Try not to install espeak to reduce size

* docs: Add translation of the article about assembling clover 4_2 WS

* Minor fix

* docs: Add new renders and update article

Co-authored-by: Oleg Kalachev <okalachev@gmail.com>

.markdownlint.json

@@ -22,6 +22,7 @@
             "ROS Kinetic",
             "ROS Melodic",
             "OpenCV",
+            "OpenVPN",
             "Gazebo",
             "GitHub",
             "FPV",
@@ -106,7 +107,9 @@
             "UDP",
             "QR",
             "Li-ion",
-            "Nvidia"
+            "Nvidia",
+            "VirtualBox",
+            "VMware"
         ],
         "code_blocks": false
     },

.travis.yml

@@ -10,7 +10,7 @@ env:
     - IMAGE_VERSION=${TRAVIS_TAG:-${TRAVIS_COMMIT:0:7}}
     - IMAGE_NAME="$(basename -s '.git' ${TARGET_REPO})_${IMAGE_VERSION}.img"
 git:
-  depth: 50
+  depth: 1
 jobs:
   fast_finish: true
   include:
@@ -38,7 +38,7 @@ jobs:
         - cp images/*.zip imgcache
       after_success:
         - sudo chmod -R 777 *
-        - cd images && zip ${IMAGE_NAME}.zip ${IMAGE_NAME} && stat --printf="Compressed image size:%s\n" ${IMAGE_NAME}.zip
+        - cd images && zip -9 ${IMAGE_NAME}.zip ${IMAGE_NAME} && stat --printf="Compressed image size:%s\n" ${IMAGE_NAME}.zip
       before_deploy:
         # Set up git user name and tag this commit
         - git config --local user.name "goldarte"

README.md

@@ -1,12 +1,14 @@
-# COEX Clover Drone Kit
+# clover🍀: create autonomous drones easily
 
-<img src="docs/assets/clever4-front-white.png" align="right" width="400px" alt="Clover Drone">
+<img src="docs/assets/clever4-front-white.png" align="right" width="400px" alt="COEX Clover Drone">
 
-Clover is an educational programmable drone kit consisting of an unassembled quadcopter, open source software and documentation. The kit includes Pixracer-compatible autopilot running PX4 firmware, Raspberry Pi 4 as companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices.
+Clover is an open source [ROS](https://www.ros.org)-based framework, providing user-friendly tools to control [PX4](https://px4.io)-powered drones. Clover is available as a ROS package, but is shipped mainly as a preconfigured image for Raspberry Pi. Once you've installed Raspberry Pi on your drone and flashed the image to its microSD card, taking the drone up in the air is a matter of minutes.
 
-The main documentation is available [on Gitbook](https://clover.coex.tech/).
+COEX Clover Drone is an educational programmable drone kit, suited perfectly for running clover software. The kit is shipped unassembled and includes Pixracer-compatible autopilot running PX4 firmware, Raspberry Pi 4 as a companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices. Batteries included.
 
-Official website: <a href="https://coex.tech/clover">coex.tech/clover</a>.
+The main documentation is available at [https://clover.coex.tech](https://clover.coex.tech/). Official website: [coex.tech/clover](https://coex.tech/clover).
+
+[__Support us on Kickstarter!__](https://www.kickstarter.com/projects/copterexpress/cloverdrone)
 
 ## Video compilation
 

builder/assets/examples/leds.py

@@ -7,19 +7,25 @@ rospy.init_node('leds')
 
 set_effect = rospy.ServiceProxy('led/set_effect', SetLEDEffect)  # define proxy to ROS-service
 
+print('Fill red')
 set_effect(r=255, g=0, b=0)  # fill strip with red color
 rospy.sleep(2)
 
+print('Fill green')
 set_effect(r=0, g=100, b=0)  # fill strip with green color
 rospy.sleep(2)
 
+print('Fade to blue')
 set_effect(effect='fade', r=0, g=0, b=255)  # fade to blue color
 rospy.sleep(2)
 
+print('Flash red')
 set_effect(effect='flash', r=255, g=0, b=0)  # flash twice with red color
-rospy.sleep(5)
+rospy.sleep(2)
 
+print('Blink white')
 set_effect(effect='blink', r=255, g=255, b=255)  # blink with white color
 rospy.sleep(5)
 
+print('Rainbow')
 set_effect(effect='rainbow')  # show rainbow

builder/image-build.sh

@@ -105,7 +105,7 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey.
 # software install
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software.sh'
 # examples
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/examples' '/home/pi/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/examples' '/home/pi/'  # TODO: symlink?
 # network setup
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.sh'
 # avahi setup

builder/image-ros.sh

@@ -130,6 +130,9 @@ catkin_make run_tests #&& catkin_test_results
 echo_stamp "Change permissions for catkin_ws"
 chown -Rf pi:pi /home/pi/catkin_ws
 
+echo_stamp "Change permissions for examples"
+chown -Rf pi:pi /home/pi/examples
+
 echo_stamp "Setup ROS environment"
 cat << EOF >> /home/pi/.bashrc
 LANG='C.UTF-8'

builder/image-software.sh

@@ -110,7 +110,6 @@ libffi-dev \
 monkey \
 pigpio python-pigpio python3-pigpio \
 i2c-tools \
-espeak espeak-data python-espeak \
 ntpdate \
 python-dev \
 python3-dev \

builder/test/tests.py

@@ -25,7 +25,7 @@ import pymavlink
 from pymavlink import mavutil
 import rpi_ws281x
 import pigpio
-from espeak import espeak
+# from espeak import espeak
 from pyzbar import pyzbar
 
 print cv2.getBuildInformation()

builder/test/tests.sh

@@ -32,7 +32,7 @@ monkey --version
 pigpiod -v
 i2cdetect -V
 butterfly -h
-espeak --version
+# espeak --version
 mjpg_streamer --version
 
 # ros stuff

clover/launch/led.launch

@@ -2,7 +2,7 @@
     <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="led_count" default="72"/>
     <arg name="gpio_pin" default="21"/>
 
     <arg name="simulator" default="false"/>

clover/src/simple_offboard.cpp

@@ -73,6 +73,7 @@ ros::Duration state_timeout;
 ros::Duration velocity_timeout;
 ros::Duration global_position_timeout;
 ros::Duration battery_timeout;
+ros::Duration manual_control_timeout;
 float default_speed;
 bool auto_release;
 bool land_only_in_offboard, nav_from_sp, check_kill_switch;
@@ -488,16 +489,25 @@ void publishSetpoint(const ros::TimerEvent& event)
 	publish(event.current_real);
 }
 
-inline void checkKillSwitch()
+inline void checkManualControl()
 {
-	if (!TIMEOUT(manual_control, state_timeout))
+	if (!manual_control_timeout.isZero() && TIMEOUT(manual_control, manual_control_timeout)) {
-		throw std::runtime_error("Manual control timeout, can't check kill switch status");
+		throw std::runtime_error("Manual control timeout, RC is switched off?");
+	}
 
-	const int KILL_SWITCH_BIT = 12; // https://github.com/PX4/Firmware/blob/c302514a0809b1765fafd13c014d705446ae1113/src/modules/mavlink/mavlink_messages.cpp#L3975
+	if (check_kill_switch) {
-	bool kill_switch = manual_control.buttons & (1 << KILL_SWITCH_BIT);
+		// switch values: https://github.com/PX4/PX4-Autopilot/blob/c302514a0809b1765fafd13c014d705446ae1113/msg/manual_control_setpoint.msg#L3
+		const uint8_t SWITCH_POS_NONE = 0; // switch is not mapped
+		const uint8_t SWITCH_POS_ON = 1; // switch activated
+		const uint8_t SWITCH_POS_MIDDLE = 2; // middle position
+		const uint8_t SWITCH_POS_OFF = 3; // switch not activated
 
-	if (kill_switch)
+		const int KILL_SWITCH_BIT = 12; // https://github.com/PX4/Firmware/blob/c302514a0809b1765fafd13c014d705446ae1113/src/modules/mavlink/mavlink_messages.cpp#L3975
-		throw std::runtime_error("Kill switch is on");
+		uint8_t kill_switch = (manual_control.buttons & (0b11 << KILL_SWITCH_BIT)) >> KILL_SWITCH_BIT;
+
+		if (kill_switch == SWITCH_POS_ON)
+			throw std::runtime_error("Kill switch is on");
+	}
 }
 
 inline void checkState()
@@ -527,8 +537,8 @@ 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) {
+		if (auto_arm) {
-			checkKillSwitch();
+			checkManualControl();
 		}
 
 		// default frame is local frame
@@ -862,6 +872,7 @@ int main(int argc, char **argv)
 	velocity_timeout = ros::Duration(nh_priv.param("velocity_timeout", 2.0));
 	global_position_timeout = ros::Duration(nh_priv.param("global_position_timeout", 10.0));
 	battery_timeout = ros::Duration(nh_priv.param("battery_timeout", 2.0));
+	manual_control_timeout = ros::Duration(nh_priv.param("manual_control_timeout", 0.0));
 
 	transform_timeout = ros::Duration(nh_priv.param("transform_timeout", 0.5));
 	telemetry_transform_timeout = ros::Duration(nh_priv.param("telemetry_transform_timeout", 0.5));

clover_blocks/programs/examples/aruco-marker.xml

@@ -29,7 +29,7 @@
             </value>
             <value name="Z">
               <shadow type="math_number" id="n0ULZn64%k.:,l(,D?TZ">
-                <field name="NUM">0</field>
+                <field name="NUM">1</field>
               </shadow>
             </value>
             <value name="ID">

clover_blocks/programs/examples/led-compass.xml

@@ -1,106 +1,91 @@
 <xml xmlns="https://developers.google.com/blockly/xml">
-  <variables>
+  <block type="controls_whileUntil" id="U1it{GcGuSS:=[xiwZr1" x="113" y="113">
-    <variable id="_{V-S5HPBUl]CcJkL1Jw">led_count</variable>
+    <field name="MODE">WHILE</field>
-  </variables>
+    <value name="BOOL">
-  <block type="variables_set" id="{)^J~:UMX%D;RWvztWLN" x="113" y="87">
+      <block type="logic_boolean" id="]7ZDRwde}/RqjQCX}aVW">
-    <field name="VAR" id="_{V-S5HPBUl]CcJkL1Jw">led_count</field>
+        <field name="BOOL">TRUE</field>
-    <value name="VALUE">
-      <block type="math_number" id="V_W$3,VFwZjcc|?|1o`l">
-        <field name="NUM">58</field>
       </block>
     </value>
-    <next>
+    <statement name="DO">
-      <block type="controls_whileUntil" id="U1it{GcGuSS:=[xiwZr1">
+      <block type="set_effect" id="WI0zqOz/z3].cR/6UWHn">
-        <field name="MODE">WHILE</field>
+        <field name="EFFECT">FILL</field>
-        <value name="BOOL">
+        <value name="COLOR">
-          <block type="logic_boolean" id="]7ZDRwde}/RqjQCX}aVW">
+          <shadow type="colour_picker" id="B`6;Xv{s2TFp8Yd=ZpSD">
-            <field name="BOOL">TRUE</field>
+            <field name="COLOUR">#000000</field>
-          </block>
+          </shadow>
         </value>
-        <statement name="DO">
+        <next>
-          <block type="set_effect" id="WI0zqOz/z3].cR/6UWHn">
+          <block type="set_led" id="^Vcs}ki?#ctf7rAchix$">
-            <field name="EFFECT">FILL</field>
+            <value name="INDEX">
-            <value name="COLOR">
+              <shadow type="math_number" id="U;VWW$[*LOF7Gf,~?YR7">
-              <shadow type="colour_picker" id="B`6;Xv{s2TFp8Yd=ZpSD">
+                <field name="NUM">0</field>
-                <field name="COLOUR">#000000</field>
               </shadow>
-            </value>
+              <block type="math_arithmetic" id="AI6PZBd`]_Z%_~4c-%dB">
-            <next>
+                <field name="OP">MULTIPLY</field>
-              <block type="set_led" id="^Vcs}ki?#ctf7rAchix$">
+                <value name="A">
-                <value name="INDEX">
+                  <shadow type="math_number" id="|p}X]`SedK3).F/;}NlB">
-                  <shadow type="math_number" id="U;VWW$[*LOF7Gf,~?YR7">
+                    <field name="NUM">1</field>
-                    <field name="NUM">0</field>
                   </shadow>
-                  <block type="math_arithmetic" id="AI6PZBd`]_Z%_~4c-%dB">
+                  <block type="math_arithmetic" id="-haE#:,cg{-J=NZERA;F">
-                    <field name="OP">MULTIPLY</field>
+                    <field name="OP">DIVIDE</field>
                     <value name="A">
-                      <shadow type="math_number" id="|p}X]`SedK3).F/;}NlB">
+                      <shadow type="math_number" id="::st;ot}[r]csqceURu*">
                         <field name="NUM">1</field>
                       </shadow>
-                      <block type="math_arithmetic" id="-haE#:,cg{-J=NZERA;F">
+                      <block type="math_arithmetic" id="a%+LN)F~=Igg+,p02[qo">
-                        <field name="OP">DIVIDE</field>
+                        <field name="OP">ADD</field>
                         <value name="A">
-                          <shadow type="math_number" id="::st;ot}[r]csqceURu*">
+                          <shadow type="math_number" id="*yIGN((y)/^z0:f5:VDw">
                             <field name="NUM">1</field>
                           </shadow>
-                          <block type="math_arithmetic" id="a%+LN)F~=Igg+,p02[qo">
+                          <block type="get_yaw" id="mf%77q30bEqNfc/3`Mtb">
-                            <field name="OP">ADD</field>
+                            <field name="FRAME_ID">MAP</field>
-                            <value name="A">
+                            <value name="ID">
-                              <shadow type="math_number" id="*yIGN((y)/^z0:f5:VDw">
+                              <shadow type="math_number" id="xb32G.N#ip`|^Xv*MOmY">
-                                <field name="NUM">1</field>
+                                <field name="NUM">0</field>
-                              </shadow>
-                              <block type="get_yaw" id="mf%77q30bEqNfc/3`Mtb">
-                                <field name="FRAME_ID">MAP</field>
-                                <value name="ID">
-                                  <shadow type="math_number" id="xb32G.N#ip`|^Xv*MOmY">
-                                    <field name="NUM">0</field>
-                                  </shadow>
-                                </value>
-                              </block>
-                            </value>
-                            <value name="B">
-                              <shadow type="math_number" id="T/fTrm;j2Azgav;gI{ZW">
-                                <field name="NUM">180</field>
                               </shadow>
                             </value>
                           </block>
                         </value>
                         <value name="B">
-                          <shadow type="math_number" id="Wo1/ZCeir,u6/.e1H+BB">
+                          <shadow type="math_number" id="T/fTrm;j2Azgav;gI{ZW">
-                            <field name="NUM">360</field>
+                            <field name="NUM">180</field>
                           </shadow>
                         </value>
                       </block>
                     </value>
                     <value name="B">
-                      <shadow type="math_number" id="jENTcXz0C5/=)Xpd!}LL">
+                      <shadow type="math_number" id="Wo1/ZCeir,u6/.e1H+BB">
-                        <field name="NUM">1</field>
+                        <field name="NUM">360</field>
                       </shadow>
-                      <block type="variables_get" id="Ko,`n=i88FY~`YbQLA?[">
-                        <field name="VAR" id="_{V-S5HPBUl]CcJkL1Jw">led_count</field>
-                      </block>
                     </value>
                   </block>
                 </value>
-                <value name="COLOR">
+                <value name="B">
-                  <shadow type="colour_picker" id="+vw3bff.5c[=_w,Xm^C(">
+                  <shadow type="math_number" id="jENTcXz0C5/=)Xpd!}LL">
-                    <field name="COLOUR">#3366ff</field>
+                    <field name="NUM">1</field>
+                  </shadow>
+                  <block type="led_count" id="vM@X8s!xa]v}AaK6PWF5"></block>
+                </value>
+              </block>
+            </value>
+            <value name="COLOR">
+              <shadow type="colour_picker" id="+vw3bff.5c[=_w,Xm^C(">
+                <field name="COLOUR">#3366ff</field>
+              </shadow>
+            </value>
+            <next>
+              <block type="wait" id="DT%f$bn1*1El5zsgUW8Y">
+                <value name="TIME">
+                  <shadow type="math_number" id="~Y0hNY[_^#v@aZkE-TH[">
+                    <field name="NUM">0.1</field>
                   </shadow>
                 </value>
-                <next>
-                  <block type="wait" id="DT%f$bn1*1El5zsgUW8Y">
-                    <value name="TIME">
-                      <shadow type="math_number" id="~Y0hNY[_^#v@aZkE-TH[">
-                        <field name="NUM">0.1</field>
-                      </shadow>
-                    </value>
-                  </block>
-                </next>
               </block>
             </next>
           </block>
-        </statement>
+        </next>
       </block>
-    </next>
+    </statement>
   </block>
-</xml>
+</xml>

clover_blocks/www/blocks.js

@@ -353,6 +353,17 @@ Blockly.Blocks['set_effect'] = {
 	}
 };
 
+Blockly.Blocks['led_count'] = {
+	init: function () {
+		this.appendDummyInput()
+			.appendField("LED count");
+		this.setOutput(true, "Number");
+		this.setColour(COLOR_LED);
+		this.setTooltip("Returns the number of LEDs (configured in led.launch).");
+		this.setHelpUrl(DOCS_URL + '#' + this.type);
+	}
+};
+
 Blockly.Blocks['take_off'] = {
 	init: function () {
 		this.appendValueInput("ALT")
@@ -535,7 +546,7 @@ Blockly.Blocks['gpio_read'] = {
 		this.setOutput(true, "Boolean");
 		this.setColour(COLOR_GPIO);
 		this.setTooltip("Returns if there is voltage on a GPIO pin.");
-		this.setHelpUrl(DOCS_URL + '#' + this.type);
+		this.setHelpUrl(DOCS_URL + '#GPIO');
 	}
 };
 
@@ -552,7 +563,7 @@ Blockly.Blocks['gpio_write'] = {
 		this.setPreviousStatement(true, null);
 		this.setNextStatement(true, null);
 		this.setTooltip("Set GPIO pin level.");
-		this.setHelpUrl(DOCS_URL + '#' + this.type);
+		this.setHelpUrl(DOCS_URL + '#GPIO');
 	}
 };
 
@@ -568,7 +579,24 @@ Blockly.Blocks['set_servo'] = {
 		this.setColour(COLOR_GPIO);
 		this.setPreviousStatement(true, null);
 		this.setNextStatement(true, null);
-		this.setTooltip("Set PWM on a GPIO pin to control servo. PWM is specified in range of 500–2500 ms.");
+		this.setTooltip("Set PWM on a GPIO pin to control servo. PWM is specified in range of 500–2500 μs.");
-		this.setHelpUrl(DOCS_URL + '#' + this.type);
+		this.setHelpUrl(DOCS_URL + '#GPIO');
+	}
+};
+
+Blockly.Blocks['set_duty_cycle'] = {
+	init: function () {
+		this.appendValueInput("PIN")
+			.setCheck("Number")
+			.appendField("set GPIO pin");
+		this.appendValueInput("DUTY_CYCLE")
+			.setCheck("Number")
+			.appendField("to duty cycle");
+		this.setInputsInline(true);
+		this.setColour(COLOR_GPIO);
+		this.setPreviousStatement(true, null);
+		this.setNextStatement(true, null);
+		this.setTooltip("Set PWM duty cycle on a GPIO pin (better to control LEDs, etc). Duty cycle is set in range of 0–1.");
+		this.setHelpUrl(DOCS_URL + '#GPIO');
 	}
 };

clover_blocks/www/index.html

@@ -106,6 +106,7 @@
 				<value name="INDEX"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="COLOR"><shadow type="colour_picker"></shadow></value>
 			</block>
+			<block type="led_count"></block>
 		</category>
 		<category name="GPIO" colour="#5b97cc">
 			<block type="gpio_read">
@@ -119,6 +120,10 @@
 				<value name="PIN"><shadow type="math_number"><field name="NUM">1</field></shadow></value>
 				<value name="PWM"><shadow type="math_number"><field name="NUM">1500</field></shadow></value>
 			</block>
+			<block type="set_duty_cycle">
+				<value name="PIN"><shadow type="math_number"><field name="NUM">1</field></shadow></value>
+				<value name="DUTY_CYCLE"><shadow type="math_number"><field name="NUM">0.5</field></shadow></value>
+			</block>
 		</category>
 		<sep></sep>
 		<category name="Logic" colour="#5b80a5">

clover_blocks/www/python.js

@@ -15,7 +15,7 @@ Blockly.Python.addReservedWords('_b,_print');
 Blockly.Python.addReservedWords('rospy,srv,Trigger,get_telemetry,navigate,set_velocity,land');
 Blockly.Python.addReservedWords('navigate_wait,land_wait,wait_arrival,wait_yaw,get_distance');
 Blockly.Python.addReservedWords('pigpio,pi,Range');
-Blockly.Python.addReservedWords('SetLEDEffect,set_effect');
+Blockly.Python.addReservedWords('SetLEDEffect,set_effect,led_count,get_led_count');
 Blockly.Python.addReservedWords('SetLEDs,LEDState,set_leds');
 
 const IMPORT_SRV = `from clover import srv
@@ -87,6 +87,9 @@ function generateROSDefinitions() {
 		Blockly.Python.definitions_['import_set_led'] = 'from led_msgs.srv import SetLEDs\nfrom led_msgs.msg import LEDState';
 		code += `set_leds = rospy.ServiceProxy('led/set_leds', SetLEDs, persistent=True)\n`;
 	}
+	if (rosDefinitions.ledStateArray) {
+		Blockly.Python.definitions_['import_led_state_array'] = 'from led_msgs.msg import LEDStateArray';
+	}
 	if (rosDefinitions.navigateWait) {
 		Blockly.Python.definitions_['import_math'] = 'import math';
 		code += NAVIGATE_WAIT();
@@ -391,26 +394,45 @@ Blockly.Python.set_led = function(block) {
 		return `set_leds([LEDState(index=${index}, r=${color.r}, g=${color.g}, b=${color.b})])\n`;
 	} else {
 		let parseColor = Blockly.Python.provideFunction_('parse_color', [PARSE_COLOR]);
-		return `set_leds([LEDState(index=${index}, **${parseColor}(${colorCode})])\n`;
+		return `set_leds([LEDState(index=${index}, **${parseColor}(${colorCode}))])\n`;
 	}
 }
 
+const GET_LED_COUNT = `led_count = None
+
+def get_led_count():
+    global led_count
+    if led_count is None:
+        led_count = len(rospy.wait_for_message('led/state', LEDStateArray, timeout=10).leds)
+    return led_count\n`;
+
+Blockly.Python.led_count = function(block) {
+	rosDefinitions.ledStateArray = true;
+	initNode();
+	Blockly.Python.definitions_['get_led_count'] = GET_LED_COUNT;
+	return [`get_led_count()`, Blockly.Python.ORDER_FUNCTION_CALL]
+}
+
 function pigpio() {
 	Blockly.Python.definitions_['import_pigpio'] = 'import pigpio';
 	Blockly.Python.definitions_['init_pigpio'] = 'pi = pigpio.pi()';
 }
 
 const GPIO_READ = `\ndef gpio_read(pin):
-	pi.set_mode(pin, pigpio.INPUT)
+    pi.set_mode(pin, pigpio.INPUT)
-	return pi.read(pin)\n`;
+    return pi.read(pin)\n`;
 
 const GPIO_WRITE = `\ndef gpio_write(pin, level):
-	pi.set_mode(pin, pigpio.OUTPUT)
+    pi.set_mode(pin, pigpio.OUTPUT)
-	pi.write(pin, level)\n`;
+    pi.write(pin, level)\n`;
 
 const SET_SERVO = `\ndef set_servo(pin, pwm):
-	pi.set_mode(pin, pigpio.OUTPUT)
+    pi.set_mode(pin, pigpio.OUTPUT)
-	pi.set_servo_pulsewidth(pin, pwm)\n`;
+    pi.set_servo_pulsewidth(pin, pwm)\n`;
+
+const SET_DUTY_CYCLE = `\ndef set_duty_cycle(pin, duty_cycle):
+    pi.set_mode(pin, pigpio.OUTPUT)
+    pi.set_PWM_dutycycle(pin, duty_cycle * 255)\n`;
 
 Blockly.Python.gpio_read = function(block) {
 	pigpio();
@@ -434,3 +456,11 @@ Blockly.Python.set_servo = function(block) {
 	var pwm = Blockly.Python.valueToCode(block, 'PWM', Blockly.Python.ORDER_NONE);
 	return `set_servo(${pin}, ${pwm})\n`;
 }
+
+Blockly.Python.set_duty_cycle = function(block) {
+	pigpio();
+	Blockly.Python.definitions_['set_duty_cycle'] = SET_DUTY_CYCLE;
+	var pin = Blockly.Python.valueToCode(block, 'PIN', Blockly.Python.ORDER_NONE);
+	var dutyCycle = Blockly.Python.valueToCode(block, 'DUTY_CYCLE', Blockly.Python.ORDER_NONE);
+	return `set_duty_cycle(${pin}, ${dutyCycle})\n`;
+}

docs/assets/sphere_guard/sphere_13.svg

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+	l0.26,0.22l0.28,0.2l0.29,0.18l0.31,0.16l0.32,0.14l0.33,0.11l0.33,0.09 M587.68,494.08l0.27-0.22l0.25-0.24l0.23-0.25l0.21-0.27
+	l0.19-0.29l0.17-0.3l0.15-0.31l0.13-0.32 M200.01,486.03l-0.4,2.02 M203.78,488.82l0.39-1.96 M197,491.26l-0.11,0.53 M204.82,493.38
+	l0.1-0.53 M196.9,491.8l0.13,0.32l0.15,0.31l0.18,0.3l0.2,0.28l0.22,0.27l0.24,0.25l0.26,0.23l0.27,0.21 M202.45,494.76l0.33-0.09
+	l0.32-0.12l0.32-0.14l0.31-0.16l0.29-0.18l0.28-0.2l0.26-0.23l0.24-0.24"/>
+<line class="st3" x1="170.27" y1="510.35" x2="170.27" y2="510.35"/>
+</svg>

docs/en/4g.md

@@ -18,15 +18,15 @@ Note that when connected, the modem must be recognized in the system as a networ
 
 Create the VPN network keys to connect Raspberry Pi and the ground station.
 
-To connect Raspberry Pi to your network, install the *openvpn* package:
+To connect Raspberry Pi to your network, install the OpenVPN package:
 
 ```bash
 sudo apt-get install openvpn
 ```
 
-Move your keys to the */etc/openvpn/client* directory. For convenience, use the graphical SFTP data transfer interface, for example: WinSCP, FileZilla, etc.
+Move your keys to the `/etc/openvpn/client` directory. For convenience, use the graphical SFTP data transfer interface, for example: WinSCP, FileZilla, etc.
 
-To enable the client mode, you must activate the keys you have transmitted. Keys can be generated in various formats, for example: *.ovpn*, *.conf*. The key or configuration used on your copter should be strictly in *.conf* format.
+To enable the client mode, you must activate the keys you have transmitted. Keys can be generated in various formats, for example: `.ovpn`, `.conf`. The key or configuration used on your copter should be strictly in `.conf` format.
 
 Initialize the service that uses your keys to connect in client mode:
 

docs/en/SUMMARY.md

@@ -5,6 +5,7 @@
 * [Safety tips](safety.md)
 * [Assembly](assembly.md)
   * [Clover 4.2 assembly](assemble_4_2.md)
+  * [Clover 4.2 WorldSkills](assemble_4_2_ws.md)
   * [Clover 4 assembly](assemble_4.md)
   * [Clover 3 assembly](assemble_3.md)
   * [Clover 2 assembly](assemble_2.md)

docs/en/arduino.md

@@ -4,7 +4,7 @@ For interaction with ROS topics and services on a Raspberry Pi, you can use the
 
 The main tutorial for rosserial: http://wiki.ros.org/rosserial_arduino/Tutorials
 
-Arudino is to be installed on Clover and connected via a USB port.
+Arduino is to be installed on Clover and connected via a USB port.
 
 ## Configuring Arduino IDE
 
@@ -14,7 +14,7 @@ To work with ROS and Arduino, you should understand the format of installed pack
 rosrun rosserial_arduino make_libraries.py.
 ```
 
-The obtained folder `ros_lib` is to be copied to `<sketches folder>/libraries` on a computer with Arudino IDE.
+The obtained folder `ros_lib` is to be copied to `<sketches folder>/libraries` on a computer with Arduino IDE.
 
 ## Configuring Raspberry Pi
 
@@ -24,7 +24,7 @@ To run the program on Arduino once, you can use command:
 roslaunch clover arduino.launch
 ```
 
-To start the link with Arduino at the startup automatically, set argument `arudino` in the Clover launch file (`~/catkin_ws/src/clover/clover/launch/clover.launch`):
+To start the link with Arduino at the startup automatically, set argument `arduino` in the Clover launch file (`~/catkin_ws/src/clover/clover/launch/clover.launch`):
 
 ```xml
 <arg name="arduino" default="true"/>
@@ -202,7 +202,7 @@ getTelemetry.call(gt_req, gt_res);
 
 ## Problem
 
-When using Arudino Nano, RAM may be insufficient. In this case, messages will appear in the Aruino IDE like:
+When using Arduino Nano, RAM may be insufficient. In this case, messages will appear in the Arduino IDE like:
 
 ```
 Global variables use 1837 bytes (89%) of the dynamic memory, leaving 211 bytes for local variables. The maximum is 2048 bytes.

docs/en/assemble_3.md

@@ -51,7 +51,7 @@ TODO
 
 1. Unpack the power board and install the power ribbon cable.
 2. Switch the multimeter in the DC voltage measurement mode (20V or 200V range).
-3. Check the correct functionning of the power board by connecting the battery.
+3. Check the correct functioning of the power board by connecting the battery.
     * Voltage measurements are to be made between black and red wires.
     * Output voltage at the XT30 connector should be equal to the battery voltage (10 V to 12.6 V).
     * The output voltage at the power ribbon cable should be between 4.9 V to 5.3 V.
@@ -69,7 +69,7 @@ TODO
             BLACK -> OUT-
             RED -> OUT+
 
-6. Check BEC functionning.
+6. Check BEC functioning.
     * Solder the BEC to the power board:
 
             BLACK -> -

docs/en/assemble_4.md

@@ -29,7 +29,7 @@
 ## Installing motors
 
 1. Unbox the motors.
-2. Shorten the motor wires using wire strippers or sidecutters:
+2. Shorten the motor wires using wire strippers or side cutters:
 
     * Cut wires to 30 mm.
     * Strip 5 mm of insulation while taking care to not damage the cores
@@ -315,7 +315,7 @@ The flight controller expects PPM signal from your RC gear. Switch your transmit
     <img src="../assets/assembling_clever4/lower_deck_4.png" width=300 class="zoom border center">
 
 6. Connect the camera ribbon cable to the camera.
-7. Connect the laser rangefineder to the Raspberry Pi using the following pinout:
+7. Connect the laser rangefinder to the Raspberry Pi using the following pinout:
     * Connect **VCC** to pin 1 (**3v3**)
     * Connect **GND** to pin 9 (**Ground**)
     * Connect **SDA** to pin 3 (**GPIO2**)
@@ -391,7 +391,7 @@ Perform the quadrotor components setup according to [the "Configuration" section
 
 > **Warning** Be sure to **not** mount the propellers **until the setup is complete**. Do it only when you are ready to fly.
 
-Attach the propellers according to their rotation direction. The battery should be disconnected duting propeller installation.
+Attach the propellers according to their rotation direction. The battery should be disconnected during propeller installation.
 
 <div class="image-group">
     <img src="../assets/assembling_clever4/final_2.png" width=300 class="zoom border">

docs/en/assemble_4_2_ws.md

@@ -0,0 +1,352 @@
+# Clover 4 assembly
+
+## Fasteners size
+
+> **Hint** During assembly, screws and racks of various sizes are used, using fasteners of the wrong size can damage the copter.
+
+<table class="type_table">
+    <tr>
+        <td><img src="../assets/assembling_clever4_2/type_size/m3x10.png" width=70 class="center"></td>
+        <td>Screw M3x10</td>
+        <td><img src="../assets/assembling_clever4_2/type_size/aluminium_40.png" width=100 class="center"></td>
+        <td>Aluminium rack 40mm</td>
+    </tr>
+    <tr>
+        <td><img src="../assets/assembling_clever4_2/type_size/m3x8.png" width=60 class="center"></td>
+        <td>Screw M3x8</td>
+        <td><img src="../assets/assembling_clever4_2/type_size/aluminium_20.png" width=70 class="center"></td>
+        <td>Aluminium rack 15mm</td>
+    </tr>
+    <tr>
+        <td><img src="../assets/assembling_clever4_2/type_size/m3x5.png" width=40 class="center"></td>
+        <td>Screw M3x5</td>
+        <td><img src="../assets/assembling_clever4_2/type_size/htp-40.png" width=100 class="center"></td>
+        <td>Nylon rack 40mm</td>
+    </tr>
+    <tr>
+        <td><img src="../assets/assembling_clever4_2/type_size/m2x5.png" width=40 class="center"></td>
+        <td>Screw M2x5</td>
+        <td><img src="../assets/assembling_clever4_2/type_size/htp-30.png" width=80 class="center"></td>
+        <td>Nylon rack 30mm</td>
+    </tr>
+    <tr>
+        <td><img src="../assets/assembling_clever4_2/type_size/nut_metal.png" width=25 class="center"></td>
+        <td> Nut M3 (self-locking)</td>
+        <td><img src="../assets/assembling_clever4_2/type_size/htp-20.png" width=70 class="center"></td>
+        <td>Nylon rack 20mm</td>
+    </tr>
+    <tr>
+        <td><img src="../assets/assembling_clever4_2/type_size/nut_nylon.png" width=25 class="center"></td>
+        <td> Nut M3 (nylon)</td>
+        <td><img src="../assets/assembling_clever4_2/type_size/htp-15.png" width=60 class="center"></td>
+        <td>Nylon rack 15mm</td>
+    </tr>
+    <tr>
+        <td><img src="../assets/assembling_clever4_2/type_size/dumper.png" width=50 class="center"></td>
+        <td>Damper rack</td>
+        <td><img src="../assets/assembling_clever4_2/type_size/hts-6.png" width=50 class="center"></td>
+        <td> Nylon rack 6mm</td>
+    </tr>
+</table>
+
+## Frame Assembly
+
+1. Align the 4 beams with the center deck, fix them with the M3x8 screws and self-locking nuts.
+
+    <div class="image-group">
+        <img src="../assets/assembling_clever4_2/frame_1.png" width=300 class="zoom border">
+        <img src="../assets/assembling_clever4_2/frame_2.png" width=300 class="zoom border">
+    </div>
+
+2. Install 2 15mm posts on the center holes in the main deck and fix them with the M3x8 screws.
+
+    <img src="../assets/assembling_clever4_2/frame_3.png" width=300 class="zoom border center">
+
+3. Install the stiffener hook into the groove in the beam.
+
+    <img src="../assets/assembling_clever4_2/frame_4.png" width=300 class="zoom border center">
+
+4. Hold the stiffeners tight to the main deck.
+
+    <img src="../assets/assembling_clever4_2/frame_5.png" width=300 class="zoom border center">
+
+5. Tighten the stiffeners with a small carbon deck.
+
+    <img src="../assets/assembling_clever4_2/frame_6.png" width=300 class="zoom border center">
+
+6. Install 4 6mm nylon posts and fix them with the M3x5 screws.
+
+    <img src="../assets/assembling_clever4_2/frame_7.png" width=300 class="zoom border center">
+
+## Installing of motors
+
+1. When installing motors, pay attention to the rotation scheme of the motors. The rotation mark on the motors must match the rotation scheme.
+
+    <img id="prop_rotation" src="../assets/assembling_clever4/props_rotation.png" width=300 class="zoom border center">
+
+2. Mount the motor on the corresponding holes in the beam using **M3x5 screws**.
+
+    <div class="image-group">
+        <img src="../assets/assembling_soldering_clever_4/motor_1.png" width=300 class="zoom border">
+        <img src="../assets/assembling_soldering_clever_4/motor_2.png" width=300 class="zoom border">
+    </div>
+
+> **Caution** Make sure that the motors are secured with M3x5 screws, otherwise a short circuit between the windings may occur.
+
+## Installing ESC and PDB
+
+1. Install the Power Distribution Board (PDB) on the pre-mounted stands, it must be installed with the power cable pointing towards the rear of the aircraft.
+
+    <div class="image-group">
+        <img src="../assets/assembling_soldering_clever_4/esc_1.png" width=300 class="zoom border">
+        <img src="../assets/assembling_soldering_clever_4/esc_2.png" width=300 class="zoom border">
+    </div>
+
+2. Install the speed controllers (ESC) to the appropriate positions on the beam.
+
+    <div class="image-group">
+        <img src="../assets/assembling_soldering_clever_4/esc_3.png" width=300 class="zoom border">
+        <img src="../assets/assembling_soldering_clever_4/esc_4.png" width=300 class="zoom border">
+    </div>
+
+3. Tighten the speed controllers (ESC) with cable ties.
+
+    <img id="prop_rotation" src="../assets/assembling_soldering_clever_4/esc_5.png" width=300 class="zoom border center">
+
+4. Measure out the required amount of ESC power wire, and cut off the excess.
+
+5. Strip and tin the cut wires
+
+6. Tin the contact pads on the power distribution board.
+
+7. Solder the ESC power wires to the power distribution board.
+
+    <div class="image-group">
+        <img src="../assets/assembling_soldering_clever_4/esc_5.png" width=300 class="zoom border">
+        <img src="../assets/assembling_soldering_clever_4/esc_6.png" width=300 class="zoom border">
+    </div>
+
+     > **Caution** Be careful with the pin signatures on the board. The red wire should go to the site with the signature *+*, and the black one to the signature *-*.
+
+8. Cut off the excess phase cable coming from the motors.
+
+9. Strip and tin the phase cables.
+
+10. Tin the contact pads of the governors.
+
+11. Solder the phase cables to the contact pads of the regulators in any order.
+
+    <div class="image-group">
+        <img src="../assets/assembling_soldering_clever_4/esc_7.png" width=300 class="zoom border">
+        <img src="../assets/assembling_soldering_clever_4/esc_8.png" width=300 class="zoom border">
+    </div>
+
+12. Solder 3 female JST connectors to *5V* pads and *bat+* pad
+
+    <div class="image-group">
+        <img src="../assets/assembling_soldering_clever_4/esc_9.png" width=300 class="zoom border">
+        <img src="../assets/assembling_soldering_clever_4/esc_10.png" width=300 class="zoom border">
+    </div>
+
+## Installing the flight controller
+
+The *Clover 4* set allows you to install various flight controllers, for example *COEX Pix* and *Pixracer*.
+
+> **Caution** When installing the flight controller, pay attention to the arrow located on the board, when installing it must be directed towards the nose of the aircraft.
+
+### COEX Pix
+
+> **Hint** Before installing the damper struts, screw in 2 layers of nylon nuts for a stronger hold or bite off excess threads with side cutters.
+
+1. Secure the power distribution board with nylon nuts and mount the damper posts on top.
+
+2. Install the flight controller and secure with nylon nuts.
+
+    <img id="prop_rotation" src="../assets/assembling_soldering_clever_4/coex_pix_1.png" width=300 class="zoom border center">
+
+3. Insert the flash card for logging into the flight controller.
+
+    <img id="prop_rotation" src="../assets/assembling_soldering_clever_4/coex_pix_2.png" width=300 class="zoom border center">
+
+### Pixracer
+
+1. Secure the power distribution board with 6mm nylon struts.
+
+2. Install the small mounting deck and secure with nylon nuts.
+
+    <img id="prop_rotation" src="../assets/assembling_soldering_clever_4/coex_fc_1.png" width=300 class="zoom border center">
+
+3. Glue 3-4 layers of double-sided tape, glue it in the center of the small deck and place the *Pixracer* on top.
+
+    <img id="prop_rotation" src="../assets/assembling_soldering_clever_4/coex_fc_2.png" width=300 class="zoom border center">
+
+4. Insert the MicroSD card into the flight controller.
+
+    <img id="prop_rotation" src="../assets/assembling_soldering_clever_4/coex_fc_3.png" width=300 class="zoom border center">
+
+## Connecting a flight controller
+
+1. Connect the ESCs to the flight controller according to the scheme.
+
+    <img src="../assets/assembling_soldering_clever_4/fc_connection_1.png" width=300 class="zoom border center">
+
+2. Connect the power cable to the power distribution board (PDB) and the corresponding connector on the flight controller.
+
+    <div class="image-group">
+        <img src="../assets/assembling_soldering_clever_4/fc_connection_2.png" width=300 class="zoom border">
+        <img src="../assets/assembling_soldering_clever_4/fc_connection_3.png" width=300 class="zoom border">
+    </div>
+
+3. Install the 40mm aluminum posts onto the M3x12 screws.
+
+    <div class="image-group">
+        <img src="../assets/assembling_soldering_clever_4/fc_connection_4.png" width=300 class="zoom border">
+        <img src="../assets/assembling_soldering_clever_4/fc_connection_5.png" width=300 class="zoom border">
+    </div>
+
+## Installing Raspberry Pi
+
+1. Place the 20 mm and 40 mm posts on the mounting deck, fix them with M3x8 screws.
+
+    <img src="../assets/assembling_soldering_clever_4/raspberry_1.png" width=300 class="zoom border center">
+
+2. Use an M3x12 bolt to cut M3 carving in the Raspberry Pi mounting holes.
+
+3. Screw the 6mm racks into the Raspberry Pi board, secure them with nylon nuts if necessary.
+
+    <div class="image-group">
+        <img src="../assets/assembling_soldering_clever_4/raspberry_2.png" width=300 class="zoom border">
+        <img src="../assets/assembling_soldering_clever_4/raspberry_3.png" width=300 class="zoom border">
+    </div>
+
+4. Mount the Raspberry Pi onto the mounting deck using M3x6 screws.
+
+    <img src="../assets/assembling_soldering_clever_4/raspberry_4.png" width=300 class="zoom border center">
+
+5. Install the assembled module into the corresponding slots on the main deck of the drone.
+
+    <img src="../assets/assembling_soldering_clever_4/raspberry_5.png" width=300 class="zoom border center">
+
+6. Plug the 5V JST into the corresponding power pins on the Raspberry Pi.
+
+    <img src="../assets/assembling_soldering_clever_4/raspberry_6.png" width=300 class="zoom border center">
+
+7. Take 4 Dupont wires, cut 5–7 cm of cable and solder to the corresponding pins of the rangefinder.
+
+    <div class="image-group">
+        <img src="../assets/assembling_soldering_clever_4/raspberry_7.png" width=300 class="zoom border">
+        <img src="../assets/assembling_soldering_clever_4/raspberry_8.png" width=300 class="zoom border">
+    </div>
+
+    | Wire | Rangefinder pin |
+    |------|-----------------|
+    | <font color=red>Red</font> | 5v |
+    | <font color=black>Black</font> | GND |
+    | <font color=yellow>Yellow</font> | SDA |
+    | <font color=green>Green</font> | SCL |
+
+    <div class="image-group">
+        <img src="../assets/assembling_soldering_clever_4/raspberry_9.png" width=300 class="zoom border">
+        <img src="../assets/assembling_soldering_clever_4/raspberry_10.png" width=300 class="zoom border">
+    </div>
+
+8. Install the rangefinder on the grip deck and glue the radio to the 3M tape.
+
+    > **Caution** Install the rangefinder so that the nuts do not rest directly on the board. With this installation, if there is a high probability of damaging the board elements.
+
+    <img src="../assets/assembling_soldering_clever_4/raspberry_11.png" width=300 class="zoom border center">
+
+9. Install 4 20mm nylon posts and fix them with M3x8 bolts.
+
+    <img src="../assets/assembling_soldering_clever_4/raspberry_12.png" width=300 class="zoom border center">
+
+10. Place the camera on the small mounting deck and secure it with two short self-tapping screws.
+
+    > **Caution** If you attach the camera to the upper right corner and the screw head touches the element on the camera, the camera will not work.
+
+    <img src="../assets/assembling_soldering_clever_4/raspberry_13.png" width=300 class="zoom border center">
+
+11. Place the small mounting deck with the camera on the stands and secure with the M3x8 bolts.
+
+    <img src="../assets/assembling_soldering_clever_4/raspberry_14.png" width=300 class="zoom border center">
+
+12. Place the assembled module over the Raspberry Pi module and fix it with M3x8 bolts.
+
+    <img src="../assets/assembling_soldering_clever_4/raspberry_15.png" width=300 class="zoom border center">
+
+13. Connect the camera and Raspberry Pi with a ribbon cable.
+
+    <img src="../assets/assembling_soldering_clever_4/raspberry_16.png" width=300 class="zoom border center">
+
+14. Connect the rangefinder to the Raspberry Pi into the appropriate pins.
+
+    <img src="../assets/assembling_soldering_clever_4/raspberry_17.png" width=300 class="zoom border center">
+
+15. Connect the radio and the flight controller with a 4-pin cable.
+
+    <img src="../assets/assembling_soldering_clever_4/raspberry_18.png" width=300 class="zoom border center">
+
+## Installing LED strip and legs
+
+1. Assemble the hoop for the LED strip by locking the ends together.
+
+    <img src="../assets/assembling_soldering_clever_4/led_1.png" width=300 class="zoom border center">
+
+2. Solder the JST male to the power pad and the Dupont-female to the signal pad.
+
+    <img src="../assets/assembling_soldering_clever_4/led_2.png" width=300 class="zoom border center">
+
+3. Stick the LED strip to the hoop, for greater strength, tighten it with 3-4 clamps.
+
+    <img src="../assets/assembling_soldering_clever_4/led_3.png" width=300 class="zoom border center">
+
+4. Install the feet on the stiffener plate with self-locking nuts and M3x8 screws only using the outermost mounting holes. From below, between the plates of the legs, install a damper silicone ring.
+
+    <img src="../assets/assembling_soldering_clever_4/led_4.png" width=300 class="zoom border center">
+
+5. Bend the legs back and install the hoop with the LED strip in the special groove on them, so that the connection cables exit from the tail side of the copter.
+
+    <img src="../assets/assembling_soldering_clever_4/led_5.png" width=300 class="zoom border center">
+
+6. Secure the legs with self-locking nuts and M3x8 screws.
+
+    <img src="../assets/assembling_soldering_clever_4/led_6.png" width=300 class="zoom border center">
+
+7. Connect the LED strip power to the JST 5V connector on the power distribution board.
+
+    <img src="../assets/assembling_soldering_clever_4/led_7.png" width=300 class="zoom border center">
+
+8. Connect the signal output of the LED strip in the Raspberry Ri to pin *GPIO21*.
+
+    <img src="../assets/assembling_soldering_clever_4/led_8.png" width=300 class="zoom border center">
+
+9. Install the mounting deck and secure it with M3x8 screws.
+
+    <img src="../assets/assembling_soldering_clever_4/led_9.png" width=300 class="zoom border center">
+
+## Setting protection
+
+1. Assemble the lower level of protection using 40mm posts and M3x12 screws.
+
+    <img src="../assets/assembling_soldering_clever_4/guard_1.png" width=300 class="zoom border center">
+
+2. Assemble the upper layer of protection using the M3x12 screws.
+
+    <img src="../assets/assembling_soldering_clever_4/guard_2.png" width=300 class="zoom border center">
+
+3. Install the protection and fix it to the beams with self-locking nuts and M3x8 screws.
+
+    <img src="../assets/assembling_soldering_clever_4/guard_3.png" width=300 class="zoom border center">
+
+4. Connect the flight controller to your Raspberry Pi using the USB cable.
+
+    <div class="image-group">
+        <img src="../assets/assembling_soldering_clever_4/guard_4.png" width=300 class="zoom border">
+        <img src="../assets/assembling_soldering_clever_4/guard_5.png" width=300 class="zoom border">
+    </div>
+
+5. Install the battery strap.
+
+    <img src="../assets/assembling_soldering_clever_4/guard_6.png" width=300 class="zoom border center">
+
+> **Success** The drone is assembled, next perform the ["setup"](setup.md) step.

docs/en/assembly.md

@@ -5,13 +5,12 @@ This section contains articles describing the assembly of each version of Clover
 <table class=versions>
      <tr><th>Version</th><th>Image</th></tr>
      <tr>
-          <td><a href="assemble_4_2.md">Clover&nbsp;4.2</a></td>
+          <td>
-          <td><a href="assemble_4_2.md"><img src="../assets/versions/clover_4.jpg" width=200></a></td>
+               <a href="assemble_4_2.md">Clover&nbsp;4.2</a>
+               <div class=subversion>(<a href="assemble_4_2_ws.md">4.2&nbsp;WorldSkills</a>)</div>
+          </td>
+          <td><a href="assemble_4_2.md"><img src="../assets/versions/clover_4_2.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>

docs/en/blocks.md

@@ -108,3 +108,14 @@ The block allows to set animations to LED strip, similarly to [`set_effect`](led
 Example of using the block with a random color (colors-related blocks are located in *Colour* category):
 
 <img src="../assets/blocks/random-color.png" srcset="../assets/blocks/random-color.png 2x">
+
+### Work with GPIO {#GPIO}
+
+<span style="padding:2px;color:white;background:#5b97cc">GPIO</span> category contains blocks for working with GPIO. Note, that for correct work of these blocks, `pigpiod` daemon should be running:
+
+```bash
+sudo systemctl enable pigpiod.service
+sudo systemctl start pigpiod.service
+```
+
+See details on GPIO in the [appropriate article](gpio.md).

docs/en/coex_pix.md

@@ -58,3 +58,18 @@ The FCU has power passthrough from the *PWR* input to the servo rail. Supplying
 ### Board specifics
 
 The board utilizes low-noise DC-DC converters, voltage inputs have LC and ferrite filters.
+
+## Revision 1.2
+
+### Innovations
+
+* Replaced USB Micro-B connector with USB Type-C connector.
+* Changed the slot for microSD cards to a deeper one.
+* Changed pin assignments on the I2C connector.
+* Added ferrite filters in the power circuit.
+
+### Port pinouts
+
+<img src="../assets/coex_pix/coexpix-top-rev1.2.jpg" width=400 class=zoom>
+
+<img src="../assets/coex_pix/coexpix-bottom-rev1.2.jpg" width=400 class=zoom>

docs/en/ir_sensors.md

@@ -8,7 +8,7 @@ Infrared sensors are a convenient tool for transmitting any commands to the copt
 
 Most IR receivers operate and are connected the same way. Such receivers have 3 pins for connecting: G/GND — ground V/VCC — 5V power, S/OUT — signal.
 
-<img src="../assets/IR_reciver_connection.png" height="500px" alt="ir reciver connection to raspberry">
+<img src="../assets/IR_reciver_connection.png" height="500px" alt="ir receiver connection to raspberry">
 
 > **Hint** The signal port doesn't have to be connected to port GPIO 17; this pin may be changed during the [in/out port settings](#in/out).
 

docs/en/jetson_nano.md

@@ -137,7 +137,7 @@ Jetson Nano currently does not support older Raspberry Pi v1 cameras (that are b
 
 Fortunately, these cameras are available using GStreamer. You can try using the [`gscam`](http://wiki.ros.org/gscam) ROS package or our [`jetson_camera`](https://github.com/sfalexrog/jetson_camera) node. The latter requires you to build OpenCV 3.4 from source with GStreamer support.
 
-The GStreamer pipelines are available at [JetsonHacksNano CSI camera reposotory](https://github.com/JetsonHacksNano/CSI-Camera).
+The GStreamer pipelines are available at [JetsonHacksNano CSI camera repository](https://github.com/JetsonHacksNano/CSI-Camera).
 
 You may also notice that the camera image has a red tint that is more pronounced near the edges. This can be fixed by image signal processor tuning. Generally this should be done by your camera manufacturer; [here is a sample ISP configuration](https://www.arducam.com/docs/camera-for-jetson-nano/fix-red-tint-with-isp-tuning/) from Adrucam
 

docs/en/leds.md

@@ -12,7 +12,7 @@ Our [Raspberry Pi image](image.md) contains preinstalled modules for interfacing
 * control individual LED colors (low-level control);
 * configure the strip to display flight events.
 
-> **Caution** LED strip can consume a lot of power! Powering it from a Raspyerry Pi may overload the computer's power circuitry. Consider using a separate BEC as a power source.
+> **Caution** LED strip can consume a lot of power! Powering it from a Raspberry Pi may overload the computer's power circuitry. Consider using a separate BEC as a power source.
 
 ## High-level control
 

docs/en/leds_old.md

@@ -8,7 +8,7 @@ Connect the +5v and GND leads of your LED to a power source and the DIN (data in
 
 <img src="../assets/led_connection.png" height="400px" alt="leds">
 
-> **Caution** LED strip can consume a lot of power! Powering it from a Raspyerry Pi may overload the computer's power circuitry. Consider using a separate BEC as a power source.
+> **Caution** LED strip can consume a lot of power! Powering it from a Raspberry Pi may overload the computer's power circuitry. Consider using a separate BEC as a power source.
 
 <!-- -->
 

docs/en/lesson1.md

@@ -60,7 +60,7 @@ An Unmanned Aerial Vehicle (UAV) is an aircraft flying without a pilot (crew) on
 Types and configuration
 -------------------
 
-There are many engines configurations: a tricopter, a hexacopter, or an octocopter, but the simplest one in terms of assembly and operation is a quadcopter, i. e., a multi-rotor platform with four engines. In turn, a quadcopter may have + and х configuration. In copters with a "+" configuration, one of the beams faces forward, while in platforms with the "x" configuration, the main direction of movement is between two adjacent beams.
+There are many engines configurations: a tricopter, a hexacopter, or an octocopter, but the simplest one in terms of assembly and operation is a quadcopter, i. e., a multi-rotor platform with four engines. In turn, a quadcopter may have + and x configuration. In copters with a "+" configuration, one of the beams faces forward, while in platforms with the "x" configuration, the main direction of movement is between two adjacent beams.
 
 ![Types](../assets/1_4.png)
 

docs/en/lesson2.md

@@ -117,12 +117,11 @@ In a closed electric circuit, the sum of all the EMF is equal to the sum of the
 
 In making equations, the direction of circuit traversal is chosen and arbitrarily specified directions of currents are specified.
 
-If an electric circuit contains two power sources, the directions of electromotive forces of which coincide, i.е., connected according to Fig. 1, the EMF across the entire circuit shall be equal to the sum of the EMFs of the sources,
+If an electric circuit contains two power sources, the directions of electromotive forces of which coincide, i.e., connected according to Fig. 1, the EMF across the entire circuit shall be equal to the sum of the EMFs of the sources, i.e.,
-т. i.е.,
 
 **E = E1+E2.**
 
-If a circuit contains two sources of EDS with opposite directions,  i.е., connected according to Fig. 2, the total EMF of the circuit will be equal to the difference of EMFs of these sources
+If a circuit contains two sources of EDS with opposite directions,  i.e., connected according to Fig. 2, the total EMF of the circuit will be equal to the difference of EMFs of these sources
 
 **Е = Е1—Е2.**
 

docs/en/migrate20.md

@@ -46,7 +46,7 @@ set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
 set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
 land = rospy.ServiceProxy('land', Trigger)
 
-# Take off 1 м
+# Take off 1 m
 navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)
 ```
 

docs/en/optical_flow.md

@@ -44,7 +44,7 @@ When using **LPE** (parameter `SYS_MC_EST_GROUP` = `local_position_estimator, at
 * `SENS_FLOW_ROT` – No rotation.
 * `SENS_FLOW_MAXHGT` – 4.0 (for the rangefinder VL53L1X)
 * `SENS_FLOW_MINHGT` – 0.01 (for the rangefinder VL53L1X)
-* Optional: `LPE_FUSION` – falg 'pub agl as lpos down' is on (сf. [rangefinder setup](laser.md).
+* Optional: `LPE_FUSION` – falg 'pub agl as lpos down' is on (see [rangefinder setup](laser.md).
 
 [The `selfcheck.py` utility](selfcheck.md) will help you verify that all settings are correctly set.
 
@@ -97,7 +97,7 @@ When using Optical Flow, the maximal horizontal speed is further limited. This i
 
 ## Errors
 
-If errors of `EKF INTERNAL CHECKS` occur, try to restart EKF2. To do so, enter in the MAVLink-console : в MAVLink-консоли:
+If errors like `EKF INTERNAL CHECKS` occur, try to restart EKF2. To do so, enter in the MAVLink-console:
 
 ```nsh
 ekf2 stop

docs/en/programming.md

@@ -92,6 +92,8 @@ Read more in the [coordinate systems](frames.md) article.
 
 You can also use the ["Autonomous flight"](simple_offboard.md) article as an API reference.
 
+> **Hint** Clover supports [blocks-based programming](blocks.md) as well.
+
 ## Additional periphery
 
 The Clover platform also exposes APIs for interacting with other peripherals. Read more in the following articles:

docs/en/px4_parameters.md

@@ -20,7 +20,7 @@ This is a group of modules that calculates the current state of the copter using
 * Copter orientation (in the local coordinate system) – pitch, roll, yaw (one of presentations);
 * Copter position (in the local coordinate system) – x, y, z;
 * Copter speed (in the local coordinate system) – vx, vy, vz;
-* Global coordinates of the copter – lattitude, longitude, altitude;
+* Global coordinates of the copter – latitude, longitude, altitude;
 * Altitude above the surface;
 * Other parameters (the drift of gyroscopes, wind speed, etc.).
 
@@ -39,15 +39,15 @@ This is a group of modules that calculates the current state of the copter using
 
 Variant 2 is the most accurate; however, it is correct to use it only if the surface the copter flies over is flat. Otherwise, the Z axis origin will move up and down with the altitude of the surface.
 
-## Multicopter Control Position (flying by position)
+## Multicopter Position Control
 
 These parameters adjust the flight of the copter by position (POSCTL, OFFBOARD, AUTO modes).
 
 `MPC_THR_HOVER` — hovering throttle. This option is to set to the approximate percentage of throttle needed to make the copter maintain its altitude. If copter has a tendency to gain or lose altitude during the hovering mode, reduce or increase this value.
 
-`MPC_XY_P` – position factor *P* of the ESC. This parameter affects how sharply the copter will react to the position commands. A too high value may cause {перестрелы}.
+`MPC_XY_P` – position factor *P* of the ESC. This parameter affects how sharply the copter will react to the position commands. A too high value may cause overshoots.
 
-`MPC_XY_VEL_P` – speed factor *P* of the ESC. This parameter also affects the accuracy and sharpness of copter execution of the given position. A too high value may cause {перестрелы}.
+`MPC_XY_VEL_P` – speed factor *P* of the ESC. This parameter also affects the accuracy and sharpness of copter execution of the given position. A too high value may cause overshoots.
 
 `MPC_XY_VEL_MAX` — the maximum horizontal speed in POSCTL, OFFBOARD, AUTO modes.
 

docs/en/ros-install.md

@@ -41,21 +41,21 @@ Now you can install the ROS package itself.
     ```
 
 After the package has installed, initialize `rosdep`.
-Package `rosdep` will allow to easily install dependecies for the source files that you whish to compile. Running some essential components of ROS will as well require this package.
+Package `rosdep` will allow to easily install dependencies for the source files that you whish to compile. Running some essential components of ROS will as well require this package.
 
 ```bash
 sudo rosdep init
 rosdep update
 ```
 
-If you are not confortable with entering environment variables manually each time, you may configure it in a way that it add itself in your bash session on every new shell startup:
+If you are not comfortable with entering environment variables manually each time, you may configure it in a way that it add itself in your bash session on every new shell startup:
 
 ```bash
 echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
 source ~/.bashrc
 ```
 
-If you whish to install any additionnal packages for yout ROS Melodic simply use:
+If you whish to install any additional packages for your ROS Melodic simply use:
 
 ```bash
 sudo apt-get install ros-melodic-PACKAGE

docs/en/rviz.md

@@ -14,7 +14,7 @@ Install package `ros-melodic-desktop-full` or `ros-melodic-desktop` using the [i
 Start rviz
 ---
 
-To start еру visualization of the state of Clover in real time, connect to it via Wi-Fi (`clover-xxx`) and run rviz, specifying an appropriate ROS_MASTER_URI:
+To start the Clover state visualization in real time, connect to it via Wi-Fi (`clover-xxx`) and run rviz, specifying an appropriate ROS_MASTER_URI:
 
 ```(bash)
 ROS_MASTER_URI=http://192.168.11.1:11311 rviz

docs/en/setup.md

@@ -14,7 +14,7 @@ Consult the [official QGroundControl user guide](https://docs.qgroundcontrol.com
 
 Prepare the MicroSD card for your flight controller.
 
-<img src="../assets/pix-sd.png" alt="Pixracer и MicroSD-карта" class="zoom center" width=400>
+<img src="../assets/pix-sd.png" alt="Pixracer and MicroSD-card" class="zoom center" width=400>
 
 * Put the card into your computer (use an adapter if necessary).
 * Format the card to FAT32 filesystem. Right click on the SD card icon in Windows Explorer and select "Format". Use the Disk Utility in macOS.
@@ -114,7 +114,7 @@ Press the *Save* button to save the changed value to the flight controller. Chan
 
 > **Hint** Note that you should fine-tune the PID parameters for each drone individually.  <!-- TODO: add PID article link -->
 
-#### Cicruit breaker parameters
+#### Circuit breaker parameters
 
 1. Set `CBRK_USB_CHK` to 197848 to allow flights with the USB cable connected.
 2. Disable safety switch check: `CBRK_IO_SAFETY` = 22027.

docs/en/simple_offboard.md

@@ -13,7 +13,7 @@ The `simple_offboard` module of the `clover` package is intended for simplified
 
 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).
 
-Python samples
+Python examples
 ---
 
 You need to create proxies for services before calling them. Use the following template for your programs:

docs/en/simulation_vm.md

@@ -8,17 +8,21 @@ In addition to [native installation instructions](simulation_native.md), we prov
 * preconfigured Gazebo simulation environment;
 * Visual Studio Code with C++ and Python plugins.
 
+> **Info** The default username on the VM is `clover`, with password `clover`.
+
 The VM is an easy way to set up a simulation environment, but can be used as a development environment for a real drone as well.
 
+## Downloading
+
 You can download the latest VM image [in the VM releases repository](https://github.com/CopterExpress/clover_vm/releases).
 
 > **Note** The virtual machine should be used when native installation is not feasible or possible. You may experience reduced performance in programs that use 3D rendering, like rviz and Gazebo.
 
 ## Setting up the VM
 
-You need to use a VM manager that supports OVF format, like [Virtualbox](https://www.virtualbox.org/wiki/Downloads), [VMware Player](https://www.vmware.com/products/workstation-player.html) or [VMware Workstation](https://www.vmware.com/products/workstation-pro.html).
+You need to use a VM manager that supports OVF format, like [VirtualBox](https://www.virtualbox.org/wiki/Downloads), [VMware Player](https://www.vmware.com/products/workstation-player.html) or [VMware Workstation](https://www.vmware.com/products/workstation-pro.html).
 
-> **Note** At the time of writing Virtualbox had issues running the VM, particularly with 3D applications. We recommend using VMware Player or VMware Workstation if possible. The following steps assume you're using VMware Player.
+> **Note** At the time of writing VirtualBox had issues running the VM, particularly with 3D applications. We recommend using VMware Player or VMware Workstation if possible. The following steps assume you're using VMware Player.
 
 Make sure that you have hardware virtualization enabled in your BIOS/UEFI (it may be supported by your hardware but turned off by default). The steps to enable virtualization differ from manufacturer to manufacturer, but should be described in your system manual. Consult your system's manufacturer if you're having trouble turning virtualization on.
 
@@ -33,7 +37,7 @@ Make sure that you have hardware virtualization enabled in your BIOS/UEFI (it ma
 2. Right-click on the VM name and select **Virtual Machine Settings**. In the new window, set the following parameters:
 
     * increase the amount of memory available to the virtual machine (a good rule of thumb is 2048 MB per CPU core, but no less than 4 GB):
-    ![Increasing avaliable memory](../assets/simulation_setup_vm/03_max_memory.png)
+    ![Increasing available memory](../assets/simulation_setup_vm/03_max_memory.png)
     * increase the amount available CPU cores:
     ![Increasing cpu cores](../assets/simulation_setup_vm/04_core_count.png)
     * enable 3D acceleration:

docs/en/snippets.md

@@ -103,7 +103,7 @@ arming = rospy.ServiceProxy('mavros/cmd/arming', CommandBool)
 
 # ...
 
-arming(False)  # дизарм
+arming(False)  # disarm
 ```
 
 ### # {#transform}

docs/en/sonar.md

@@ -89,7 +89,7 @@ while True:
 
 ### Filtering the data
 
-To filter (smooth out) the data and delete [emission](https://ru.wikipedia.org/wiki/Outbreak_%28statistics%29) [Kalman filter] (https://ru.wikipedia.org/wiki/Фильтр_Калмана) or a simple [median filter](https://ru.wikipedia.org/wiki/Median_filter) can be used. An example of median filtering implementation:
+To filter (smooth out) the data and delete [outliers](https://en.wikipedia.org/wiki/Outlier), [Kalman filter](https://en.wikipedia.org/wiki/Kalman_filter) or a simple [median filter](https://ru.wikipedia.org/wiki/Median_filter) can be used. An example of median filtering implementation:
 
 ```python
 import collections
@@ -97,7 +97,7 @@ import numpy
 
 # ...
 
-history = collections.deque(maxlen=10)  # 10 - количество сэмплов для усреднения
+history = collections.deque(maxlen=10)  # 10 - number of samples for averaging
 
 def read_distance_filtered():
     history.append(read_distance())

docs/en/uart.md

@@ -12,7 +12,7 @@ Read more about the interface and the Protocol in [this article](https://habr.co
 
 ## Linux TTY
 
-In Linux, there is the concept of Posix Terminal Interface (read more [here](https://ru.wikipedia.org/wiki/TTY-абстракция)). It is an abstraction over the serial or virtual interface that allows several agents to work with the device simultaneously.
+In Linux, there is the concept of POSIX Terminal Interface (read more [here](https://en.wikipedia.org/wiki/POSIX_terminal_interface). It is an abstraction over the serial or virtual interface that allows several agents to work with the device simultaneously.
 
 An example of such abstraction in Raspbian may be `/dev/tty1` – the device for text output to the screen connected via HDMI.
 
@@ -37,7 +37,7 @@ By default, Raspberry Pi 3 PL011 is connected to the Bluetooth module. And Mini
 For the sake of convenience of working with these outputs, aliases exist in Raspbian:
 
 * `/dev/serial0` – always points to the TTY device that is connected to the GPIO ports.
-* `/dev/serial1` – always points to the TTY device that is connected to the Bluetooh module.
+* `/dev/serial1` – always points to the TTY device that is connected to the Bluetooth module.
 
 ### Configuration of UART on Raspberry Pi 3
 

docs/ru/4g.md

@@ -18,15 +18,15 @@
 
 Сформируйте необходимые ключи VPN сети, для подключения Raspberry Pi и наземной станции.
 
-Для того, чтобы подключить Raspberry Pi к вашей сети, установите пакет *openvpn*:
+Для того, чтобы подключить Raspberry Pi к вашей сети, установите пакет `openvpn`:
 
 ```bash
 sudo apt-get install openvpn
 ```
 
-Перенесите ваши ключи в директорию */etc/openvpn/client*. Для удобства используйте графический SFTP интерфейс передачи данных, к примеру: WinSCP, FileZilla и т.д.
+Перенесите ваши ключи в директорию `/etc/openvpn/client`. Для удобства используйте графический SFTP интерфейс передачи данных, к примеру: WinSCP, FileZilla и т.д.
 
-Для включения режима клиента, необходимо активировать переданные вами ключи. Ключи могу быть сформированы в различных форматах, к примеру: *.ovpn*, *.conf*. Ключ или конфигурация использующийся на вашем коптере, должны быть строго в формате *.conf*.
+Для включения режима клиента, необходимо активировать переданные вами ключи. Ключи могу быть сформированы в различных форматах, к примеру: `.ovpn`, `.conf`. Ключ или конфигурация использующийся на вашем коптере, должны быть строго в формате `.conf`.
 
 Инициализируйте сервис применяющий ваши ключи для подключения в режиме клиента:
 
@@ -34,7 +34,7 @@ sudo apt-get install openvpn
 sudo systemctl enable openvpn-client@config-name
 ```
 
-где *config-name* - название вашего конфигурационного файла.
+где `config-name` - название вашего конфигурационного файла.
 
 Если все сделано правильно, при каждом перезапуске системы, сервис-клиент будет автоматически подключаться к вашей сети.
 
@@ -65,7 +65,7 @@ sudo systemctl enable openvpn-client@config-name
 
 > **Info** При выборе джойстика, обратите внимание на количество рабочих каналов и на поддержку его, в QGroundControl(SDL2). Встречаются пульты поддерживающие всего 4 канала, что не удобно для такого типа управления.
 
-Если изменения положения стиков отображается в окне QGgroundControl, вам остается только применить параметр, определяющий, что управление коптером происходит с помощью джойстика, а не радиоаппаратуры:
+Если изменения положения стиков отображается в окне QGroundControl, вам остается только применить параметр, определяющий, что управление коптером происходит с помощью джойстика, а не радиоаппаратуры:
 
 `COM_RC_IN_MODE` - Joystick/No RC Checks
 

docs/ru/SUMMARY.md

@@ -80,6 +80,7 @@
   * [Подключение GPS](gps.md)
   * [Работа с ИК датчиками](ir_sensors.md)
   * [Установка FPV](fpv.md)
+  * [Сборка шаровой защиты](sphere_guard.md)
   * [Управление в режиме тренера](trainer_mode.md)
   * [Техника лужения](tinning.md)
   * [Подключение PX4FLOW](px4flow.md)

docs/ru/assemble_4_2_ws.md

@@ -51,7 +51,7 @@
 
 ## Сборка рамы
 
-1. Совместите 4 луча с центральной декой, зафиксируйте их при помощи винтов М3х8 и гаек с нейлоновой вставкой.
+1. Совместите 4 луча с центральной декой, зафиксируйте их при помощи винтов М3х8 и самоконтрящихся гаек.
 
     <div class="image-group">
         <img src="../assets/assembling_soldering_clever_4/frame_1.png" width=300 class="zoom border">
@@ -102,46 +102,50 @@
         <img src="../assets/assembling_soldering_clever_4/esc_2.png" width=300 class="zoom border">
     </div>
 
-2. Установите регуляторы оборотов (ESC) в соответствующие места на луче и притяните хомутами.
+2. Установите регуляторы оборотов (ESC) в соответствующие места на луче.
 
     <div class="image-group">
         <img src="../assets/assembling_soldering_clever_4/esc_3.png" width=300 class="zoom border">
         <img src="../assets/assembling_soldering_clever_4/esc_4.png" width=300 class="zoom border">
     </div>
 
-3. Отмерьте необходимое количество силового провода регуляторов оборотов(ESC), и обрежьте лишнее.
+3. Притяните регуляторы оборотов (ESC) хомутами.
 
-4. Зачистите и залудите обрезанные провода
+    <img id="prop_rotation" src="../assets/assembling_soldering_clever_4/esc_5.png" width=300 class="zoom border center">
 
-5. Залудите контактные площадки на плате распределения питания.
+4. Отмерьте необходимое количество силового провода регуляторов оборотов(ESC), и обрежьте лишнее.
 
-6. Припаяйте силовые провода регуляторов оборотов к плате распределения питания.
+5. Зачистите и залудите обрезанные провода.
+
+6. Залудите контактные площадки на плате распределения питания.
+
+7. Припаяйте силовые провода регуляторов оборотов к плате распределения питания.
 
     <div class="image-group">
-        <img src="../assets/assembling_soldering_clever_4/esc_5.png" width=300 class="zoom border">
         <img src="../assets/assembling_soldering_clever_4/esc_6.png" width=300 class="zoom border">
+        <img src="../assets/assembling_soldering_clever_4/esc_7.png" width=300 class="zoom border">
     </div>
 
     > **Caution** Будьте внимательны к подписям контактов на плате. Красный провод должен идти к площадке с подписью *+*, а черный к подписи *-*.
 
-7. Обрежьте лишний фазный кабель идущий от моторов.
+8. Обрежьте лишний фазный кабель идущий от моторов.
 
-8. Зачистите и залудите фазные кабели.
+9. Зачистите и залудите фазные кабели.
 
-9. Залудите контактные площадки регуляторов оборотов.
+10. Залудите контактные площадки регуляторов оборотов.
 
-10. Припаяйте фазные кабели к контактным площадкам регуляторов в любом порядке.
+11. Припаяйте фазные кабели к контактным площадкам регуляторов в любом порядке.
 
     <div class="image-group">
-        <img src="../assets/assembling_soldering_clever_4/esc_7.png" width=300 class="zoom border">
         <img src="../assets/assembling_soldering_clever_4/esc_8.png" width=300 class="zoom border">
+        <img src="../assets/assembling_soldering_clever_4/esc_9.png" width=300 class="zoom border">
     </div>
 
-11. Припаяйте 3 разъема JST мама к 2ум площадкам *5V* и площадке *bat+*
+12. Припаяйте 3 разъема JST мама к 2ум площадкам *5V* и площадке *bat+*.
 
     <div class="image-group">
-        <img src="../assets/assembling_soldering_clever_4/esc_9.png" width=300 class="zoom border">
         <img src="../assets/assembling_soldering_clever_4/esc_10.png" width=300 class="zoom border">
+        <img src="../assets/assembling_soldering_clever_4/esc_11.png" width=300 class="zoom border">
     </div>
 
 ## Установка полетного контроллера
@@ -215,7 +219,7 @@
         <img src="../assets/assembling_soldering_clever_4/raspberry_3.png" width=300 class="zoom border">
     </div>
 
-4. Установите Raspberry Pi на монтажную деку закрепив ее болтами М3х6.
+4. Установите Raspberry Pi на монтажную деку, закрепив ее болтами М3х6.
 
     <img src="../assets/assembling_soldering_clever_4/raspberry_4.png" width=300 class="zoom border center">
 
@@ -256,7 +260,7 @@
 
     <img src="../assets/assembling_soldering_clever_4/raspberry_12.png" width=300 class="zoom border center">
 
-10. На малую монтажную деку установите камеру и зафиксируйте ее двумя короткими саморезами, как указано на рисунке.
+10. На малую монтажную деку установите камеру и зафиксируйте ее двумя короткими саморезами.
 
     > **Caution** Если закрепить камеру в верхнем правом углу и шляпка самореза будет касаться элемента на камере, камера не будет работать.
 
@@ -266,7 +270,7 @@
 
     <img src="../assets/assembling_soldering_clever_4/raspberry_14.png" width=300 class="zoom border center">
 
-12. Собранный модуль установите на над модулем Raspberry Pi и зафиксируйте болтами М3х8.
+12. Собранный модуль установите над модулем Raspberry Pi и зафиксируйте болтами М3х8.
 
     <img src="../assets/assembling_soldering_clever_4/raspberry_15.png" width=300 class="zoom border center">
 
@@ -278,7 +282,7 @@
 
     <img src="../assets/assembling_soldering_clever_4/raspberry_17.png" width=300 class="zoom border center">
 
-15. Соедините с радиоприемник и полетный контроллер с помощью соответствующего кабеля.
+15. Соедините радиоприемник и полетный контроллер с помощью 4-х пинового кабеля.
 
     <img src="../assets/assembling_soldering_clever_4/raspberry_18.png" width=300 class="zoom border center">
 
@@ -334,4 +338,15 @@
 
     <img src="../assets/assembling_soldering_clever_4/guard_3.png" width=300 class="zoom border center">
 
+4. Подключите полетный контролер к Raspberry Pi с помощью USB к кабеля.
+
+    <div class="image-group">
+        <img src="../assets/assembling_soldering_clever_4/guard_4.png" width=300 class="zoom border">
+        <img src="../assets/assembling_soldering_clever_4/guard_5.png" width=300 class="zoom border">
+    </div>
+
+5. Установите ремешок для крепления АКБ.
+
+    <img src="../assets/assembling_soldering_clever_4/guard_6.png" width=300 class="zoom border center">
+
 > **Success** Дрон собран, далее произведите [настройку](setup.md).

docs/ru/assembly.md

@@ -9,11 +9,11 @@
                <a href="assemble_4_2.md">Клевер&nbsp;4.2</a>
                <div class=subversion>(<a href="assemble_4_2_ws.md">4.2&nbsp;WorldSkills</a>)</div>
           </td>
-          <td><a href="assemble_4_2.md"><img src="../assets/versions/clover_4.jpg" width=200></a></td>
+          <td><a href="assemble_4_2.md"><img src="../assets/versions/clover_4_2.jpg" width=200></a></td>
      </tr>
      <tr>
           <td><a href="assemble_4_1.md">Клевер&nbsp;4.1</a></td>
-          <td><a href="assemble_4_1.md"><img src="../assets/versions/clover_4.jpg" width=200></a></td>
+          <td><a href="assemble_4_1.md"><img src="../assets/versions/clover_4_1.jpg" width=200></a></td>
      </tr>
      <tr>
           <td><a href="assemble_4.md">Клевер&nbsp;4</a></td>

docs/ru/blocks.md

@@ -108,3 +108,14 @@
 Пример использования блока для установки случайного цвета (блоки, связанные с цветами находятся в категории *Colour*):
 
 <img src="../assets/blocks/random-color.png" srcset="../assets/blocks/random-color.png 2x">
+
+### Работа с GPIO {#GPIO}
+
+Категория <span style="padding:2px;color:white;background:#5b97cc">GPIO</span> содержит блоки для работы с GPIO. Обратите внимание, что для корректной работы этих блоков демон для работы с GPIO `pigpiod` должен быть включен:
+
+```bash
+sudo systemctl enable pigpiod.service
+sudo systemctl start pigpiod.service
+```
+
+Более подробную информацию о GPIO читайте в [соответствующей статье](gpio.md).

docs/ru/coex_pix.md

@@ -35,9 +35,9 @@
 
 ### Схемы расположения контактов
 
-<img src="../assets/coexpix-top.jpg" width=400 class=zoom>
+<img src="../assets/coex_pix/coexpix-top.jpg" width=400 class=zoom>
 
-<img src="../assets/coexpix-bottom.jpg" width=400 class=zoom>
+<img src="../assets/coex_pix/coexpix-bottom.jpg" width=400 class=zoom>
 
 > **Note** На плате ревизии 1.0 RC IN разъем располагался на месте разъема Micro SD. Распиновка самого разъема осталась такой же.
 
@@ -58,3 +58,18 @@
 ### Особенности платы
 
 Для повышения надежности и стабильности, плата оснащена низкошумящими понижающими преобразователями. Установлен входной LC фильтр, а также ферритовые фильтры в цепях питания.
+
+## Ревизия 1.2
+
+### Нововведения
+
+* Заменен разъем USB Micro-B на раазъем USB Type-C.
+* Изменен слот для MicroSD карт, на более глубокий.
+* Изменены назначения пинов на разьеме I2C.
+* Добавлены ферритовые фильтры в цепи питания.
+
+### Схемы расположения контактов
+
+<img src="../assets/coex_pix/coexpix-top-rev1.2.png" width=400 class=zoom>
+
+<img src="../assets/coex_pix/coexpix-bottom-rev1.2.png" width=400 class=zoom>

docs/ru/programming.md

@@ -92,6 +92,8 @@ land()
 
 Полное описания API Клевера приведено в статье ["Автономный полет"](simple_offboard.md).
 
+> **Hint** В Клевере также доступна поддержка [блочного программирования](blocks.md) автономных полетов.
+
 ## Дополнительное оборудование
 
 Платформа Клевера также имеет API для работы с периферией. Читайте соответствующие статьи для подробностей:

docs/ru/projects.md

@@ -36,5 +36,6 @@
 |Полет коптера на точку на изображении с камеры, направленной вертикально вниз||
 |Внедрение лидара ([RPLIDAR](https://www.slamtec.com/en/Lidar)) в Клевер||
 |Зарядная станция для коптера на солнечном концентраторе|<!-- placeholder for gitbook-->|
+|Стенд для стройки коэффициентов PID на Клевере|<!-- placeholder for gitbook-->|
 
 Вышеперечисленные и другие проекты вы также можете реализовать в рамках конкурса проектов [Copter Hack](https://ru.coex.tech/copterhack). Мы приглашаем команды для реализации проектов и в других форматах.