vpe_publisher: rename parameter publish_zero to force_init

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

.github/workflows/docs.yml

@@ -10,6 +10,10 @@ jobs:
   docs:
     runs-on: ubuntu-18.04
     steps:
+      - name: Cancel previous runs
+        uses: styfle/cancel-workflow-action@0.9.1
+        with:
+          access_token: ${{ github.token }}
       - uses: actions/checkout@v2
       - name: Use Node.js
         uses: actions/setup-node@v1

builder/image-ros.sh

@@ -112,7 +112,7 @@ 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=RelWithDebInfo
 source devel/setup.bash
 
 echo_stamp "Install clever package (for backwards compatibility)"

clover/launch/aruco.launch

@@ -45,7 +45,7 @@
         <remap from="~pose_cov" to="aruco_map/pose"/>
         <remap from="~vpe" to="mavros/vision_pose/pose"/>
         <param name="frame_id" value="aruco_map_detected"/>
-        <param name="publish_zero" value="true"/>
+        <param name="force_init" value="true"/>
         <param name="offset_frame_id" value="aruco_map"/>
     </node>
 </launch>

clover/launch/mavros_config.yaml

@@ -1,7 +1,7 @@
 # Config file for mavros
 # Based on https://raw.githubusercontent.com/mavlink/mavros/master/mavros/launch/px4_config.yaml
 
-startup_px4_usb_quirk: true
+startup_px4_usb_quirk: false
 
 conn:
   heartbeat_rate: 1.0    # send hertbeat rate in Hertz
@@ -13,6 +13,7 @@ time:
   time_ref_source: "fcu"  # time_reference source
   timesync_mode: MAVLINK
   timesync_avg_alpha: 0.6 # timesync averaging factor
+  publish_sim_time: false # don't publish /clock
 
 global_position:
   frame_id: "map"             # origin frame

clover/src/selfcheck.py

@@ -480,6 +480,9 @@ def check_local_position():
             failure('roll is %.2f deg; place copter horizontally or redo level horizon calib',
                     math.degrees(roll))
 
+        if not tf_buffer.can_transform('base_link', pose.header.frame_id, rospy.get_rostime(), rospy.Duration(0.5)):
+            failure('can\'t transform from %s to base_link (timeout 0.5 s): is TF enabled?', pose.header.frame_id)
+
     except rospy.ROSException:
         failure('no local position')
 
@@ -609,7 +612,7 @@ def check_boot_duration():
     output = subprocess.check_output('systemd-analyze').decode()
     r = re.compile(r'([\d\.]+)s\s*$', flags=re.MULTILINE)
     duration = float(r.search(output).groups()[0])
-    if duration > 15:
+    if duration > 20:
         failure('long Raspbian boot duration: %ss (systemd-analyze for analyzing)', duration)
 
 
@@ -643,7 +646,7 @@ def check_clover_service():
     elif 'failed' in output:
         failure('service failed to run, check your launch-files')
 
-    BLACKLIST = 'Unexpected command 520', 'Time jump detected'
+    BLACKLIST = 'Unexpected command 520', 'Time jump detected', 'different index:'
 
     r = re.compile(r'^(.*)\[(FATAL|ERROR| WARN)\] \[\d+.\d+\]: (.*?)(\x1b(.*))?$')
     error_count = OrderedDict()

clover/src/simple_offboard.cpp

@@ -181,6 +181,7 @@ inline bool waitTransform(const string& target, const string& source,
 		ros::spinOnce();
 		r.sleep();
 	}
+	return false;
 }
 
 #define TIMEOUT(msg, timeout) (msg.header.stamp.isZero() || (ros::Time::now() - msg.header.stamp > timeout))
@@ -847,6 +848,7 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 		busy = false;
 		return true;
 	}
+	return false;
 }
 
 int main(int argc, char **argv)

clover/src/vpe_publisher.cpp

@@ -141,11 +141,11 @@ int main(int argc, char **argv) {
 	vpe_pub = nh_priv.advertise<PoseStamped>("vpe", 1);
 	//vpe_cov_pub = nh_priv_.advertise<PoseStamped>("pose_cov_pub", 1);
 
-	if (nh_priv.param("publish_zero", false)) {
+	if (nh_priv.param("force_init", false) || nh_priv.param("publish_zero", false)) { // publish_zero is old name
 		// publish zero to initialize the local position
 		zero_timer = nh.createTimer(ros::Duration(0.1), &publishZero);
-		publish_zero_timout = ros::Duration(nh_priv.param("publish_zero_timout", 5.0));
-		publish_zero_duration = ros::Duration(nh_priv.param("publish_zero_duration", 5.0));
+		publish_zero_timout = ros::Duration(nh_priv.param("force_init_timeout", 5.0));
+		publish_zero_duration = ros::Duration(nh_priv.param("force_init_duration", 5.0));
 		local_position_sub = nh.subscribe("mavros/local_position/pose", 1, &localPositionCallback);
 	}
 

docs/en/SUMMARY.md

@@ -100,6 +100,7 @@
   * [CopterHack-2019](copterhack2019.md)
   * [CopterHack-2018](copterhack2018.md)
   * [CopterHack-2017](copterhack2017.md)
+  * [Video contest](video_contest.md)
 * [Clover-based projects](projects.md)
   * [Autonomous Multirotor Landing System (AMLS)](amls.md)
   * [Drone show](clever-show.md)

docs/en/agriculture.md

@@ -75,9 +75,9 @@ else:
     shape = 'undefined'
     color = 'undefined'
 
-if shape = 'brown':
+if shape == 'brown':
     culture = "greshiha"
-if shape = 'yellow_orange':
+if shape == 'yellow_orange':
     culture = "pshenitsa"
 
 image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_colback_color)

docs/en/aruco.md

@@ -1,7 +1,5 @@
 # ArUco markers
 
-> **Note** The following applies to [image versions](image.md) **0.16** and up. Older documentation is still available for [for version **0.15.1**](https://github.com/CopterExpress/clover/blob/v0.15.1/docs/en/aruco.md).
-
 [ArUco markers](https://docs.opencv.org/3.2.0/d5/dae/tutorial_aruco_detection.html) are commonly used for vision-based position estimation.
 
 Examples of ArUco markers:

docs/en/autolaunch.md

@@ -6,7 +6,7 @@ Software autorun
 systemd
 ---
 
-Main documentation: [https://wiki.archlinux.org/index.php/Systemd_(Russian)](https://wiki.archlinux.org/index.php/Systemd_(Russian)).
+Main documentation: [https://wiki.archlinux.org/title/Systemd](https://wiki.archlinux.org/title/Systemd).
 
 All automatically started Clover software is launched as a `clover.service` systemd service.
 
@@ -50,12 +50,12 @@ You can add your own node to the list of automatically launched ones. To do this
 
 The started file must have *permission* to run:
 
-```(bash)
+```bash
 chmod +x my_program.py
 ```
 
-When scripting languages are used, [shebang] should be placed at the beginning of the file (https://ru.wikipedia.org/wiki/Shebang_(Unix)), for example:
+When scripting languages are used, a [shebang](https://en.wikipedia.org/wiki/Shebang_(Unix)) should be placed at the beginning of the file, for example:
 
-```(bash)
+```bash
 #!/usr/bin/env python
 ```

docs/en/copterhack2022.md

@@ -11,33 +11,35 @@ The proposed projects have to be open-source and be compatible with the Clover q
 ## Projects of the contest's participants {#participants}
 
 |Place|Team|Project|Points|
-|-|-|-|-|
+|:-:|-|-|-|
 ||🇰🇬 Alatoo University Team|[Облачная платформа для симулятора Клевера](https://github.com/pteacher/clover/blob/clover_simulator/docs/ru/clover-development-studio.md)||
-||🇧🇾 FTL|[Advanced Clover 2](https://github.com/FTL-team/clover/blob/FTL-advancedClover2/docs/ru/advancedclover2.md)||
-||🇺🇸 EnviroFleet|[EnviroFleet](https://github.com/gueyman/clover/blob/envirofleet/docs/en/enviro_fleet.md)||
-||🇻🇳 Dragon&Tanker|[Dragon&Tanker](https://github.com/uml4/clover/blob/drone_observe_autonomous_car/docs/en/dragon_and_tanker_team.md)||
+||🇧🇾 FTL|[Advanced Clover 2](https://github.com/FTL-team/clover/blob/FTL-advancedClover2/docs/ru/advanced_clover_simulator.md)||
 ||🇷🇺 Stereo|[Neural obstacle avoidance](https://github.com/den250400/clover/blob/neural-obstacle-avoidance/docs/en/neural-obstacle-avoidance.md)||
 ||🇷🇺 Space clowns|[Copter For Space](https://github.com/slavikyd/clover/blob/patch-3/docs/ru/c4s.md)||
 ||🇷🇺 R.S.|[Drone Hawk](https://github.com/slavaroot/clover/blob/droneHawkSecurity/docs/ru/drone-hawk-security.md)||
 ||🇲🇾 Moopt|[IoT Water Monitoring & Optimization](https://github.com/kafechew/clover/blob/master/docs/en/moopt-uav.md)||
-||🇧🇷 Atena - Grupo SEMEAR|[Swarm in Blocks](https://github.com/Grupo-SEMEAR-USP/clover/blob/Swarm_in_Blocks/docs/en/Swarm_in_Blocks.md)||
+||🇧🇷 Atena - Grupo SEMEAR|[Swarm in Blocks](https://github.com/Grupo-SEMEAR-USP/clover/blob/Swarm_in_Blocks/docs/en/swarm_in_blocks.md)||
 ||🇷🇺 Clevertron|[Clevertron](https://github.com/Daniel-drone/clover/blob/Clevertron-1/docs/ru/clevertron.md)||
 ||🇷🇺 Clover Rescue Team|[Rescue Clover](https://github.com/DevMBS/clover/blob/CloverRescueTeam/docs/ru/clover-rescue-team.md)||
 ||🇵🇱 Edgenoon|[Neural and vision-based landing method](https://github.com/edgenoon-ai/clover/blob/neural_vision_based_landing_method/docs/en/neural_vision_based_landing_method.md)||
 ||🇷🇺 CopterCat|[CopterCat](https://github.com/matveylapin/clover/blob/CopterCat/docs/ru/сopter_сat.md)||
 ||🇷🇺 Дрой Ронов|[Clover Swarm](https://github.com/stinger000/clever/blob/clover_swarm_request/docs/ru/clover-swarm.md)||
 ||🇩🇪 Inondro|[Inondro Pix](https://github.com/Inondro/clover/blob/inondro-pix/docs/en/inondro_copterhack22_pix.md)||
-||🇷🇺 V-NAV|[Visual Navigation](https://github.com/v-nav/clover/blob/v-nav_article/docs/ru/v-nav.md)||
-||🇷🇺 Бизнес-гуси|[Drone Rover Climbing System](https://github.com/HexaHEX/clover/blob/CopterHack2022_Business_Geese-1/docs/ru/business_geese.md)||
-||🇷🇺 fuall|[Доставка дронами](https://github.com/Silly4s/clover/blob/master/docs/ru/dostavka.md)||
 ||🇮🇳 DJS Phoenix|[Autonomous valet parking drone assistance](https://github.com/DJSPhoenix/clover/blob/DJSPhoenix-Ikshana/docs/en/djs_phoenix_ikshana.md)||
-||🇷🇺 Джедаи 1581|[Ретранслятор на базе Клевера](https://github.com/JJNIK/clover/blob/patch-1/docs/ru/1581.md)||
 ||🇷🇺 SPECTRE|[SPECTRE](https://github.com/alakhmenev/clover/blob/spectre_team/docs/ru/spectre_team.md)||
-||🇷🇺 Lucky flight|[Swarm of Improved Clover](https://github.com/bessiaka/clover/blob/Lucky-flight/docs/ru/lucky_flight.md)||
 ||🇷🇺 SolidEye|[Разработка лидара без движущихся частей](https://github.com/feanorgg/clover/blob/solideye/docs/ru/solid_eye.md)||
 ||🇰🇬 AI_U_CLOVER|[AIU_CLOVER](https://github.com/zhibekm/clover/blob/zhibekm-patch-1/docs/en/aiu-article.md)||
-||🇷🇺 Scout_Drone|[Создание поисково-спасательного беспилотного летательного аппарата](https://github.com/MustafaNatur/clover/blob/Scout_Drone.md/docs/ru/scout_drone.md)||
 ||🇷🇺 С305|[Система мониторинга воздуха](https://github.com/Ruslan2288/clover/blob/master/docs/ru/air_monitor.md)| |
+|✕|🇻🇳 Dragon&Tanker|[Dragon&Tanker](https://github.com/uml4/clover/blob/drone_observe_autonomous_car/docs/en/dragon_and_tanker_team.md)||
+|✕|🇷🇺 V-NAV|[Visual Navigation](https://github.com/v-nav/clover/blob/v-nav_article/docs/ru/v-nav.md)||
+|✕|🇷🇺 Джедаи 1581|[Ретранслятор на базе Клевера](https://github.com/JJNIK/clover/blob/patch-1/docs/ru/1581.md)||
+|✕|🇷🇺 Lucky flight|[Swarm of Improved Clover](https://github.com/bessiaka/clover/blob/Lucky-flight/docs/ru/lucky_flight.md)||
+|✕|🇺🇸 EnviroFleet|[EnviroFleet](https://github.com/gueyman/clover/blob/envirofleet/docs/en/enviro_fleet.md)||
+|✕|🇷🇺 Бизнес-гуси|[Drone Rover Climbing System](https://github.com/HexaHEX/clover/blob/CopterHack2022_Business_Geese-1/docs/ru/business_geese.md)||
+|✕|🇷🇺 fuall|[Доставка дронами](https://github.com/Silly4s/clover/blob/master/docs/ru/dostavka.md)||
+|✕|🇷🇺 Scout_Drone|[Создание поисково-спасательного беспилотного летательного аппарата](https://github.com/MustafaNatur/clover/blob/Scout_Drone.md/docs/ru/scout_drone.md)| |
+
+✕ – teams which haven't qualified for the Final.
 
 ## Company case competition
 

docs/en/mavlink.md

@@ -29,7 +29,7 @@ Examples of MAVLink messages:
 * `GLOBAL_POSITION_INT` – global position of the quadcopter (latitude/longitude/altitude);
 * `COMMAND_LONG` – a command to the quadcopter (take off, land, toggle modes, etc).
 
-A complete list of MAVLink messages is available in [MAVLink documentation] (http://mavlink.org/messages/common).
+A complete list of MAVLink messages is available in [MAVLink documentation](https://mavlink.io/en/messages/common.html).
 
 ### System, system component
 

docs/en/programming.md

@@ -51,8 +51,6 @@ python3 flight.py
 Below is a complete flight program that performs a takeoff, flies forward and lands:
 
 ```python
-#coding: utf8
-
 import rospy
 from clover import srv
 from std_srvs.srv import Trigger

docs/en/raspberry.md

@@ -1,7 +1,7 @@
 Raspberry Pi
 ============
 
-**Raspberry Pi** is a single-board computer that fits in the palm, created on the basis of ARM mobile microprocessor. It features low energy consumption, and it can even run on solar panels. Raspberry Pi 3 is included in the kits for programmable quadcopters "Clover".
+**Raspberry Pi** is a single-board computer that fits in the palm, created on the basis of ARM mobile microprocessor. It features low energy consumption, and it can even run on solar panels. A Raspberry Pi is included in the kits for programmable quadcopters "Clover".
 
 <img src="../assets/raspberry.png" class="center zoom" alt="Raspberry Pi 3" width="400">
 

docs/en/ros.md

@@ -49,7 +49,7 @@ Each topic has the a of messages it passes. ROS include a lot of standard messag
 |Message type|Description|
 |-|-|
 |[`std_msgs/Int64`](https://docs.ros.org/api/std_msgs/html/msg/Int64.html)|Integer number.|
-|[`std_msgs/Float64`](https://docs.ros.org/api/std_msgs/html/msg/Float64.html)|Double-precision floating-point number|
+|[`std_msgs/Float64`](https://docs.ros.org/api/std_msgs/html/msg/Float64.html)|Double-precision floating-point number.|
 |[`std_msgs/String`](https://docs.ros.org/api/std_msgs/html/msg/String.html)|String.|
 |[`geometry_msgs/PoseStamped`](https://docs.ros.org/api/geometry_msgs/html/msg/PoseStamped.html)|Position and orientation of an object in a given [coordinate system](frames.md) and a time stamp (widely used for passing the robot pose or some robot's part pose).|
 |[`geometry_msgs/TwistStamped`](https://docs.ros.org/api/geometry_msgs/html/msg/TwistStamped.html)|Linear and angular velocity of an object in a given coordinate system and a time stamp.|

docs/en/rviz.md

@@ -43,7 +43,7 @@ Axis or Grid configured to frame `aruco_map` will visualize the location [on the
 
 ### jsk_rviz_plugins
 
-It is also recommended to install additional useful plugins for rviz [jsk_rviz_plugins](https://jsk-docs.readthedocs.io/en/latest/jsk_visualization/doc/jsk_rviz_plugins/index.html). This kit allows visualizing topics like `TwistStamped` (velocity) `CameraInfo`, `PolygonArray`, and many more. To install, use command:
+It is also recommended to install additional useful plugins for rviz [jsk_rviz_plugins](https://jsk-visualization.readthedocs.io/en/latest/jsk_rviz_plugins/index.html). This kit allows visualizing topics like `TwistStamped` (velocity) `CameraInfo`, `PolygonArray`, and many more. To install, use command:
 
 ```(bash)
 sudo apt-get install ros-melodic-jsk-visualization

docs/en/simulation_native.md

@@ -4,31 +4,56 @@ Setting up the simulation environment from scratch requires some effort, but res
 
 > **Hint** See up-to-date commands set for installation Clover simulation software in the script, that builds the virtual machine image with the simulator: [`install_software.sh`](https://github.com/CopterExpress/clover_vm/blob/master/scripts/install_software.sh).
 
-Prerequisites: Ubuntu 20.04 and [ROS Noetic](http://wiki.ros.org/noetic/Installation/Ubuntu).
+Prerequisites: **Ubuntu 20.04**.
+
+## Install ROS
+
+Install ROS Noetic using the [official installation manual](http://wiki.ros.org/noetic/Installation/Ubuntu) (Desktop or Full install).
+
+Add sourcing ROS' `setup.bash` initialization script to your `.bashrc`:
+
+```bash
+echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+source ~/.bashrc
+```
+
+Install required tools:
+
+```bash
+sudo apt install build-essential git python3-pip python3-rosdep
+```
 
 ## Create a workspace for the simulation
 
-Throughout this guide we will be using the `catkin_ws` as the workspace name. Feel free to change it in your setup. We will be creating it in the home directory of the current user (`~`).
-
-Create the workspace and clone Clover sources:
+Create a workspace for the simulation:
 
 ```bash
 mkdir -p ~/catkin_ws/src
+cd ~/catkin_ws
+catkin_make
+echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
+source ~/.bashrc
+```
+
+Clone Clover sources:
+
+```bash
 cd ~/catkin_ws/src
 git clone --depth 1 https://github.com/CopterExpress/clover
 git clone --depth 1 https://github.com/CopterExpress/ros_led
 git clone --depth 1 https://github.com/ethz-asl/mav_comm
 ```
 
-Install all prerequisites using `rosdep`:
+Install all dependencies using `rosdep`:
 
 ```bash
 cd ~/catkin_ws
+sudo rosdep init
 rosdep update
 rosdep install --from-paths src --ignore-src -y
 ```
 
-Install Python-dependencies:
+Install Python dependencies:
 
 ```bash
 sudo /usr/bin/python3 -m pip install -r ~/catkin_ws/src/clover/clover/requirements.txt
@@ -36,15 +61,19 @@ sudo /usr/bin/python3 -m pip install -r ~/catkin_ws/src/clover/clover/requiremen
 
 ## Get PX4 sources
 
-PX4 will be built along with the other packages in our workspace. You may clone it directly into the workspace or put it somewhere and symlink to `~/catkin_ws/src`. We will need to put its `sitl_gazebo` submodule in `~/catkin_ws/src` as well. For simplicity's sake we will clone the firmware directly to the workspace:
+PX4 will be built along with the other packages in our workspace. You may clone it directly into the workspace or put it somewhere and symlink to `~/catkin_ws/src`. We will need to put its `sitl_gazebo` and `mavlink` submodules into `~/catkin_ws/src` as well.
+
+Clone PX4 sources and make the required symlinks:
 
 ```bash
-cd ~/catkin_ws/src
 git clone --recursive --depth 1 --branch v1.12.0 https://github.com/PX4/PX4-Autopilot.git ~/PX4-Autopilot
-ln -s ~/PX4-Autopilot ~/catkin_ws/src/PX4-Autopilot
-ln -s ~/PX4-Autopilot/Tools/sitl_gazebo ~/catkin_ws/src/sitl_gazebo
+ln -s ~/PX4-Autopilot ~/catkin_ws/src/
+ln -s ~/PX4-Autopilot/Tools/sitl_gazebo ~/catkin_ws/src/
+ln -s ~/PX4-Autopilot/mavlink ~/catkin_ws/src/
 ```
 
+> **Hint** You may use more recent PX4 version, but there would be more risk of something would not be working.
+
 ## Install PX4 prerequisites
 
 PX4 comes with its own script for dependency installation. We may as well leverage it:
@@ -56,10 +85,12 @@ sudo ./ubuntu.sh
 
 This will install everything required to build PX4 and its SITL environment.
 
-You may want to skip installing the ARM toolchain if you're not planning on compiling PX4 for your flight controller. To do this, use the `--no-nuttx` flag:
+> **Hint** You may want to skip installing the ARM toolchain if you're not planning on compiling PX4 for your flight controller. To do this, use the `--no-nuttx` flag: `sudo ./ubuntu.sh --no-nuttx`.
 
-```
-sudo ./ubuntu.sh --no-nuttx
+Install more required Python packages:
+
+```bash
+pip3 install --user toml
 ```
 
 ## Add the Clover airframe
@@ -67,7 +98,7 @@ sudo ./ubuntu.sh --no-nuttx
 Add the Clover airframe to PX4 using the command:
 
 ```bash
-ln -s "$(catkin_find clover_simulation airframes)"/* ~/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes/
+ln -s ~/catkin_ws/src/clover/clover_simulation/airframes/* ~/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes/
 ```
 
 ## Install geographiclib datasets
@@ -80,20 +111,44 @@ sudo /opt/ros/noetic/lib/mavros/install_geographiclib_datasets.sh
 
 ## Build the simulator
 
-With all dependencies installed, you can build your workspace:
+Build your workspace:
 
 ```bash
 cd ~/catkin_ws
 catkin_make
 ```
 
-> **Note** Some of the files - particularly Gazebo plugins - require large amounts of RAM to be built. You may wish to reduce the number of parallel jobs; the number of parallel jobs should be equal to the amount of RAM in gigabytes divided by 2 - so a 16GB machine should use no more than 8 jobs. You can specify the number of jobs using the `-j` flag: `catkin_make -j8`
+> **Note** If building fails with RAM issues (`c++: fatal error: Killed signal terminated program cc1plus`), reduce the number of parallel jobs using `-j` key. For example, to use only two parallel jobs use `catkin_make -j2` command.
 
 ## Run the simulator
 
 In order to be sure that everything was built correctly, try running the simulator for the first time:
 
 ```bash
-source ~/catkin_ws/devel/setup.bash
 roslaunch clover_simulation simulator.launch
 ```
+
+You can test autonomous flight using example scripts in `~/catkin_ws/src/clover/clover/examples` directory.
+
+## Additional steps
+
+Optionally, install roscore systemd service to have roscore running in background:
+
+```bash
+sed -i "s/pi/$USER/g" ~/catkin_ws/src/clover/builder/assets/roscore.service
+sudo cp ~/catkin_ws/src/clover/builder/assets/roscore.service /etc/systemd/system
+sudo systemctl enable roscore
+sudo systemctl start roscore
+```
+
+Install any web server to serve Clover's web tools (`~/.ros/www` directory), e. g. Monkey:
+
+```bash
+wget https://github.com/CopterExpress/clover_vm/raw/master/assets/packages/monkey_1.6.9-1_amd64.deb -O /tmp/monkey_1.6.9-1_amd64.deb
+sudo apt-get install -y /tmp/monkey_1.6.9-1_amd64.deb
+sed "s/pi/$USER/g" ~/catkin_ws/src/clover/builder/assets/monkey | sudo tee /etc/monkey/sites/default
+sudo -E sh -c "sed -i 's/SymLink Off/SymLink On/' /etc/monkey/monkey.conf"
+sudo cp ~/catkin_ws/src/clover/builder/assets/monkey.service /etc/systemd/system/monkey.service
+sudo systemctl enable monkey
+sudo systemctl start monkey
+```

docs/en/sitl.md

@@ -5,7 +5,7 @@ PX4 Simulation
 
 Main article: https://dev.px4.io/en/simulation/
 
-PX4 simulation is possible in Linux and macOS with the use of physical environment simulation systems [jMAVSim](https://pixhawk.org/dev/hil/jmavsim) and [the Gazebo](http://gazebosim.org).
+PX4 simulation is possible in Linux and macOS with the use of physical environment simulation systems [jMAVSim](https://docs.px4.io/master/en/simulation/jmavsim.html) and [the Gazebo](http://gazebosim.org).
 
 jMAVSim is a lightweight environment intended only for testing multi-rotor aircraft systems; Gazebo is a versatile environment for all types of robots.
 

docs/en/snippets.md

@@ -399,3 +399,45 @@ while not rospy.is_shutdown():
         break
     rospy.sleep(0.2)
 ```
+
+### # {#get-param}
+
+Read flight controller's parameter:
+
+```python
+from mavros_msgs.srv import ParamGet
+from mavros_msgs.msg import ParamValue
+
+# ...
+
+param_get = rospy.ServiceProxy('mavros/param/get', ParamGet)
+
+# ...
+
+# Read parameter of type INT
+value = param_get(param_id='COM_FLTMODE1').value.integer
+
+# Read parameter of type FLOAT
+value = param_get(param_id='MPC_Z_P').value.float
+```
+
+### # {#set-param}
+
+Set flight controller's parameter:
+
+```python
+from mavros_msgs.srv import ParamSet
+from mavros_msgs.msg import ParamValue
+
+# ...
+
+param_set = rospy.ServiceProxy('mavros/param/set', ParamSet)
+
+# ...
+
+# Set parameter of type INT:
+param_set(param_id='COM_FLTMODE1', value=ParamValue(integer=8))
+
+# Set parameter of type FLOAT:
+param_set(param_id='MPC_Z_P', value=ParamValue(real=1.5))
+```

docs/en/sonar.md

@@ -89,7 +89,7 @@ while True:
 
 ### Filtering the data
 
-To filter (smooth out) the data and delete [outliers](https://en.wikipedia.org/wiki/Outlier), [Kalman filter](https://en.wikipedia.org/wiki/Kalman_filter) or a simple [median filter](https://ru.wikipedia.org/wiki/Median_filter) can be used. An example of median filtering implementation:
+To filter (smooth out) the data and delete [outliers](https://en.wikipedia.org/wiki/Outlier), [Kalman filter](https://en.wikipedia.org/wiki/Kalman_filter) or a simple [median filter](https://en.wikipedia.org/wiki/Median_filter) can be used. An example of median filtering implementation:
 
 ```python
 import collections

docs/en/video_contest.md

@@ -0,0 +1,25 @@
+# Contest for the best educational video on assembly and configuration
+
+Requirements:
+
+- the video contains the entire process of assembling and configuring the Clover 4.2 drone kit: from opening the box with components to flying the copter in Position mode using ArUco markers;
+- the video is uploaded to YouTube and is public accessible;
+- the video contains voice-over in English;
+- the video lasts from 6 to 60 minutes.
+
+Dates of the contest: February 12 – December 13, 2021.
+
+## Prizes
+
+- 🥇 1st place: $500 (USD).
+- 🥈 2nd place: $300 (USD).
+- 🥉 3rd place: $200 (USD).
+
+## Results
+
+|Place|Participant|Link to the video|
+|:-:|-|-|
+|1|🇷🇺 Philipp Batalin|https://www.youtube.com/watch?v=f0rpdulOSEk|
+|2|🇮🇹 Sara Pettinari|https://www.youtube.com/watch?v=PxxfyVH6RRA|
+|3|🇲🇾 Kai Feng Chew|https://www.youtube.com/watch?v=skgSwFle6Ms|
+|3|🇰🇿 Nikita Lobanov|https://www.youtube.com/watch?v=93b1epEM3SQ|

docs/ru/SUMMARY.md

@@ -114,6 +114,7 @@
   * [Робокросс-2019](robocross2019.md)
   * [CopterHack-2018](copterhack2018.md)
   * [CopterHack-2017](copterhack2017.md)
+  * [Конкурс видео](video_contest.md)
 * [Проекты на базе Клевера](projects.md)
   * [Система автоматической посадки (AMLS)](amls.md)
   * [Разработка системы для управления БПЛА с помощью шлема виртуальной реальности](remote-control-with-oculusvr.md)

docs/ru/agriculture.md

@@ -75,9 +75,9 @@ else:
     shape = 'undefined'
     color = 'undefined'
 
-if shape = 'brown':
+if shape == 'brown':
     culture = "greshiha"
-if shape = 'yellow_orange':
+if shape == 'yellow_orange':
     culture = "pshenitsa"
 
 image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_colback_color)

docs/ru/clever_blocks.md

@@ -42,4 +42,4 @@ sudo systemctl start clever-blocks.service
 python main.py
 ```
 
-После запуска Вы можете открыть веб-интерфейс для блочного программирования по адресу [192.168.11.1:5000](192.168.11.1:5000).
+После запуска Вы можете открыть веб-интерфейс для блочного программирования по адресу [192.168.11.1:5000](http://192.168.11.1:5000).

docs/ru/copterhack2022.md

@@ -11,33 +11,35 @@ CopterHack 2022 — это международный конкурс по ра
 ## Проекты участников конкурса {#participants}
 
 |Место|Команда|Проект|Балл|
-|-|-|-|-|
+|:-:|-|-|-|
 ||🇰🇬 Alatoo University Team|[Облачная платформа для симулятора Клевера](https://github.com/pteacher/clover/blob/clover_simulator/docs/ru/clover-development-studio.md)||
-||🇧🇾 FTL|[Advanced Clover 2](https://github.com/FTL-team/clover/blob/FTL-advancedClover2/docs/ru/advancedclover2.md)||
-||🇺🇸 EnviroFleet|[EnviroFleet](https://github.com/gueyman/clover/blob/envirofleet/docs/en/enviro_fleet.md)||
-||🇻🇳 Dragon&Tanker|[Dragon&Tanker](https://github.com/uml4/clover/blob/drone_observe_autonomous_car/docs/en/dragon_and_tanker_team.md)||
+||🇧🇾 FTL|[Advanced Clover 2](https://github.com/FTL-team/clover/blob/FTL-advancedClover2/docs/ru/advanced_clover_simulator.md)||
 ||🇷🇺 Stereo|[Neural obstacle avoidance](https://github.com/den250400/clover/blob/neural-obstacle-avoidance/docs/en/neural-obstacle-avoidance.md)||
 ||🇷🇺 Space clowns|[Copter For Space](https://github.com/slavikyd/clover/blob/patch-3/docs/ru/c4s.md)||
 ||🇷🇺 R.S.|[Drone Hawk](https://github.com/slavaroot/clover/blob/droneHawkSecurity/docs/ru/drone-hawk-security.md)||
 ||🇲🇾 Moopt|[IoT Water Monitoring & Optimization](https://github.com/kafechew/clover/blob/master/docs/en/moopt-uav.md)||
-||🇧🇷 Atena - Grupo SEMEAR|[Swarm in Blocks](https://github.com/Grupo-SEMEAR-USP/clover/blob/Swarm_in_Blocks/docs/en/Swarm_in_Blocks.md)||
+||🇧🇷 Atena - Grupo SEMEAR|[Swarm in Blocks](https://github.com/Grupo-SEMEAR-USP/clover/blob/Swarm_in_Blocks/docs/en/swarm_in_blocks.md)||
 ||🇷🇺 Clevertron|[Clevertron](https://github.com/Daniel-drone/clover/blob/Clevertron-1/docs/ru/clevertron.md)||
 ||🇷🇺 Clover Rescue Team|[Rescue Clover](https://github.com/DevMBS/clover/blob/CloverRescueTeam/docs/ru/clover-rescue-team.md)||
 ||🇵🇱 Edgenoon|[Neural and vision-based landing method](https://github.com/edgenoon-ai/clover/blob/neural_vision_based_landing_method/docs/en/neural_vision_based_landing_method.md)||
 ||🇷🇺 CopterCat|[CopterCat](https://github.com/matveylapin/clover/blob/CopterCat/docs/ru/сopter_сat.md)||
 ||🇷🇺 Дрой Ронов|[Clover Swarm](https://github.com/stinger000/clever/blob/clover_swarm_request/docs/ru/clover-swarm.md)||
 ||🇩🇪 Inondro|[Inondro Pix](https://github.com/Inondro/clover/blob/inondro-pix/docs/en/inondro_copterhack22_pix.md)||
-||🇷🇺 V-NAV|[Visual Navigation](https://github.com/v-nav/clover/blob/v-nav_article/docs/ru/v-nav.md)||
-||🇷🇺 Бизнес-гуси|[Drone Rover Climbing System](https://github.com/HexaHEX/clover/blob/CopterHack2022_Business_Geese-1/docs/ru/business_geese.md)||
-||🇷🇺 fuall|[Доставка дронами](https://github.com/Silly4s/clover/blob/master/docs/ru/dostavka.md)||
 ||🇮🇳 DJS Phoenix|[Autonomous valet parking drone assistance](https://github.com/DJSPhoenix/clover/blob/DJSPhoenix-Ikshana/docs/en/djs_phoenix_ikshana.md)||
-||🇷🇺 Джедаи 1581|[Ретранслятор на базе Клевера](https://github.com/JJNIK/clover/blob/patch-1/docs/ru/1581.md)||
 ||🇷🇺 SPECTRE|[SPECTRE](https://github.com/alakhmenev/clover/blob/spectre_team/docs/ru/spectre_team.md)||
-||🇷🇺 Lucky flight|[Swarm of Improved Clover](https://github.com/bessiaka/clover/blob/Lucky-flight/docs/ru/lucky_flight.md)||
 ||🇷🇺 SolidEye|[Разработка лидара без движущихся частей](https://github.com/feanorgg/clover/blob/solideye/docs/ru/solid_eye.md)||
 ||🇰🇬 AI_U_CLOVER|[AIU_CLOVER](https://github.com/zhibekm/clover/blob/zhibekm-patch-1/docs/en/aiu-article.md)||
-||🇷🇺 Scout_Drone|[Создание поисково-спасательного беспилотного летательного аппарата](https://github.com/MustafaNatur/clover/blob/Scout_Drone.md/docs/ru/scout_drone.md)||
 ||🇷🇺 С305|[Система мониторинга воздуха](https://github.com/Ruslan2288/clover/blob/master/docs/ru/air_monitor.md)| |
+|✕|🇻🇳 Dragon&Tanker|[Dragon&Tanker](https://github.com/uml4/clover/blob/drone_observe_autonomous_car/docs/en/dragon_and_tanker_team.md)||
+|✕|🇷🇺 V-NAV|[Visual Navigation](https://github.com/v-nav/clover/blob/v-nav_article/docs/ru/v-nav.md)||
+|✕|🇷🇺 Джедаи 1581|[Ретранслятор на базе Клевера](https://github.com/JJNIK/clover/blob/patch-1/docs/ru/1581.md)||
+|✕|🇷🇺 Lucky flight|[Swarm of Improved Clover](https://github.com/bessiaka/clover/blob/Lucky-flight/docs/ru/lucky_flight.md)||
+|✕|🇺🇸 EnviroFleet|[EnviroFleet](https://github.com/gueyman/clover/blob/envirofleet/docs/en/enviro_fleet.md)||
+|✕|🇷🇺 Бизнес-гуси|[Drone Rover Climbing System](https://github.com/HexaHEX/clover/blob/CopterHack2022_Business_Geese-1/docs/ru/business_geese.md)||
+|✕|🇷🇺 fuall|[Доставка дронами](https://github.com/Silly4s/clover/blob/master/docs/ru/dostavka.md)||
+|✕|🇷🇺 Scout_Drone|[Создание поисково-спасательного беспилотного летательного аппарата](https://github.com/MustafaNatur/clover/blob/Scout_Drone.md/docs/ru/scout_drone.md)| |
+
+✕ – команды, не дошедшие до финала.
 
 ## Направление "кейс компании"
 

docs/ru/mavlink.md

@@ -29,7 +29,7 @@ MAVLink-сообщение это отдельная "порция" данных
 * `GLOBAL_POSITION_INT` – глобальная позиция квадрокоптера (широта/долгота/высота);
 * `COMMAND_LONG` – команда для квадрокоптера (взлететь, сесть, переключить режим и т. д.).
 
-Полный список MAVLink-сообщений можно посмотреть в [документации MAVLink](http://mavlink.org/messages/common).
+Полный список MAVLink-сообщений можно посмотреть в [документации MAVLink](https://mavlink.io/en/messages/common.html).
 
 ### Система, компонент системы
 

docs/ru/programming.md

@@ -51,8 +51,6 @@ python3 flight.py
 Пример программы для полета (взлет, пролет вперед, посадка):
 
 ```python
-# coding: utf8
-
 import rospy
 from clover import srv
 from std_srvs.srv import Trigger

docs/ru/rviz.md

@@ -43,7 +43,7 @@ Axis или Grid настроенный на фрейм `aruco_map` будут
 
 ### jsk_rviz_plugins
 
-Рекомендуется также установка набора дополнительных полезных плагинов для rviz [jsk_rviz_plugins](https://jsk-docs.readthedocs.io/en/latest/jsk_visualization/doc/jsk_rviz_plugins/index.html). Это набор позволяет визуализировать топики типа `TwistStamped` (скорость), `CameraInfo`, `PolygonArray` и многое другое. Для установки используйте команду:
+Рекомендуется также установка набора дополнительных полезных плагинов для rviz [jsk_rviz_plugins](https://jsk-visualization.readthedocs.io/en/latest/jsk_rviz_plugins/index.html). Это набор позволяет визуализировать топики типа `TwistStamped` (скорость), `CameraInfo`, `PolygonArray` и многое другое. Для установки используйте команду:
 
 ```bash
 sudo apt-get install ros-melodic-jsk-visualization

docs/ru/simulation_native.md

@@ -4,16 +4,40 @@
 
 > **Hint** Смотрите актуальный набор команд установки необходимого ПО для запуска симулятора Клевера в скрипте сборки виртуальной машины с симулятором: [`install_software.sh`](https://github.com/CopterExpress/clover_vm/blob/master/scripts/install_software.sh).
 
-Требования для сборки: Ubuntu 20.04 и [ROS Noetic](http://wiki.ros.org/noetic/Installation/Ubuntu).
+Требования для сборки: **Ubuntu 20.04**.
+
+## Установка ROS
+
+Установите ROS Noetic используя [официальную документацию по установке](http://wiki.ros.org/noetic/Installation/Ubuntu) (Desktop или Full установка).
+
+Добавьте выполнение инициализирующего скрипта ROS `setup.bash` в ваш файл `.bashrc`:
+
+```bash
+echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+source ~/.bashrc
+```
+
+Установите необходимые инструменты, которые понадобятся для дальнейшей установки:
+
+```bash
+sudo apt install build-essential git python3-pip python3-rosdep
+```
 
 ## Создание рабочего пространства для симулятора
 
-В этой статье мы будем использовать `catkin_ws` как имя рабочего пространства (вы можете поменять её). Мы создадим её в домашнем каталоге текущего пользователя (`~`).
-
-Создайте рабочее пространство и загрузите исходный код Клевера:
+Создайте рабочее пространство:
 
 ```bash
 mkdir -p ~/catkin_ws/src
+cd ~/catkin_ws
+catkin_make
+echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
+source ~/.bashrc
+```
+
+Склонируйте исходный код пакетов Clover:
+
+```bash
 cd ~/catkin_ws/src
 git clone --depth 1 https://github.com/CopterExpress/clover
 git clone --depth 1 https://github.com/CopterExpress/ros_led
@@ -24,6 +48,7 @@ git clone --depth 1 https://github.com/ethz-asl/mav_comm
 
 ```bash
 cd ~/catkin_ws
+sudo rosdep init
 rosdep update
 rosdep install --from-paths src --ignore-src -y
 ```
@@ -36,15 +61,19 @@ sudo /usr/bin/python3 -m pip install -r ~/catkin_ws/src/clover/clover/requiremen
 
 ## Загрузка исходного кода PX4
 
-Сборка PX4 будет осуществлена вместе с другими пакетами в нашем рабочем пространстве. Вы можете загрузить его прямо в рабочее пространство или поместить куда-нибудь и создать симлинк к `~/catkin_ws/src`. Нам также нужно будет поместить его подмодуль `sitl_gazebo` в `~/catkin_ws/src`. Для упрощения мы загрузим прошивку прямо в рабочее пространство:
+Сборка PX4 будет осуществлена вместе с другими пакетами в нашем рабочем пространстве. Вы можете загрузить его прямо в рабочее пространство или поместить куда-нибудь и создать симлинк к `~/catkin_ws/src`. Нам также нужно будет поместить его подмодули `sitl_gazebo` и `mavlink` в `~/catkin_ws/src`.
+
+Склонируйте исходный код PX4 и создайте необходимые симлинки:
 
 ```bash
-cd ~/catkin_ws/src
 git clone --recursive --depth 1 --branch v1.12.0 https://github.com/PX4/PX4-Autopilot.git ~/PX4-Autopilot
-ln -s ~/PX4-Autopilot ~/catkin_ws/src/PX4-Autopilot
-ln -s ~/PX4-Autopilot/Tools/sitl_gazebo ~/catkin_ws/src/sitl_gazebo
+ln -s ~/PX4-Autopilot ~/catkin_ws/src/
+ln -s ~/PX4-Autopilot/Tools/sitl_gazebo ~/catkin_ws/src/
+ln -s ~/PX4-Autopilot/mavlink ~/catkin_ws/src/
 ```
 
+> **Hint** Вы можете использовать более позднюю версию PX4 с большим риском, что что-то не заработает.
+
 ## Установка зависимостей PX4
 
 PX4 имеет свой собственный скрипт для установки зависимостей. Воспользуемся им:
@@ -56,10 +85,12 @@ sudo ./ubuntu.sh
 
 Он установит все, что нужно для сборки PX4 и SITL.
 
-Также вы можете пропустить установку ARM тулчейна, если вы не планируете компилировать PX4 для вашего полетного контроллера. Для этого воспользуйтесь флагом `--no-nuttx`:
+> **Hint** Также вы можете пропустить установку ARM тулчейна, если вы не планируете компилировать PX4 для вашего полетного контроллера. Для этого воспользуйтесь флагом `--no-nuttx`: `sudo ./ubuntu.sh --no-nuttx`.
 
-```
-sudo ./ubuntu.sh --no-nuttx
+Установите дополнительные необходимые Python-пакеты:
+
+```bash
+pip3 install --user toml
 ```
 
 ## Добавление рамы Клевера
@@ -67,7 +98,7 @@ sudo ./ubuntu.sh --no-nuttx
 Добавьте в PX4 раму Клевера с помощью следующей команды:
 
 ```bash
-ln -s "$(catkin_find clover_simulation airframes)"/* ~/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes/
+ln -s ~/catkin_ws/src/clover/clover_simulation/airframes/* ~/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes/
 ```
 
 ## Установка датасетов geographiclib
@@ -87,13 +118,37 @@ cd ~/catkin_ws
 catkin_make
 ```
 
-> **Note** Некоторые файлы, особенно плагины Gazebo, требуют большого объема оперативной памяти для сборки. Вы можете уменьшить количество параллельных процессов; количество параллельных процессов должно быть равно объёму RAM в гигабайтах, поделенному на 2. Например, для машины с 16Гб следует указывать не более 8 процессов. Вы можете указать количество процессов, используя флаг `-j` : ```catkin_make -j8```
+> **Note** Если процесс сборки завершится с ошибкой, связанной с недостатком памяти (`c++: fatal error: Killed signal terminated program cc1plus`), уменьшите количество параллельно исполняемых процессов используя ключ `-j`. Например, чтобы использовать только два параллельных процесса используйте команду `catkin_make -j2`.
 
 ## Запуск симулятора
 
 Чтобы удостовериться в том, что все было собрано корректно, попробуйте запустить симулятор:
 
 ```bash
-source ~/catkin_ws/devel/setup.bash
 roslaunch clover_simulation simulator.launch
 ```
+
+Вы можете проверить автономный полет используя скрипты в директории `~/catkin_ws/src/clover/clover/examples`.
+
+## Дополнительные шаги
+
+Опционально вы можете установить systemd-сервис для roscore для того, чтобы roscore был постоянно запущен в фоне:
+
+```bash
+sed -i "s/pi/$USER/g" ~/catkin_ws/src/clover/builder/assets/roscore.service
+sudo cp ~/catkin_ws/src/clover/builder/assets/roscore.service /etc/systemd/system
+sudo systemctl enable roscore
+sudo systemctl start roscore
+```
+
+Установите любой веб-сервер, чтобы раздавать веб-инструменты Клевера (директория `~/.ros/www`), например, Monkey:
+
+```bash
+wget https://github.com/CopterExpress/clover_vm/raw/master/assets/packages/monkey_1.6.9-1_amd64.deb -O /tmp/monkey_1.6.9-1_amd64.deb
+sudo apt-get install -y /tmp/monkey_1.6.9-1_amd64.deb
+sed "s/pi/$USER/g" ~/catkin_ws/src/clover/builder/assets/monkey | sudo tee /etc/monkey/sites/default
+sudo -E sh -c "sed -i 's/SymLink Off/SymLink On/' /etc/monkey/monkey.conf"
+sudo cp ~/catkin_ws/src/clover/builder/assets/monkey.service /etc/systemd/system/monkey.service
+sudo systemctl enable monkey
+sudo systemctl start monkey
+```

docs/ru/sitl.md

@@ -4,7 +4,7 @@
 
 Основная статья: https://dev.px4.io/en/simulation/
 
-Симуляция PX4 возможна в ОС GNU/Linux и macOS с использованием систем симуляции физической среды [jMAVSim](https://pixhawk.org/dev/hil/jmavsim) и [Gazebo](http://gazebosim.org).
+Симуляция PX4 возможна в ОС GNU/Linux и macOS с использованием систем симуляции физической среды [jMAVSim](https://docs.px4.io/master/en/simulation/jmavsim.html) и [Gazebo](http://gazebosim.org).
 
 jMAVSim является легковесной средой, предназначенной только для тестирование мультироторных летательных систем; Gazebo – универсальная среда для любых типов роботов.
 

docs/ru/sitl_docker.md

@@ -14,7 +14,7 @@
 * Пакеты [ROS](http://www.ros.org/), требуемые для запуска нод Клевера
 * Собранный для симулятора PX4
 * Легковесный web-интерфейс для Gazebo [Gzweb](http://gazebosim.org/gzweb.html)
-* Web-терминал [Butterfly](http://paradoxxxzero.github.io/2014/02/28/butterfly.html)
+* Web-терминал [Butterfly](https://github.com/paradoxxxzero/butterfly)
 
 ## Предварительная настройка
 

docs/ru/snippets.md

@@ -417,3 +417,45 @@ while not rospy.is_shutdown():
         break
     rospy.sleep(0.2)
 ```
+
+### # {#get-param}
+
+Считать параметр полетного контроллера:
+
+```python
+from mavros_msgs.srv import ParamGet
+from mavros_msgs.msg import ParamValue
+
+# ...
+
+param_get = rospy.ServiceProxy('mavros/param/get', ParamGet)
+
+# ...
+
+# Считать параметр типа INT
+value = param_get(param_id='COM_FLTMODE1').value.integer
+
+# Считать параметр типа FLOAT
+value = param_get(param_id='MPC_Z_P').value.float
+```
+
+### # {#set-param}
+
+Изменить параметр полетного контроллера:
+
+```python
+from mavros_msgs.srv import ParamSet
+from mavros_msgs.msg import ParamValue
+
+# ...
+
+param_set = rospy.ServiceProxy('mavros/param/set', ParamSet)
+
+# ...
+
+# Изменить параметр типа INT:
+param_set(param_id='COM_FLTMODE1', value=ParamValue(integer=8))
+
+# Изменить параметр типа FLOAT:
+param_set(param_id='MPC_Z_P', value=ParamValue(real=1.5))
+```

docs/ru/video_contest.md

@@ -0,0 +1,25 @@
+# Конкурс на лучшее образовательное видео по сборке и настройке
+
+Требования:
+
+- видео содержит весь процесс сборки и настройки конструктора Клевер 4.2: от открытия коробки с компонентами до летающего Коптера в режиме Position по ArUco-маркерам;
+- видео загружено на YouTube и находится в открытом доступе;
+- видео содержит озвучивание и субтитры на русском языке;
+- видео длится от 6 до 60 минут.
+
+Даты проведения конкурса: 12 февраля – 13 декабря 2021.
+
+## Призы
+
+- 🥇 1 место: $500.
+- 🥈 2 место: $300.
+- 🥉 3 место: $200.
+
+## Результаты
+
+|Место|Участник|Ссылка на видео|
+|:-:|-|-|
+|1|🇷🇺 Филипп Баталин|https://www.youtube.com/watch?v=f0rpdulOSEk|
+|2|🇮🇹 Sara Pettinari|https://www.youtube.com/watch?v=PxxfyVH6RRA|
+|3|🇲🇾 Kai Feng Chew|https://www.youtube.com/watch?v=skgSwFle6Ms|
+|3|🇰🇿 Никита Лобанов|https://www.youtube.com/watch?v=93b1epEM3SQ|