Minor fix

Co-authored-by: Alexey Rogachevskiy <sfalexrog@gmail.com>

clover/launch/led.launch

@@ -2,17 +2,14 @@
     <arg name="ws281x" default="true"/>
     <arg name="led_effect" default="true"/>
     <arg name="led_notify" default="true"/>
-    <arg name="led_count" default="58"/>
-    <arg name="gpio_pin" default="21"/>
-
     <arg name="simulator" default="false"/>
 
     <!-- For additional help go to https://clover.coex.tech/led -->
 
     <!-- ws281x led strip driver -->
     <node pkg="ws281x" name="led" type="ws281x_node" clear_params="true" output="screen" if="$(eval ws281x and not simulator)">
-        <param name="led_count" value="$(arg led_count)"/>
-        <param name="gpio_pin" value="$(arg gpio_pin)"/>
+        <param name="led_count" value="58"/>
+        <param name="gpio_pin" value="21"/>
         <param name="brightness" value="64"/>
         <param name="strip_type" value="WS2811_STRIP_GRB"/>
         <param name="target_frequency" value="800000"/>
@@ -35,7 +32,7 @@
             altctl: { r: 255, g: 255, b: 40 }
             posctl: { r: 50, g: 100, b: 220 }
             offboard: { r: 220, g: 20, b: 250 }
-            low_battery: { threshold: 3.6, effect: blink_fast, r: 255, g: 0, b: 0 }
+            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>

clover/launch/main_camera.launch

@@ -9,8 +9,6 @@
     <node if="$(eval direction_z == 'down' and direction_y == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 1.5707963 0 3.1415926 base_link main_camera_optical"/>
     <node if="$(eval direction_z == 'up' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 1.5707963 0 0 base_link main_camera_optical"/>
     <node if="$(eval direction_z == 'up' and direction_y == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 -1.5707963 0 0 base_link main_camera_optical"/>
-    <node if="$(eval direction_z == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.03 0 0.05 -1.5707963 0 -1.5707963 base_link main_camera_optical"/>
-    <node if="$(eval direction_z == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="-0.03 0 0.05 1.5707963 0 -1.5707963 base_link main_camera_optical"/>
 
     <!-- Template for custom camera orientation -->
     <!-- Camera position and orientation are represented by base_link -> main_camera_optical transform -->

clover/src/simple_offboard.cpp

@@ -36,7 +36,6 @@
 #include <mavros_msgs/Thrust.h>
 #include <mavros_msgs/State.h>
 #include <mavros_msgs/StatusText.h>
-#include <mavros_msgs/ManualControl.h>
 
 #include <clover/GetTelemetry.h>
 #include <clover/Navigate.h>
@@ -75,7 +74,7 @@ ros::Duration global_position_timeout;
 ros::Duration battery_timeout;
 float default_speed;
 bool auto_release;
-bool land_only_in_offboard, nav_from_sp, check_kill_switch;
+bool land_only_in_offboard, nav_from_sp;
 std::map<string, string> reference_frames;
 
 // Publishers
@@ -123,7 +122,6 @@ enum { YAW, YAW_RATE, TOWARDS } setpoint_yaw_type;
 // Last received telemetry messages
 mavros_msgs::State state;
 mavros_msgs::StatusText statustext;
-mavros_msgs::ManualControl manual_control;
 PoseStamped local_position;
 TwistStamped velocity;
 NavSatFix global_position;
@@ -488,18 +486,6 @@ void publishSetpoint(const ros::TimerEvent& event)
 	publish(event.current_real);
 }
 
-inline void checkKillSwitch()
-{
-	if (!TIMEOUT(manual_control, state_timeout))
-		throw std::runtime_error("Manual control timeout, can't check kill switch status");
-
-	const int KILL_SWITCH_BIT = 12; // https://github.com/PX4/Firmware/blob/c302514a0809b1765fafd13c014d705446ae1113/src/modules/mavlink/mavlink_messages.cpp#L3975
-	bool kill_switch = manual_control.buttons & (1 << KILL_SWITCH_BIT);
-
-	if (kill_switch)
-		throw std::runtime_error("Kill switch is on");
-}
-
 inline void checkState()
 {
 	if (TIMEOUT(state, state_timeout))
@@ -527,10 +513,6 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 		// Checks
 		checkState();
 
-		if (auto_arm && check_kill_switch) {
-			checkKillSwitch();
-		}
-
 		// default frame is local frame
 		if (frame_id.empty())
 			frame_id = local_frame;
@@ -852,7 +834,6 @@ int main(int argc, char **argv)
 	nh_priv.param("auto_release", auto_release, true);
 	nh_priv.param("land_only_in_offboard", land_only_in_offboard, true);
 	nh_priv.param("nav_from_sp", nav_from_sp, true);
-	nh_priv.param("check_kill_switch", check_kill_switch, true);
 	nh_priv.param("default_speed", default_speed, 0.5f);
 	nh_priv.param<string>("body_frame", body.child_frame_id, "body");
 	nh_priv.getParam("reference_frames", reference_frames);
@@ -879,7 +860,6 @@ int main(int argc, char **argv)
 	auto global_position_sub = nh.subscribe("mavros/global_position/global", 1, &handleMessage<NavSatFix, global_position>);
 	auto battery_sub = nh.subscribe("mavros/battery", 1, &handleMessage<BatteryState, battery>);
 	auto statustext_sub = nh.subscribe("mavros/statustext/recv", 1, &handleMessage<mavros_msgs::StatusText, statustext>);
-	auto manual_control_sub = nh.subscribe("mavros/manual_control/control", 1, &handleMessage<mavros_msgs::ManualControl, manual_control>);
 	auto local_position_sub = nh.subscribe("mavros/local_position/pose", 1, &handleLocalPosition);
 
 	// Setpoint publishers

clover_blocks/README.md

@@ -30,9 +30,7 @@ The frontend files are located in [`www`](./www/) subdirectory. The frontend app
 Parameters read by frontend:
 
 * `~navigate_tolerance` (*float*) – distance tolerance in meters, used for navigate-like blocks (default: 0.2).
-* `~yaw_tolerance` (*float*) – yaw angle tolerance in degrees, used in set_yaw block (default: 20).
 * `~sleep_time` (*float*) – duration of sleep in loop cycles, used for navigate-like blocks (default: 0.2).
-* `~confirm_run` (*bool*) – enable confirmation to run the program (default: true).
 
 These parameters also can be set as URL GET-parameters, for example:
 

clover_blocks/src/clover_blocks

@@ -1,13 +1,5 @@
 #!/usr/bin/env python
 
-# Copyright (C) 2020 Copter Express Technologies
-#
-# Author: Oleg Kalachev <okalachev@gmail.com>
-#
-# Distributed under MIT License (available at https://opensource.org/licenses/MIT).
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-
 from __future__ import print_function
 
 import rospy

clover_blocks/www/blocks.js

@@ -1,13 +1,3 @@
-/*
- * Copyright (C) 2020 Copter Express Technologies
- *
- * Author: Oleg Kalachev <okalachev@gmail.com>
- *
- * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- */
-
 const COLOR_FLIGHT = 293;
 const COLOR_STATE = 36;
 const COLOR_LED = 143;

clover_blocks/www/main.js

@@ -1,13 +1,3 @@
-/*
- * Copyright (C) 2020 Copter Express Technologies
- *
- * Author: Oleg Kalachev <okalachev@gmail.com>
- *
- * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- */
-
 import * as ros from './ros.js';
 import './blocks.js';
 import {generateCode, generateUserCode} from './python.js';
@@ -39,9 +29,7 @@ var workspace = Blockly.inject('blockly', {
 function readParams() {
 	return Promise.all([
 		ros.readParam('navigate_tolerance', true, 0.2),
-		ros.readParam('yaw_tolerance', true, 20),
-		ros.readParam('sleep_time', true, 0.2),
-		ros.readParam('confirm_run', true, true),
+		ros.readParam('sleep_time', true, 0.2)
 	]);
 }
 
@@ -109,7 +97,7 @@ new ROSLIB.Topic({ ros: ros.ros, name: ros.priv + 'prompt', messageType: 'clover
 		name: ros.priv + 'input/' + msg.id,
 		messageType: 'std_msgs/String',
 		latch: true
-	}).publish(new ROSLIB.Message({ data: response || '' }));
+	}).publish(new ROSLIB.Message({ data: response }));
 });
 
 window.stopProgram = function() {
@@ -125,7 +113,7 @@ ros.ros.on('close', update);
 ready.then(() => runButton.disabled = false);
 
 window.runProgram = function() {
-	if (ros.params.confirm_run && !confirm('Run program?')) return;
+	if (!confirm('Run program?')) return;
 
 	runRequest = true;
 	update();

clover_blocks/www/python.js

@@ -1,13 +1,3 @@
-/*
- * Copyright (C) 2020 Copter Express Technologies
- *
- * Author: Oleg Kalachev <okalachev@gmail.com>
- *
- * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- */
-
 import {params} from './ros.js';
 
 // If any new block imports any library, add that library name here.
@@ -18,9 +8,14 @@ Blockly.Python.addReservedWords('pigpio,pi,Range');
 Blockly.Python.addReservedWords('SetLEDEffect,set_effect');
 Blockly.Python.addReservedWords('SetLEDs,LEDState,set_leds');
 
+// TODO: parametrize
+const navigate_tolerance = 0.2;
+const sleep_time = 0.2;
+
 const IMPORT_SRV = `from clover import srv
 from std_srvs.srv import Trigger`;
 
+// TODO: tolerance to parameters
 const NAVIGATE_WAIT = () => `\ndef navigate_wait(x=0, y=0, z=0, speed=0.5, frame_id='body', auto_arm=False):
     res = navigate(x=x, y=y, z=z, yaw=float('nan'), speed=speed, frame_id=frame_id, auto_arm=auto_arm)
 
@@ -38,13 +33,15 @@ const LAND_WAIT = () => `\ndef land_wait():
     while get_telemetry().armed:
         rospy.sleep(${params.sleep_time})\n`;
 
+// TODO: tolerance to parameters
 const WAIT_YAW = () => `\ndef wait_yaw():
     while not rospy.is_shutdown():
         telem = get_telemetry(frame_id='navigate_target')
-        if abs(telem.yaw) < math.radians(${params.yaw_tolerance}):
+        if abs(telem.yaw) < math.radians(20):
             return
         rospy.sleep(${params.sleep_time})\n`;
 
+// TODO: tolerance to parameters
 const WAIT_ARRIVAL = () => `\ndef wait_arrival():
     while not rospy.is_shutdown():
         telem = get_telemetry(frame_id='navigate_target')
@@ -52,6 +49,7 @@ const WAIT_ARRIVAL = () => `\ndef wait_arrival():
             return
         rospy.sleep(${params.sleep_time})\n`;
 
+// TODO: tolerance to parameters
 const ARRIVED = () => `\ndef arrived():
     telem = get_telemetry(frame_id='navigate_target')
     return math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < ${params.navigate_tolerance}\n`

clover_blocks/www/ros.js

@@ -1,13 +1,3 @@
-/*
- * Copyright (C) 2020 Copter Express Technologies
- *
- * Author: Oleg Kalachev <okalachev@gmail.com>
- *
- * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- */
-
 var url = 'ws://' + location.hostname + ':9090';
 export var ros = new ROSLIB.Ros({ url });
 

docs/assets/right-hand-rule.svg

@@ -0,0 +1,87 @@
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+		c1.088-0.349,2.099-0.605,3.035-0.769s1.836-0.246,2.697-0.246c1.654,0,2.977,0.219,3.969,0.656
+		c0.99,0.438,1.732,1.148,2.225,2.133s0.738,2.345,0.738,4.081v7.998c0,1.162,0.034,1.986,0.103,2.471s0.175,0.837,0.317,1.056
+		c0.145,0.219,0.328,0.39,0.555,0.513c0.225,0.123,0.639,0.26,1.24,0.41v1.354h-7.629L74.339,166.769z M73.663,159.775
+		c-2.119,0.055-3.688,0.451-4.707,1.189s-1.527,1.818-1.527,3.24c0,0.848,0.232,1.494,0.697,1.938s1.107,0.667,1.928,0.667
+		c0.629,0,1.224-0.167,1.784-0.502s1.005-0.783,1.333-1.343s0.492-1.155,0.492-1.784V159.775z"/>
+</g>
+<g>
+	<path fill="#E12828" d="M93.716,283.163c0-1.299-0.021-2.242-0.062-2.83s-0.127-1.042-0.256-1.363
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+		c1.217-1.135,2.32-1.932,3.312-2.39s2.007-0.687,3.046-0.687c2.434,0,4.259,0.857,5.476,2.573s1.825,4.282,1.825,7.7
+		c0,3.568-0.804,6.248-2.409,8.039c-1.607,1.791-3.982,2.688-7.127,2.688c-2.16,0-4.136-0.391-5.927-1.17l-1.518,1.17l-2.625-0.369
+		V283.163z M99.643,298.729c0,1.682,0.29,2.922,0.871,3.722s1.48,1.2,2.697,1.2c1.258,0,2.218-0.66,2.881-1.979
+		s0.995-3.202,0.995-5.649c0-2.693-0.294-4.703-0.882-6.029s-1.504-1.99-2.748-1.99c-0.602,0-1.196,0.158-1.784,0.473
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+</g>
+</svg>

docs/clover.css

@@ -69,11 +69,6 @@ footer img {
 table.versions td {
 	text-align: center;
 	background: white;
-}
-
-table.versions .subversion {
-	font-size: 80%;
-}
 
 .circle {
 	width: 0.8em;

docs/en/assemble_4_2.md

@@ -9,43 +9,43 @@
         <td><img src="../assets/assembling_clever4_2/type_size/m3x10.png" width=70 class="center"></td>
         <td>Screw M3x10</td>
         <td><img src="../assets/assembling_clever4_2/type_size/aluminium_40.png" width=100 class="center"></td>
-        <td>Aluminium rack 40 mm</td>
+        <td>Aluminium rack 40mm</td>
     </tr>
     <tr>
         <td><img src="../assets/assembling_clever4_2/type_size/m3x8.png" width=60 class="center"></td>
         <td>Screw M3x8</td>
         <td><img src="../assets/assembling_clever4_2/type_size/aluminium_20.png" width=70 class="center"></td>
-        <td>Aluminium rack 15 mm</td>
+        <td>Aluminium rack 15mm</td>
     </tr>
     <tr>
         <td><img src="../assets/assembling_clever4_2/type_size/m3x5.png" width=40 class="center"></td>
         <td>Screw M3x5</td>
         <td><img src="../assets/assembling_clever4_2/type_size/htp-40.png" width=100 class="center"></td>
-        <td>Nylon rack 40 mm</td>
+        <td>Nylon rack 40mm</td>
     </tr>
     <tr>
         <td><img src="../assets/assembling_clever4_2/type_size/m2x5.png" width=40 class="center"></td>
         <td>Screw M2x5</td>
         <td><img src="../assets/assembling_clever4_2/type_size/htp-30.png" width=80 class="center"></td>
-        <td>Nylon rack 30 mm</td>
+        <td>Nylon rack 30mm</td>
     </tr>
     <tr>
         <td><img src="../assets/assembling_clever4_2/type_size/nut_metal.png" width=25 class="center"></td>
         <td> Nut M3 (self-locking)</td>
         <td><img src="../assets/assembling_clever4_2/type_size/htp-20.png" width=70 class="center"></td>
-        <td>Nylon rack 20 mm</td>
+        <td>Nylon rack 20mm</td>
     </tr>
     <tr>
         <td><img src="../assets/assembling_clever4_2/type_size/nut_nylon.png" width=25 class="center"></td>
         <td> Nut M3 (nylon)</td>
         <td><img src="../assets/assembling_clever4_2/type_size/htp-15.png" width=60 class="center"></td>
-        <td>Nylon rack 15 mm</td>
+        <td>Nylon rack 15mm</td>
     </tr>
     <tr>
         <td><img src="../assets/assembling_clever4_2/type_size/dumper.png" width=50 class="center"></td>
         <td>Damper rack</td>
         <td><img src="../assets/assembling_clever4_2/type_size/hts-6.png" width=50 class="center"></td>
-        <td> Nylon rack 6 mm</td>
+        <td> Nylon rack 6mm</td>
     </tr>
 </table>
 
@@ -78,7 +78,7 @@
 
     <img src="../assets/assembling_clever4_2/frame_7.png" width=300 class="zoom border center">
 
-## Installing motors
+## Installating motors
 
 1. When installing motors, pay attention to the rotation scheme of the motors. The rotation marking on the motors must match the rotation pattern.
 
@@ -112,7 +112,7 @@
 
 ## Installing Flight Controller
 
-Clover 4 drone kit allows you to install various flight controllers, for example [COEX Pix](coex_pix.md) and Pixracer.
+Set *Clover 4* allows you to install various flight controllers, for example *COEX Pix* and *Pixracer*.
 
 > **Caution** During installation the flight controller, pay attention to the arrow located on the board, it should be directed to the copter bow.
 
@@ -120,7 +120,7 @@ Clover 4 drone kit allows you to install various flight controllers, for example
 
 > **Hint** Before installing the damper struts, screw 2 layers of nylon nuts, for a stronger fix or bite off the excess thread using side cutters.
 
-Install the damper struts, fix COEX Pix on them with nylon nuts.
+Install the damper struts, fix *COEX Pix* on them with nylon nuts.
 
 <img src="../assets/assembling_clever4_2/coex_pix.png" width=300 class="zoom border center">
 
@@ -130,7 +130,7 @@ Install the damper struts, fix COEX Pix on them with nylon nuts.
 
     <img src="../assets/assembling_clever4_2/pixracer_1.png" width=300 class="zoom border center">
 
-2. Glue 3-4 layers of double-sided tape, glue it in the center of the small deck and install Pixracer on top.
+2. Glue 3-4 layers of double-sided tape, glue it in the center of the small deck and install *Pixracer* on top.
 
     <img src="../assets/assembling_clever4_2/pixracer_2.png" width=300 class="zoom border center">
 
@@ -153,14 +153,14 @@ Install the damper struts, fix COEX Pix on them with nylon nuts.
 
 ## Installing Raspberry Pi
 
-1. Install the 20 mm racks on the main deck, fix them with the M3x8 screws.
+1. Install the 20mm racks on the main deck, fix them with the M3x8 screws.
 
     <div class="image-group">
         <img src="../assets/assembling_clever4_2/fc_connection_5.png" width=300 class="zoom border">
         <img src="../assets/assembling_clever4_2/fc_connection_6.png" width=300 class="zoom border">
     </div>
 
-2. On a mounting deck, install 6 mm racks and 30 mm racks, fasten them with the M3x5 and M3x12 bolts, respectively.
+2. On a mounting deck, install 6mm racks and 30mm racks, fasten them with the M3x5 and M3x12 bolts, respectively.
 
     <img src="../assets/assembling_clever4_2/raspberry_1.png" width=300 class="zoom border center">
 
@@ -168,7 +168,7 @@ Install the damper struts, fix COEX Pix on them with nylon nuts.
 
     <img src="../assets/assembling_clever4_2/raspberry_2.png" width=300 class="zoom border center">
 
-4. Install the Raspberry Pi circuit board and fix with nylon nuts.
+4. Install the *Raspberry Pi* circuit board and fix with nylon nuts.
 
     <img src="../assets/assembling_clever4_2/raspberry_3.png" width=300 class="zoom border center">
 
@@ -176,7 +176,7 @@ Install the damper struts, fix COEX Pix on them with nylon nuts.
 
     <img src="../assets/assembling_clever4_2/raspberry_5.png" width=300 class="zoom border center">
 
-6. Install 4 20 mm racks and fix them with the M3x8 screws.
+6. Install 4 20mm racks and fix them with the M3x8 screws.
 
     <img src="../assets/assembling_clever4_2/raspberry_6.png" width=300 class="zoom border center">
 
@@ -192,11 +192,11 @@ Install the damper struts, fix COEX Pix on them with nylon nuts.
 
     <img src="../assets/assembling_clever4_2/raspberry_9.png" width=300 class="zoom border center">
 
-10. Connect to the Raspberry Pi rangefinder and power cable.
+10. Connect to the *Raspberry Pi* rangefinder and power cable.
 
     <img src="../assets/assembling_clever4_2/raspberry_10.png" width=300 class="zoom border center">
 
-11. Connect the camera cable to Raspberry Pi.
+11. Connect the camera cable to *Raspberry Pi*.
 
     <img src="../assets/assembling_clever4_2/raspberry_11.png" width=300 class="zoom border center">
 
@@ -226,7 +226,7 @@ Install the damper struts, fix COEX Pix on them with nylon nuts.
 
     <img src="../assets/assembling_clever4_2/led_5.png" width=300 class="zoom border center">
 
-7. Connect the signal output of the LED strip (white cable) to Raspberry Ri, to pin *GPIO21*.
+7. Connect the signal output of the LED strip (white cable) to *Raspberry Ri*, to pin *GPIO 21*.
 
     <img src="../assets/assembling_clever4_2/led_6.png" width=300 class="zoom border center">
 
@@ -250,7 +250,7 @@ Install the damper struts, fix COEX Pix on them with nylon nuts.
 
 ## Flight preparation
 
-1. Install the battery strap and connect the flight controller to the Raspberry Pi using a USB cable.
+1. Install the battery strap and connect the flight controller to the *Raspberry Pi* using a USB cable.
 
     <div class="image-group">
         <img src="../assets/assembling_clever4_2/final_1.png" width=300 class="zoom border">
@@ -265,4 +265,4 @@ Install the damper struts, fix COEX Pix on them with nylon nuts.
 
     <img src="../assets/assembling_clever4_2/final_4.png" width=300 class="zoom border center">
 
-> **Success** The drone is assembled, then perform [setup](setup.md).
+> **Success** The drone is assembled, then make ["setup"](setup.md).

docs/en/assembly.md

@@ -6,24 +6,22 @@ This section contains articles describing the assembly of each version of Clover
      <tr><th>Version</th><th>Image</th></tr>
      <tr>
           <td><a href="assemble_4_2.md">Clover&nbsp;4.2</a></td>
-          <td><a href="assemble_4_2.md"><img src="../assets/versions/clover_4.jpg" width=200></a></td>
-     </tr>
-     <!-- <tr>
-          <td><a href="assemble_4_1.md">Clover&nbsp;4.1</a></td>
           <td><img src="../assets/versions/clover_4.jpg" width=200></td>
-     </tr> -->
-     <tr>
-          <td><a href="assemble_4.md">Clover&nbsp;4</a></td>
-          <td><a href="assemble_4.md"><img src="../assets/versions/clover_4.jpg" width=200></a></td>
      </tr>
      <tr>
-          <td><a href="assemble_3.md">Clover&nbsp;3</a></td>
-          <td><a href="assemble_3.md"><img src="../assets/versions/clover_3.jpg" width=200></a></td>
+          <td><a href="assemble_4_2.md">Clover&nbsp;4.1</a></td>
+          <td><img src="../assets/versions/clover_4.jpg" width=200></td>
      </tr>
      <tr>
-          <td><a href="assemble_2.md">Clover&nbsp;2</a></td>
-          <td><a href="assemble_2.md"><img src="../assets/versions/clover_2.jpg" width=200></a></td>
+          <td><a href="assemble_4_2.md">Clover&nbsp;4</a></td>
+          <td><img src="../assets/versions/clover_4.jpg" width=200></td>
+     </tr>
+     <tr>
+          <td><a href="assemble_4_2.md">Clover&nbsp;3</a></td>
+          <td><img src="../assets/versions/clover_3.jpg" width=200></td>
+     </tr>
+     <tr>
+          <td><a href="assemble_4_2.md">Clover&nbsp;2</a></td>
+          <td><img src="../assets/versions/clover_2.jpg" width=200></td>
      </tr>
 </table>
-
-Links to Clover's parts CAD-models are available in the "[CAD-models](models.md)" article.