aruco_pose: Make vendored library compatible with older OpenCVs

Also, compile in apriltag_quad_thresh.cpp - it contains some of the functions referenced
in aruco.cpp, which would otherwise be undefined.

.markdownlint.json

@@ -23,7 +23,6 @@
             "ROS Melodic",
             "ROS Noetic",
             "OpenCV",
-            "OpenVPN",
             "Gazebo",
             "GitHub",
             "FPV",
@@ -108,9 +107,7 @@
             "UDP",
             "QR",
             "Li-ion",
-            "Nvidia",
-            "VirtualBox",
-            "VMware"
+            "Nvidia"
         ],
         "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: 25
+  depth: 50
 jobs:
   fast_finish: true
   include:
@@ -38,7 +38,7 @@ jobs:
         - cp images/*.zip imgcache
       after_success:
         - sudo chmod -R 777 *
-        - cd images && zip -9 ${IMAGE_NAME}.zip ${IMAGE_NAME} && stat --printf="Compressed image size:%s\n" ${IMAGE_NAME}.zip
+        - cd images && zip ${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

@@ -1,14 +1,12 @@
-# clover🍀: create autonomous drones easily
+# COEX Clover Drone Kit
 
-<img src="docs/assets/clever4-front-white.png" align="right" width="400px" alt="COEX Clover Drone">
+<img src="docs/assets/clever4-front-white.png" align="right" width="400px" alt="Clover Drone">
 
-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.
+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.
 
-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.
+The main documentation is available [on Gitbook](https://clover.coex.tech/).
 
-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)
+Official website: <a href="https://coex.tech/clover">coex.tech/clover</a>.
 
 ## Video compilation
 

aruco_pose/CMakeLists.txt

@@ -24,7 +24,7 @@ find_package(catkin REQUIRED COMPONENTS
 
 # Workaround for OpenCV 3/4 support
 set(_opencv_version 4)
-find_package(OpenCV ${_opencv_version} QUIET COMPONENTS core imgproc calib3d)
+find_package(OpenCV ${_opencv_version} QUIET)
 if (NOT OpenCV_FOUND)
   message(STATUS "Did not find OpenCV 4, searching for OpenCV 3")
   set(_opencv_version 3)

aruco_pose/src/aruco_detect.cpp

@@ -110,14 +110,17 @@ public:
 		image_transport::ImageTransport it(nh_);
 		image_transport::ImageTransport it_priv(nh_priv_);
 
-		dyn_srv_ = std::make_shared<dynamic_reconfigure::Server<aruco_pose::DetectorConfig>>(nh_priv_);
-		dyn_srv_->setCallback(std::bind(&ArucoDetect::paramCallback, this, std::placeholders::_1, std::placeholders::_2));
-
+		map_markers_sub_ = nh_.subscribe("map_markers", 1, &ArucoDetect::mapMarkersCallback, this);
 		debug_pub_ = it_priv.advertise("debug", 1);
 		markers_pub_ = nh_priv_.advertise<aruco_pose::MarkerArray>("markers", 1);
 		vis_markers_pub_ = nh_priv_.advertise<visualization_msgs::MarkerArray>("visualization", 1);
 		img_sub_ = it.subscribeCamera("image_raw", 1, &ArucoDetect::imageCallback, this);
-		map_markers_sub_ = nh_.subscribe("map_markers", 1, &ArucoDetect::mapMarkersCallback, this);
+
+		dyn_srv_ = std::make_shared<dynamic_reconfigure::Server<aruco_pose::DetectorConfig>>(nh_priv_);
+		dynamic_reconfigure::Server<aruco_pose::DetectorConfig>::CallbackType cb;
+
+		cb = std::bind(&ArucoDetect::paramCallback, this, std::placeholders::_1, std::placeholders::_2);
+		dyn_srv_->setCallback(cb);
 
 		NODELET_INFO("ready");
 	}

aruco_pose/src/aruco_map.cpp

@@ -124,11 +124,6 @@ public:
 		vis_markers_pub_ = nh_priv_.advertise<visualization_msgs::MarkerArray>("visualization", 1, true);
 		debug_pub_ = it_priv.advertise("debug", 1);
 
-		publishMarkersFrames();
-		publishMarkers();
-		publishMapImage();
-		vis_markers_pub_.publish(vis_array_);
-
 		image_sub_.subscribe(nh_, "image_raw", 1);
 		info_sub_.subscribe(nh_, "camera_info", 1);
 		markers_sub_.subscribe(nh_, "markers", 1);
@@ -136,6 +131,11 @@ public:
 		sync_.reset(new message_filters::Synchronizer<SyncPolicy>(SyncPolicy(10), image_sub_, info_sub_, markers_sub_));
 		sync_->registerCallback(boost::bind(&ArucoMap::callback, this, _1, _2, _3));
 
+		publishMarkersFrames();
+		publishMarkers();
+		publishMapImage();
+		vis_markers_pub_.publish(vis_array_);
+
 		NODELET_INFO("ready");
 	}
 

aruco_pose/src/genmap.py

@@ -13,7 +13,7 @@
 Generate map file for aruco_map nodelet.
 
 Usage:
-  genmap.py <length> <x> <y> <dist_x> <dist_y> [<first>] [<x0>] [<y0>] [--top-left | --bottom-left] [-o <filename>]
+  genmap.py <length> <x> <y> <dist_x> <dist_y> [<first>] [<x0>] [<y0>] [--top-left | --bottom-left]
   genmap.py (-h | --help)
 
 Options:
@@ -27,7 +27,6 @@ Options:
   <y0>           Y coordinate for the first marker [default: 0]
   --top-left     First marker is on top-left (default)
   --bottom-left  First marker is on bottom-left
-  -o <filename>  Output map file name in the 'map' subdirectory of aruco_pose package
 
 Example:
   rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 > $(catkin_find aruco_pose map)/test_map.txt
@@ -35,8 +34,6 @@ Example:
 
 from __future__ import print_function
 
-import sys
-from os import path
 from docopt import docopt
 
 
@@ -52,19 +49,14 @@ dist_x = float(arguments['<dist_x>'])
 dist_y = float(arguments['<dist_y>'])
 bottom_left = arguments['--bottom-left']
 
-if arguments['-o'] is None:
-    output = sys.stdout
-else:
-    output = open(path.join(path.dirname(__file__), '..', 'map', arguments['-o']), 'w')
-
 max_y = y0 + (markers_y - 1) * dist_y
 
-output.write('# id\tlength\tx\ty\tz\trot_z\trot_y\trot_x\n')
+print('# id\tlength\tx\ty\tz\trot_z\trot_y\trot_x')
 for y in range(markers_y):
     for x in range(markers_x):
         pos_x = x0 + x * dist_x
         pos_y = y0 + y * dist_y
         if not bottom_left:
             pos_y = max_y - pos_y
-        output.write('{}\t{}\t{}\t{}\t{}\t{}\t{}\t{}\n'.format(first, length, pos_x, pos_y, 0, 0, 0, 0))
+        print('{}\t{}\t{}\t{}\t{}\t{}\t{}\t{}'.format(first, length, pos_x, pos_y, 0, 0, 0, 0))
         first += 1

aruco_pose/vendor/VendorOpenCV.cmake

@@ -24,7 +24,7 @@ target_compile_definitions(_opencv_aruco PRIVATE
   CV_OVERRIDE=override
 )
 target_compile_options(_opencv_aruco PRIVATE
-  -fpic -fPIC -fvisibility=hidden
+  -fpic -fPIC
 )
 
 target_include_directories(_opencv_aruco PUBLIC

builder/assets/examples/leds.py

@@ -7,25 +7,19 @@ 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(2)
+rospy.sleep(5)
 
-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 ${SCRIPTS_DIR}'/assets/examples' '/home/pi/'  # TODO: symlink?
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/examples' '/home/pi/'
 # network setup
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.sh'
 # avahi setup

builder/image-ros.sh

@@ -109,7 +109,7 @@ my_travis_retry pip3 install wheel
 my_travis_retry pip3 install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt
 source /opt/ros/${ROS_DISTRO}/setup.bash
 # Don't build simulation plugins for actual drone
-catkin_make -j2 -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCATKIN_BLACKLIST_PACKAGES=clover_gazebo_plugins
+catkin_make -j2 -DCMAKE_BUILD_TYPE=Release -DCATKIN_BLACKLIST_PACKAGES=clover_gazebo_plugins
 
 echo_stamp "Install clever package (for backwards compatibility)"
 cd /home/pi/catkin_ws/src/clover/builder/assets/clever
@@ -145,9 +145,6 @@ 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'

clover/CMakeLists.txt

@@ -32,7 +32,7 @@ find_package(GeographicLib REQUIRED)
 
 # Workaround for OpenCV 3/4 support
 set(_opencv_version 4)
-find_package(OpenCV ${_opencv_version} QUIET COMPONENTS calib3d imgproc)
+find_package(OpenCV ${_opencv_version} QUIET)
 if (NOT OpenCV_FOUND)
   message(STATUS "Did not find OpenCV 4, searching for OpenCV 3")
   set(_opencv_version 3)

clover/launch/aruco.launch

@@ -2,37 +2,30 @@
     <arg name="aruco_detect" default="true"/>
     <arg name="aruco_map" default="false"/>
     <arg name="aruco_vpe" default="false"/>
-    <arg name="placement" default="floor"/> <!-- markers placement: floor, ceiling, unknown -->
-    <arg name="length" default="0.33"/> <!-- not-in-map markers length, m -->
-    <arg name="map" default="map.txt"/> <!-- markers map file name -->
 
     <!-- For additional help go to https://clover.coex.tech/aruco -->
 
     <!-- aruco_detect: detect aruco markers, estimate poses -->
-    <node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect nodelet_manager" output="screen" clear_params="true" respawn="true">
+    <node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect nodelet_manager" output="screen" clear_params="true">
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <remap from="map_markers" to="aruco_map/markers" if="$(arg aruco_map)"/>
         <param name="estimate_poses" value="true"/>
         <param name="send_tf" value="true"/>
-        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
-        <param name="known_tilt" value="map_flipped" if="$(eval placement == 'ceiling')"/>
-        <param name="length" value="$(arg length)"/>
+        <param name="known_tilt" value="map"/>
+        <param name="length" value="0.33"/>
         <!-- aruco detector parameters -->
         <param name="cornerRefinementMethod" value="2"/> <!-- contour refinement -->
         <param name="minMarkerPerimeterRate" value="0.075"/> <!-- 0.075 for 320x240, 0.0375 for 640x480 -->
-        <!-- length override example: -->
-        <!-- <param name="length_override/3" value="0.1"/> -->
     </node>
 
     <!-- aruco_map: estimate aruco map pose -->
-    <node name="aruco_map" pkg="nodelet" type="nodelet" if="$(arg aruco_map)" args="load aruco_pose/aruco_map nodelet_manager" output="screen" clear_params="true" respawn="true">
+    <node name="aruco_map" pkg="nodelet" type="nodelet" if="$(arg aruco_map)" args="load aruco_pose/aruco_map nodelet_manager" output="screen" clear_params="true">
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <remap from="markers" to="aruco_detect/markers"/>
-        <param name="map" value="$(find aruco_pose)/map/$(arg map)"/>
-        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
-        <param name="known_tilt" value="map_flipped" if="$(eval placement == 'ceiling')"/>
+        <param name="map" value="$(find aruco_pose)/map/map.txt"/>
+        <param name="known_tilt" value="map"/>
         <param name="image_axis" value="true"/>
         <param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
         <param name="frame_id" value="aruco_map" unless="$(arg aruco_vpe)"/>

clover/launch/clover.launch

@@ -37,7 +37,7 @@
     <include file="$(find clover)/launch/aruco.launch" if="$(arg aruco)"/>
 
     <!-- optical flow -->
-    <node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen" respawn="true">
+    <node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen">
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <param name="calc_flow_gyro" value="true"/>
@@ -45,7 +45,7 @@
     </node>
 
     <!-- main nodelet manager -->
-    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true" respawn="true">
+    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true">
         <param name="num_worker_threads" value="2"/>
     </node>
 

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="72"/>
+    <arg name="led_count" default="58"/>
     <arg name="gpio_pin" default="21"/>
 
     <arg name="simulator" default="false"/>

clover/launch/main_camera.launch

@@ -18,7 +18,7 @@
     <!-- <node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/> -->
 
     <!-- camera node -->
-    <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true" unless="$(arg simulator)" respawn="true">
+    <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true" unless="$(arg simulator)">
         <param name="device_path" value="/dev/video0"/> <!-- v4l2 device -->
         <param name="frame_id" value="main_camera_optical"/>
         <param name="camera_info_url" value="file://$(find clover)/camera_info/fisheye_cam.yaml"/>

clover/src/optical_flow.cpp

@@ -70,6 +70,7 @@ private:
 		roi_rad_ = nh_priv.param("roi_rad", 0.0);
 		calc_flow_gyro_ = nh_priv.param("calc_flow_gyro", false);
 
+		img_sub_ = it.subscribeCamera("image_raw", 1, &OpticalFlow::flow, this);
 		img_pub_ = it_priv.advertise("debug", 1);
 		flow_pub_ = nh.advertise<mavros_msgs::OpticalFlowRad>("mavros/px4flow/raw/send", 1);
 		velo_pub_ = nh_priv.advertise<geometry_msgs::TwistStamped>("angular_velocity", 1);
@@ -82,8 +83,6 @@ private:
 		flow_.distance = -1; // no distance sensor available
 		flow_.temperature = 0;
 
-		img_sub_ = it.subscribeCamera("image_raw", 1, &OpticalFlow::flow, this);
-
 		NODELET_INFO("Optical Flow initialized");
 	}
 

clover/src/simple_offboard.cpp

@@ -73,7 +73,6 @@ 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;
@@ -489,25 +488,16 @@ void publishSetpoint(const ros::TimerEvent& event)
 	publish(event.current_real);
 }
 
-inline void checkManualControl()
+inline void checkKillSwitch()
 {
-	if (!manual_control_timeout.isZero() && TIMEOUT(manual_control, manual_control_timeout)) {
-		throw std::runtime_error("Manual control timeout, RC is switched off?");
-	}
+	if (!TIMEOUT(manual_control, state_timeout))
+		throw std::runtime_error("Manual control timeout, can't check kill switch status");
 
-	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
+	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);
 
-		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");
-	}
+	if (kill_switch)
+		throw std::runtime_error("Kill switch is on");
 }
 
 inline void checkState()
@@ -537,8 +527,8 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 		// Checks
 		checkState();
 
-		if (auto_arm) {
-			checkManualControl();
+		if (auto_arm && check_kill_switch) {
+			checkKillSwitch();
 		}
 
 		// default frame is local frame
@@ -872,7 +862,6 @@ 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">1</field>
+                <field name="NUM">0</field>
               </shadow>
             </value>
             <value name="ID">

clover_blocks/programs/examples/led-compass.xml

@@ -1,91 +1,106 @@
 <xml xmlns="https://developers.google.com/blockly/xml">
-  <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>
+  <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$3,VFwZjcc|?|1o`l">
+        <field name="NUM">58</field>
       </block>
     </value>
-    <statement name="DO">
-      <block type="set_effect" id="WI0zqOz/z3].cR/6UWHn">
-        <field name="EFFECT">FILL</field>
-        <value name="COLOR">
-          <shadow type="colour_picker" id="B`6;Xv{s2TFp8Yd=ZpSD">
-            <field name="COLOUR">#000000</field>
-          </shadow>
+    <next>
+      <block type="controls_whileUntil" id="U1it{GcGuSS:=[xiwZr1">
+        <field name="MODE">WHILE</field>
+        <value name="BOOL">
+          <block type="logic_boolean" id="]7ZDRwde}/RqjQCX}aVW">
+            <field name="BOOL">TRUE</field>
+          </block>
         </value>
-        <next>
-          <block type="set_led" id="^Vcs}ki?#ctf7rAchix$">
-            <value name="INDEX">
-              <shadow type="math_number" id="U;VWW$[*LOF7Gf,~?YR7">
-                <field name="NUM">0</field>
+        <statement name="DO">
+          <block type="set_effect" id="WI0zqOz/z3].cR/6UWHn">
+            <field name="EFFECT">FILL</field>
+            <value name="COLOR">
+              <shadow type="colour_picker" id="B`6;Xv{s2TFp8Yd=ZpSD">
+                <field name="COLOUR">#000000</field>
               </shadow>
-              <block type="math_arithmetic" id="AI6PZBd`]_Z%_~4c-%dB">
-                <field name="OP">MULTIPLY</field>
-                <value name="A">
-                  <shadow type="math_number" id="|p}X]`SedK3).F/;}NlB">
-                    <field name="NUM">1</field>
+            </value>
+            <next>
+              <block type="set_led" id="^Vcs}ki?#ctf7rAchix$">
+                <value name="INDEX">
+                  <shadow type="math_number" id="U;VWW$[*LOF7Gf,~?YR7">
+                    <field name="NUM">0</field>
                   </shadow>
-                  <block type="math_arithmetic" id="-haE#:,cg{-J=NZERA;F">
-                    <field name="OP">DIVIDE</field>
+                  <block type="math_arithmetic" id="AI6PZBd`]_Z%_~4c-%dB">
+                    <field name="OP">MULTIPLY</field>
                     <value name="A">
-                      <shadow type="math_number" id="::st;ot}[r]csqceURu*">
+                      <shadow type="math_number" id="|p}X]`SedK3).F/;}NlB">
                         <field name="NUM">1</field>
                       </shadow>
-                      <block type="math_arithmetic" id="a%+LN)F~=Igg+,p02[qo">
-                        <field name="OP">ADD</field>
+                      <block type="math_arithmetic" id="-haE#:,cg{-J=NZERA;F">
+                        <field name="OP">DIVIDE</field>
                         <value name="A">
-                          <shadow type="math_number" id="*yIGN((y)/^z0:f5:VDw">
+                          <shadow type="math_number" id="::st;ot}[r]csqceURu*">
                             <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>
+                          <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>
                               </shadow>
                             </value>
                           </block>
                         </value>
                         <value name="B">
-                          <shadow type="math_number" id="T/fTrm;j2Azgav;gI{ZW">
-                            <field name="NUM">180</field>
+                          <shadow type="math_number" id="Wo1/ZCeir,u6/.e1H+BB">
+                            <field name="NUM">360</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="jENTcXz0C5/=)Xpd!}LL">
+                        <field name="NUM">1</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="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>
+                <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>
+                  </block>
+                </next>
               </block>
             </next>
           </block>
-        </next>
+        </statement>
       </block>
-    </statement>
+    </next>
   </block>
-</xml>
+</xml>

clover_blocks/www/blocks.js

@@ -353,17 +353,6 @@ 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")
@@ -546,7 +535,7 @@ 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 + '#GPIO');
+		this.setHelpUrl(DOCS_URL + '#' + this.type);
 	}
 };
 
@@ -563,7 +552,7 @@ Blockly.Blocks['gpio_write'] = {
 		this.setPreviousStatement(true, null);
 		this.setNextStatement(true, null);
 		this.setTooltip("Set GPIO pin level.");
-		this.setHelpUrl(DOCS_URL + '#GPIO');
+		this.setHelpUrl(DOCS_URL + '#' + this.type);
 	}
 };
 
@@ -579,24 +568,7 @@ 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 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');
+		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);
 	}
 };

clover_blocks/www/index.html

@@ -106,7 +106,6 @@
 				<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">
@@ -120,10 +119,6 @@
 				<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,led_count,get_led_count');
+Blockly.Python.addReservedWords('SetLEDEffect,set_effect');
 Blockly.Python.addReservedWords('SetLEDs,LEDState,set_leds');
 
 const IMPORT_SRV = `from clover import srv
@@ -87,9 +87,6 @@ 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();
@@ -391,48 +388,29 @@ Blockly.Python.set_led = function(block) {
 
 	if (/^'(.*)'$/.test(colorCode)) { // is simple string
 		let color = parseColor(colorCode);
-		return `set_leds([LEDState(index=int(${index}), r=${color.r}, g=${color.g}, b=${color.b})])\n`; // TODO: check for simple int
+		return `set_leds([LEDState(index=${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`;
-
-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`;
+	pi.set_mode(pin, pigpio.OUTPUT)
+	pi.set_servo_pulsewidth(pin, pwm)\n`;
 
 Blockly.Python.gpio_read = function(block) {
 	pigpio();
@@ -456,11 +434,3 @@ 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/src/clover_simulation/__init__.py

@@ -88,6 +88,6 @@ def aruco_gen():
                     off_x + marker.x, off_y + marker.y, off_z + marker.z,
                     marker.roll, marker.pitch, marker.yaw)
 
-        output = open(source_world, 'wb') if inplace else stdout
+        output = open(source_world, 'w') if inplace else stdout
 
         save_world(world_tree, output)

docs/assets/sphere_guard/sphere_13.svg

@@ -1,801 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- Generator: Adobe Illustrator 23.0.1, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
-<svg version="1.1" id="Слой_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
-	 viewBox="0 0 429 547.11" style="enable-background:new 0 0 429 547.11;" xml:space="preserve">
-<style type="text/css">
-	.st0{enable-background:new    ;}
-	.st1{fill:none;stroke:#000000;stroke-width:0.51;stroke-miterlimit:10;}
-	.st2{fill:none;stroke:#000000;stroke-width:0.51;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:10;}
-	.st3{fill:none;stroke:#000000;stroke-width:0.709;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:10;}
-</style>
-<g class="st0">
-	<path d="M198.49,59.22h-1.84l3.29-12.3h-7.2l-3.29,12.3h-1.83l3.73-13.93h10.86L198.49,59.22z"/>
-	<path d="M211.24,54.61h-7.49c-0.23,1.12-0.14,1.97,0.26,2.56c0.4,0.59,1.03,0.88,1.87,0.88c0.65,0,1.24-0.17,1.77-0.52
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-	 M318.72,501.97l0.56-2.77 M207.59,471.45l1.79-2.96l0.58-1.21l0.33-0.93l0.08-0.37l0.02-0.33l-0.11-0.6l-0.36-0.62l-0.57-0.61
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-	l-9.31,13.8 M194,491.64l0.23-0.28l0.32-0.18 M195.27,491.17l0.02-0.09 M185.48,488.99l0.09,0.04l0.29,0.23l0.23,0.36l0.1,0.45
-	l-0.07,0.47l-0.15,0.28 M185.38,488.8l-0.02,0.09 M185.4,483.03l-0.44,2.21 M185.98,490.82l-18.21,26.99 M173.64,521.78l20.34-30.15
-	 M167.77,517.81l-1.79,2.96l-0.58,1.21l-0.33,0.93l-0.08,0.37l-0.01,0.23 M169.42,526.39l0.39-0.23l0.56-0.44l1.49-1.55l1.79-2.39
-	 M583.72,467.43l-2.82-3.47l-0.95-0.83l-0.36-0.23l-0.31-0.15l-0.56-0.11l-0.49,0.05 M578.23,462.68l-0.15,0.02l-0.76,0.28
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-	 M593.6,481.41l-0.08-0.12 M591.27,491.15L591.27,491.15l0.07,0.01l0.16,0.04 M590.79,491.15l0.02,0.07 M591.53,491.22l0.1,0.03
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-	l-0.49-0.12l-1.07-0.23l-1.09-0.21l-0.97-0.15l-0.76-0.08l-0.36,0l-0.28,0.06l-0.28,0.13l-0.27,0.24l-0.2,0.35l-0.02,0.14
-	 M207.49,479.35l0.01-0.4l-0.11-0.32l-0.16-0.23l-0.17-0.16l-0.16-0.1l-0.18-0.09l-0.44-0.16l-0.64-0.18 M207.05,481.53l0.44-2.17
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-	 M581.95,487.06l0.46,2.15 M586.58,488.36l-0.47-2.2 M581.28,493.05l0.11,0.53 M589.29,491.88l-0.11-0.53 M581.39,493.58l0.25,0.24
-	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
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-	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

@@ -5,7 +5,6 @@
 * [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
 
-Arduino is to be installed on Clover and connected via a USB port.
+Arudino 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 Arduino IDE.
+The obtained folder `ros_lib` is to be copied to `<sketches folder>/libraries` on a computer with Arudino 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 `arduino` 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 `arudino` 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 Arduino Nano, RAM may be insufficient. In this case, messages will appear in the Arduino IDE like:
+When using Arudino Nano, RAM may be insufficient. In this case, messages will appear in the Aruino 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/aruco_map.md

@@ -1,9 +1,5 @@
 # Map-based navigation with ArUco markers
 
-> **Note** The following applies to [image versions](image.md) **0.22** and up. Older documentation is still available for [for version **0.20**](https://github.com/CopterExpress/clover/blob/v0.20/docs/en/aruco_map.md).
-
-<!-- -->
-
 > **Info** Marker detection requires the camera module to be correctly plugged in and [configured](camera_setup.md).
 
 <!-- -->
@@ -43,19 +39,18 @@ marker_id marker_size x y z z_angle y_angle x_angle
 
 `N_angle` is the angle of rotation along the `N` axis in radians.
 
-Файлы карт располагаются в каталоге `~/catkin_ws/src/clover/aruco_pose/map`. Название файла с картой задается в аргументе `map`:
-Map files are located at the `~/catkin_ws/src/clover/aruco_pose/map` directory. Map file name is defined in the `map` argument:
+Map path is defined in the `map` parameter:
 
 ```xml
-<arg name="map" default="map.txt"/>
+<param name="map" value="$(find aruco_pose)/map/map.txt"/>
 ```
 
-Some map examples are provided in [the directory](https://github.com/CopterExpress/clover/tree/master/aruco_pose/map).
+Some map examples are provided in [`~/catkin_ws/src/clover/aruco_pose/map`](https://github.com/CopterExpress/clover/tree/master/aruco_pose/map).
 
 Grid maps may be generated using the `genmap.py` script:
 
 ```bash
-rosrun aruco_pose genmap.py length x y dist_x dist_y first -o test_map.txt
+rosrun aruco_pose genmap.py length x y dist_x dist_y first > ~/catkin_ws/src/clover/aruco_pose/map/test_map.txt
 ```
 
 `length` is the size of each marker, `x` is the marker count along the *x* axis, `y` is the marker count along the *y* axis, `dist_x` is the distance between the centers of adjacent markers along the *x* axis, `dist_y` is the distance between the centers of the *y* axis, `first` is the ID of the first marker (top left marker, unless `--bottom-left` is specified), `test_map.txt` is the name of the generated map file. The optional `--bottom-left` parameter changes the numbering of markers, making the bottom left marker the first one.
@@ -63,7 +58,7 @@ rosrun aruco_pose genmap.py length x y dist_x dist_y first -o test_map.txt
 Usage example:
 
 ```bash
-rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 -o test_map.txt
+rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 > ~/catkin_ws/src/clover/aruco_pose/map/test_map.txt
 ```
 
 Additional information on the utility can be obtained using `-h` key: `rosrun aruco_pose genmap.py -h`.
@@ -157,10 +152,10 @@ If the drone's altitude is not stable, try increasing the `MPC_Z_VEL_P` paramete
 
 In order to navigate using markers on the ceiling, mount the onboard camera so that it points up and [adjust the camera frame accordingly](camera_setup.md).
 
-You should also set the `placement` parameter to `ceilin` in `~/catkin_ws/src/clover/clover/launch/aruco.launch`:
+You should also set the `known_tilt` parameter to `map_flipped` in both `aruco_detect` and `aruco_map` sections of `~/catkin_ws/src/clover/clover/launch/aruco.launch`:
 
 ```xml
-<arg name="placement" default="ceiling"/>
+<param name="known_tilt" value="map_flipped"/>
 ```
 
 This will flip the `aruco_map` frame (making its **<font color=blue>z</font>** axis point downward). Thus, in order to fly 2 metres below ceiling, the `z` argument for the `navigate` service should be set to 2:

docs/en/aruco_marker.md

@@ -1,9 +1,5 @@
 # ArUco marker detection
 
-> **Note** The following applies to [image versions](image.md) **0.22** and up. Older documentation is still available for [for version **0.20**](https://github.com/CopterExpress/clover/blob/v0.20/docs/en/aruco_marker.md).
-
-<!-- -->
-
 > **Info** Marker detection requires the camera module to be correctly plugged in and [configured](camera.md).
 
 `aruco_detect` module detects ArUco markers and publishes their positions in ROS topics and as [TF frames](frames.md).
@@ -26,20 +22,22 @@ For enabling detection set the `aruco_detect` argument in `~/catkin_ws/src/clove
 <arg name="aruco_detect" default="true"/>
 ```
 
-For the module to work correctly the following arguments should also be set:
+For the module to work correctly the following parameters should be set:
 
 ```xml
-<arg name="placement" default="floor"/> <!-- markers' placement, explained below  -->
-<arg name="length" default="0.33"/>     <!-- length of a single marker, in meters (excluding the white border) -->
+<param name="length" value="0.32"/>          <!-- length of a single marker, in meters (excluding the white border) -->
+<param name="estimate_poses" value="true"/>  <!-- position estimation for single markers -->
+<param name="send_tf" value="true"/>         <!-- TF frame creation for markers -->
+<param name="known_tilt" value="map"/>       <!-- Marker tilt, explained below -->
 ```
 
-`placement` argument should be set to:
+`known_tilt` should be set to:
 
-* `floor` if *all* markers are on the ground;
-* `ceiling` if *all* markers are on the ceiling;
+* `map` if *all* markers are on the ground;
+* `map_flipped` if *all* markers are on the ceiling;
 * an empty string otherwise.
 
-You may specify length for each marker individually by using the `length_override` parameter of the node `aruco_detect`:
+You may specify length for each marker individually by using the `length_override` parameter:
 
 ```xml
 <param name="length_override/3" value="0.1"/>    <!-- marker with id=3 has a side of 0.1m -->

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 functioning of the power board by connecting the battery.
+3. Check the correct functionning 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 functioning.
+6. Check BEC functionning.
     * 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 side cutters:
+2. Shorten the motor wires using wire strippers or sidecutters:
 
     * 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 rangefinder to the Raspberry Pi using the following pinout:
+7. Connect the laser rangefineder 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 during propeller installation.
+Attach the propellers according to their rotation direction. The battery should be disconnected duting 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

@@ -1,352 +0,0 @@
-# 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

@@ -5,12 +5,13 @@ 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>
-               <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>
+          <td><a href="assemble_4_2.md">Clover&nbsp;4.2</a></td>
+          <td><a href="assemble_4_2.md"><img src="../assets/versions/clover_4.jpg" width=200></a></td>
      </tr>
+     <!-- <tr>
+          <td><a href="assemble_4_1.md">Clover&nbsp;4.1</a></td>
+          <td><img src="../assets/versions/clover_4.jpg" width=200></td>
+     </tr> -->
      <tr>
           <td><a href="assemble_4.md">Clover&nbsp;4</a></td>
           <td><a href="assemble_4.md"><img src="../assets/versions/clover_4.jpg" width=200></a></td>

docs/en/blocks.md

@@ -108,14 +108,3 @@ 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

@@ -58,18 +58,3 @@ 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 receiver connection to raspberry">
+<img src="../assets/IR_reciver_connection.png" height="500px" alt="ir reciver 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 repository](https://github.com/JetsonHacksNano/CSI-Camera).
+The GStreamer pipelines are available at [JetsonHacksNano CSI camera reposotory](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 Raspberry 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 Raspyerry 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 Raspberry 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 Raspyerry 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 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.
+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.
 
 ![Types](../assets/1_4.png)
 

docs/en/lesson2.md

@@ -117,11 +117,12 @@ 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.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.,
+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,
+т. i.е.,
 
 **E = E1+E2.**
 
-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
+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
 
 **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 m
+# Take off 1 м
 navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)
 ```
 

docs/en/migrate22.md

@@ -1,8 +1,8 @@
-# Migration to version 0.22
+# Migration to version 0.20
 
 ## Python 3 transition
 
-Python 2 is [deprecated](https://www.python.org/doc/sunset-python-2/) since January 1st, 2020. The Clover platform moves to Python 3.
+Python 2 is deprecated since January 1st, 2020. The Clover platform moves to Python 3.
 
 For running flight script instead of `python` command:
 
@@ -53,7 +53,3 @@ More details on all the language changes see in [appropriate article](https://se
 <img src="../assets/noetic.png" width=200>
 
 ROS Melodic version was updated to ROS Noetic. See the full list of changes in the [ROS official documentation](http://wiki.ros.org/noetic/Migration).
-
-## Changes in launch-files
-
-Configuration of ArUco-markers navigation is simplified. See details in [markers navigation](aruco_marker.md) and [markers map navigation](aruco_map.md) articles.

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 (see [rangefinder setup](laser.md).
+* Optional: `LPE_FUSION` – falg 'pub agl as lpos down' is on (сf. [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 like `EKF INTERNAL CHECKS` occur, try to restart EKF2. To do so, enter in the MAVLink-console:
+If errors of `EKF INTERNAL CHECKS` occur, try to restart EKF2. To do so, enter in the MAVLink-console : в MAVLink-консоли:
 
 ```nsh
 ekf2 stop

docs/en/programming.md

@@ -92,8 +92,6 @@ 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 – latitude, longitude, altitude;
+* Global coordinates of the copter – lattitude, 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 Position Control
+## Multicopter Control Position (flying by position)
 
 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 overshoots.
+`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_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_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_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 dependencies 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 dependecies 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 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:
+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:
 
 ```bash
 echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
 source ~/.bashrc
 ```
 
-If you whish to install any additional packages for your ROS Melodic simply use:
+If you whish to install any additionnal packages for yout 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 the Clover state visualization in real time, connect to it via Wi-Fi (`clover-xxx`) and run rviz, specifying an appropriate ROS_MASTER_URI:
+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:
 
 ```(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 and MicroSD-card" class="zoom center" width=400>
+<img src="../assets/pix-sd.png" alt="Pixracer и MicroSD-карта" 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 -->
 
-#### Circuit breaker parameters
+#### Cicruit 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 examples
+Python samples
 ---
 
 You need to create proxies for services before calling them. Use the following template for your programs:

docs/en/simulation_vm.md

@@ -8,21 +8,17 @@ 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.
 
@@ -37,7 +33,7 @@ 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 available memory](../assets/simulation_setup_vm/03_max_memory.png)
+    ![Increasing avaliable 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: