simple_offboard: add take_off service

* docs: Add translations and fix rusian articles

* docs: Fix md and style

* docs: Fix summary and dupont naming

* docs: Fix summary tabbing

.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/clover42-main.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
 

aruco_pose/cfg/DetectorParams.cfg

@@ -8,6 +8,8 @@ p = cv2.aruco.DetectorParameters_create()
 
 gen = ParameterGenerator()
 
+gen.add("enabled", bool_t, 0, "if detection enabled", True)
+
 gen.add("adaptiveThreshConstant",                 double_t, 0,
         "Constant for adaptive thresholding before finding contours",
          p.adaptiveThreshConstant, 0, 100)

aruco_pose/src/aruco_detect.cpp

@@ -62,6 +62,7 @@ private:
 	std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
 	std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
 	std::shared_ptr<dynamic_reconfigure::Server<aruco_pose::DetectorConfig>> dyn_srv_;
+	bool enabled_ = true;
 	cv::Ptr<cv::aruco::Dictionary> dictionary_;
 	cv::Ptr<cv::aruco::DetectorParameters> parameters_;
 	image_transport::Publisher debug_pub_;
@@ -128,6 +129,8 @@ public:
 private:
 	void imageCallback(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr &cinfo)
 	{
+		if (!enabled_) return;
+
 		Mat image = cv_bridge::toCvShare(msg, "bgr8")->image;
 
 		vector<int> ids;
@@ -356,6 +359,7 @@ private:
 
 	void paramCallback(aruco_pose::DetectorConfig &config, uint32_t level)
 	{
+		enabled_ = config.enabled;
 		parameters_->adaptiveThreshConstant = config.adaptiveThreshConstant;
 		parameters_->adaptiveThreshWinSizeMin = config.adaptiveThreshWinSizeMin;
 		parameters_->adaptiveThreshWinSizeMax = config.adaptiveThreshWinSizeMax;

builder/assets/examples/flight_marker.py

@@ -1,4 +1,4 @@
-# Information: https://clover.coex.tech/en/aruco.html
+# Information: https://clover.coex.tech/aruco
 
 import rospy
 from clover import srv

builder/assets/examples/leds.py

@@ -1,4 +1,4 @@
-# Information: https://clover.coex.tech/en/leds.html
+# Information: https://clover.coex.tech/led
 
 import rospy
 from clover.srv import SetLEDEffect
@@ -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

check_unused_assets.py

@@ -4,7 +4,9 @@ import os
 import sys
 import subprocess
 
-EXCLUDE = ('clever4-front-white.png', '.DS_Store', 'clever4-front-black-large.png')
+EXCLUDE = ('clever4-front-white.png', 'clever4-front-white-large.png', '.DS_Store',
+    'clever4-front-black-large.png','clover42-black.png')
+
 code = 0
 
 os.chdir('./docs')

clover/CMakeLists.txt

@@ -82,6 +82,7 @@ add_service_files(
   GetTelemetry.srv
   Navigate.srv
   NavigateGlobal.srv
+  TakeOff.srv
   SetPosition.srv
   SetVelocity.srv
   SetAttitude.srv

clover/README.md

@@ -44,16 +44,12 @@ Alternatively you may change the `fcu_url` property in `mavros.launch` file to p
 
 ## Running
 
-To start connection to SITL, use:
-
-```bash
-roslaunch clover sitl.launch
-```
-
 To start connection to the flight controller, use:
 
 ```bash
 roslaunch clover clover.launch
 ```
 
+For the simulation information see the [corresponding article](https://clover.coex.tech/en/simulation.html).
+
 > Note that the package is configured to connect to `/dev/px4fmu` by default (see [previous section](#manual-installation)). Install udev rules or specify path to your FCU device in `mavros.launch`.

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/launch/sitl.launch

@@ -1,19 +0,0 @@
-<launch>
-    <!-- clover configuration for testing in sitl -->
-    <arg name="ip" default="127.0.0.1"/>
-    <arg name="rosbridge" default="false"/>
-
-    <include file="$(find clover)/launch/clover.launch">
-        <arg name="fcu_conn" value="udp"/>
-        <arg name="fcu_ip" value="$(arg ip)"/>
-        <arg name="gcs_bridge" value="false"/>
-        <arg name="optical_flow" value="false"/>
-        <arg name="web_video_server" default="false"/>
-        <arg name="main_camera" default="false"/>
-        <arg name="rosbridge" value="$(arg rosbridge)"/>
-        <arg name="aruco" default="false"/>
-        <arg name="rangefinder_vl53l1x" default="false"/>
-        <arg name="led" default="false"/>
-        <arg name="rc" default="false"/>
-    </include>
-</launch>

clover/src/simple_offboard.cpp

@@ -41,6 +41,7 @@
 #include <clover/GetTelemetry.h>
 #include <clover/Navigate.h>
 #include <clover/NavigateGlobal.h>
+#include <clover/TakeOff.h>
 #include <clover/SetPosition.h>
 #include <clover/SetVelocity.h>
 #include <clover/SetAttitude.h>
@@ -73,6 +74,7 @@ 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 +490,25 @@ void publishSetpoint(const ros::TimerEvent& event)
 	publish(event.current_real);
 }
 
-inline void checkKillSwitch()
+inline void checkManualControl()
 {
-	if (!TIMEOUT(manual_control, state_timeout))
-		throw std::runtime_error("Manual control timeout, can't check kill switch status");
+	if (!manual_control_timeout.isZero() && TIMEOUT(manual_control, manual_control_timeout)) {
+		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
-	bool kill_switch = manual_control.buttons & (1 << KILL_SWITCH_BIT);
+	if (check_kill_switch) {
+		// 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)
-		throw std::runtime_error("Kill switch is on");
+		const int KILL_SWITCH_BIT = 12; // https://github.com/PX4/Firmware/blob/c302514a0809b1765fafd13c014d705446ae1113/src/modules/mavlink/mavlink_messages.cpp#L3975
+		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 +538,8 @@ 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) {
-			checkKillSwitch();
+		if (auto_arm) {
+			checkManualControl();
 		}
 
 		// default frame is local frame
@@ -771,6 +782,10 @@ bool navigateGlobal(NavigateGlobal::Request& req, NavigateGlobal::Response& res)
 	return serve(NAVIGATE_GLOBAL, NAN, NAN, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, req.lat, req.lon, NAN, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
 }
 
+bool takeOff(TakeOff::Request& req, TakeOff::Response& res) {
+	return serve(NAVIGATE, 0, 0, req.alt, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, 0, NAN, NAN, NAN, req.speed, body.child_frame_id, true, res.success, res.message);
+}
+
 bool setPosition(SetPosition::Request& req, SetPosition::Response& res) {
 	return serve(POSITION, req.x, req.y, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, NAN, NAN, NAN, NAN, req.frame_id, req.auto_arm, res.success, res.message);
 }
@@ -862,6 +877,7 @@ 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));
@@ -894,6 +910,7 @@ int main(int argc, char **argv)
 	auto gt_serv = nh.advertiseService("get_telemetry", &getTelemetry);
 	auto na_serv = nh.advertiseService("navigate", &navigate);
 	auto ng_serv = nh.advertiseService("navigate_global", &navigateGlobal);
+	auto to_serv = nh.advertiseService("take_off", &takeOff);
 	auto sp_serv = nh.advertiseService("set_position", &setPosition);
 	auto sv_serv = nh.advertiseService("set_velocity", &setVelocity);
 	auto sa_serv = nh.advertiseService("set_attitude", &setAttitude);

clover/srv/TakeOff.srv

@@ -0,0 +1,5 @@
+float32 alt
+float32 speed
+---
+bool success
+string message

clover/www/index.html

@@ -1,3 +1,5 @@
+<title>Clover Drone Kit Tools</title>
+
 <h1>Clover Drone Kit Tools</h1>
 
 <ul>

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>
-    <variable id="_{V-S5HPBUl]CcJkL1Jw">led_count</variable>
-  </variables>
-  <block type="variables_set" id="{)^J~:UMX%D;RWvztWLN" x="113" y="87">
-    <field name="VAR" id="_{V-S5HPBUl]CcJkL1Jw">led_count</field>
-    <value name="VALUE">
-      <block type="math_number" id="V_W$3,VFwZjcc|?|1o`l">
-        <field name="NUM">58</field>
+  <block type="controls_whileUntil" id="U1it{GcGuSS:=[xiwZr1" x="113" y="113">
+    <field name="MODE">WHILE</field>
+    <value name="BOOL">
+      <block type="logic_boolean" id="]7ZDRwde}/RqjQCX}aVW">
+        <field name="BOOL">TRUE</field>
       </block>
     </value>
-    <next>
-      <block type="controls_whileUntil" id="U1it{GcGuSS:=[xiwZr1">
-        <field name="MODE">WHILE</field>
-        <value name="BOOL">
-          <block type="logic_boolean" id="]7ZDRwde}/RqjQCX}aVW">
-            <field name="BOOL">TRUE</field>
-          </block>
+    <statement name="DO">
+      <block type="set_effect" id="WI0zqOz/z3].cR/6UWHn">
+        <field name="EFFECT">FILL</field>
+        <value name="COLOR">
+          <shadow type="colour_picker" id="B`6;Xv{s2TFp8Yd=ZpSD">
+            <field name="COLOUR">#000000</field>
+          </shadow>
         </value>
-        <statement name="DO">
-          <block type="set_effect" id="WI0zqOz/z3].cR/6UWHn">
-            <field name="EFFECT">FILL</field>
-            <value name="COLOR">
-              <shadow type="colour_picker" id="B`6;Xv{s2TFp8Yd=ZpSD">
-                <field name="COLOUR">#000000</field>
+        <next>
+          <block type="set_led" id="^Vcs}ki?#ctf7rAchix$">
+            <value name="INDEX">
+              <shadow type="math_number" id="U;VWW$[*LOF7Gf,~?YR7">
+                <field name="NUM">0</field>
               </shadow>
-            </value>
-            <next>
-              <block type="set_led" id="^Vcs}ki?#ctf7rAchix$">
-                <value name="INDEX">
-                  <shadow type="math_number" id="U;VWW$[*LOF7Gf,~?YR7">
-                    <field name="NUM">0</field>
+              <block type="math_arithmetic" id="AI6PZBd`]_Z%_~4c-%dB">
+                <field name="OP">MULTIPLY</field>
+                <value name="A">
+                  <shadow type="math_number" id="|p}X]`SedK3).F/;}NlB">
+                    <field name="NUM">1</field>
                   </shadow>
-                  <block type="math_arithmetic" id="AI6PZBd`]_Z%_~4c-%dB">
-                    <field name="OP">MULTIPLY</field>
+                  <block type="math_arithmetic" id="-haE#:,cg{-J=NZERA;F">
+                    <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">
-                        <field name="OP">DIVIDE</field>
+                      <block type="math_arithmetic" id="a%+LN)F~=Igg+,p02[qo">
+                        <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">
-                            <field name="OP">ADD</field>
-                            <value name="A">
-                              <shadow type="math_number" id="*yIGN((y)/^z0:f5:VDw">
-                                <field name="NUM">1</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>
+                          <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="Wo1/ZCeir,u6/.e1H+BB">
-                            <field name="NUM">360</field>
+                          <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="jENTcXz0C5/=)Xpd!}LL">
-                        <field name="NUM">1</field>
+                      <shadow type="math_number" id="Wo1/ZCeir,u6/.e1H+BB">
+                        <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">
-                  <shadow type="colour_picker" id="+vw3bff.5c[=_w,Xm^C(">
-                    <field name="COLOUR">#3366ff</field>
+                <value name="B">
+                  <shadow type="math_number" id="jENTcXz0C5/=)Xpd!}LL">
+                    <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.setHelpUrl(DOCS_URL + '#' + this.type);
+		this.setTooltip("Set PWM on a GPIO pin to control servo. PWM is specified in range of 500–2500 μs.");
+		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)
-	return pi.read(pin)\n`;
+    pi.set_mode(pin, pigpio.INPUT)
+    return pi.read(pin)\n`;
 
 const GPIO_WRITE = `\ndef gpio_write(pin, level):
-	pi.set_mode(pin, pigpio.OUTPUT)
-	pi.write(pin, level)\n`;
+    pi.set_mode(pin, pigpio.OUTPUT)
+    pi.write(pin, level)\n`;
 
 const SET_SERVO = `\ndef set_servo(pin, pwm):
-	pi.set_mode(pin, pigpio.OUTPUT)
-	pi.set_servo_pulsewidth(pin, pwm)\n`;
+    pi.set_mode(pin, pigpio.OUTPUT)
+    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`;
+}

clover_simulation/launch/simulator.launch

@@ -1,4 +1,5 @@
 <launch>
+    <arg name="type" default="gazebo"/> <!-- gazebo, jmavsim, none (only clover packages) -->
     <arg name="mav_id" default="0"/>
     <arg name="est" default="ekf2"/> <!-- PX4 estimator: lpe, ekf2 -->
     <arg name="vehicle" default="clover"/> <!-- PX4 vehicle configuration: clover, clover_vpe -->
@@ -9,7 +10,7 @@
     <arg name="use_clover_physics" default="false"/> <!-- Use inertial parameters from CAD models -->
 
     <!-- Gazebo instance -->
-    <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <include file="$(find gazebo_ros)/launch/empty_world.launch" if="$(eval type == 'gazebo')">
         <!-- Workaround for crashes in VMware -->
         <env name="SVGA_VGPU10" value="0"/>
         <arg name="gui" value="true"/>
@@ -18,13 +19,13 @@
     </include>
 
     <!-- PX4 instance -->
-    <node name="sitl_$(arg mav_id)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg mav_id)">
+    <node name="sitl_$(arg mav_id)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg mav_id)" unless="$(eval type == 'none')">
         <env name="PX4_SIM_MODEL" value="$(arg vehicle)"/>
         <env name="PX4_ESTIMATOR" value="$(arg est)"/>
     </node>
 
     <!-- Clover model -->
-    <include file="$(find clover_description)/launch/spawn_drone.launch">
+    <include file="$(find clover_description)/launch/spawn_drone.launch" if="$(eval type == 'gazebo')">
         <arg name="main_camera" value="$(arg main_camera)"/>
         <arg name="rangefinder" value="$(arg rangefinder)"/>
         <arg name="led" value="$(arg led)"/>
@@ -32,10 +33,20 @@
         <arg name="use_clover_physics" value="$(arg use_clover_physics)"/>
     </include>
 
+    <node name="jmavsim" pkg="px4" type="jmavsim_run.sh" output="screen" if="$(eval type == 'jmavsim')"/>
+
+    <param name="use_sim_time" value="false" if="$(eval type == 'jmavsim')"/>
+
     <!-- Clover services -->
     <include file="$(find clover)/launch/clover.launch">
         <arg name="simulator" value="true"/>
         <arg name="fcu_conn" value="sitl"/>
         <arg name="fcu_ip" value="127.0.0.1"/>
+        <arg name="gcs_bridge" value=""/>
+        <arg name="rc" default="false"/>
+        <arg name="web_video_server" default="false" if="$(eval type == 'jmavsim')"/>
+        <arg name="main_camera" default="false" if="$(eval type == 'jmavsim')"/>
+        <arg name="aruco" default="false" if="$(eval type == 'jmavsim')"/>
+        <arg name="led" default="false" if="$(eval type == 'jmavsim')"/>
     </include>
 </launch>