docs: add note about flying relative to a marker in the map

.travis.yml

@@ -73,8 +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

@@ -6,7 +6,7 @@ CLEVER (Russian: *"Клевер"*, meaning *"Clover"*) is an educational program
 
 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 is available [on 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
 

aruco_pose/test/basic.py

@@ -140,7 +140,7 @@ 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)

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

@@ -24,10 +24,11 @@
         },
         "bulk-redirect": {
             "basepath": "",
-            "redirectsFile": "redirects.json"
+            "redirectsFile": "redirects.json",
+            "blank": true
         },
         "sitemap": {
-            "hostname": "https://clever.copterexpress.com"
+            "hostname": "https://clever.coex.tech"
         },
         "toolbar": {
             "buttons":

builder/image-ros.sh

@@ -183,6 +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"

clever/launch/aruco.launch

@@ -3,7 +3,7 @@
     <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">

clever/launch/led.launch

@@ -3,7 +3,7 @@
     <arg name="led_effect" default="true"/>
     <arg name="led_notify" default="true"/>
 
-    <!-- For additional help go to https://clever.copterexpress.com/led.html -->
+    <!-- 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)">

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/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>
 

clever/src/selfcheck.py

@@ -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:
@@ -244,7 +244,7 @@ def check_fcu():
             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, see https://clever.copterexpress.com/power.html', cell)
+                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:

clever/src/simple_offboard.cpp

@@ -479,7 +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"); }

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/clever.js

@@ -37,7 +37,7 @@ gitbook.events.bind('page.change', function() {
 // show link to latest raspberry image
 gitbook.events.bind('page.change', function() {
 	var el = document.querySelector('a.latest-image');
-	if (el.length) return;
+	if (!el) return;
 
 	// get latest release from GitHub
 	fetch('https://api.github.com/repos/CopterExpress/clever/releases').then(function(res) {

docs/en/aruco_map.md

@@ -120,6 +120,13 @@ time.sleep(5)
 navigate(2, 2, 2, speed=1, frame_id='aruco_map')
 ```
 
+Starting from the [image](image.md) version 0.18, the drone also can fly relative to a marker in the map, even if it doesn't see it:
+
+```python
+# Fly to 1 meter above the marker 5
+navigate(frame_id='aruco_5', x=0, y=0, z=1)
+```
+
 ## Additional settings
 
 If the drone's position is not stable when VPE is used, try increasing the *P* term in the velocity PID regulator: increase the `MPC_XY_VEL_P` and `MPC_Z_VEL_P` parameters.

docs/en/auto_setup.md

@@ -269,7 +269,7 @@ and replace map.txt with your map name.
   Ctrl+x; y; Enter
   ```
 
-- Перезагрузите модуль Клевер:
+- Restart the `clever` service:
 
   ```bash
   sudo systemctl restart clever

docs/en/human_pose_estimation_drone_control.md

@@ -31,7 +31,7 @@ Before you test it you need to install on your laptop:
 - Install Nodejs from [here](https://nodejs.org/en/download/). For [Ubuntu installation](https://tecadmin.net/install-latest-nodejs-npm-on-ubuntu/)
 - Install Yarn package manager from [here](https://yarnpkg.com/lang/en/docs/install/). [Usual problem](https://github.com/yarnpkg/yarn/issues/3189) while installing and using yarn with Ubuntu.
 - Have an experience in manual control on the drone in case of any weird behavior happen.
-- Worked before with COEX drones, if this is your first time to work with COEX drones check [this](https://clever.copterexpress.com/en/).
+- Worked before with COEX drones, if this is your first time to work with COEX drones check [this](https://clever.coex.tech/en/).
 
 and you are ready to build and use the required codes.
 
@@ -52,7 +52,7 @@ git clone https://github.com/hany606/tfjs-posenet.git
 ### In the Raspberry Pi of the drone (Main controller)
 
 - Access the Raspberry Pi
-- [Switch to Client mode](https://clever.copterexpress.com/en/network.html) and ensure that the network has internet connection.
+- [Switch to Client mode](network.md) and ensure that the network has internet connection.
 
 Notice: I have already made a bash script based on that tutorial, it is in COEX-Internship19/helpers/ called .to_client.bash
 To run it:
@@ -145,7 +145,7 @@ Animation is created by [this](https://justsketchme.web.app/)
 ## References
 
 - [Human pose estimation guide](https://blog.nanonets.com/human-pose-estimation-2d-guide/)
-- [Clever drones tutorials](https://clever.copterexpress.com/en/)
+- [Clever drones tutorials](https://clever.coex.tech/en/)
 - [Posenet GitHub repo](https://github.com/tensorflow/tfjs-models/tree/master/posenet)
 - [Posenet meduim article](https://medium.com/tensorflow/real-time-human-pose-estimation-in-the-browser-with-tensorflow-js-7dd0bc881cd5)
 - [Tensorflow.js demos](https://www.tensorflow.org/js/demos)

docs/en/setup.md

@@ -27,7 +27,7 @@ Main article: https://docs.qgroundcontrol.com/en/SetupView/Firmware.html
 
 > **Note** Do not connect your flight controller prior to flashing.
 
-We recommend using the modified version of PX4 by CopterExpress for the Clever drone, especially for autonomous flights. Download the latest stable version **<a class="latest-firmware v4" href="https://github.com/CopterExpress/clever/releases">from our GitHub</a>**.
+We recommend using the modified version of PX4 by CopterExpress for the Clever drone, especially for autonomous flights. Download the latest stable version **<a class="latest-firmware v4" href="https://github.com/CopterExpress/Firmware/releases">from our GitHub</a>**.
 
 Flash the flight controller with this firmware:
 

docs/en/simple_offboard.md

@@ -5,27 +5,25 @@ Simple OFFBOARD
 
 <!-- -->
 
-> **Hint** For autonomous flights it is recommanded to use [special firmware PX4 for Clever](firmware.md#прошивка-для-клевера).
+> **Hint** For autonomous flights it is recommanded to use [special PX4 firmware for Clever](firmware.md#modified-firmware-for-clever).
 
-The `simple_offboard` module of the `clever` package is intended for simplified programming of the autonomous drone ([mode](modes.md) `OFFBOARD`). It allows setting the desired flight tasks, and automatically transforms [the system of coordinates](frames.md).
+The `simple_offboard` module of the `clever` package is intended for simplified programming of the autonomous drone flight (`OFFBOARD` [flight mode](modes.md)). It allows setting the desired flight tasks, and automatically transforms [coordinates between frames](frames.md).
 
-`simple_offboard` is a high level way of interacting with the flight controller. For a more low level work, see [mavros](mavros.md).
+`simple_offboard` is a high level system for interacting with the flight controller. For a more low level system, see [mavros](mavros.md).
 
-Main services are `get_telemetry` (receiving all telemetry), `navigate` (flying to a given point along a straight line), `navigate_global` (flying to a global point along a straight line), `land` (switching to the landing mode).
+Main services are [`get_telemetry`](#gettelemetry) (receive telemetry data), [`navigate`](#navigate) (fly to a given point along a straight line), [`navigate_global`](#navigateglobal) (fly to a point specified as latitude and longitude along a straight line), [`land`](#land) (switch to landing mode).
 
-The use of Python language
+Python samples
 ---
 
-To use the services, create proxies to them. Use the following template for you programs:
+You need to create proxies for services before calling them. Use the following template for your programs:
 
 ```python
 import rospy
 from clever import srv
 from std_srvs.srv import Trigger
 
-rospy.init_node('flight') # flight – name of your ROS node
-
-# Creating proxies to all services:
+rospy.init_node('flight') # 'flight' is name of your ROS node
 
 get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
 navigate = rospy.ServiceProxy('navigate', srv.Navigate)
@@ -42,11 +40,11 @@ Unused proxy functions may be removed from the code.
 API description
 ---
 
-> **Note** Blank numeric parameters are set to 0.
+> **Note** Omitted numeric parameters are set to 0.
 
 ### get_telemetry
 
-Obtaining complete telemetry of the drone.
+Obtains complete telemetry of the drone.
 
 Parameters:
 
@@ -56,11 +54,11 @@ Response format:
 
 * `frame_id` — frame;
 * `connected` – whether there is a connection to <abbr title="Flight Control Unit flight controller">FCU</abbr>;
-* `armed` - state of propellers (the propellers are armed, if true);
+* `armed` - drone arming state (armed if true);
 * `mode` – current [flight mode](modes.md);
 * `x, y, z` — local position of the drone *(m)*;
-* `lat, lon` – latitude, longitude *(degrees)*, [GPS](gps.md) is to be available;
-* `alt` – altitude in the global system of coordinates (standard [WGS-84](https://ru.wikipedia.org/wiki/WGS_84), not <abbr title="Above Mean Sea Level">AMSL</abbr>!), [GPS](gps.md) is to be available ;
+* `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)*;
@@ -71,7 +69,7 @@ Response format:
 * `voltage` – total battery voltage *(V)*;
 * `cell_voltage` – battery cell voltage *(V)*.
 
-> **Note** Fields that are unavailabe for any reason will contain the `NaN` value.
+> **Note** Fields that are unavailable for any reason will contain the `NaN` value.
 
 Displaying drone coordinates `x`, `y` and `z` in the local system of coordinates:
 
@@ -80,7 +78,7 @@ telemetry = get_telemetry()
 print telemetry.x, telemetry.y, telemetry.z
 ```
 
-Displaying drone altitude relative to [the card of ArUco tags](aruco.md):
+Displaying drone altitude relative to [the ArUco map](aruco.md):
 
 ```python
 telemetry = get_telemetry(frame_id='aruco_map')
@@ -92,14 +90,14 @@ Checking global position availability:
 ```python
 import math
 if not math.isnan(get_telemetry().lat):
-    print 'Global position presents'
+    print 'Global position is available'
 else:
     print 'No global position'
 ```
 
 Output of current telemetry (command line):
 
-```(bash)
+```bash
 rosservice call /get_telemetry "{frame_id: ''}"
 ```
 
@@ -111,12 +109,12 @@ Parameters:
 
 * `x`, `y` — coordinates *(m)*;
 * `yaw` — yaw angle *(radians)*;
-* `yaw_rate` – angular yaw velocity (used for setting the yaw to `NaN`) *(rad/s)*;
+* `yaw_rate` – angular yaw velocity (will be used if yaw is set to `NaN`) *(rad/s)*;
 * `speed` – flight speed (setpoint speed) *(m/s)*;
-* `auto_arm` – switch the drone to `OFFBOARD` and arm automatically (**the drone will take off**);
-* `frame_id` – [system of coordinates](frames.md) for values `x`, `y`, `z`, `vx`, `vy`, `vz`. Example: `map`, `body`, `aruco_map`. Default value: `map`.
+* `auto_arm` – switch the drone to `OFFBOARD` mode and arm automatically (**the drone will take off**);
+* `frame_id` – [coordinate system](frames.md) for values `x`, `y`, `z`, `vx`, `vy`, `vz`. Example: `map`, `body`, `aruco_map`. Default value: `map`.
 
-> **Note** To fly without changing the yaw angle, it is sufficient to set the `yaw` to `NaN` (angular velocity by default is 0).
+> **Note** If you don't want to change your current yaw set the `yaw` parameter to `NaN` (angular velocity by default is 0).
 
 Ascending to the altitude of 1.5 m with the climb rate of 0.5 m/s:
 
@@ -148,7 +146,7 @@ Turn 90 degrees counterclockwise:
 navigate(yaw=math.radians(-90), frame_id='body')
 ```
 
-Flying to point 3:2 (altitude 2) in the system of coordinates [of the marker field](aruco.md) at the speed of 1 m/s:
+Flying to point 3:2 (with the altitude of 2 m) in the [ArUco map](aruco.md) coordinate system with the speed of 1 m/s:
 
 ```python
 navigate(x=3, y=2, z=2, speed=1, frame_id='aruco_map')
@@ -174,7 +172,7 @@ rosservice call /navigate "{x: 0.0, y: 0.0, z: 2, yaw: 0.0, yaw_rate: 0.0, speed
 
 ### navigate_global
 
-Flying in a straight line to a point in the global system of coordinates (latitude/longitude).
+Flying in a straight line to a point in the global coordinate system (latitude/longitude).
 
 Parameters:
 
@@ -184,11 +182,11 @@ Parameters:
 * `yaw_rate` – angular yaw velocity (used for setting the yaw to `NaN`) *(rad/s)*;
 * `speed` – flight speed (setpoint speed) *(m/s)*;
 * `auto_arm` – switch the drone to `OFFBOARD` and arm automatically (**the drone will take off**);
-* `frame_id` – [system of coordinates](frames.md), given `z` и `yaw` (Default value: `map`).
+* `frame_id` – [coordinate system](frames.md) for `z` and `yaw` (Default value: `map`).
 
-> **Note** To fly without changing the yaw angle, it is sufficient to set the `yaw` to `NaN` (angular velocity by default is 0).
+> **Note** If you don't want to change your current yaw set the `yaw` parameter to `NaN` (angular velocity by default is 0).
 
-Flying to a global point at the speed of 5 m/s, while remaining at current altitude (`yaw` will be set to 0, the drone will face East):
+Flying to a global point at the speed of 5 m/s, while maintaining current altitude (`yaw` will be set to 0, the drone will face East):
 
 ```python
 navigate_global(lat=55.707033, lon=37.725010, z=0, speed=5, frame_id='body')
@@ -202,15 +200,15 @@ navigate_global(lat=55.707033, lon=37.725010, z=0, speed=5, yaw=float('nan'), fr
 
 Flying to a global point (command line):
 
-```(bash)
+```bash
 rosservice call /navigate_global "{lat: 55.707033, lon: 37.725010, z: 0.0, yaw: 0.0, yaw_rate: 0.0, speed: 5.0, frame_id: 'body', auto_arm: false}"
 ```
 
 ### set_position
 
-Set the target for position and yaw. This service may be used to specify the continuous flow of target points, for example, for flying along complex trajectories (circular, arcuate, etc.).
+Set the setpoint for position and yaw. This service may be used to specify the continuous flow of target points, for example, for flying along complex trajectories (circular, arcuate, etc.).
 
-> **Hint** For flying to a point in a straight line or takeoff, use the [`navigate`] higher-level service (#navigate).
+> **Hint** Use the [`navigate`](#navigate) higher-level service to fly to a point in a straight line or to perform takeoff.
 
 Parameters:
 
@@ -218,7 +216,7 @@ Parameters:
 * `yaw` — yaw angle *(radians)*;
 * `yaw_rate` – angular yaw velocity (used for setting the yaw to NaN) *(rad/s)*;
 * `auto_arm` – switch the drone to `OFFBOARD` and arm automatically (**the drone will take off**);
-* `frame_id` – [system of coordinates](frames.md), given `x`, `y`, `z` и `yaw` (Default value: `map`).
+* `frame_id` – [coordinate system](frames.md) for `x`, `y`, `z` and `yaw` parameters (Default value: `map`).
 
 Hovering on the spot:
 
@@ -246,13 +244,13 @@ set_position(x=0, y=0, z=0, frame_id='body', yaw=float('nan'), yaw_rate=0.5)
 
 ### set_velocity
 
-Setting speed and yaw.
+Set speed and yaw setpoints.
 
-* `vx`, `vy`, `vz` – required flight speed *(m/s)*;
+* `vx`, `vy`, `vz` – flight speed *(m/s)*;
 * `yaw` — yaw angle *(radians)*;
 * `yaw_rate` – angular yaw velocity (used for setting the yaw to NaN) *(rad/s)*;
 * `auto_arm` – switch the drone to `OFFBOARD` and arm automatically (**the drone will take off**);
-* `frame_id` – [system of coordinates](frames.md), given `vx`, `vy`, `vz` и `yaw` (Default value: `map`).
+* `frame_id` – [coordinate system](frames.md) for `vx`, `vy`, `vz` and `yaw` (Default value: `map`).
 
 > **Note** Parameter `frame_id` specifies only the orientation of the resulting velocity vector, but not its length.
 
@@ -262,7 +260,7 @@ Flying forward (relative to the drone) at the speed of 1 m/s:
 set_velocity(vx=1, vy=0.0, vz=0, frame_id='body')
 ```
 
-One of variants of flying in a circle:
+One possible way of flying in a circle:
 
 ```python
 set_velocity(vx=0.4, vy=0.0, vz=0, yaw=float('nan'), yaw_rate=0.4, frame_id='body')
@@ -270,30 +268,30 @@ set_velocity(vx=0.4, vy=0.0, vz=0, yaw=float('nan'), yaw_rate=0.4, frame_id='bod
 
 ### set_attitude
 
-Setting pitch, roll, yaw and throttle level (approximate analogue to control in [the `STABILIZED` mode](modes.md)). This service may be used for lower level monitoring of the drone behavior or controlling the drone, if no reliable data on its position are available.
+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.
 
 Parameters:
 
-* `pitch`, `roll`, `yaw` – required pitch, roll, and yaw angle *(radians)*;
-* `thrust` — throttle level 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**);
-* `frame_id` – [system of coordinates](frames.md), given `yaw` (Default value: `map`).
+* `pitch`, `roll`, `yaw` – requested pitch, roll, 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
 
-Setting pitch, roll, and yaw angular velocity and the throttle level (approximate analogue to control in [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 acrobatic tricks (e.g., flips).
+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).
 
 Parameters:
 
-* `pitch_rate`, `roll_rate`, `yaw_rate` – angular pitch, roll, and yaw velocity *(rad/s)*;
-* `thrust` — throttle level from 0 (no throttle, propellers are stopped) to 1 (full throttle).
+* `pitch_rate`, `roll_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**);
 
 ### land
 
-Transfer the drone to the landing [mode](modes.md) (`AUTO.LAND` or similar).
+Switch the drone to landing [mode](modes.md) (`AUTO.LAND` or similar).
 
-> **Note** For automatic propeller disabling after landing, [parameter PX4](px4_parameters.md) `COM_DISARM_LAND` is to be set to a value > 0.
+> **Note** Set the `COM_DISARM_LAND` [PX4 parameter](px4_parameters.md) to a value greater than 0 to enable automatic disarm after landing.
 
 Landing the drone:
 
@@ -306,7 +304,7 @@ if res.success:
 
 Landing the drone (command line):
 
-```(bash)
+```bash
 rosservice call /land "{}"
 ```
 
@@ -319,5 +317,5 @@ Stop publishing setpoints to the drone (release control). Required to continue m
 Additional materials
 ------------------------
 
-* [Flying in the field of ArUco markers](aruco.md).
-* [Samples of programs and snippets](snippets.md).
+* [ArUco-based position estimation and navigation](aruco.md).
+* [Program samples and snippets](snippets.md).

docs/ru/aruco_map.md

@@ -128,6 +128,13 @@ time.sleep(5)
 navigate(2, 2, 2, speed=1, frame_id='aruco_map')  # полет в координату 2:2, высота 3 метра
 ```
 
+Начиная с версии [образа](image.md) 0.18, доступны также полеты относительно отдельного маркера в карте, даже если дрон его не видит:
+
+```python
+# Полет на высоту 1 м над маркером 5
+navigate(frame_id='aruco_5', x=0, y=0, z=1)
+```
+
 ## Дополнительные настройки
 
 <!-- TODO: статья по пидам -->

docs/ru/arucogenmap.md

@@ -1,6 +1,6 @@
 # Генератор ArUco карт
 
-Начиная с образа версии *0.16* изменился подход к созданию карт маркеров: маркеры больше не привязаны к сетке и каждый из них теперь можно повернуть на любой угол вокруг всех трёх осей. Вместе с этим изменился и способ задания карт маркеров. Теперь карта загружается из текстового файла (подробнее в статье [**Навигация по картам ArUco-маркеров**](https://clever.copterexpress.com/ru/aruco_map.html)). Для упрощения процесса создания текстового файла был создан [*конструктор полей*](https://aruco.tenessinum.ru/).
+Начиная с образа версии *0.16* изменился подход к созданию карт маркеров: маркеры больше не привязаны к сетке и каждый из них теперь можно повернуть на любой угол вокруг всех трёх осей. Вместе с этим изменился и способ задания карт маркеров. Теперь карта загружается из текстового файла (подробнее в статье [**Навигация по картам ArUco-маркеров**](aruco_map.md)). Для упрощения процесса создания текстового файла был создан [*конструктор полей*](https://aruco.tenessinum.ru/).
 
 <img alt="" src="../assets/arucogenmap.PNG"/>
 

docs/ru/bigchallenges.md

@@ -7,8 +7,8 @@
 
 Крупные города страдают из-за пробок и перегруженности транспорта. Пробки на дорогах и перегруженность транспорта влечёт за собой многие неудобства. Одной из таких проблем является отсутствие возможности быстро добраться из точки А в точку Б. При этом воздушное пространство практически не используется. Предлагаемое решение заключается в создании системы, которая в режиме реального времени наблюдает и контролирует движение беспилотных летательных аппаратов. Такое решение приводит к полной автоматизации процесса полёта и исключает возможность воздушно-транспортных происшествий. В результате проделанной работы удалось сделать систему, которая состоит из нескольких дронов и сервера. Сервер прокладывает маршрут дронам из начальной точки в заданную по проложенным дорогам. Также в работу сервера входит логистика, благодаря которой беспилотники не сталкиваются в полёте.
 
-<iframe width="966" height="543" src="https://www.youtube.com/embed/nq1DKjacs6U" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
-<iframe width="966" height="543" src="https://www.youtube.com/embed/QdgZ4lzPmwQ" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
+<iframe width="100%" height="433" src="https://www.youtube.com/embed/nq1DKjacs6U" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
+<iframe width="100%" height="433" src="https://www.youtube.com/embed/QdgZ4lzPmwQ" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
 
 ## Настройка сервера
 
@@ -32,12 +32,12 @@ pip install -r requirements.txt
 python manage.py runserver 0.0.0.0:8000
 ```
 
-Чтобы перейти на веб страницу наберите в адресной строке ip адрес сервера в локальной сети и укажите порт 8000 (`http://ip:8000`).  
+Чтобы перейти на веб страницу наберите в адресной строке ip адрес сервера в локальной сети и укажите порт 8000 (`http://ip:8000`).
 [Как узнать ip адрес устройства](https://remontka.pro/ip-adres/)
 
 ## Настройка коптеров
 
-В первую очередь подготовьте SD-карту с образом Clever ([Инструкция](https://clever.copterexpress.com/ru/microsd_images.html))
+В первую очередь подготовьте SD-карту с образом Clever ([Инструкция](image.md))
 
 Чтобы скачать проект на Raspberry Pi в коптере выполните команду
 
@@ -45,7 +45,7 @@ python manage.py runserver 0.0.0.0:8000
 git clone https://github.com/Tennessium/HUEX
 ```
 
-Перед началом работы с системой необходимо перевести коптеры в режим клиента и подключить к сети WiFi. Вы можете воспользоваться [этим мануалом](https://clever.copterexpress.com/ru/network.html#переключение-адаптера-в-режим-клиента)
+Перед началом работы с системой необходимо перевести коптеры в режим клиента и подключить к сети WiFi. Вы можете воспользоваться [этим мануалом](network.md#переключение-адаптера-в-режим-клиента)
 
 Однако, для упрощения развертывания системы на нескольких коптреах, рекомендуется использование нашего скрипта, лежащего в папке *copter/setup/*
 

docs/ru/contributing.md

@@ -91,4 +91,4 @@
     <img src="../assets/github-pull-request-create.png" alt="GitHub Create Pull">
 
 10. Дождитесь комментариев на свою статью, сделайте правки, если потребуется.
-11. Порадуйтесь своей новой полезной статье, опубликованной на https://clever.copterexpress.com !
+11. Порадуйтесь своей новой полезной статье, опубликованной на https://clever.coex.tech !

docs/ru/human_pose_estimation_drone_control.md

@@ -9,7 +9,7 @@
 ## Ссылки на литературу
 
 - [Руководство по оценке позы человека](https://blog.nanonets.com/human-pose-estimation-2d-guide/)
-- [Умные беспилотники учебники](https://clever.copterexpress.com/en/)
+- [Умные беспилотники учебники](https://clever.coex.tech/en/)
 - [Posnet GitHub РЕПО](https://github.com/tensorflow/tfjs-models/tree/master/posenet)
 - [Posnet Medium артикул](https://medium.com/tensorflow/real-time-human-pose-estimation-in-the-browser-with-tensorflow-js-7dd0bc881cd5)
 - [Tensorflow.js Демонстрация](https://www.tensorflow.org/js/demos)

docs/ru/metodmaterials.md

@@ -46,7 +46,7 @@
 * [Инструкция по сборке.](assemble_3.md)
 * [Инструкция по настройке.](setup.md)
 * [Проверочные задания.](tests.md)
-* Информационные материалы на сайте https://clever.copterexpress.com.
+* Информационные материалы на сайте https://clever.coex.tech.
 
 ## Промежуточный контроль
 

docs/ru/setup.md

@@ -27,7 +27,7 @@
 
 > **Note** Перед осуществлением перепрошивки Pixracer не должен быть подключен к компьютеру по USB.
 
-Для Клевера, в особенности для осуществления автономных полетов, рекомендуется использовать версию прошивки PX4 от Copter Express. Скачайте актуальную версию прошивки на GitHub — **<a class="latest-firmware v4" href="https://github.com/CopterExpress/clever/releases">скачать</a>**.
+Для Клевера, в особенности для осуществления автономных полетов, рекомендуется использовать версию прошивки PX4 от Copter Express. Скачайте актуальную версию прошивки на GitHub — **<a class="latest-firmware v4" href="https://github.com/CopterExpress/Firmware/releases">скачать</a>**.
 
 Далее загрузите прошивку в полетный контролер.
 

docs/ru/simple_offboard.md

@@ -90,7 +90,7 @@ print telemetry.z
 ```python
 import math
 if not math.isnan(get_telemetry().lat):
-    print 'Global position presents'
+    print 'Global position is available'
 else:
     print 'No global position'
 ```

docs/ru/sitl.md

@@ -79,7 +79,7 @@ roslaunch mavros px4.launch fcu_url:=udp://@127.0.0.1:14557
 
 > **Caution** Среда `ROS Kinetic` в изначально ориентированна для `Ubuntu (Xenial)` версии 16.04, по этому актуальность данной инструкции гарантируется только для соответственной версии операционной системы.
 
-В первую очередь вам потребуется установить полный пакет ROS Kinetic desktop-full, инструкцию по установке вы можете найти в [статье по установке ROS](https://clever.copterexpress.com/ru/ros-install.html).
+В первую очередь вам потребуется установить полный пакет ROS Kinetic desktop-full, инструкцию по установке вы можете найти в [статье по установке ROS](ros-install.md).
 
 После того, как вы выполнили указанные выше инструкции, вам нужно проверить, есть ли в вашем пакете `ROS` все нужные пакеты.