV_MAX	5.000000000000000000	9
-1	1	LPE_FAKE_ORIGIN	1	6
-1	1	LPE_FGYRO_HP	0.001000000047497451	9
-1	1	LPE_FLW_OFF_Z	0.000000000000000000	9
-1	1	LPE_FLW_QMIN	150	6
-1	1	LPE_FLW_R	7.000000000000000000	9
-1	1	LPE_FLW_RR	7.000000000000000000	9
-1	1	LPE_FLW_SCALE	1.299999952316284180	9
-1	1	LPE_FUSION	28	6
-1	1	LPE_GPS_DELAY	0.289999991655349731	9
-1	1	LPE_GPS_VXY	0.250000000000000000	9
-1	1	LPE_GPS_VZ	0.250000000000000000	9
-1	1	LPE_GPS_XY	1.000000000000000000	9
-1	1	LPE_GPS_Z	3.000000000000000000	9
-1	1	LPE_LAND_VXY	0.050000000745058060	9
-1	1	LPE_LAND_Z	0.029999999329447746	9
-1	1	LPE_LAT	47.397743225097656250	9
-1	1	LPE_LDR_OFF_Z	0.000000000000000000	9
-1	1	LPE_LDR_Z	0.029999999329447746	9
-1	1	LPE_LON	8.545594215393066406	9
-1	1	LPE_PN_B	0.001000000047497451	9
-1	1	LPE_PN_P	0.100000001490116119	9
-1	1	LPE_PN_T	0.001000000047497451	9
-1	1	LPE_PN_V	0.100000001490116119	9
-1	1	LPE_SNR_OFF_Z	0.000000000000000000	9
-1	1	LPE_SNR_Z	0.050000000745058060	9
-1	1	LPE_T_MAX_GRADE	1.000000000000000000	9
-1	1	LPE_VIC_P	0.001000000047497451	9
-1	1	LPE_VIS_DELAY	0.000000000000000000	9
-1	1	LPE_VIS_XY	0.100000001490116119	9
-1	1	LPE_VIS_Z	0.150000005960464478	9
-1	1	LPE_VXY_PUB	0.300000011920928955	9
-1	1	LPE_X_LP	5.000000000000000000	9
-1	1	LPE_Z_PUB	1.000000000000000000	9
-1	1	MAV_BROADCAST	0	6
-1	1	MAV_COMP_ID	1	6
-1	1	MAV_FWDEXTSP	1	6
-1	1	MAV_PROTO_VER	0	6
-1	1	MAV_RADIO_ID	0	6
-1	1	MAV_SYS_ID	1	6
-1	1	MAV_TEST_PAR	1	6
-1	1	MAV_TYPE	2	6
-1	1	MAV_USEHILGPS	0	6
-1	1	MC_ACRO_EXPO	0.689999997615814209	9
-1	1	MC_ACRO_P_MAX	720.000000000000000000	9
-1	1	MC_ACRO_R_MAX	720.000000000000000000	9
-1	1	MC_ACRO_SUPEXPO	0.699999988079071045	9
-1	1	MC_ACRO_Y_MAX	540.000000000000000000	9
-1	1	MC_BAT_SCALE_EN	0	6
-1	1	MC_PITCHRATE_D	0.003000000026077032	9
-1	1	MC_PITCHRATE_FF	0.000000000000000000	9
-1	1	MC_PITCHRATE_I	0.050000000745058060	9
-1	1	MC_PITCHRATE_MAX	220.000000000000000000	9
-1	1	MC_PITCHRATE_P	0.150000005960464478	9
-1	1	MC_PITCH_P	4.500000000000000000	9
-1	1	MC_PITCH_TC	0.250000000000000000	9
-1	1	MC_PR_INT_LIM	0.300000011920928955	9
-1	1	MC_RATT_TH	0.800000011920928955	9
-1	1	MC_ROLLRATE_D	0.003000000026077032	9
-1	1	MC_ROLLRATE_FF	0.000000000000000000	9
-1	1	MC_ROLLRATE_I	0.050000000745058060	9
-1	1	MC_ROLLRATE_MAX	220.000000000000000000	9
-1	1	MC_ROLLRATE_P	0.150000005960464478	9
-1	1	MC_ROLL_P	4.500000000000000000	9
-1	1	MC_ROLL_TC	0.250000000000000000	9
-1	1	MC_RR_INT_LIM	0.300000011920928955	9
-1	1	MC_TPA_BREAK_D	1.000000000000000000	9
-1	1	MC_TPA_BREAK_I	1.000000000000000000	9
-1	1	MC_TPA_BREAK_P	1.000000000000000000	9
-1	1	MC_TPA_RATE_D	0.000000000000000000	9
-1	1	MC_TPA_RATE_I	0.000000000000000000	9
-1	1	MC_TPA_RATE_P	0.000000000000000000	9
-1	1	MC_YAWRATE_D	0.000000000000000000	9
-1	1	MC_YAWRATE_FF	0.000000000000000000	9
-1	1	MC_YAWRATE_I	0.100000001490116119	9
-1	1	MC_YAWRATE_MAX	200.000000000000000000	9
-1	1	MC_YAWRATE_P	0.200000002980232239	9
-1	1	MC_YAWRAUTO_MAX	45.000000000000000000	9
-1	1	MC_YAW_FF	0.500000000000000000	9
-1	1	MC_YAW_P	4.800000190734863281	9
-1	1	MC_YR_INT_LIM	0.300000011920928955	9
-1	1	MIS_ALTMODE	1	6
-1	1	MIS_DIST_1WP	900.000000000000000000	9
-1	1	MIS_DIST_WPS	900.000000000000000000	9
-1	1	MIS_LTRMIN_ALT	-1.000000000000000000	9
-1	1	MIS_ONBOARD_EN	1	6
-1	1	MIS_TAKEOFF_ALT	2.500000000000000000	9
-1	1	MIS_YAWMODE	1	6
-1	1	MIS_YAW_ERR	12.000000000000000000	9
-1	1	MIS_YAW_TMT	-1.000000000000000000	9
-1	1	MNT_MODE_IN	-1	6
-1	1	MOT_SLEW_MAX	0.000000000000000000	9
-1	1	MPC_ACC_DOWN_MAX	10.000000000000000000	9
-1	1	MPC_ACC_HOR	5.000000000000000000	9
-1	1	MPC_ACC_HOR_MAX	10.000000000000000000	9
-1	1	MPC_ACC_UP_MAX	10.000000000000000000	9
-1	1	MPC_ALT_MODE	0	6
-1	1	MPC_CRUISE_90	3.000000000000000000	9
-1	1	MPC_DEC_HOR_SLOW	5.000000000000000000	9
-1	1	MPC_HOLD_DZ	0.100000001490116119	9
-1	1	MPC_HOLD_MAX_XY	0.800000011920928955	9
-1	1	MPC_HOLD_MAX_Z	0.600000023841857910	9
-1	1	MPC_JERK_MAX	0.000000000000000000	9
-1	1	MPC_JERK_MIN	1.000000000000000000	9
-1	1	MPC_LAND_ALT1	10.000000000000000000	9
-1	1	MPC_LAND_ALT2	5.000000000000000000	9
-1	1	MPC_LAND_SPEED	0.699999988079071045	9
-1	1	MPC_MANTHR_MAX	0.899999976158142090	9
-1	1	MPC_MANTHR_MIN	0.079999998211860657	9
-1	1	MPC_MAN_TILT_MAX	35.000000000000000000	9
-1	1	MPC_MAN_Y_MAX	200.000000000000000000	9
-1	1	MPC_THR_HOVER	0.500000000000000000	9
-1	1	MPC_THR_MAX	0.899999976158142090	9
-1	1	MPC_THR_MIN	0.119999997317790985	9
-1	1	MPC_TILTMAX_AIR	45.000000000000000000	9
-1	1	MPC_TILTMAX_LND	12.000000000000000000	9
-1	1	MPC_TKO_RAMP_T	0.400000005960464478	9
-1	1	MPC_TKO_SPEED	1.500000000000000000	9
-1	1	MPC_VELD_LP	5.000000000000000000	9
-1	1	MPC_VEL_MANUAL	10.000000000000000000	9
-1	1	MPC_XY_CRUISE	5.000000000000000000	9
-1	1	MPC_XY_MAN_EXPO	0.000000000000000000	9
-1	1	MPC_XY_P	0.949999988079071045	9
-1	1	MPC_XY_VEL_D	0.009999999776482582	9
-1	1	MPC_XY_VEL_I	0.019999999552965164	9
-1	1	MPC_XY_VEL_MAX	3.000000000000000000	9
-1	1	MPC_XY_VEL_P	0.150000005960464478	9
-1	1	MPC_Z_MAN_EXPO	0.000000000000000000	9
-1	1	MPC_Z_P	1.000000000000000000	9
-1	1	MPC_Z_VEL_D	0.000000000000000000	9
-1	1	MPC_Z_VEL_I	0.019999999552965164	9
-1	1	MPC_Z_VEL_MAX_DN	1.000000000000000000	9
-1	1	MPC_Z_VEL_MAX_UP	1.000000000000000000	9
-1	1	MPC_Z_VEL_P	0.200000002980232239	9
-1	1	NAV_ACC_RAD	2.000000000000000000	9
-1	1	NAV_AH_ALT	600.000000000000000000	9
-1	1	NAV_AH_LAT	-265847810	6
-1	1	NAV_AH_LON	1518423250	6
-1	1	NAV_DLL_ACT	0	6
-1	1	NAV_DLL_AH_T	120.000000000000000000	9
-1	1	NAV_DLL_CHSK	0	6
-1	1	NAV_DLL_CH_ALT	600.000000000000000000	9
-1	1	NAV_DLL_CH_LAT	-266072120	6
-1	1	NAV_DLL_CH_LON	1518453890	6
-1	1	NAV_DLL_CH_T	120.000000000000000000	9
-1	1	NAV_DLL_N	2	6
-1	1	NAV_FORCE_VT	1	6
-1	1	NAV_FT_DST	8.000000000000000000	9
-1	1	NAV_FT_FS	1	6
-1	1	NAV_FT_RS	0.500000000000000000	9
-1	1	NAV_FW_ALT_RAD	10.000000000000000000	9
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