Remove apt-cache clean call

---------

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

.github/workflows/build-image.yaml

@@ -7,6 +7,7 @@ on:
     branches: [ master ]
   release:
     types: [ created ]
+  workflow_dispatch:
 
 jobs:
   build:
@@ -27,3 +28,10 @@ jobs:
           prerelease: true
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      - name: Upload image to artifacts
+        if: ${{ github.event_name == 'workflow_dispatch' }}
+        uses: actions/upload-artifact@v3
+        with:
+          name: image
+          path: images/clover_*.zip
+          retention-days: 1

.github/workflows/build.yml

@@ -5,6 +5,7 @@ on:
     branches: [ '*' ]
   pull_request:
     branches: [ master ]
+  workflow_dispatch:
 
 jobs:
   # melodic:

.github/workflows/docs.yml

@@ -5,6 +5,7 @@ on:
     branches: [ '*' ]
   pull_request:
     branches: [ '*' ]
+  workflow_dispatch:
 
 permissions:
   contents: read
@@ -81,5 +82,8 @@ jobs:
     needs: docs
     steps:
       - name: Deploy to GitHub Pages
+        env:
+          FREEZE_DOCS: ${{ secrets.FREEZE_DOCS }}
+        if: ${{ !env.FREEZE_DOCS }}
         id: deployment
         uses: actions/deploy-pages@v1

.github/workflows/editorconfig.yaml

@@ -5,6 +5,7 @@ on:
     branches: [ '*' ]
   pull_request:
     branches: [ master ]
+  workflow_dispatch:
 
 jobs:
   editorconfig:

aruco_pose/cfg/Detector.cfg

@@ -4,7 +4,10 @@ PACKAGE = "aruco_pose"
 from dynamic_reconfigure.parameter_generator_catkin import *
 import cv2.aruco
 
-p = cv2.aruco.DetectorParameters_create()
+try:
+        p = cv2.aruco.DetectorParameters_create()
+except AttributeError:
+        p = cv2.aruco.DetectorParameters()
 
 gen = ParameterGenerator()
 

aruco_pose/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>aruco_pose</name>
-  <version>0.23.0</version>
+  <version>0.24.0</version>
   <description>Positioning with ArUco markers</description>
 
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>

aruco_pose/src/aruco_detect.cpp

@@ -50,6 +50,7 @@
 #include <aruco_pose/DetectorConfig.h>
 #include <aruco_pose/SetMarkers.h>
 
+#include "draw.h"
 #include "utils.h"
 #include <memory>
 #include <functional>
@@ -139,7 +140,7 @@ private:
 		if (!enabled_) return;
 		if (waiting_for_map_) return;
 
-		Mat image = cv_bridge::toCvShare(msg, "bgr8")->image;
+		Mat image = cv_bridge::toCvShare(msg)->image;
 
 		vector<int> ids;
 		vector<vector<cv::Point2f>> corners, rejected;
@@ -264,8 +265,7 @@ private:
 			cv::aruco::drawDetectedMarkers(debug, corners, ids); // draw markers
 			if (estimate_poses_)
 				for (unsigned int i = 0; i < ids.size(); i++)
-					cv::aruco::drawAxis(debug, camera_matrix_, dist_coeffs_,
-					                    rvecs[i], tvecs[i], getMarkerLength(ids[i]));
+					_drawAxis(debug, camera_matrix_, dist_coeffs_, rvecs[i], tvecs[i], getMarkerLength(ids[i]));
 
 			cv_bridge::CvImage out_msg;
 			out_msg.header.frame_id = msg->header.frame_id;

aruco_pose/src/aruco_map.cpp

@@ -83,7 +83,7 @@ private:
 	visualization_msgs::MarkerArray vis_array_;
 	std::string known_vertical_, map_, markers_frame_, markers_parent_frame_;
 	int image_width_, image_height_, image_margin_;
-	bool flip_vertical_, auto_flip_, image_axis_;
+	bool flip_vertical_, auto_flip_, image_axis_, put_markers_count_to_covariance_;
 
 public:
 	virtual void onInit()
@@ -111,6 +111,7 @@ public:
 		image_height_ = nh_priv_.param("image_height", 2000);
 		image_margin_ = nh_priv_.param("image_margin", 200);
 		image_axis_ = nh_priv_.param("image_axis", true);
+		put_markers_count_to_covariance_ = nh_priv_.param("put_markers_count_to_covariance", false);
 		markers_parent_frame_ = nh_priv_.param<std::string>("markers/frame_id", transform_.child_frame_id);
 		markers_frame_ = nh_priv_.param<std::string>("markers/child_frame_id_prefix", "");
 
@@ -178,6 +179,20 @@ public:
 			corners.push_back(marker_corners);
 		}
 
+		if (put_markers_count_to_covariance_) {
+			// HACK: pass markers count using covariance field
+			int valid_markers = 0;
+			for (auto const &marker : markers->markers) {
+				for (auto const &board_marker : board_->ids) {
+					if (board_marker == marker.id) {
+						valid_markers++;
+						break;
+					}
+				}
+			}
+			pose_.pose.covariance[0] = valid_markers;
+		}
+
 		if (known_vertical_.empty()) {
 			// simple estimation
 			valid = cv::aruco::estimatePoseBoard(corners, ids, board_, camera_matrix_, dist_coeffs_,

builder/assets/noetic-rosdep-clover.yaml

@@ -16,3 +16,726 @@ web_video_server:
 ws281x:
   debian:
     buster: [ros-noetic-ws281x]
+catkin:
+  debian:
+    buster: [ros-noetic-catkin]
+genmsg:
+  debian:
+    buster: [ros-noetic-genmsg]
+gencpp:
+  debian:
+    buster: [ros-noetic-gencpp]
+geneus:
+  debian:
+    buster: [ros-noetic-geneus]
+genlisp:
+  debian:
+    buster: [ros-noetic-genlisp]
+gennodejs:
+  debian:
+    buster: [ros-noetic-gennodejs]
+genpy:
+  debian:
+    buster: [ros-noetic-genpy]
+bond_core:
+  debian:
+    buster: [ros-noetic-bond-core]
+cmake_modules:
+  debian:
+    buster: [ros-noetic-cmake-modules]
+class_loader:
+  debian:
+    buster: [ros-noetic-class-loader]
+common_msgs:
+  debian:
+    buster: [ros-noetic-common-msgs]
+common_tutorials:
+  debian:
+    buster: [ros-noetic-common-tutorials]
+cpp_common:
+  debian:
+    buster: [ros-noetic-cpp-common]
+desktop:
+  debian:
+    buster: [ros-noetic-desktop]
+diagnostics:
+  debian:
+    buster: [ros-noetic-diagnostics]
+executive_smach:
+  debian:
+    buster: [ros-noetic-executive-smach]
+geometry:
+  debian:
+    buster: [ros-noetic-geometry]
+geometry_tutorials:
+  debian:
+    buster: [ros-noetic-geometry-tutorials]
+gl_dependency:
+  debian:
+    buster: [ros-noetic-gl-dependency]
+image_common:
+  debian:
+    buster: [ros-noetic-image-common]
+image_pipeline:
+  debian:
+    buster: [ros-noetic-image-pipeline]
+image_transport_plugins:
+  debian:
+    buster: [ros-noetic-image-transport-plugins]
+laser_pipeline:
+  debian:
+    buster: [ros-noetic-laser-pipeline]
+mavlink:
+  debian:
+    buster: [ros-noetic-mavlink]
+media_export:
+  debian:
+    buster: [ros-noetic-media-export]
+message_generation:
+  debian:
+    buster: [ros-noetic-message-generation]
+message_runtime:
+  debian:
+    buster: [ros-noetic-message-runtime]
+mk:
+  debian:
+    buster: [ros-noetic-mk]
+nodelet_core:
+  debian:
+    buster: [ros-noetic-nodelet-core]
+orocos_kdl:
+  debian:
+    buster: [ros-noetic-orocos-kdl]
+perception:
+  debian:
+    buster: [ros-noetic-perception]
+perception_pcl:
+  debian:
+    buster: [ros-noetic-perception-pcl]
+python_orocos_kdl:
+  debian:
+    buster: [ros-noetic-python-orocos-kdl]
+qt_dotgraph:
+  debian:
+    buster: [ros-noetic-qt-dotgraph]
+qt_gui:
+  debian:
+    buster: [ros-noetic-qt-gui]
+qt_gui_py_common:
+  debian:
+    buster: [ros-noetic-qt-gui-py-common]
+qwt_dependency:
+  debian:
+    buster: [ros-noetic-qwt-dependency]
+robot:
+  debian:
+    buster: [ros-noetic-robot]
+ros:
+  debian:
+    buster: [ros-noetic-ros]
+ros_base:
+  debian:
+    buster: [ros-noetic-ros-base]
+ros_comm:
+  debian:
+    buster: [ros-noetic-ros-comm]
+ros_core:
+  debian:
+    buster: [ros-noetic-ros-core]
+ros_environment:
+  debian:
+    buster: [ros-noetic-ros-environment]
+ros_tutorials:
+  debian:
+    buster: [ros-noetic-ros-tutorials]
+rosapi:
+  debian:
+    buster: [ros-noetic-rosapi]
+rosbag_migration_rule:
+  debian:
+    buster: [ros-noetic-rosbag-migration-rule]
+rosbash:
+  debian:
+    buster: [ros-noetic-rosbash]
+rosboost_cfg:
+  debian:
+    buster: [ros-noetic-rosboost-cfg]
+rosbridge_server:
+  debian:
+    buster: [ros-noetic-rosbridge-server]
+rosbridge_suite:
+  debian:
+    buster: [ros-noetic-rosbridge-suite]
+rosbuild:
+  debian:
+    buster: [ros-noetic-rosbuild]
+rosclean:
+  debian:
+    buster: [ros-noetic-rosclean]
+roscpp_core:
+  debian:
+    buster: [ros-noetic-roscpp-core]
+roscpp_traits:
+  debian:
+    buster: [ros-noetic-roscpp-traits]
+roscreate:
+  debian:
+    buster: [ros-noetic-roscreate]
+rosgraph:
+  debian:
+    buster: [ros-noetic-rosgraph]
+roslang:
+  debian:
+    buster: [ros-noetic-roslang]
+roslint:
+  debian:
+    buster: [ros-noetic-roslint]
+roslisp:
+  debian:
+    buster: [ros-noetic-roslisp]
+rosmake:
+  debian:
+    buster: [ros-noetic-rosmake]
+rosmaster:
+  debian:
+    buster: [ros-noetic-rosmaster]
+rospack:
+  debian:
+    buster: [ros-noetic-rospack]
+roslib:
+  debian:
+    buster: [ros-noetic-roslib]
+rosparam:
+  debian:
+    buster: [ros-noetic-rosparam]
+rospy:
+  debian:
+    buster: [ros-noetic-rospy]
+rosserial:
+  debian:
+    buster: [ros-noetic-rosserial]
+rosserial_msgs:
+  debian:
+    buster: [ros-noetic-rosserial-msgs]
+rosserial_python:
+  debian:
+    buster: [ros-noetic-rosserial-python]
+rosservice:
+  debian:
+    buster: [ros-noetic-rosservice]
+rostime:
+  debian:
+    buster: [ros-noetic-rostime]
+roscpp_serialization:
+  debian:
+    buster: [ros-noetic-roscpp-serialization]
+python_qt_binding:
+  debian:
+    buster: [ros-noetic-python-qt-binding]
+roslaunch:
+  debian:
+    buster: [ros-noetic-roslaunch]
+rosunit:
+  debian:
+    buster: [ros-noetic-rosunit]
+angles:
+  debian:
+    buster: [ros-noetic-angles]
+libmavconn:
+  debian:
+    buster: [ros-noetic-libmavconn]
+rosconsole:
+  debian:
+    buster: [ros-noetic-rosconsole]
+pluginlib:
+  debian:
+    buster: [ros-noetic-pluginlib]
+qt_gui_cpp:
+  debian:
+    buster: [ros-noetic-qt-gui-cpp]
+resource_retriever:
+  debian:
+    buster: [ros-noetic-resource-retriever]
+rosconsole_bridge:
+  debian:
+    buster: [ros-noetic-rosconsole-bridge]
+roslz4:
+  debian:
+    buster: [ros-noetic-roslz4]
+rosserial_client:
+  debian:
+    buster: [ros-noetic-rosserial-client]
+rostest:
+  debian:
+    buster: [ros-noetic-rostest]
+rqt_action:
+  debian:
+    buster: [ros-noetic-rqt-action]
+rqt_bag:
+  debian:
+    buster: [ros-noetic-rqt-bag]
+rqt_bag_plugins:
+  debian:
+    buster: [ros-noetic-rqt-bag-plugins]
+rqt_common_plugins:
+  debian:
+    buster: [ros-noetic-rqt-common-plugins]
+rqt_console:
+  debian:
+    buster: [ros-noetic-rqt-console]
+rqt_dep:
+  debian:
+    buster: [ros-noetic-rqt-dep]
+rqt_graph:
+  debian:
+    buster: [ros-noetic-rqt-graph]
+rqt_gui:
+  debian:
+    buster: [ros-noetic-rqt-gui]
+rqt_logger_level:
+  debian:
+    buster: [ros-noetic-rqt-logger-level]
+rqt_moveit:
+  debian:
+    buster: [ros-noetic-rqt-moveit]
+rqt_msg:
+  debian:
+    buster: [ros-noetic-rqt-msg]
+rqt_nav_view:
+  debian:
+    buster: [ros-noetic-rqt-nav-view]
+rqt_plot:
+  debian:
+    buster: [ros-noetic-rqt-plot]
+rqt_pose_view:
+  debian:
+    buster: [ros-noetic-rqt-pose-view]
+rqt_publisher:
+  debian:
+    buster: [ros-noetic-rqt-publisher]
+rqt_py_console:
+  debian:
+    buster: [ros-noetic-rqt-py-console]
+rqt_reconfigure:
+  debian:
+    buster: [ros-noetic-rqt-reconfigure]
+rqt_robot_dashboard:
+  debian:
+    buster: [ros-noetic-rqt-robot-dashboard]
+rqt_robot_monitor:
+  debian:
+    buster: [ros-noetic-rqt-robot-monitor]
+rqt_robot_plugins:
+  debian:
+    buster: [ros-noetic-rqt-robot-plugins]
+rqt_robot_steering:
+  debian:
+    buster: [ros-noetic-rqt-robot-steering]
+rqt_runtime_monitor:
+  debian:
+    buster: [ros-noetic-rqt-runtime-monitor]
+rqt_service_caller:
+  debian:
+    buster: [ros-noetic-rqt-service-caller]
+rqt_shell:
+  debian:
+    buster: [ros-noetic-rqt-shell]
+rqt_srv:
+  debian:
+    buster: [ros-noetic-rqt-srv]
+rqt_tf_tree:
+  debian:
+    buster: [ros-noetic-rqt-tf-tree]
+rqt_top:
+  debian:
+    buster: [ros-noetic-rqt-top]
+rqt_topic:
+  debian:
+    buster: [ros-noetic-rqt-topic]
+rqt_web:
+  debian:
+    buster: [ros-noetic-rqt-web]
+smach:
+  debian:
+    buster: [ros-noetic-smach]
+smclib:
+  debian:
+    buster: [ros-noetic-smclib]
+std_msgs:
+  debian:
+    buster: [ros-noetic-std-msgs]
+actionlib_msgs:
+  debian:
+    buster: [ros-noetic-actionlib-msgs]
+bond:
+  debian:
+    buster: [ros-noetic-bond]
+diagnostic_msgs:
+  debian:
+    buster: [ros-noetic-diagnostic-msgs]
+geometry_msgs:
+  debian:
+    buster: [ros-noetic-geometry-msgs]
+eigen_conversions:
+  debian:
+    buster: [ros-noetic-eigen-conversions]
+kdl_conversions:
+  debian:
+    buster: [ros-noetic-kdl-conversions]
+nav_msgs:
+  debian:
+    buster: [ros-noetic-nav-msgs]
+rosbridge_msgs:
+  debian:
+    buster: [ros-noetic-rosbridge-msgs]
+rosgraph_msgs:
+  debian:
+    buster: [ros-noetic-rosgraph-msgs]
+rosmsg:
+  debian:
+    buster: [ros-noetic-rosmsg]
+rqt_py_common:
+  debian:
+    buster: [ros-noetic-rqt-py-common]
+shape_msgs:
+  debian:
+    buster: [ros-noetic-shape-msgs]
+smach_msgs:
+  debian:
+    buster: [ros-noetic-smach-msgs]
+std_srvs:
+  debian:
+    buster: [ros-noetic-std-srvs]
+tf2_msgs:
+  debian:
+    buster: [ros-noetic-tf2-msgs]
+tf2:
+  debian:
+    buster: [ros-noetic-tf2]
+tf2_eigen:
+  debian:
+    buster: [ros-noetic-tf2-eigen]
+trajectory_msgs:
+  debian:
+    buster: [ros-noetic-trajectory-msgs]
+control_msgs:
+  debian:
+    buster: [ros-noetic-control-msgs]
+urdf_parser_plugin:
+  debian:
+    buster: [ros-noetic-urdf-parser-plugin]
+urdfdom_py:
+  debian:
+    buster: [ros-noetic-urdfdom-py]
+uuid_msgs:
+  debian:
+    buster: [ros-noetic-uuid-msgs]
+geographic_msgs:
+  debian:
+    buster: [ros-noetic-geographic-msgs]
+vision_opencv:
+  debian:
+    buster: [ros-noetic-vision-opencv]
+visualization_msgs:
+  debian:
+    buster: [ros-noetic-visualization-msgs]
+visualization_tutorials:
+  debian:
+    buster: [ros-noetic-visualization-tutorials]
+viz:
+  debian:
+    buster: [ros-noetic-viz]
+webkit_dependency:
+  debian:
+    buster: [ros-noetic-webkit-dependency]
+xmlrpcpp:
+  debian:
+    buster: [ros-noetic-xmlrpcpp]
+roscpp:
+  debian:
+    buster: [ros-noetic-roscpp]
+bondcpp:
+  debian:
+    buster: [ros-noetic-bondcpp]
+bondpy:
+  debian:
+    buster: [ros-noetic-bondpy]
+nodelet:
+  debian:
+    buster: [ros-noetic-nodelet]
+nodelet_tutorial_math:
+  debian:
+    buster: [ros-noetic-nodelet-tutorial-math]
+pluginlib_tutorials:
+  debian:
+    buster: [ros-noetic-pluginlib-tutorials]
+roscpp_tutorials:
+  debian:
+    buster: [ros-noetic-roscpp-tutorials]
+rosout:
+  debian:
+    buster: [ros-noetic-rosout]
+camera_calibration:
+  debian:
+    buster: [ros-noetic-camera-calibration]
+diagnostic_aggregator:
+  debian:
+    buster: [ros-noetic-diagnostic-aggregator]
+diagnostic_updater:
+  debian:
+    buster: [ros-noetic-diagnostic-updater]
+diagnostic_common_diagnostics:
+  debian:
+    buster: [ros-noetic-diagnostic-common-diagnostics]
+dynamic_reconfigure:
+  debian:
+    buster: [ros-noetic-dynamic-reconfigure]
+filters:
+  debian:
+    buster: [ros-noetic-filters]
+joint_state_publisher:
+  debian:
+    buster: [ros-noetic-joint-state-publisher]
+message_filters:
+  debian:
+    buster: [ros-noetic-message-filters]
+rosauth:
+  debian:
+    buster: [ros-noetic-rosauth]
+rosbag_storage:
+  debian:
+    buster: [ros-noetic-rosbag-storage]
+rosnode:
+  debian:
+    buster: [ros-noetic-rosnode]
+rospy_tutorials:
+  debian:
+    buster: [ros-noetic-rospy-tutorials]
+rosshow:
+  debian:
+    buster: [ros-noetic-rosshow]
+rostopic:
+  debian:
+    buster: [ros-noetic-rostopic]
+rqt_gui_cpp:
+  debian:
+    buster: [ros-noetic-rqt-gui-cpp]
+rqt_gui_py:
+  debian:
+    buster: [ros-noetic-rqt-gui-py]
+self_test:
+  debian:
+    buster: [ros-noetic-self-test]
+smach_ros:
+  debian:
+    buster: [ros-noetic-smach-ros]
+tf2_py:
+  debian:
+    buster: [ros-noetic-tf2-py]
+topic_tools:
+  debian:
+    buster: [ros-noetic-topic-tools]
+rosbag:
+  debian:
+    buster: [ros-noetic-rosbag]
+actionlib:
+  debian:
+    buster: [ros-noetic-actionlib]
+actionlib_tutorials:
+  debian:
+    buster: [ros-noetic-actionlib-tutorials]
+diagnostic_analysis:
+  debian:
+    buster: [ros-noetic-diagnostic-analysis]
+nodelet_topic_tools:
+  debian:
+    buster: [ros-noetic-nodelet-topic-tools]
+roswtf:
+  debian:
+    buster: [ros-noetic-roswtf]
+rqt_launch:
+  debian:
+    buster: [ros-noetic-rqt-launch]
+sensor_msgs:
+  debian:
+    buster: [ros-noetic-sensor-msgs]
+camera_calibration_parsers:
+  debian:
+    buster: [ros-noetic-camera-calibration-parsers]
+cv_bridge:
+  debian:
+    buster: [ros-noetic-cv-bridge]
+image_geometry:
+  debian:
+    buster: [ros-noetic-image-geometry]
+image_transport:
+  debian:
+    buster: [ros-noetic-image-transport]
+camera_info_manager:
+  debian:
+    buster: [ros-noetic-camera-info-manager]
+compressed_depth_image_transport:
+  debian:
+    buster: [ros-noetic-compressed-depth-image-transport]
+compressed_image_transport:
+  debian:
+    buster: [ros-noetic-compressed-image-transport]
+cv_camera:
+  debian:
+    buster: [ros-noetic-cv-camera]
+image_proc:
+  debian:
+    buster: [ros-noetic-image-proc]
+image_publisher:
+  debian:
+    buster: [ros-noetic-image-publisher]
+map_msgs:
+  debian:
+    buster: [ros-noetic-map-msgs]
+mavros_msgs:
+  debian:
+    buster: [ros-noetic-mavros-msgs]
+pcl_msgs:
+  debian:
+    buster: [ros-noetic-pcl-msgs]
+pcl_conversions:
+  debian:
+    buster: [ros-noetic-pcl-conversions]
+polled_camera:
+  debian:
+    buster: [ros-noetic-polled-camera]
+rqt_image_view:
+  debian:
+    buster: [ros-noetic-rqt-image-view]
+stereo_msgs:
+  debian:
+    buster: [ros-noetic-stereo-msgs]
+image_view:
+  debian:
+    buster: [ros-noetic-image-view]
+rosbridge_library:
+  debian:
+    buster: [ros-noetic-rosbridge-library]
+stereo_image_proc:
+  debian:
+    buster: [ros-noetic-stereo-image-proc]
+tf2_ros:
+  debian:
+    buster: [ros-noetic-tf2-ros]
+depth_image_proc:
+  debian:
+    buster: [ros-noetic-depth-image-proc]
+mavros:
+  debian:
+    buster: [ros-noetic-mavros]
+tf:
+  debian:
+    buster: [ros-noetic-tf]
+interactive_markers:
+  debian:
+    buster: [ros-noetic-interactive-markers]
+interactive_marker_tutorials:
+  debian:
+    buster: [ros-noetic-interactive-marker-tutorials]
+laser_geometry:
+  debian:
+    buster: [ros-noetic-laser-geometry]
+laser_assembler:
+  debian:
+    buster: [ros-noetic-laser-assembler]
+laser_filters:
+  debian:
+    buster: [ros-noetic-laser-filters]
+pcl_ros:
+  debian:
+    buster: [ros-noetic-pcl-ros]
+tf2_geometry_msgs:
+  debian:
+    buster: [ros-noetic-tf2-geometry-msgs]
+image_rotate:
+  debian:
+    buster: [ros-noetic-image-rotate]
+tf2_kdl:
+  debian:
+    buster: [ros-noetic-tf2-kdl]
+tf2_web_republisher:
+  debian:
+    buster: [ros-noetic-tf2-web-republisher]
+tf_conversions:
+  debian:
+    buster: [ros-noetic-tf-conversions]
+theora_image_transport:
+  debian:
+    buster: [ros-noetic-theora-image-transport]
+turtlesim:
+  debian:
+    buster: [ros-noetic-turtlesim]
+turtle_actionlib:
+  debian:
+    buster: [ros-noetic-turtle-actionlib]
+turtle_tf:
+  debian:
+    buster: [ros-noetic-turtle-tf]
+turtle_tf2:
+  debian:
+    buster: [ros-noetic-turtle-tf2]
+urdf:
+  debian:
+    buster: [ros-noetic-urdf]
+kdl_parser:
+  debian:
+    buster: [ros-noetic-kdl-parser]
+kdl_parser_py:
+  debian:
+    buster: [ros-noetic-kdl-parser-py]
+mavros_extras:
+  debian:
+    buster: [ros-noetic-mavros-extras]
+robot_state_publisher:
+  debian:
+    buster: [ros-noetic-robot-state-publisher]
+rviz:
+  debian:
+    buster: [ros-noetic-rviz]
+librviz_tutorial:
+  debian:
+    buster: [ros-noetic-librviz-tutorial]
+rqt_rviz:
+  debian:
+    buster: [ros-noetic-rqt-rviz]
+rviz_plugin_tutorials:
+  debian:
+    buster: [ros-noetic-rviz-plugin-tutorials]
+rviz_python_tutorial:
+  debian:
+    buster: [ros-noetic-rviz-python-tutorial]
+urdf_tutorial:
+  debian:
+    buster: [ros-noetic-urdf-tutorial]
+usb_cam:
+  debian:
+    buster: [ros-noetic-usb-cam]
+visualization_marker_tutorials:
+  debian:
+    buster: [ros-noetic-visualization-marker-tutorials]
+vl53l1x:
+  debian:
+    buster: [ros-noetic-vl53l1x]
+xacro:
+  debian:
+    buster: [ros-noetic-xacro]
+ddynamic_reconfigure:
+  debian:
+    buster: [ros-noetic-ddynamic-reconfigure]
+librealsense2:
+  debian:
+    buster: [ros-noetic-librealsense2]
+realsense2_camera:
+  debian:
+    buster: [ros-noetic-realsense2-camera]
+realsense2_description:
+  debian:
+    buster: [ros-noetic-realsense2-description]
+geographiclib:
+  debian:
+    buster: [libgeographic-dev]

builder/image-init.sh

@@ -58,4 +58,7 @@ sed -i 's/#SystemMaxUse=/SystemMaxUse=200M/' /etc/systemd/journald.conf
 echo_stamp "Move /etc/ld.so.preload out of the way"
 mv /etc/ld.so.preload /etc/ld.so.preload.disabled-for-build
 
+echo_stamp "Setup apt so it store all the downloaded packages"
+echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' > /etc/apt/apt.conf.d/02keep-debs
+
 echo_stamp "End of init image"

builder/image-ros.sh

@@ -49,7 +49,7 @@ echo_stamp() {
 my_travis_retry() {
   local result=0
   local count=1
-  local max_count=50
+  local max_count=5
   while [ $count -le $max_count ]; do
     [ $result -ne 0 ] && {
       echo -e "\nThe command \"$@\" failed. Retrying, $count of $max_count.\n" >&2
@@ -72,7 +72,7 @@ my_travis_retry() {
 echo_stamp "Init rosdep"
 my_travis_retry rosdep init
 # FIXME: Re-add this after missing packages are built
-echo "yaml file:///etc/ros/rosdep/${ROS_DISTRO}-rosdep-clover.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list
+echo "yaml file:///etc/ros/rosdep/${ROS_DISTRO}-rosdep-clover.yaml" >> /etc/ros/rosdep/sources.list.d/10-clover.list
 my_travis_retry rosdep update
 
 echo_stamp "Populate rosdep for ROS user"
@@ -125,11 +125,12 @@ cd /home/pi/catkin_ws/src/clover
 builder/assets/install_gitbook.sh
 gitbook install
 gitbook build
+# replace assets copy to assets symlink to save space
+rm -rf _book/assets && ln -s ../docs/assets _book/assets
 touch node_modules/CATKIN_IGNORE docs/CATKIN_IGNORE _book/CATKIN_IGNORE clover/www/CATKIN_IGNORE apps/CATKIN_IGNORE # ignore documentation files by catkin
 
 echo_stamp "Installing additional ROS packages"
 my_travis_retry apt-get install -y --no-install-recommends \
-    ros-${ROS_DISTRO}-dynamic-reconfigure \
     ros-${ROS_DISTRO}-rosbridge-suite \
     ros-${ROS_DISTRO}-rosserial \
     ros-${ROS_DISTRO}-usb-cam \
@@ -137,7 +138,9 @@ my_travis_retry apt-get install -y --no-install-recommends \
     ros-${ROS_DISTRO}-ws281x \
     ros-${ROS_DISTRO}-rosshow \
     ros-${ROS_DISTRO}-cmake-modules \
-    ros-${ROS_DISTRO}-image-view
+    ros-${ROS_DISTRO}-image-view \
+    ros-${ROS_DISTRO}-nodelet-topic-tools \
+    ros-${ROS_DISTRO}-stereo-msgs
 
 # TODO move GeographicLib datasets to Mavros debian package
 echo_stamp "Install GeographicLib datasets (needed for mavros)" \
@@ -181,7 +184,7 @@ EOF
 # Restore original sources.list
 #mv /var/sources.list.bak /etc/apt/sources.list
 # Clean apt cache
-apt-get clean -qq > /dev/null
+# apt-get clean -qq > /dev/null
 # Remove local mirror repository key
 #apt-key del COEX-MIRROR
 

builder/image-validate.sh

@@ -37,3 +37,7 @@ apt-cache show openvpn
 
 echo "Move /etc/ld.so.preload back to its original position"
 mv /etc/ld.so.preload.disabled-for-build /etc/ld.so.preload
+
+echo "Largest packages installed"
+sudo -E sh -c 'apt-get install -y debian-goodies'
+dpigs -H -n 100

builder/test/tests.py

@@ -33,9 +33,12 @@ import tf2_geometry_msgs
 import VL53L1X
 import pymavlink
 from pymavlink import mavutil
+from image_geometry import PinholeCameraModel, StereoCameraModel
 # from espeak import espeak
 from pyzbar import pyzbar
 import docopt
+import geopy
+import flask
 
 print(cv2.getBuildInformation())
 

check_assets_size.py

@@ -18,7 +18,7 @@ EXCLUDE = 'rviz.png', 'ssid.png', 'sitl_docker_demo.png', 'qgc-params.png', 'but
     'qgc-battery.png', 'qgc-radio.png', 'qgc-cal-acc.png', 'qgc-esc.png', 'qgc-cal-compass.png', \
     'qgc.png', 'qgc-parameters.png', 'clever4-front-white-large.png', 'qgc-modes.png', \
     'qgc-requires-setup.png', 'clever4-front-white.png', 'clever4-kit-white.png', '26_1.png', 'battery_holder.stl', \
-    'camera_case.stl', 'camera_mount.stl'
+    'camera_case.stl', 'camera_mount.stl', 'grip_right.stl', 'grip_left.stl'
 
 code = 0
 

clover/CMakeLists.txt

@@ -30,6 +30,8 @@ find_package(catkin REQUIRED COMPONENTS
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
 
+# https://github.com/mavlink/mavros/blob/7f1a8/mavros/CMakeLists.txt#L42
+set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH};/usr/share/cmake/geographiclib")
 find_package(GeographicLib REQUIRED)
 
 # Workaround for OpenCV 3/4 support

clover/cmake/FindGeographicLib.cmake

@@ -1,18 +0,0 @@
-# taken from: https://github.com/mavlink/mavros/blob/master/libmavconn/cmake/Modules/FindGeographicLib.cmake
-
-# Look for GeographicLib
-#
-# Set
-#  GEOGRAPHICLIB_FOUND = TRUE
-#  GeographicLib_INCLUDE_DIRS = /usr/local/include
-#  GeographicLib_LIBRARIES = /usr/local/lib/libGeographic.so
-#  GeographicLib_LIBRARY_DIRS = /usr/local/lib
-
-find_path (GeographicLib_INCLUDE_DIRS NAMES GeographicLib/Config.h)
-
-find_library (GeographicLib_LIBRARIES NAMES Geographic)
-
-include (FindPackageHandleStandardArgs)
-find_package_handle_standard_args (GeographicLib DEFAULT_MSG
-  GeographicLib_LIBRARIES GeographicLib_INCLUDE_DIRS)
-mark_as_advanced (GeographicLib_LIBRARIES GeographicLib_INCLUDE_DIRS)

clover/examples/red_circle.py

@@ -17,6 +17,7 @@ from cv_bridge import CvBridge
 from clover import long_callback, srv
 import tf2_ros
 import tf2_geometry_msgs
+import image_geometry
 
 rospy.init_node('cv', disable_signals=True) # disable signals to allow interrupting with ctrl+c
 
@@ -32,21 +33,14 @@ mask_pub = rospy.Publisher('~mask', Image, queue_size=1)
 point_pub = rospy.Publisher('~red_circle', PointStamped, queue_size=1)
 
 # read camera info
-camera_info = rospy.wait_for_message('main_camera/camera_info', CameraInfo)
-camera_matrix = np.float64(camera_info.K).reshape(3, 3)
-distortion = np.float64(camera_info.D).flatten()
+camera_model = image_geometry.PinholeCameraModel()
+camera_model.fromCameraInfo(rospy.wait_for_message('main_camera/camera_info', CameraInfo))
 
 
 def img_xy_to_point(xy, dist):
-    xy = cv2.undistortPoints(xy, camera_matrix, distortion, P=camera_matrix)[0][0]
-
-    # Shift points to center
-    xy -= camera_info.width // 2, camera_info.height // 2
-
-    fx = camera_matrix[0, 0]
-    fy = camera_matrix[1, 1]
-
-    return Point(x=xy[0] * dist / fx, y=xy[1] * dist / fy, z=dist)
+    xy_rect = camera_model.rectifyPoint(xy)
+    ray = camera_model.projectPixelTo3dRay(xy_rect)
+    return Point(x=ray[0] * dist, y=ray[1] * dist, z=dist)
 
 def get_center_of_mass(mask):
     M = cv2.moments(mask)

clover/launch/aruco.launch

@@ -16,6 +16,7 @@
         <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/map"/>
+        <param name="dictionary" value="2"/> <!-- DICT_4X4_250 -->
         <param name="estimate_poses" value="true"/>
         <param name="send_tf" value="true"/>
         <param name="use_map_markers" value="true"/>

clover/launch/clover.launch

@@ -51,6 +51,7 @@
     <!-- simplified offboard control -->
     <node name="simple_offboard" pkg="clover" type="simple_offboard" output="screen" clear_params="true">
         <param name="reference_frames/main_camera_optical" value="map"/>
+        <param name="terrain_frame_mode" value="range"/>
     </node>
 
     <!-- main camera -->
@@ -71,6 +72,9 @@
         <param name="pass_statuses" type="yaml" value="[0, 6, 7, 11]"/>
     </node>
 
+    <!-- rangefinder's frame -->
+    <node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 base_link rangefinder" if="$(arg rangefinder_vl53l1x)"/>
+
     <!-- led strip -->
     <include file="$(find clover)/launch/led.launch" if="$(arg led)">
         <arg name="simulator" value="$(arg simulator)"/>

clover/launch/led.launch

@@ -21,7 +21,8 @@
     </node>
 
     <!-- high level led effects control, events notification with leds -->
-    <node pkg="clover" name="led_effect" type="led" ns="led" clear_params="true" output="screen" if="$(arg led_effect)">
+    <node pkg="clover" name="led_effect" type="led" clear_params="true" output="screen" if="$(arg led_effect)">
+        <param name="led" value="led"/>
         <param name="blink_rate" value="2"/>
         <param name="fade_period" value="0.5"/>
         <param name="rainbow_period" value="5"/>

clover/launch/main_camera.launch

@@ -6,6 +6,7 @@
     <arg name="device" default="/dev/video0"/> <!-- v4l2 device -->
     <arg name="throttled_topic" default="true"/> <!-- enable throttled image topic -->
     <arg name="throttled_topic_rate" default="5.0"/> <!-- throttled image topic rate -->
+    <arg name="rectify" default="false"/> <!-- enable rectification -->
     <arg name="simulator" default="false"/>
 
     <node if="$(eval direction_z == 'down' and direction_y == 'backward')" 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"/>
@@ -49,4 +50,11 @@
     <!-- image topic throttled -->
     <node pkg="topic_tools" name="main_camera_throttle" type="throttle" ns="main_camera"
         args="messages image_raw $(arg throttled_topic_rate) image_raw_throttled" if="$(arg throttled_topic)"/>
+
+    <!-- rectified image topic -->
+    <node pkg="nodelet" type="nodelet" name="rectify" args="load image_proc/rectify main_camera_nodelet_manager" if="$(arg rectify)">
+        <remap from="image_mono" to="main_camera/image_raw"/>
+        <remap from="camera_info" to="main_camera/camera_info"/>
+        <remap from="image_rect" to="main_camera/image_rect"/>
+    </node>
 </launch>

clover/launch/mavros.launch

@@ -77,9 +77,6 @@
         covariance: 1  # cm
     </rosparam>
 
-    <!-- Rangefinders frame -->
-    <node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 base_link rangefinder"/>
-
     <!-- Copter visualization -->
     <node name="visualization" pkg="mavros_extras" type="visualization" if="$(arg viz)">
         <remap to="mavros/local_position/pose" from="local_position"/>

clover/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>clover</name>
-  <version>0.23.0</version>
+  <version>0.24.0</version>
   <description>The Clover package</description>
 
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
@@ -42,6 +42,8 @@
   <depend condition="$ROS_PYTHON_VERSION == 2">python-lxml</depend>
   <depend condition="$ROS_PYTHON_VERSION == 3">python3-lxml</depend>
   <depend>dynamic_reconfigure</depend>
+  <depend>image_proc</depend>
+  <depend>image_geometry</depend>
   <exec_depend>python-pymavlink</exec_depend>
   <test_depend>ros_pytest</test_depend>
 

clover/requirements.txt

@@ -1,4 +1,4 @@
-flask==1.1.1
-geopy==1.11.0
-smbus2==0.3.0
-VL53L1X==0.0.5
+flask
+geopy
+smbus2
+VL53L1X

clover/src/led.cpp

@@ -309,15 +309,19 @@ int main(int argc, char **argv)
 	nh_priv.param("notify/low_battery/threshold", low_battery_threshold, 3.7);
 	nh_priv.param("notify/error/ignore", error_ignore, {});
 
-	ros::service::waitForService("set_leds"); // cannot work without set_leds service
-	set_leds_srv = nh.serviceClient<led_msgs::SetLEDs>("set_leds", true);
+	std::string led; // led namespace
+	nh_priv.param("led", led, std::string("led"));
+	if (!led.empty()) led += "/";
+
+	ros::service::waitForService(led + "set_leds"); // cannot work without set_leds service
+	set_leds_srv = nh.serviceClient<led_msgs::SetLEDs>(led + "set_leds", true);
 
 	// wait for leds count info
-	handleState(*ros::topic::waitForMessage<led_msgs::LEDStateArray>("state", nh));
+	handleState(*ros::topic::waitForMessage<led_msgs::LEDStateArray>(led + "state", nh));
 
-	auto state_sub = nh.subscribe("state", 1, &handleState);
+	auto state_sub = nh.subscribe(led + "state", 1, &handleState);
 
-	auto set_effect = nh.advertiseService("set_effect", &setEffect);
+	auto set_effect = nh.advertiseService(led + "set_effect", &setEffect);
 
 	auto mavros_state_sub = nh.subscribe("mavros/state", 1, &handleMavrosState);
 	auto battery_sub = nh.subscribe("mavros/battery", 1, &handleBattery);

clover/src/selfcheck.py

@@ -107,7 +107,7 @@ def ff(value, precision=2):
 param_get = rospy.ServiceProxy('mavros/param/get', ParamGet)
 
 
-def get_param(name, default=None):
+def get_param(name, default=None, strict=True):
     try:
         res = param_get(param_id=name)
     except rospy.ServiceException as e:
@@ -115,7 +115,8 @@ def get_param(name, default=None):
         return None
 
     if not res.success:
-        failure('unable to retrieve PX4 parameter %s', name)
+        if strict:
+            failure('unable to retrieve PX4 parameter %s', name)
         return default
     else:
         if res.value.integer != 0:
@@ -263,7 +264,7 @@ def check_fcu():
         est = get_param('SYS_MC_EST_GROUP')
         if est == 1:
             info('selected estimator: LPE')
-            fuse = get_param('LPE_FUSION')
+            fuse = int(get_param('LPE_FUSION'))
             if fuse & (1 << 4):
                 info('LPE_FUSION: land detector fusion is enabled')
             else:
@@ -316,7 +317,13 @@ def check_fcu():
             failure('cannot read time sync offset')
 
     except rospy.ROSException:
-        failure('no MAVROS state (check wiring)')
+        failure('no MAVROS state')
+        fcu_url = rospy.get_param('mavros/fcu_url', '?')
+        if fcu_url == '/dev/px4fmu':
+            if not os.path.exists('/lib/udev/rules.d/99-px4fmu.rules'):
+                info('udev rules are not installed, install udev rules or change usb_device to /dev/ttyACM0 in mavros.launch')
+            else:
+                info('udev did\'t recognize px4fmu device, check wiring or change usb_device to /dev/ttyACM0 in mavros.launch')
         info('fcu_url = %s', rospy.get_param('mavros/fcu_url', '?'))
 
 
@@ -487,7 +494,7 @@ def check_vpe():
             failure('vision yaw weight is zero, change ATT_W_EXT_HDG parameter')
         else:
             info('vision yaw weight: %s', ff(vision_yaw_w))
-        fuse = get_param('LPE_FUSION')
+        fuse = int(get_param('LPE_FUSION'))
         if not fuse & (1 << 2):
             failure('vision position fusion is disabled, change LPE_FUSION parameter')
         delay = get_param('LPE_VIS_DELAY')
@@ -495,11 +502,22 @@ def check_vpe():
             failure('LPE_VIS_DELAY = %s, but it should be zero', delay)
         info('LPE_VIS_XY = %s m, LPE_VIS_Z = %s m', get_paramf('LPE_VIS_XY'), get_paramf('LPE_VIS_Z'))
     elif est == 2:
-        fuse = get_param('EKF2_AID_MASK')
-        if not fuse & (1 << 3):
-            failure('vision position fusion is disabled, change EKF2_AID_MASK parameter')
-        if not fuse & (1 << 4):
-            failure('vision yaw fusion is disabled, change EKF2_AID_MASK parameter')
+        ev_ctrl = get_param('EKF2_EV_CTRL', strict=False)
+        if ev_ctrl is not None: # PX4 after v1.14
+            ev_ctrl = int(ev_ctrl)
+            if not ev_ctrl & (1 << 0):
+                failure('vision horizontal position fusion is disabled, change EKF2_EV_CTRL parameter')
+            if not ev_ctrl & (1 << 1):
+                failure('vision vertical position fusion is disabled, change EKF2_EV_CTRL parameter')
+            if not ev_ctrl & (1 << 3):
+                failure('vision yaw fusion is disabled, change EKF2_EV_CTRL parameter')
+        else: # PX4 before v1.14
+            fuse = int(get_param('EKF2_AID_MASK'))
+            if not fuse & (1 << 3):
+                failure('vision position fusion is disabled, change EKF2_AID_MASK parameter')
+            if not fuse & (1 << 4):
+                failure('vision yaw fusion is disabled, change EKF2_AID_MASK parameter')
+
         delay = get_param('EKF2_EV_DELAY')
         if delay != 0:
             failure('EKF2_EV_DELAY = %.2f, but it should be zero', delay)
@@ -606,8 +624,14 @@ def check_global_position():
         rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=0.8)
     except rospy.ROSException:
         info('no global position')
-        if get_param('SYS_MC_EST_GROUP') == 2 and (get_param('EKF2_AID_MASK', 0) & (1 << 0)):
-            failure('enabled GPS fusion may suppress vision position aiding')
+        if get_param('SYS_MC_EST_GROUP') == 2:
+            gps_ctrl = get_param('EKF2_GPS_CTRL', strict=False)
+            if gps_ctrl is not None: # PX4 after v1.14
+                if int(gps_ctrl) & (1 << 0):
+                    failure('GPS fusion enabled may suppress vision position aiding, change EKF2_GPS_CTRL')
+            else: # PX4 before v1.14
+                if int(get_param('EKF2_AID_MASK', 0)) & (1 << 0):
+                    failure('GPS fusion enabled may suppress vision position aiding, change EKF2_AID_MASK')
 
 
 @check('Optical flow')
@@ -626,7 +650,7 @@ def check_optical_flow():
             failure('SENS_FLOW_ROT = %s, but it should be zero', rot)
         est = get_param('SYS_MC_EST_GROUP')
         if est == 1:
-            fuse = get_param('LPE_FUSION')
+            fuse = int(get_param('LPE_FUSION'))
             if not fuse & (1 << 1):
                 failure('optical flow fusion is disabled, change LPE_FUSION parameter')
             if not fuse & (1 << 1):
@@ -640,9 +664,14 @@ def check_optical_flow():
                           get_paramf('LPE_FLW_R', 4),
                           get_paramf('LPE_FLW_RR', 4))
         elif est == 2:
-            fuse = get_param('EKF2_AID_MASK', 0)
-            if not fuse & (1 << 1):
-                failure('optical flow fusion is disabled, change EKF2_AID_MASK parameter')
+            of_ctrl = get_param('EKF2_OF_CTRL', strict=False)
+            if of_ctrl is not None: # PX4 after v1.14
+                if of_ctrl == 0:
+                    failure('optical flow fusion is disabled, change EKF2_OF_CTRL')
+            else: # PX4 before v1.14
+                fuse = int(get_param('EKF2_AID_MASK', 0))
+                if not fuse & (1 << 1):
+                    failure('optical flow fusion is disabled, change EKF2_AID_MASK parameter')
             delay = get_param('EKF2_OF_DELAY', 0)
             if delay != 0:
                 failure('EKF2_OF_DELAY = %.2f, but it should be zero', delay)
@@ -684,23 +713,26 @@ def check_rangefinder():
 
     est = get_param('SYS_MC_EST_GROUP')
     if est == 1:
-        fuse = get_param('LPE_FUSION', 0)
+        fuse = int(get_param('LPE_FUSION', 0))
         if not fuse & (1 << 5):
             info('"pub agl as lpos down" in LPE_FUSION is disabled, NOT operating over flat surface')
         else:
             info('"pub agl as lpos down" in LPE_FUSION is enabled, operating over flat surface')
 
     elif est == 2:
-        hgt = get_param('EKF2_HGT_MODE')
+        hgt = get_param('EKF2_HGT_REF', strict=False)
+        if hgt is None: # PX4 before v1.14
+            hgt = get_param('EKF2_HGT_MODE')
         if hgt != 2:
             info('EKF2_HGT_MODE != Range sensor, NOT operating over flat surface')
         else:
             info('EKF2_HGT_MODE = Range sensor, operating over flat surface')
-        aid = get_param('EKF2_RNG_AID')
-        if aid != 1:
-            info('EKF2_RNG_AID != 1, range sensor aiding disabled')
-        else:
-            info('EKF2_RNG_AID = 1, range sensor aiding enabled')
+        aid = get_param('EKF2_RNG_AID', strict=False)
+        if aid is not None: # PX4 before v1.14
+            if aid != 1:
+                info('EKF2_RNG_AID != 1, range sensor aiding disabled')
+            else:
+                info('EKF2_RNG_AID = 1, range sensor aiding enabled')
 
 
 @check('Boot duration')

clover/src/simple_offboard.cpp

@@ -30,6 +30,7 @@
 #include <geometry_msgs/QuaternionStamped.h>
 #include <sensor_msgs/NavSatFix.h>
 #include <sensor_msgs/BatteryState.h>
+#include <sensor_msgs/Range.h>
 #include <mavros_msgs/CommandBool.h>
 #include <mavros_msgs/SetMode.h>
 #include <mavros_msgs/PositionTarget.h>
@@ -86,6 +87,7 @@ float default_speed;
 bool auto_release;
 bool land_only_in_offboard, nav_from_sp, check_kill_switch;
 std::map<string, string> reference_frames;
+string terrain_frame_mode;
 
 // Publishers
 ros::Publisher attitude_pub, attitude_raw_pub, position_pub, position_raw_pub, rates_pub, thrust_pub, state_pub;
@@ -205,18 +207,27 @@ inline bool waitTransform(const string& target, const string& source,
 	return false;
 }
 
+void publishTerrain(const double distance, const ros::Time& stamp)
+{
+	if (!waitTransform(local_frame, body.child_frame_id, stamp, ros::Duration(0.1))) return;
+
+	auto t = tf_buffer.lookupTransform(local_frame, body.child_frame_id, stamp);
+	t.child_frame_id = terrain.child_frame_id;
+	t.transform.translation.z -= distance;
+	static_transform_broadcaster->sendTransform(t);
+}
+
 void handleAltitude(const Altitude& alt)
 {
-	// publish terrain frame
 	if (!std::isfinite(alt.bottom_clearance)) return;
-	// terrain.header.stamp = alt.header.stamp;
+	publishTerrain(alt.bottom_clearance, alt.header.stamp);
+}
 
-	if (!waitTransform(local_frame, body.child_frame_id, alt.header.stamp, ros::Duration(0.1))) return;
-
-	auto t = tf_buffer.lookupTransform(local_frame, body.child_frame_id, alt.header.stamp);
-	t.child_frame_id = terrain.child_frame_id;
-	t.transform.translation.z -= alt.bottom_clearance;
-	static_transform_broadcaster->sendTransform(t);
+void handleRange(const Range& range)
+{
+	if (!std::isfinite(range.range)) return;
+	// TODO: check it's facing down
+	publishTerrain(range.range, range.header.stamp);
 }
 
 #define TIMEOUT(msg, timeout) (msg.header.stamp.isZero() || (ros::Time::now() - msg.header.stamp > timeout))
@@ -800,7 +811,8 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 			nav_from_sp_flag = false;
 		}
 
-		if (auto_arm || setpoint_type == VELOCITY || setpoint_type == ATTITUDE || setpoint_type == RATES) {
+		bool to_auto_arm = auto_arm && (state.mode != "OFFBOARD" || !state.armed);
+		if (to_auto_arm || setpoint_type == VELOCITY || setpoint_type == ATTITUDE || setpoint_type == RATES) {
 			// invalidate position setpoint
 			setpoint_position.header.frame_id = "";
 			setpoint_altitude.header.frame_id = "";
@@ -1100,6 +1112,7 @@ int main(int argc, char **argv)
 	nh_priv.param("default_speed", default_speed, 0.5f);
 	nh_priv.param<string>("body_frame", body.child_frame_id, "body");
 	nh_priv.param<string>("terrain_frame", terrain.child_frame_id, "terrain");
+	nh_priv.param<string>("terrain_frame_mode", terrain_frame_mode, "altitude");
 	nh_priv.getParam("reference_frames", reference_frames);
 
 	// Default reference frames
@@ -1138,7 +1151,15 @@ int main(int argc, char **argv)
 	ros::Subscriber altitude_sub;
 	if (!body.child_frame_id.empty() && !terrain.child_frame_id.empty()) {
 		terrain.header.frame_id = local_frame;
-		altitude_sub = nh.subscribe(mavros + "/altitude", 1, &handleAltitude);
+		if (terrain_frame_mode == "altitude") {
+			altitude_sub = nh.subscribe(mavros + "/altitude", 1, &handleAltitude);
+		} else if (terrain_frame_mode == "range") {
+			string range_topic = nh_priv.param("range_topic", string("rangefinder/range"));
+			altitude_sub = nh.subscribe(range_topic, 1, &handleRange);
+		} else {
+			ROS_FATAL("Unknown terrain_frame_mode: %s, valid values: altitude, range", terrain_frame_mode.c_str());
+			ros::shutdown();
+		}
 	}
 
 	// Setpoint publishers

clover/src/vpe_publisher.cpp

@@ -11,12 +11,14 @@
 
 #include <string>
 #include <ros/ros.h>
+#include <tf/transform_datatypes.h>
 #include <tf2/transform_datatypes.h>
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 #include <tf2_ros/static_transform_broadcaster.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <geometry_msgs/TransformStamped.h>
+#include <geometry_msgs/Quaternion.h>
 #include <geometry_msgs/PoseStamped.h>
 #include <geometry_msgs/PoseWithCovarianceStamped.h>
 #include <std_srvs/Trigger.h>
@@ -66,6 +68,13 @@ inline Pose getPose(const PoseStampedConstPtr& pose) { return pose->pose; }
 
 inline Pose getPose(const PoseWithCovarianceStampedConstPtr& pose) { return pose->pose.pose; }
 
+inline void keepYaw(Quaternion& quaternion)
+{
+	tf::Quaternion q;
+	q.setRPY(0, 0, tf::getYaw(quaternion));
+	tf::quaternionTFToMsg(q, quaternion);
+}
+
 template <typename T>
 void callback(const T& msg)
 {
@@ -88,10 +97,29 @@ void callback(const T& msg)
 		if (!offset_frame_id.empty()) {
 			if (reset_flag || msg->header.stamp - vpe.header.stamp > offset_timeout) {
 				// calculate the offset
-				offset = tf_buffer.lookupTransform(local_frame_id, frame_id,
-				                                   msg->header.stamp, ros::Duration(0.02));
-				// offset.header.frame_id = vpe.header.frame_id;
-				offset.child_frame_id = offset_frame_id;
+				if (!frame_id.empty()) {
+					// calculate from TF
+					offset = tf_buffer.lookupTransform(local_frame_id, frame_id,
+					                                   msg->header.stamp, ros::Duration(0.02));
+					// offset.header.frame_id = vpe.header.frame_id;
+					offset.child_frame_id = offset_frame_id;
+
+				} else {
+					// calculate transform between pose in vpe frame and pose in local frame
+					TransformStamped local_pose = tf_buffer.lookupTransform(local_frame_id, child_frame_id,
+					                                                        msg->header.stamp, ros::Duration(0.02));
+					keepYaw(local_pose.transform.rotation);
+
+					tf::Transform vpeTransform, poseTransform;
+					tf::poseMsgToTF(vpe.pose, vpeTransform);
+					tf::transformMsgToTF(local_pose.transform, poseTransform);
+					tf::Transform offset_tf = vpeTransform.inverseTimes(poseTransform);
+					tf::transformTFToMsg(offset_tf, offset.transform);
+					offset.header.frame_id = local_frame_id;
+					offset.header.stamp = msg->header.stamp;
+					offset.child_frame_id = offset_frame_id;
+				}
+
 				br.sendTransform(offset);
 				reset_flag = false;
 				ROS_INFO("offset reset");
@@ -122,8 +150,9 @@ int main(int argc, char **argv) {
 
 	tf2_ros::TransformListener tf_listener(tf_buffer);
 
-	nh_priv.param<string>("frame_id", frame_id, "");
-	nh_priv.param<string>("offset_frame_id", offset_frame_id, "");
+	nh_priv.param<string>("frame_id", frame_id, ""); // name for used visual pose frame
+	nh_priv.param<string>("offset_frame_id", offset_frame_id, ""); // name for published offset frame
+
 	nh.param<string>("mavros/local_position/frame_id", local_frame_id, "map");
 	nh.param<string>("mavros/local_position/tf/child_frame_id", child_frame_id, "base_link");
 	offset_timeout = ros::Duration(nh_priv.param("offset_timeout", 3.0));

clover/test/basic.test

@@ -40,6 +40,16 @@
     <node pkg="topic_tools" name="main_camera_throttle" type="throttle" ns="main_camera"
         args="messages image_raw 5.0 image_raw_throttled" required="true"/>
 
+    <node pkg="nodelet" type="nodelet" name="main_camera_nodelet_manager" args="manager" output="screen" required="true">
+        <param name="num_worker_threads" value="2"/>
+    </node>
+
+    <node pkg="nodelet" type="nodelet" name="rectify" args="load image_proc/rectify main_camera_nodelet_manager" required="true">
+        <remap from="image_mono" to="main_camera/image_raw"/>
+        <remap from="camera_info" to="main_camera/camera_info"/>
+        <remap from="image_rect" to="main_camera/image_rect"/>
+    </node>
+
     <param name="test_module" value="$(find clover)/test/basic.py"/>
     <test test-name="basic_test" pkg="ros_pytest" type="ros_pytest_runner"/>
 </launch>

clover/test/offboard.py

@@ -3,9 +3,11 @@ import pytest
 from pytest import approx
 import threading
 import mavros_msgs.msg
+from mavros_msgs.srv import SetMode
 from geometry_msgs.msg import PoseStamped
 from clover import srv
 from clover.msg import State
+from std_srvs.srv import Trigger
 from math import nan, inf
 import tf2_ros
 import tf2_geometry_msgs
@@ -38,6 +40,8 @@ def test_offboard(node, tf_buffer):
     set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
     set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
     get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
+    land = rospy.ServiceProxy('land', Trigger)
+
     res = navigate()
     assert res.success == False
     assert res.message.startswith('State timeout')
@@ -45,6 +49,7 @@ def test_offboard(node, tf_buffer):
     telem = get_telemetry()
     assert telem.connected == False
 
+    # mocked state publisher
     state_pub = rospy.Publisher('/mavros/state', mavros_msgs.msg.State, latch=True, queue_size=1)
     state_msg = mavros_msgs.msg.State(mode='OFFBOARD', armed=True)
 
@@ -59,6 +64,13 @@ def test_offboard(node, tf_buffer):
     threading.Thread(target=publish_state, daemon=True).start()
     rospy.sleep(0.5)
 
+    # set_mode service mock
+    def set_mode(req):
+        state_msg.mode = req.custom_mode # set mocked mode to requested
+        return True,
+
+    rospy.Service('/mavros/set_mode', SetMode, set_mode)
+
     telem = get_telemetry()
     assert telem.connected == False
 
@@ -157,7 +169,23 @@ def test_offboard(node, tf_buffer):
     assert state.z_frame_id == 'map'
     assert state.yaw_frame_id == 'test'
 
-    # auto_arm should invalidate the setpoint
+    # auto_arm should not invalidate the setpoint if not effective
+    res = navigate(x=nan, y=nan, z=1, frame_id='map', auto_arm=True)
+    assert res.success == True
+    state = get_state()
+    assert state.mode == State.MODE_NAVIGATE
+    assert state.yaw_mode == State.YAW_MODE_YAW
+    assert state.x == 1
+    assert state.y == 2
+    assert state.z == 1
+    assert state.yaw == 0
+    assert state.xy_frame_id == 'test'
+    assert state.z_frame_id == 'map'
+    assert state.yaw_frame_id == 'map'
+
+    # auto_arm should invalidate the setpoint if effective
+    state_msg.mode = 'STABILIZED' # pretend we are not in OFFBOARD mode
+    rospy.sleep(1)
     res = navigate(x=nan, y=nan, z=1, frame_id='map', auto_arm=True)
     assert res.success == True
     state = get_state()
@@ -170,6 +198,8 @@ def test_offboard(node, tf_buffer):
     assert state.xy_frame_id == 'map'
     assert state.z_frame_id == 'map'
     assert state.yaw_frame_id == 'map'
+    state_msg.mode = 'OFFBOARD'
+    rospy.sleep(1)
 
     # set_attitude should invalidate the setpoint
     res = set_attitude()
@@ -400,3 +430,8 @@ def test_offboard(node, tf_buffer):
     res = set_rates(roll_rate=inf)
     assert res.success == False
     assert res.message == 'roll_rate argument cannot be Inf'
+
+    # test land service
+    res = land()
+    assert res.success == True
+    assert state_msg.mode == 'AUTO.LAND' # check that the mode was set correctly

clover/udev/99-px4fmu.rules

@@ -1,17 +1,54 @@
-# PixHawk (px4fmu-v2), px4fmu-v3
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0011", ATTRS{product}=="PX4 FMU v2.x", SYMLINK+="px4fmu"
-# PixRacer (px4fmu-v4)
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0012", ATTRS{product}=="PX4 FMU v4.x", SYMLINK+="px4fmu"
-# px4fmu-v5
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0032", ATTRS{product}=="PX4 FMU v5.x", SYMLINK+="px4fmu"
-# auav
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0021", ATTRS{product}=="PX4 AUAV x2.1", SYMLINK+="px4fmu"
-# crazyflie
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0016", ATTRS{product}=="PX4 Crazyflie v2.0", SYMLINK+="px4fmu"
-# px4fmu-v4pro
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0013", ATTRS{product}=="PX4 FMU v4.x PRO", SYMLINK+="px4fmu"
-# Omnibus
-SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0001", ATTRS{product}=="PX4 OmnibusF4SD", SYMLINK+="px4fmu"
-# CUAV X7 Pro
-SUBSYSTEM=="tty", ATTRS{idVendor}=="3163", ATTRS{idProduct}=="004c", ATTRS{product}=="PX4 CUAV X7Pro", SYMLINK+="px4fmu"
+# Source files: PX4-Autopilot/boards/**/nuttx-config/nsh/defconfig
 
+# Additional info:
+# https://docs.px4.io/main/en/flight_controller/
+# https://github.com/mavlink/qgroundcontrol/blob/master/src/comm/USBBoardInfo.json
+
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0001", ATTRS{product}=="PX4 GNF405", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0001", ATTRS{product}=="PX4 OmnibusF4SD", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0016", ATTRS{product}=="PX4 Crazyflie v2.0", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="1FC9", ATTRS{idProduct}=="001c", ATTRS{product}=="PX4 FMUK66 v3.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="1FC9", ATTRS{idProduct}=="001c", ATTRS{product}=="PX4 FMUK66 E", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="1FC9", ATTRS{idProduct}=="001d", ATTRS{product}=="PX4 FMURT1062 v1.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0001", ATTRS{product}=="DiatoneMambaF405 MK2", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="a32f", ATTRS{product}=="PX4 FMU ModalAI FCv1", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="a330", ATTRS{product}=="PX4 FMU ModalAI FCv2", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0012", ATTRS{product}=="PX4 FMU UVify Core", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3162", ATTRS{idProduct}=="0050", ATTRS{product}=="PX4 KakuteH7", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3162", ATTRS{idProduct}=="0050", ATTRS{product}=="PX4 KakuteH7v2", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3162", ATTRS{idProduct}=="004b", ATTRS{product}=="PX4 DurandalV1", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0050", ATTRS{product}=="PX4 KakuteF7", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3162", ATTRS{idProduct}=="0050", ATTRS{product}=="PX4 KakuteH7Mini-nand", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3162", ATTRS{idProduct}=="004E", ATTRS{product}=="PX4 PIX32V5", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0061", ATTRS{product}=="PX4 ATL Mantis-EDU", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3163", ATTRS{idProduct}=="004c", ATTRS{product}=="PX4 CUAV Nora", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3163", ATTRS{idProduct}=="004c", ATTRS{product}=="PX4 CUAV X7Pro", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="1B8C", ATTRS{idProduct}=="0036", ATTRS{product}=="MatekH743-mini", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="1B8C", ATTRS{idProduct}=="0036", ATTRS{product}=="MatekH743", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="120A", ATTRS{idProduct}=="1004", ATTRS{product}=="Matekgnssm9nf4", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="1209", ATTRS{idProduct}=="1013", ATTRS{product}=="MatekH743", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="0037", ATTRS{product}=="PX4 FMU SmartAP AIRLink", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="2DAE", ATTRS{idProduct}=="1058", ATTRS{product}=="CubeOrange+", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="2DAE", ATTRS{idProduct}=="1012", ATTRS{product}=="CubeYellow", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="2DAE", ATTRS{idProduct}=="1016", ATTRS{product}=="CubeOrange", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3185", ATTRS{idProduct}=="0035", ATTRS{product}=="PX4 FMU v6X.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3185", ATTRS{idProduct}=="0038", ATTRS{product}=="PX4 FMU v6C.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3185", ATTRS{idProduct}=="0033", ATTRS{product}=="PX4 FMU v5X.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="1B8C", ATTRS{idProduct}=="0036", ATTRS{product}=="PX4 FMU v6U.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0013", ATTRS{product}=="PX4 FMU v4.x PRO", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0011", ATTRS{product}=="PX4 FMU v2.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0012", ATTRS{product}=="PX4 FMU v4.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0032", ATTRS{product}=="PX4 FMU v5.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3162", ATTRS{idProduct}=="004b", ATTRS{product}=="PX4 SP RACING H7 EXTREME", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0030", ATTRS{product}=="MindPX FMU v2.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="3185", ATTRS{idProduct}=="0039", ATTRS{product}=="ARK FMU v6X.x", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0016", ATTRS{product}=="PX4 FreeFly RTK GPS", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="1024", ATTRS{product}=="mRoControlZeroH7 OEM", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="1017", ATTRS{product}=="mRoPixracerPro", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="1023", ATTRS{product}=="mRoControlZeroH7", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="008D", ATTRS{product}=="mRoControlZeroF7", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0021", ATTRS{product}=="PX4 AUAV X2.1", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="1022", ATTRS{product}=="mRoControlZero Classic", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0088", ATTRS{product}=="mRo x2.1-777", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="35a7", ATTRS{idProduct}=="0002", ATTRS{product}=="FCC-R1", SYMLINK+="px4fmu"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="35a7", ATTRS{idProduct}=="0001", ATTRS{product}=="FCC-K1", SYMLINK+="px4fmu"

clover_blocks/README.md

@@ -47,6 +47,7 @@ http://<hostname>/clover_blocks/?navigate_tolerance=0.5&sleep_time=0.1
 
 * `~running` ([*std_msgs/Bool*](http://docs.ros.org/noetic/api/std_msgs/html/msg/Bool.html)) – indicates if the program is currently running.
 * `~block` ([*std_msgs/String*](http://docs.ros.org/noetic/api/std_msgs/html/msg/String.html)) – current executing block (maximum topic rate is limited).
+* `~print` ([*std_msgs/String*](http://docs.ros.org/noetic/api/std_msgs/html/msg/String.html)) – user program output messages (published in *print* blocks).
 * `~error` ([*std_msgs/String*](http://docs.ros.org/noetic/api/std_msgs/html/msg/String.html)) – user program errors and exceptions.
 * `~prompt` ([*clover_blocks/Prompt*](msg/Prompt.msg)) – user input request (includes random request ID string).
 

clover_blocks/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>clover_blocks</name>
-  <version>0.23.0</version>
+  <version>0.24.0</version>
   <description>Blockly programming support for Clover</description>
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
   <license>MIT</license>

clover_blocks/www/blocks.js

@@ -269,6 +269,19 @@ Blockly.Blocks['voltage'] = {
 	}
 };
 
+Blockly.Blocks['get_rc'] = {
+	init: function () {
+		this.appendDummyInput()
+			.appendField("RC channel")
+		this.appendValueInput("CHANNEL")
+			.setCheck("Number");
+		this.setInputsInline(true);
+		this.setOutput(true, "Number");
+		this.setColour(COLOR_STATE);
+		this.setTooltip("Returns current RC channel value.");
+		this.setHelpUrl(DOCS_URL + '#' + this.type);
+	}
+}
 
 Blockly.Blocks['armed'] = {
 	init: function () {

clover_blocks/www/index.html

@@ -100,6 +100,9 @@
 			<block type="mode"></block>
 			<block type="armed"></block>
 			<block type="voltage"></block>
+			<block type="get_rc">
+				<value name="CHANNEL"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
+			</block>
 		</category>
 		<category name="LED" colour="#02d754">
 			<block type="set_effect">

clover_blocks/www/python.js

@@ -83,6 +83,9 @@ function generateROSDefinitions() {
 		if (rosDefinitions.navigateGlobal) {
 			code += `navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)\n`;
 		}
+		if (rosDefinitions.setYaw) {
+			code += `set_yaw = rospy.ServiceProxy('set_yaw', srv.SetYaw)\n`;
+		}
 		if (rosDefinitions.setVelocity) {
 			code += `set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)\n`;
 		}
@@ -399,6 +402,12 @@ Blockly.Python.voltage = function(block) {
 	return [code, Blockly.Python.ORDER_FUNCTION_CALL];
 }
 
+Blockly.Python.get_rc = function(block) {
+	Blockly.Python.definitions_['import_rcin'] = 'from mavros_msgs.msg import RCIn';
+	var channel = Blockly.Python.valueToCode(block, 'CHANNEL', Blockly.Python.ORDER_NONE);
+	return [`rospy.wait_for_message('mavros/rc/in', RCIn).channels[${channel}]`, Blockly.Python.ORDER_FUNCTION_CALL]
+}
+
 function parseColor(color) {
 	return {
 		r: parseInt(color.substr(2, 2), 16),

clover_description/package.xml

@@ -1,6 +1,6 @@
 <package format="2">
   <name>clover_description</name>
-  <version>0.23.0</version>
+  <version>0.24.0</version>
   <description>The clover_description package provides URDF models of the Clover series of quadcopters.</description>
 
   <maintainer email="sfalexrog@gmail.com">Alexey Rogachevskiy</maintainer>

clover_simulation/package.xml

@@ -1,6 +1,6 @@
 <package format="3">
     <name>clover_simulation</name>
-    <version>0.23.0</version>
+    <version>0.24.0</version>
     <description>The clover_simulation package provides worlds and launch files for Gazebo.</description>
 
     <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>

docs/en/SUMMARY.md

@@ -57,6 +57,7 @@
   * [COEX Pix](coex_pix.md)
   * [COEX PDB](coex_pdb.md)
   * [COEX GPS](coex_gps.md)
+  * [Using SSH keys](ssh_keys.md)
   * [Guide on autonomous flight](auto_setup.md)
   * [Hostname](hostname.md)
   * [PX4 Simulation](sitl.md)
@@ -105,6 +106,12 @@
   * [Video contest](video_contest.md)
   * [Educational contests](educational_contests.md)
 * [Clover-based projects](projects.md)
+  * [Clover Cloud Platform](clover-cloud-platform.md)
+  * [Autonomous Racing Drone](djs_phoenix_chetak.md)
+  * [Motion Capture System](mocap_clover.md)
+  * [Swarm in Blocks 2](swarm_in_blocks_2.md)
+  * [Advanced Clover 2](advanced_clover_simulator_platform.md)
+  * [Network of charging stations](liceu128.md)
   * [Swarm-in-blocks](swarm_in_blocks.md)
   * [Obstacle avoidance using artificial potential fields method](obstacle-avoidance-potential-fields.md)
   * [The Clover Rescue Project](clover-rescue-team.md)

docs/en/advanced_clover_simulator_platform.md

@@ -0,0 +1,161 @@
+# Advanced Clover 3: The Platform
+
+[CopterHack-2023](copterhack2023.md), team **FTL**.
+
+## Team Information
+
+```cpp
+#include "veryInterestingCommandDescription.h"
+```
+
+Team members:
+
+- Maxim Ramanouski, [@max8rr8](https://t.me/max8rr8).
+
+Country: Belarus.
+
+## Project Description
+
+Last year at CopterHack 2022, we created a [project](../ru/advanced_clover_simulator.html) that simplified the simulation of Clover, and in 2021, we created a [project](../ru/advanced_clover.html) that simplified the development of products for Clover (IDE and library for writing). The time has come to combine them and achieve unlimited power.
+
+### Project Idea
+
+The idea of the project is to combine CloverIDE and CloverSim (a tool for running Clover simulations). Thus, a platform is planned that allows developing products based on Clover using a simulator and an advanced IDE. The platform will include the following features:
+
+- Add a web interface that allows using CloverSim without touching the command line.
+- Work both in the browser (without installing anything) and from CLI.
+- Have a course that covers different aspects of clover.
+- Simplify installation, especially in WSL.
+- Running a simulation on a remote device (more powerful computer or cloud).
+
+### Project videos
+
+Video presentation of the project: [link](https://www.youtube.com/watch?v=T4RU9sfxsSI).
+
+Live presentation at CopterHack: TBD.
+
+CLI demonstration: [link](https://www.youtube.com/watch?v=Ao-ukR58sSQ).
+
+## Installation
+
+Installation process is described in the [project documentation](https://ftl-team.github.io/clover_sim/#/?id=installation).
+
+## Usage
+
+The CloverSim platform offers a seamless workflow for users:
+
+1. Users can effortlessly select or create a workspace and task and
+   launch them with ease.
+
+   ![Step 1 screenshot](../assets/ftl/acp_workflow1.png)
+
+2. After launching the simulation, users are presented with CloverSim WebUI that
+   provides them with an intuitive way to view their scores and progress,
+   control the simulator, and access task descriptions and scoring information.
+   From it users can open terminal, gzweb and more importantly they can easily
+   access the CloverSim IDE to solve task.
+
+   ![Step 2 screenshot](../assets/ftl/acp_workflow2.png)
+
+3. The IDE provides a full suite of tools and features for writing and
+   debugging code. One example is autocompletion to help streamline the
+   development process, making it more efficient and effective.
+
+   ![Step 3 screenshot](../assets/ftl/acp_workflow3.png)
+
+4. Users can launch their programs with ease and monitor its progress via
+   the GZWeb, CopterStatus, and SimulatorStatus views of the IDE.
+
+   ![Step 4 screenshot](../assets/ftl/acp_workflow4.png)
+
+5. Users can track their progress and scores in real-time and effortlessly
+  restart the simulator if necessary. Additionally, different randomization
+  seed can be set to check various inputs and outcomes.
+
+We also have video demonstration/tutorial: [link](https://www.youtube.com/watch?v=aPOPHD3M3ZM).
+
+## More features
+
+- Easy installation process.
+- Efficient simulation launch, surpassing traditional virtual machines.
+- Generation of dynamic Gazebo worlds with randomization based on seed.
+- Real-time task completion verification and score presentation.
+- Execution with security in isolated containers.
+- Multiple project capability without the need for multiple virtual machine images.
+- WebUI for ease of use, removing the need to use the command line.
+- IDE similar to VSCode with support for C++ and Python, including autocompletion and autoformatting.
+- Custom-patched GZWeb with bug fixes and additional features, including the display of the Clover LED strip.
+- GZWeb provides a follow-objects feature superior to that of Gazebo.
+- IDE includes tools to interact with ROS, such as topic visualization, service calling, and image topic visualization.
+- IDE also includes Copter Status, displaying most of the drone's information, including position, camera, and LED strip, in one view.
+- IDE integrates with the simulator by providing control from it, viewing task descriptions, and opening GZWeb.
+
+We also have developed a learning course based on CloverSim: [link](https://github.com/FTL-team/CloverSim_course). It currently has the following tasks:
+
+- 1_thesquare - First task of CloverSim course with goal to fly square.
+- 2_iseeall - Task that teaches how to interact with camera.
+- 3_landmid - Find and land onto randomly positioned object.
+- 4_flybyline - Flying along the line.
+- 5_posknown - Find position of objects relative to ArUco map.
+
+## More details
+
+At this point, our platform consists of four major parts:
+
+- [CloverSim](https://github.com/FTL-team/clover_sim) - tool that manages simulation.
+- [CloverSim Basefs](https://github.com/FTL-team/clover_sim_basefs) - container image that is used in simulator.
+- [Clover IDE](https://github.com/FTL-team/cloverIDE) - clover ide tools and theia.
+- [CloverSim course](https://github.com/FTL-team/CloverSim_course) - course with tasks based on our platform.
+
+### CloverSim
+
+The simulation architecture is a continuation of work from CopterHack 2022, but while 2022 version was closer to Proof-of-Concept, the updated version is more robust.
+
+There are three major difference in simulator architecture
+
+- Replacement of `systemd-nspawn` with `runc` provides us higher degree of container control and seemingless support of non-systemd systems, for example WSL.
+- Migration to squash fs images, which greatly reduced size of installed CloverSim from 13 gigabytes to just 3.5 gigabytes.
+- Tasks are now mounted instead of being copied and also build before starting.
+
+Because of the way catkin_make works, it is incredibly slow when new packages are added (whole cmake configuration is rerun for all packages). catkin_make provides a way to build only some packages, but it caches this packages and to reset this cache you need to recompile whole catkin_make. But we have found a solution: `catkin_make -DCATKIN_WHITELIST_PACKAGES="task;CloverSim" --build build_CloverSim` This command, builds only CloverSim and task package in separate build directory, this drastically reduces time that catkin_make takes, and keeps expected behavior of catkin_make without arguments.
+
+There are also differences in tool that launches simulation:
+
+- Client-server architecture allows us to create web UI and run CloverSim on server.
+- More robust error handling improves user experience.
+- Rewritten in rust, better reliability and development experience.
+
+### CloverSim basefs
+
+Version 2 integrates CloverIDE into system. We also updated clover in simulator to v0.23 and added web terminal. Basefs is now squashed and doesn't require additional installation. It also uses patched(by us) version of gzweb that is more suitable for our use-case:
+
+- Unlike original GZWeb assets can be dynamically loaded, which is required to support dynamically generated tasks.
+- It also implements multiple bugfixes for rendering, UI.
+- Fixed performance, original gzweb had two constantly running loops that used 200% of cpu. We fixed this by instead using synchronization primitives.
+- Clover LED strip is rendered, our gzweb connects to ROS and pulls LED data from there to render LED strip like Gazebo does.
+- Users can now follow-objects like in Gazebo better actually.
+- Reconnect on disconnect, when simulator is restarted gzweb looses connection and it now can automatically reconnect.
+
+Patched gzweb available there: [FTL-team/gzweb](https://github.com/FTL-team/gzweb).
+
+### CloverIDE
+
+CloverIDE got some updates too:
+
+- We have updated theia and extensions used.
+- Better C++ support via clangd.
+- Clover IDE tools can now reconnect after simulator restart.
+- Copter Status now displays LED strip status.
+- Tools ui has better support for different themes.
+
+But the most important change is CloverSim integration, there are new tools (task description, simulator control and gzweb). While gzweb tool is just an iframe (though it's very cool to have it in IDE).
+
+Task description and simulator control are more interesting as they have to interact with both IDE and CloverSim, to maintain different versions support we use quite interesting trick, extension webview after being initialized dynamically loads JavaScript from CloverSim. That provides better integration between two.
+
+### CloverSim course
+
+CloverSim course is a new part of our platform. It uses robust task API of CloverSim to create practical learning course. It currently teaches different aspects of clover development that i encountered during my participation in different contests involving clover. But we are happy to accpet suggestions about other aspects we should teach in out course.
+
+## Conclusion
+
+This project is a final (or maybe there is more?) project of our advanced clover saga. AdvancedClover is a project that is easy to use and greatly improves experience during learning about clover, participating in clover based competitions and development clover based projects. We thank COEX team for their support and look forward to further cooperation.

docs/en/aruco_marker.md

@@ -72,12 +72,6 @@ Sample code to fly to a point 1 metre to the left and 2 metres above marker with
 navigate(frame_id='aruco_7', x=-1, y=0, z=2)
 ```
 
-Sample code to rotate counterclockwise while hovering 1.5 metres above marker id 10:
-
-```python
-navigate(frame_id='aruco_10', x=0, y=0, z=1.5, yaw_rate=0.5)
-```
-
 Note that if the required marker isn't detected for 0.5 seconds after the `navigate` command, the command will be ignored.
 
 These frames may also be used in other services that accept TF frames (like `get_telemetry`). The following code will get the drone's position relative to the marker with id 3:

docs/en/blocks.md

@@ -2,7 +2,7 @@
 
 <img src="../assets/blocks/blockly.svg" width=200 align="right">
 
-Visual blocks programming feature has been added to the [RPi image](image.md), starting with the version **0.21**. Blocks programming is implemented using [Google Blockly](https://developers.google.com/blockly) platform. Blocks programming integration can lower the entry barrier to a minimum.
+Visual blocks programming feature has been added to the [RPi image](image.md), starting with the version **0.21**. Blocks programming is implemented using [Google Blockly](https://developers.google.com/blockly) library. Blocks programming integration can lower the entry barrier to a minimum.
 
 ## Configuration
 

docs/en/camera.md

@@ -1,5 +1,7 @@
 # Working with the camera
 
+> **Note** The following applies to the [image version **0.24**](https://github.com/CopterExpress/clover/releases/tag/v0.24), which is not yet released. Older documentation is still available for [for version **0.23**](https://github.com/CopterExpress/clover/blob/f78a03ec8943b596d5a99b893188a159d5319888/docs/en/camera.md).
+
 Make sure the camera is enabled in the `~/catkin_ws/src/clover/clover/launch/clover.launch` file:
 
 ```xml

docs/en/cli.md

@@ -30,6 +30,16 @@ Print path to the current directory:
 pwd
 ```
 
+Go to the user's home directory:
+
+```bash
+# all three commands are equivalent, where the tilde character (~) is an abbreviated
+# path entry to the home directory, and the $HOME variable stores this path
+cd
+cd ~
+cd $HOME
+```
+
 Print contents of the `file.py` file:
 
 ```bash

docs/en/clover-cloud-platform.md

@@ -0,0 +1,93 @@
+# Clover Cloud Platform
+
+[CopterHack-2023](copterhack2023.md), team **Clover Cloud Team**.
+
+The list of our team members:
+
+* Кирилл Лещинский / Kirill Leshchinskiy, [@k_leshchinskiy](https://t.me/k_leshchinskiy) - Team Lead.
+* Кузнецов Михаил / Mikhail Kuznetsov, [@bruhfloppa](https://t.me/bruhfloppa) - Frontend Developer.
+* Даниил Валишин / Daniil Valishin, [@Astel_1](https://t.me/Astel_1) - Backend Developer.
+
+## Table of contents
+
+* [Introduction](#introduction)
+* [Usability](#usability)
+* [How to work with our platform?](#how-to-work-with-our-platform)
+* [About the development of the platform](#about-the-development-of-the-platform)
+* [Conclusion](#conclusion)
+
+## Video demonstration
+
+<p align="center">
+  <a href="https://www.youtube.com/watch?v=FZPl2LOMgi4"><img img width="560" height="315" src="https://img.youtube.com/vi/FZPl2LOMgi4/maxresdefault.jpg" /></a>
+</p>
+
+## Introduction
+
+Clover Cloud Platform is an innovative platform that enables users to access COEX Clover drone simulation online, without the need to download any programs or virtual machines.
+
+> **Note** Visit our [documentation](https://docs.clovercloud.software) to learn all about the platform, its development and how to use it.
+
+## Unleash Your Coding Power: Develop Autonomous Flight Code at Lightning Speed on Clover Cloud Platform
+
+If you're a developer working on autonomous flight projects, you know how time-consuming and distracting all of the routine activities can be. Between managing your hardware, debugging, and configuring your environment, it can feel like the real work of coding gets lost in the shuffle.
+
+That's where our platform comes in. Our streamlined interface and powerful tools make it easy to tackle all of those essential tasks so you can focus on what really matters: developing flawless, high-performance code for your autonomous flight project.
+
+So why wait to unleash your coding power? Sign up for our platform today and discover the difference it can make in the speed, quality, and focus of your autonomous flight coding work.
+
+## Usability
+
+Our platform is incredibly user-friendly and provides seamless access to the simulation in just a few clicks. Together with a simulator that displays simulation data accurately and without delay, there is a map editor allows users to edit the ArUco marker map and add or modify other objects on the scene directly within the simulation window. Additionally, users can create pre-configured workspaces complete with autonomous flight code and simulation scene configuration. Each user can also create their templates or apply a pre-made one to their workspace in just a few clicks. In addition to its other features, Clover Cloud Platform provides users with a convenient code editor for autonomous flight coding. Users can write code in the built-in editor and run it directly from the editor, viewing program output in real-time in the terminal. The platform also includes a file manager that simplifies file manipulation tasks, further enhancing the user's overall experience. With these tools at your fingertips, Clover Cloud Platform delivers an unparalleled level of accessibility and convenience for autonomous flight simulation.
+
+<p align="center">
+  <img src="https://raw.githubusercontent.com/Clover-Cloud-Platform/clover-cloud-platform-frontend/master/docs/workspace.png" alt="Workspace screenshot">
+</p>
+
+## The CodeSandbox for COEX Clover
+
+You can describe the usability and relevance of our platform in another way. Have you heard of CodeSandbox? Our platform offers the same convenience, flexibility, and accessibility as CodeSandbox, but is specifically designed to work with the COEX Clover drone simulation.
+
+## How to work with our platform?
+
+Let's dive into the sea of functionality that our platform offers. Detailed description of each feature is available in our [documentation](https://docs.clovercloud.software), here we will provide a general overview of the platform.
+
+### Creating an account
+
+First, you should create an account on our site. You can do this by clicking on this [link](https://clovercloud.software/signup).
+
+### Instance management
+
+After creating an account, you will be taken to the [dashboard](https://clovercloud.software/instances). Here you can create, start, stop and delete workspaces.
+
+>Workspaces are containers with Gazebo simulator and our software that provide data flow for simulation visualization, as well as handle requests from file manager, code editor and terminal.
+
+<p align="center">
+  <img src="https://raw.githubusercontent.com/Clover-Cloud-Platform/clover-cloud-platform-frontend/master/docs/instances.gif" alt="Instance management">
+</p>
+
+### Workspace overview
+
+In the workspace, in addition to the simulator, you have a file manager, code editor and terminal. There is also an editing mode in the simulator - one of the key features of our project. It allows you to quickly and conveniently edit the simulation scene, namely: move ArUco markers, change their size, change id of the marker, load instead of marker picture, add new markers or delete them. You can also add 3d objects to the scene and change their position, size and color. Below is an example of working with our workspace.
+
+<p align="center">
+  <img src="https://github.com/Clover-Cloud-Platform/clover-cloud-platform-frontend/raw/master/docs/workspace.gif" alt="Workspace overview">
+</p>
+
+### Templates
+
+Templates are another key feature of our platform.Is there something you can't do and you want to see how to properly perform a task? Look for the right template with ready-made code in the Template Browser and apply it to your workspace! Each user can create a template with an autonomous flight code and simulator configuration and share it.
+
+## About the development of the platform
+
+Our team has worked tirelessly to develop a simple yet multifunctional platform. We utilized the most modern standards and tools and implemented numerous optimization methods to ensure seamless performance and error-free operation. The frontend programming language chosen was JavaScript with the React framework, as a design system we utilizing Material Design style for an elegant and intuitive user interface. With the help of GitHub Actions the website is being built and deployed to Firebase hosting. The platform's backend is written in Python and contains multiple simultaneously running scripts. User data is secured and stored in a MongoDB database. Communication between the server and site is enabled through web sockets and the socket.io library, guaranteeing lightning-fast data transfer with minimal lag.
+
+You can view the source code of our platform by clicking on the links below:
+
+[Repository with the frontend-side code](https://github.com/Clover-Cloud-Platform/clover-cloud-platform-frontend)
+
+[Repository with the backend-side code](https://github.com/Clover-Cloud-Platform/clover-cloud-platform-backend)
+
+## Conclusion
+
+In conclusion, we have successfully created a truly convenient and useful platform, suitable for both novice and advanced COEX Clover drone users. Beginners can test their first autonomous flight code without the need for demanding simulator installation or virtual machines. They can also explore all of the drone's functions and capabilities without editing any configuration files. Advanced users benefit from access to their workspace from anywhere in the world and on any device, along with a convenient code-sharing system. In the future, we plan to add more new features to our platform, scale our network to serve a greater number of users, and collaborate with COEX to integrate their Clover quadcopter documentation into our platform, offering users a very simple and user-friendly way to learn to program autonomous drone flight. We also want to express gratitude to the COEX customer support team for their assistance in resolving complex issues that arose during development.

docs/en/connection.md

@@ -6,37 +6,59 @@ In order to program [autonomous flights](simple_offboard.md), [work with Pixhawk
 
 USB connection is the preferred way to connect to the flight controller.
 
+<img src="../assets/assembling_clever4/usb_connection_1.png" alt="USB connection" height=400 class="zoom border center">
+
 1. Connect your FCU to the Raspberry Pi using a microUSB to USB cable.
 2. [Connect to the Raspberry Pi over SSH](ssh.md).
-3. Make sure the connection is working by [running the following command on the Raspberry Pi](ssh.md):
+3. Make sure that the connection is working properly by [running the following command on the Raspberry Pi](cli.md):
 
     ```bash
     rostopic echo /mavros/state
     ```
 
-    The `connected` field should have the `True` value.s
+    The `connected` field should have the `True` value.
 
 > **Hint** You need to set the `CBRK_USB_CHK` [parameter](parameters.md) to 197848 for the USB connection to work.
 
 ## UART connection
 
-<!-- TODO: Connection scheme -->
-
 UART connection is another way for the Raspberry Pi and FCU to communicate.
 
+<img src="../assets/raspberry-uart-telemetry2.png" alt="UART connection via TELEM2" height=400 class="zoom border center">
+
+If the pin marked GND is occupied, you can use any other ground pin (look at the [pinout](https://pinout.xyz) for reference).
+
 1. Connect the TELEM 2 port on the flight controller using a UART cable to the Raspberry Pi pins following this instruction: the black cable (*GND*) to Ground, the green cable (*UART_RX*) to *GPIO14*, the yellow cable (*UART_TX*) to *GPIO15*. Do not connect the red cable (*5V*).
-2. Set the PX4 parameters: `MAV_1_CONFIG` to TELEM 2, `SER_TEL2_BAUND` to 921600 8N1. In PX4 of version prior to v1.10.0 the parameter `SYS_COMPANION` should be set to 921600.
+2. In PX4 of version v1.9.0 or higher, set parameter values: `MAV_1_CONFIG` to TELEM 2, `SER_TEL2_BAUND` to 921600 8N1. In PX4 of version [prior to v1.9.0](https://github.com/mavlink/qgroundcontrol/issues/6905#issuecomment-464549610) the parameter `SYS_COMPANION` should be set to `Companion Link (921600 baud, 8N1)`, to set it correctly use the old version of QGC [v3.3.1](https://github.com/mavlink/qgroundcontrol/releases/tag/v3.3.1).
 3. [Connect to the Raspberry Pi over SSH](ssh.md).
-4. Change the connection type in `~/catkin_ws/src/clover/clover/launch/clover.launch` to UART:
+4. Check the presence of the parameters `enable_uart=1` and `dtoverlay=pi 3-disable-bt` in the file `/boot/config.txt` by [running the following command on the Raspberry Pi](cli.md):
+
+    ```bash
+    cat /boot/config.txt | grep -E "^enable_uart=.|^dtoverlay=pi3-disable-bt"
+    ```
+
+    If the parameters in the file are different or missing, then edit the file and restart the Raspberry Pi.
+
+5. Change the connection type from `usb` to `uart` in the Clover' launch file `~/catkin_ws/src/clover/clover/launch/clover.launch`:
 
     ```xml
     <arg name="fcu_conn" default="uart"/>
     ```
 
-    Be sure to restart the `clover` service after editing the .launch file:
+    If you change the launch file, you need to restart the `clover' service:
 
     ```bash
     sudo systemctl restart clover
     ```
 
+6. Make sure that the connection is working properly by running the following command:
+
+    ```bash
+    rostopic echo -n1 /mavros/state
+    ```
+
+    The `connected` field should have the `True` value.
+
+Read more in the PX4 docs: https://docs.px4.io/main/en/peripherals/serial_configuration.html.
+
 **Next**: [Using QGroundControl over Wi-Fi](gcs_bridge.md)

docs/en/copterhack2023.md

@@ -8,27 +8,35 @@ To learn more about the articles of the CopterHack finalist teams follow the lin
 
 The proposed projects are supposed to be open-source and be compatible with the Clover quadcopter platform. Teams-participants are supposed to work on their projects throughout the competition, bringing them closer to the state of the finished product while being assisted by industry experts through lectures and regular feedback.
 
+Final of the CopterHack 2022 was held on May 27, 2023. The winner team was the team 🇷🇺 **[Clover Cloud Platform](clover-cloud-platform.md)**.
+
+## Full stream of the final
+
+<iframe width="560" height="315" src="https://www.youtube.com/embed/Hdl6Sah7nkE" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
+
 ## Projects of the contest's participants {#participants}
 
 |Place|Team|Project|Points|
 |:-:|-|-|-|
-||🇷🇺 Clover Cloud Team|[Clover Cloud Platform](https://github.com/DevMBS/clover/blob/clover-cloud-platform/docs/en/clover-cloud-platform.md)||
-||🇰🇬 Zavarka|[Система обмена грузами с помощью конвейера](https://github.com/aiurobotics/clover/blob/conveyance/docs/ru/conveyance.md)||
-||🇮🇳 DJS PHOENIX|[Autonomous Racing Drone](https://github.com/DJSPhoenix/clover/blob/DJSPhoenix_chetak/docs/ru/djs_phoenix_chetak.md)||
-||🇷🇺 FSOTM|[Drone Interceptor](https://github.com/deadln/clover/blob/interceptor/docs/ru/interceptor.md)||
-||🇰🇬 Homelesses|[Trash Collector](https://github.com/Isa-jesus/clover/blob/trash-collector/docs/ru/trash-collector.md)||
-||🇷🇺 Digital otters|[Digital otters](https://github.com/Mentalsupernova/clover_cool/blob/new-article.md/docs/ru/new-article.md)||
-||🇷🇺 Light Flight|[Сопровождение БПЛА при посадке](https://github.com/SirSerow/clover_inertial_ns/blob/inertial-1/Description.md)||
-||🇰🇬 LiveSavers|[LiveSavers](https://github.com/Sarvar00/clover/blob/livesavers/docs/ru/livesaver.md)||
-||🇷🇺 C305|[Система радио-навигации](https://github.com/Lukerrr/clover-c305/blob/nav_beacon/docs/ru/nav-beacon.md)||
-||🇷🇺 XenCOM|[Bound by fate](https://github.com/xenkek/clover/blob/xenkek-patch-1/docs/ru/bound_by_fate.md)||
-||🇨🇦 Clover with Motion Capture System|[Clover with Motion Capture System](https://github.com/ssmith-81/clover/blob/MoCap_Clover/docs/en/mocap_clover.md)||
-||🇧🇷 Atena|[Swarm in Blocks 2](https://github.com/Grupo-SEMEAR-USP/clover/blob/swarm_in_blocks_2/docs/en/swarm_in_blocks_2.md)||
-||🇧🇾 FTL|[Advanced Clover 2](https://github.com/FTL-team/clover/blob/FTL-advancedClover3/docs/ru/advanced_clover_simulator_platform.md)||
-||🇷🇺 Лицей №128|[Платформа для зарядки квадрокоптера](https://github.com/Juli-Shvetsova/clover/blob/liceu128-1/docs/ru/liceu128.md)||
-||🇷🇺 Ava_Clover|[DoubleClover](https://github.com/bessiaka/clover/blob/Ava_Clover/docs/ru/soosocta.md)||
-||🇷🇺 TPU_1|[Совместная транспортировка груза](https://github.com/shamoleg/clover/blob/tpu_1/docs/ru/tpu_1.md)||
-||🇷🇺 TPU_2|[Алгоритм полета сквозь лесную местность](https://github.com/shamoleg/clover/blob/tpu_2/docs/ru/tpu_2.md)|&nbsp;|
+|1|🇷🇺 Clover Cloud Team|[Clover Cloud Platform](clover-cloud-platform.md)|21.7|
+|2|🇧🇾 FTL|[Advanced Clover 2](advanced_clover_simulator_platform.md)|21|
+|3|🇨🇦 Clover with Motion Capture System|[Clover with Motion Capture System](mocap_clover.md)|20.5|
+|4|🇧🇷 Atena|[Swarm in Blocks 2](swarm_in_blocks_2.md)|20.3|
+|5|🇷🇺 C305|[Система радио-навигации](../ru/nav-beacon.html)|17.5|
+|6|🇮🇳 DJS PHOENIX|[Autonomous Racing Drone](djs_phoenix_chetak.md)|14.6|
+|7|🇷🇺 Lyceum №128|[Network of Clover charging stations](liceu128.md)|13.7|
+|✕|🇰🇬 Zavarka|[Система обмена грузами с помощью конвейера](https://github.com/aiurobotics/clover/blob/conveyance/docs/ru/conveyance.md)||
+|✕|🇷🇺 FSOTM|[Drone Interceptor](https://github.com/deadln/clover/blob/interceptor/docs/ru/interceptor.md)||
+|✕|🇰🇬 Homelesses|[Trash Collector](https://github.com/Isa-jesus/clover/blob/trash-collector/docs/ru/show_maker.md)||
+|✕|🇷🇺 Digital otters|[Digital otters](https://github.com/Mentalsupernova/clover_cool/blob/new-article.md/docs/ru/new-article.md)||
+|✕|🇷🇺 Light Flight|[Сопровождение БПЛА при посадке](https://github.com/SirSerow/clover_inertial_ns/blob/inertial-1/Description.md)||
+|✕|🇰🇬 LiveSavers|[LiveSavers](https://github.com/Sarvar00/clover/blob/livesavers/docs/ru/livesaver.md)||
+|✕|🇷🇺 XenCOM|[Bound by fate](https://github.com/xenkek/clover/blob/xenkek-patch-1/docs/ru/bound_by_fate.md)||
+|✕|🇷🇺 Ava_Clover|[DoubleClover](https://github.com/bessiaka/clover/blob/Ava_Clover/docs/ru/soosocta.md)||
+|✕|🇷🇺 TPU_1|[Совместная транспортировка груза](https://github.com/shamoleg/clover/blob/tpu_1/docs/ru/tpu_1.md)||
+|✕|🇷🇺 TPU_2|[Алгоритм полета сквозь лесную местность](https://github.com/shamoleg/clover/blob/tpu_2/docs/ru/tpu_2.md)|&nbsp;|
+
+See all points by criteria in the [full table](https://docs.google.com/spreadsheets/d/1qTpW8zFVdSEGnbtOvMgQD6DcYwu8URFt1RKOCeUaOe8).
 
 ## CopterHack 2023 stages
 

docs/en/djs_phoenix_chetak.md

@@ -0,0 +1,55 @@
+# Autonomous Racing Drone: CHETAK
+
+[CopterHack-2023](copterhack2023.md), team **DJS PHOENIX**.
+
+## Team Information
+
+![Without bg](https://user-images.githubusercontent.com/93365067/195974501-0acef6b7-e4ea-4c47-bd7a-615caf73a625.png)
+
+We are the DJS Phoenix, the official drone team of Dwarkadas. J. Sanghvi College of Engineering
+
+The list of team members:
+
+* Shubham Mehta, @Just_me_05, Mentor.
+* Harshal Warde, @kryptonisinert, Mechanical.
+* Parth Sawjiyani, @Non_Active, Mechanical.
+* Soham Dalvi, @devilsfootprint_1973, Mechanical.
+* Vedant Patel, @VedantMP, Mechanical.
+* Harsh Shah, @harssshhhhh, Mechanical.
+* Lisha Mehta, @lishamehta, Mechanical.
+* Shubh Pokarne, @Shubhpokarne, Electronics.
+* Tushar Nagda, @tushar_n11, Electronics.
+* Deep Tank, @Kraven, Electronics.
+* Khushi Sanghvi, @Cryptoknigghtt, Programmer.
+* Harshil Shah, @divine_fossil, Programmer.
+* Omkar Parab, @Omkar_parab21, Programmer.
+* Madhura Korgaonkar, @Madhura221, Programmer.
+* Shruti Shah, @Shrutishah22, Programmer.
+* Aditi Dubey, @aditi_0503, Marketing.
+* Krisha Lakhani, @krishalakhani, Marketing.
+
+## Project Description
+
+This year, our team DJS Phoenix, presents to you a fully Autonomous Racing Drone. The drone scans for ArUco tags on the gates and passes through them.
+
+### Project Idea
+
+This project proposes to develop an autonomous racing drone that can navigate through complex courses at high speeds while avoiding obstacles and detecting changes in the environment. In racing competitions, autonomous drones can compete in high-speed, precision races that challenge their agility, speed, and accuracy. These competitions could be held in indoor arenas or outdoor tracks, and they could attract enthusiasts and spectators from all over the world. With their advanced capabilities, autonomous racing drones could usher in a new era of racing events that are more exciting and challenging than ever before. From racing competitions to search and rescue operations, the autonomous racing drone can be used in a wide range of applications that benefit individuals, businesses, and society as a whole.
+
+## Potential Outcome
+
+### Problem
+
+In many industries and applications, there is a need for fast, efficient, and safe movement of goods and information. Drones have become an increasingly popular tool for a wide range of applications, from aerial photography to surveying and monitoring. However, operating a drone requires a certain level of skill and experience, which can be a barrier for individuals or businesses who want to take advantage of this technology. Additionally, traditional drones can be expensive and time-consuming to operate, limiting their accessibility and effectiveness. Therefore, there is a need for a more user-friendly and affordable solution that can expand the use of drones to new audiences and applications.
+
+### Solution
+
+The solution to the above problem statement is an autonomous racing drone. An autonomous racing drone is equipped with a camera that scans the ArUco tags for gate detection which is supported by software used in autonomous flights that enable it to navigate through a predetermined course while avoiding obstacles and achieving high speeds. Unlike traditional drones, an autonomous racing drone does not require manual control, making it an ideal solution for those who do not have the skills or experience to operate a drone.Its autonomous capabilities make it a more accessible and user-friendly solution than traditional drones, enabling individuals or businesses to take advantage of this technology without requiring extensive training or expertise.
+
+![image](https://user-images.githubusercontent.com/93365067/235303281-f63e379d-c156-45ad-b554-2c84bd82781d.png)
+
+### Additional Information
+
+In 2017, a student committee for DJS Phoenix was formed. In India, our team has participated in a number of contests, including IDRL-IIT GandhiNagar (sixth rank), IDRL-SVPCET Nagpur(second rank) and TECHNOXIAN (second place out of 50 national teams). In CopterHack-2021, our team participated, and we placed eighth internationally. We are back with improved concepts after learning from the previous season.
+
+For more information checkout gitbook: https://djs-phoenix.gitbook.io/chetak-faster-than-you-can-imagine/.

docs/en/firmware.md

@@ -17,6 +17,8 @@ It is advisable to use a specialized build of PX4 with the necessary fixes and b
 </ul>
 </div>
 
+> **Warning** If you are using the firmware version older than *v1.10* (for example, `v1.8.2-clover.13`), then in order to avoid configuration errors, use [QGroundControl version *v4.2.0*](https://github.com/mavlink/qgroundcontrol/releases/tag/v4.2.0) (or older). See [detailed information](https://docs.px4.io/v1.11/en/config/battery.html#parameter-migration-notes) about changes in the firmware parameters that cause errors in newer versions of QGroundControl.
+
 <script type="text/javascript">
     // get latest release from GitHub
     fetch('https://api.github.com/repos/CopterExpress/Firmware/releases').then(function(res) {

docs/en/frames.md

@@ -9,6 +9,7 @@ Main frames in the `clover` package:
 * `base_link` is rigidly bound to the drone. It is shown by the simplified drone model on the image above;
 * `body` is bound to the drone, but its Z axis points up regardless of the drone's pitch and roll. It is shown by the red, blue and green lines in the illustration;
 * <a name="navigate_target"></a>`navigate_target` is bound to the current navigation target (as set by the [navigate](simple_offboard.md#navigate) service);
+* `terrain` is bound to the floor at the current drone position (see the [set_altitude](simple_offboard.md#set_altitude) service);
 * `setpoint` is current position setpoint;
 * `main_camera_optical` is the coordinate system, [linked to the main camera](camera_setup.md#frame);
 

docs/en/liceu128.md

@@ -0,0 +1,45 @@
+# "QCS" - the network of Clover charging stations
+
+[CopterHack-2023](copterhack2023.md), team **Lyceum 128**.
+
+## Network realisation
+
+Our charging stations use Python web server created with Django framework. On that server we storage information about charging stations:
+
+- Position (GPS + ArUco marker).
+- Possibility to drone landing.
+- Drone info (If it's on it).
+
+To connect to server we use API with special personal key for every drone and station. It can be regenerated if secured key became public.
+
+If you want to test station without drone you can use API Debug page. You must be in your account to open it.
+
+### Electronics in the station
+
+There are Arduino Mega and Wemos D1 on the station.
+
+![scheme](https://github.com/Juli-Shvetsova/clover/assets/78372613/3ab05a79-0046-463b-83dd-4db06115909b)
+
+Wemos D1 connect with server to collect information, do tasks. Arduino Mega receive signals from Wemos and make physical updates such as moving landing platform, LED indication and other more.
+
+After completing mission Wemos send request to a server to confirm updates on the server.
+
+## Clover flight
+
+We're using recursive landing algorithm to achieve success landing. Small ArUco marker is on the landing platform. Camera can use this marker on the ~25cm height. Next drone use standard landing.
+
+## Visit our landing and API page
+
+[https://qcs.pythonanywhere.com/](https://qcs.pythonanywhere.com/)
+
+## Source code
+
+Of that project is in our [GitHub page](https://github.com/qcs-charge/).
+
+## Team
+
+CH2023, Lyceum 128.
+
+- Mikhail Konstantinov, [@mikemka](https://t.me/mikemka/), programmer.
+- Julia Shvecova, [@Juli_Phil](https://t.me/Juli_Phil/), science adviser.
+- Oleg Sherstobitov, [@kulumuluu](https://t.me/kulumuluu/), constructor.

docs/en/mocap_clover.md

@@ -0,0 +1,200 @@
+# Project Video
+
+[CopterHack-2023](copterhack2023.md), team **Clover with Motion Capture System**. Click logo for project video.
+
+<div align="center">
+  <a href="https://www.youtube.com/watch?v=jOovjo0aBpQ&t=4s&ab_channel=SeanSmith"><img src="../assets/mocap_clover/semi_logo_small.jpg" width="70%" height="70%" alt="IMAGE ALT TEXT"></a>
+</div>
+
+## Table of Contents
+
+* [Team Information](#item-one)
+* [Educational Document](#item-two)
+* [Introduction](#item-three)
+* [Project Description](#item-four)
+* [Hardware](#item-hardware)
+* [Data Transfer](#item-transfer)
+* [Examples](#item-examples)
+* [Trajectory Tracking](#item-figure8)
+* [Auto-Tuning](#item-auto)
+* [Conclusion](#item-last)
+
+## Team Information {#item-one}
+
+The list of team members:
+
+* Sean Smith, @ssmith_81, roboticist and developer: [GitHub](https://github.com/ssmith-81), [Linkedin](https://www.linkedin.com/in/sean-smith-61920915a/).
+
+## Educational Document {#item-two}
+
+**My Gitbook, with detailed step by step analysis of the proposed project during the CopterHack 2023 competition can be found:**
+[MoCap Clover Gitbook](https://0406hockey.gitbook.io/mocap-clover/).
+
+This page gives a broad overview on the motivation and purpose behind this project, it also provides research and industry based knowledge around UAV application that the reader may find interesting. If the user is interested in the technical details and implementation then refer to the educational Gitbook document.
+
+## Introduction {#item-three}
+
+Aerial robotics has become a common focus in research and industry over the past few decades. Many technical developments in research require a controlled test environment to isolate certain characteristics of the system for analysis. This typically takes place indoors to eliminate unwanted disturbances allowing results to be more predictable. Removing localization and pose feedback concerns can be accomplished with motion capture (MoCap) systems that track unmanned aerial vehicles (UAVs) pose with high precision as stated:
+
+"OptiTrack’s drone and ground robot tracking systems consistently produce positional error less than 0.3mm and rotational error less than 0.05°" [[reference](https://optitrack.com/applications/robotics/#:~:text=Exceptional%203D%20precision%20and%20accuracy&text=OptiTrack's%20drone%20and%20ground%20robot,error%20less%20than%200.05%C2%B0)].
+
+<!-- markdownlint-disable MD044 -->
+
+This enables researchers to study the dynamics and behavior of UAVs in different environments, evaluate their performance, and develop advanced control algorithms for improved flight stability, autonomy, and safety. Research facilities around the world tend to built research drones from the ground up using off-the-shelf components with open source platforms such as PX4. While the end goal is the same: transferring pose feedback to the flight controller along with high level commands, the platforms and methods can vary significantly depending on factors such as onboard and offboard computing frameworks and data transfer methods. Many developers have a detailed background and understanding of the theoretical components of their research, however, adapting hardware configurations to their own platform such as sensor feedback and sensor fusion is not obvious. The purpose of this project is to provide detailed documentation on integrating the Clover platform with the MoCap system along with examples to familiarize users with the hardware, sensor fusion, high and low level controller development, and trajectory tracking.
+
+<!-- markdownlint-enable MD044 -->
+
+## Project Description {#item-four}
+
+In this article, we will provide an overview of MoCap systems for tracking UAV pose in research applications, highlighting their significance, advantages, and potential impacts in the field of UAV controller development.
+
+## Document structure
+
+The Motion Capture System educational document is divided into three main sections outside of the Introduction and Conclusion. Each section and its purpose is listed:
+
+### Hardware {#item-hardware}
+
+The main goal in this section is to educate the reader on the MoCap system hardware and software. This can be further divided into several steps including camera placement, marker placement, and system calibration. A summary of the process is provided:
+
+| Task      | Description |
+| --------- | ----------- |
+| Camera Placement      | Position the motion capture cameras in strategic locations around the area where the UAV will be flying. The number of cameras and their placement will depend on the size of the area and the desired capture volume. Typically, cameras are placed on tripods or mounted on walls or ceilings at specific heights and angles to capture the UAV's movements from different perspectives. **A simple 4-camera setup example is provided in the educational document**. |
+| Marker Placement   | Attach OptiTrack markers to the UAV in specific locations. OptiTrack markers are small reflective spheres that are used as reference points for the motion capture system to track the UAV's position and movements. **An example placement on the Clover is shown in the educational document**.
+| System Calibration | Perform system calibration to establish the spatial relationship between the cameras and the markers. This involves capturing a calibration sequence, during which a known pattern or object is moved in the capture volume. The system uses this data to calculate the precise positions and orientations of the cameras and markers in 3D space, which is crucial for accurate motion capture.  |
+
+With these components completed correctly, you are well on your way to commanding indoor autonomous missions like this:
+     <p align="center">
+    <img title="Figure-8" alt="Alt text" src="../assets/mocap_clover/drone_approach_small.jpg" width="60%" height="50%">
+    </p>
+
+<!--
+    - Testing and Validation: After setting up the cameras and markers, perform test flights with the UAV to validate the accuracy of the MoCap system. Analyze the captured data to ensure that the UAV's movements are accurately captured and that the system is functioning correctly.
+    - Fine-tuning: Fine-tune the motion capture system as needed based on the test results. This may involve adjusting camera angles, marker placements, or calibration settings to improve the accuracy and reliability of the system.
+    - Data Collection: Once the motion capture system is properly set up and calibrated, you can start collecting data for your UAV research. The system will continuously track the positions and movements of the markers on the UAV in real-time, providing precise data that can be used for various analyses and experiments.
+    - Data Analysis: Analyze the captured data using appropriate software to extract relevant information for your UAV research. This may involve tracking the UAV's position, velocity, acceleration, orientation, and other parameters, and analyzing how they change over time or in response to different conditions or inputs.
+-->
+Overall, configuring a motion capture system for UAV research requires careful planning, precise marker placement, accurate system calibration, and thorough validation to ensure accurate and reliable data collection for your research purposes. For more information, refer to the [informative documentation](https://0406hockey.gitbook.io/mocap-clover/hardware/motion-capture-setup-optitrack).
+
+### Data Transfer {#item-transfer}
+
+With the data acquired from the MoCap system, the main goal in this section is to transfer it to the Raspberry Pi onboard the Clover and remap it to the flight controller/PX4 for control. A summary of the steps are listed:
+
+<p align="center">
+    <img title="Figure-8" alt="Alt text" src="https://drive.google.com/uc?export=view&id=1B0OMIGveFZNyE1_UHpmBOukeFVgl-bTV" width="50%" height="50%">
+</p>
+
+* Data Acquisition: The motion capture system continuously tracks the position and orientation (pose) of the UAV using markers attached to the UAV and cameras positioned in the capture volume. The system calculates the 3D pose of the UAV in real-time and can be viewed through the motive software.
+* Data Transmission: The pose data is transmitted from the motion capture system to a Raspberry Pi using VRPN and a ROS network. While this works, I have implemented a strictly UDP data transmission method where highlighting the setup process and ease of use will be a future development, both configurations can be seen in the below figures. The Raspberry Pi acts as an intermediary for processing and relaying the data to the flight controller onboard the UAV using MAVROS. The connection can be established using USB or UART, I chose UART in my setups.
+
+ <p align="center">
+       <img src="../assets/mocap_clover/block_ROS.jpg" width="49%" alt="ROS Block"/>
+       <img src="../assets/mocap_clover/block_udp.jpg" width="49%" alt="ROS Block"/>
+       <em>Fig.1(a) - Left figure: ROS network experimental setup topology. Legend: Black dotted line is the provided local network; Blue solid line is the Clover pose transmission where the final transmission from laptop to Pi is over a ROS network; Red line is hardware connections; MAVLink arrow is communication via a MAVLink protocol. .</em> <br>
+       <em>Fig.1(b) - Right figure: UDP transmission experimental setup topology. Legend: Black dotted line is the provided local network; Black solid line is the UDP client-server drone pose transmission; Light blue line is the pose data transmission; Red line is hardware connections; Purple line is communication via secure shell protocol and ROS network communication; MAVLink arrow is communication via a MAVLink protocol. .</em>
+ </p>
+
+* Data Processing: The Raspberry Pi receives the pose data from the motion capture system over a ROS network on a VRPN ROS topic, this was initially parsed from the sensor readings into position and attitude.
+* Data Remapping: Once the pose data is processed, the Raspberry Pi maps it to the to a gateway/MAVROS topic sending it to the flight controller onboard the UAV. All coordinate transformations (ENU->NED) are taken care of with MAVROS.
+* Flight Control Update: The flight controller onboard the UAV receives the remapped pose data and uses it to update the UAV's flight control algorithms. The updated pose information can be used to adjust the UAV's flight trajectory, orientation, or other control parameters to achieve the desired flight behavior or control objectives based on the motion capture system feedback.
+* Closed-Loop Control: The flight controller continuously receives pose feedback from the motion capture system via the Raspberry Pi, and uses it to update the UAV's flight control commands in a closed-loop fashion (PX4 uses a cascaded PID control system with more details provided in the educational document). This allows the UAV to maintain precise position and orientation control based on the real-time pose data provided by the motion capture system.
+
+Overall, sending pose feedback from a motion capture system to a Raspberry Pi and remapping the data to the flight controller onboard a UAV involves acquiring, processing, and transmitting the pose data in a compatible format to enable real-time closed-loop control of the UAV based on the motion capture system's feedback.
+
+### Examples {#item-examples}
+
+This section provides two practical examples to help the user better understand the Clover platform, sensor fusion, UAV applications such as trajectory tracking, high level commands, and low level control. The reader will become familiar with an abundance of state-of-the-art open source UAV platforms/technologies such as:
+
+| Platform    | Description |
+| ----------- | ----------- |
+| PX4         | PX4 is an open-source flight control software for drones and other unmanned vehicles used on the Clover. It supports a wide range of platforms and sensors and is used in commercial and research applications. |
+| Robot Operating System (ROS) |ROS is an open-source software framework for building robotic systems. It provides a set of libraries and tools for developing and managing robot software and is widely used in drone and robotics research. |
+| MAVLink| MAVLink is a lightweight messaging protocol for communicating with unmanned systems. It is widely used in drone and robotics applications and provides a flexible and extensible communication framework.|
+|QGroundControl (QGC)| QGC is an open-source ground control station software for drones and other unmanned vehicles. It provides a user-friendly interface for managing and monitoring drone flights and is widely used in commercial and research applications. |
+
+<a id="item-figure8"></a>
+
+1. **A figure-8 high-level trajectory generation**: this example is outlined for both Software in the Loop (SITL) simulations and hardware testing with the Clover platform. Check out this interesting example from my [trajectory tracking section](https://0406hockey.gitbook.io/mocap-clover/examples/flight-tests/complex-trajectory-tracking)!
+
+<p align="center">
+    <img title="Figure-8" alt="Alt text" src="https://drive.google.com/uc?export=view&id=1imlqhaUl-v6JuEiOFA4BPvO1N174NWgY">
+</p>
+<p align = "center">
+    <em>Fig.2 - Lemniscate of Bernoulli [<a href="https://upload.wikimedia.org/wikipedia/commons/f/f1/Lemniscate_of_Bernoulli.gif">reference</a>].</em>
+</p>
+
+Here's a summary of the importance of trajectory tracking for UAV applications:
+
+* *Navigation and Path Planning*: Trajectory tracking allows UAVs to follow pre-defined paths or trajectories, which is essential for tasks such as aerial mapping, surveying, inspection, and monitoring.
+* *Precision and Safety*: Trajectory tracking enables precise control of the UAV's position, velocity, and orientation, which is crucial for maintaining safe and stable flight operations. Precise trajectory tracking allows UAVs to avoid obstacles, maintain safe distances from other objects or aircraft, and operate in confined or complex environments with high precision, reducing the risk of collisions or accidents.
+* *Autonomy and Scalability*: Trajectory tracking enables UAV autonomy, allowing them to operate independently without constant operator intervention. This enables UAVs to perform repetitive or complex tasks autonomously, freeing up human operators to focus on higher-level decision-making or supervisory roles. Trajectory tracking also facilitates scalable operations, where multiple UAVs can follow coordinated trajectories to perform collaborative tasks, such as swarm operations or coordinated data collection.
+* *Flexibility and Adaptability*: Trajectory tracking allows UAVs to adapt their flight paths or trajectories in real-time based on changing conditions or objectives. UAVs can dynamically adjust their trajectories to accommodate changes in environmental conditions, mission requirements, or operational constraints, allowing for flexible and adaptive operations in dynamic or unpredictable environments.
+
+In summary, trajectory tracking is crucial for UAV applications as it enables precise navigation, safety, efficiency, autonomy, and scalability, while optimizing payload performance and adaptability to changing conditions. It plays a fundamental role in ensuring that UAVs can accomplish their missions effectively and safely, making it a critical component of UAV operations in various industries and domains.
+
+<a id="item-auto"></a>
+
+1. **Clover adaptive auto-tuning**: The second example shows the user how to implement the adaptive auto-tune module provided by PX4 to tune the low-level controllers or attitude control module. You can take a look into how this is accomplished with the Clover platform in the [auto-tuning section](https://0406hockey.gitbook.io/mocap-clover/examples/auto-tuning).
+
+<p align="center">
+    <img title="Figure-8" alt="Alt text" src="../assets/mocap_clover/px4_control_structure.jpg" width="80%" height="80%">
+    </p>
+    <p align = "center">
+    <em>Fig.3 - Cascaded PX4 control system [<a href="https://docs.px4.io/v1.12/en/flight_stack/controller_diagrams.html#multicopter-control-architecture">reference</a>].</em>
+</p>
+
+This is a much faster and easier way to tune a real drone and provides good tuning for most air frames. Manual tuning is recommended when auto-tuning dos not work, or when fine-tuning is essential. However, the process is tedious and not easy especially for users with limited control background and experience. The Clover airframe provides sufficient base settings where auto-tuning can further improve performance depending on the Clover being used.
+
+Here's a summary of the importance of low-level controller performance for UAV applications:
+
+* *Flight Stability and Safety*: The low-level controller, typically implemented as a PID (Proportional-Integral-Derivative) or similar control algorithm, governs the UAV's attitude and position control. Properly tuning the low-level controller ensures that the UAV remains stable during flight, with accurate and responsive control inputs. This is essential for safe and reliable UAV operations, as it helps prevent undesired oscillations, overshooting, or instability that can lead to crashes or accidents.
+* *Control Precision and Responsiveness*: Accurate control is crucial for achieving precise and responsive UAV maneuvers, such as smooth trajectory tracking, precise hovering, or dynamic maneuvers. Proper tuning of the low-level controller allows for precise control of the UAV's attitude, position, and velocity, enabling it to accurately follow desired flight trajectories, respond to changing conditions or commands, and perform complex flight maneuvers with high precision.
+* *Adaptability and Robustness*: UAV operations can be subject to varying environmental conditions, payload configurations, or operational requirements. Proper low-level controller tuning allows for adaptability and robustness, enabling the UAV to perform reliably and accurately across a wide range of conditions or mission requirements. Tuning the controller parameters can help account for changes in payload mass, wind conditions, or other external factors, ensuring stable and responsive flight performance.
+
+<p align="center">
+    <img title="Figure-8" alt="Alt text" src="https://drive.google.com/uc?export=view&id=1ech31B2JvYLcW9c7W67IguuQT-S53AFF" width="50%" height="50%">
+</p>
+
+In summary, low-level controller tuning is crucial for UAV applications as it directly affects flight stability, control precision, payload performance, energy efficiency, adaptability, and compliance with safety and regulatory requirements. It is an essential step in optimizing the performance and safety of UAV operations, ensuring reliable and effective flight control for various applications across different industries and domains.
+
+## Conclusion {#item-last}
+
+Over the course of this project I was able to extend my knowledge in robotic applications while enduring many ups and downs along the way. This greatly helped me with my research when testing controller development was required. The motivation behind this documentation is to improve this experience for other researchers, robotic developers, or hobbyists that have a desire to learn fundamental robotic application which is beginning to shape the world we know today. These details can be explored in a [GitBook](https://0406hockey.gitbook.io/mocap-clover/) for those who are interested.
+
+I provided many details on the interworking components required to achieve an indoor autonomous flight setup with the COEX Clover platform. With an extensive background in UAV control, I tried to provide a basic understanding of this for the readers benefit. There are many more sections I would like to include along with improving upon the existing ones. A few examples include firmware testing with hardware in the loop simulations, advanced trajectory generation, and an extensive list of flight examples for the Gazebo simulator with application to hardware.
+
+Lastly, I would like to thank the entire COEX team that made this project possible by providing a wonderful platform with support. I would like to give a special thanks to [Oleg Kalachev](https://github.com/okalachev) for helping me debug and succeed through applied learning. With that being said, I hope you all enjoy the resourceful content provided, and I plan on releasing more detailed documents on other interesting topics as I progress through my research and development.
+
+<!--
+## Project description
+
+This project is an educational reference and detailed tutorial on how to setup the OptiTrack Motion Capture (MoCap) system with the COEX Clover platform.
+It gives brief descriptions on the camera and motive software setup with many resourceful links, but it assumes the user has a basic understanding on how to
+setup the cameras and motive computer software. MoCap markers allow the MoCap to stream positional data of the Clover therefore marker placement is discussed.
+From there details on how to stream position data from the MoCap to the Clover along with how to configure the Clover; specifically, the Raspberry Pi and PX4
+firmware parameters are discussed. The overall network will be provided as it is the most important part.
+
+At the end, I will provide an interesting example such as a tracking a complex trajectory that any user can implement.
+
+### Project idea
+
+In many research applications highly precise position feedback is required and that is why a MoCap system is popular in this field of robotics. Research papers
+are published detailed around certain topics such as control, path planning, obstacle avoidance and many more although the details surrounding certain hardware
+setups such as with the MoCap system are not provided. There are a few sources that provide help with setting up the MoCap system with PX4 and other specific
+systems but with limited knowledge of how and why steps are made one might not be able to adapt it to their own setup such as with the Clover. That is why this
+project has been created; so that a student or user can follow this tutorial with the COEX Clover and have a working setup with the MoCap and Clover even with
+a limited understanding of software and hardware. The article also provides descriptions on why certain things are done to allow the user the better understand
+the system setup.
+
+I currently have the setup running but now working well. The Clover is unable to follow setpoints with any precision
+therefore working through network and software issues seems to be the current stage (I am not sure what exactly is causing this issue actually). I am hoping to
+receive guidance in this area from this project so I can have it working as desired.
+
+### Using Clover platform
+
+The COEX Clover 4.2 kit is used where the MoCap system setup is specific for the Clover platform. It provides useful information for all robotics users interested in
+implementing external sensor feedback although it is specific for Clover owners.
+
+### Additional information at the request of participants
+I am a masters student looking to implement this project in my research.
+
+-->

docs/en/models.md

@@ -198,6 +198,15 @@ This page contains models and drawings of some of the drone parts. They can be u
     </tr>
 </table>
 
+### 3D print
+
+#### Mechanical gripper
+
+* **Left claw**: [`grip_left.stl`](https://github.com/CopterExpress/clover/raw/master/docs/assets/stl/grip_left.stl).
+* **Right claw**: [`grip_right.stl`](https://github.com/CopterExpress/clover/raw/master/docs/assets/stl/grip_right.stl).
+
+Material: SBS Glass. Infill: 100%. Quantity: 1 pcs.
+
 ## Clover 4
 
 ### 3D print

docs/en/parameters.md

@@ -39,17 +39,27 @@ In case of using EKF2 (official firmware):
 
 |Parameter|Value|Comment|
 |-|-|-|
-|`EKF2_AID_MASK`|26|Checkboxes: *flow* + *vision position* + *vision yaw*.<br>Details: [Optical Flow](optical_flow.md), [ArUco markers](aruco_map.md), [GPS](gps.md).|
+|`EKF2_AID_MASK`\*|26|Checkboxes: *flow* + *vision position* + *vision yaw*.<br>Details: [Optical Flow](optical_flow.md), [ArUco markers](aruco_map.md), [GPS](gps.md).|
 |`EKF2_OF_DELAY`|0||
 |`EKF2_OF_QMIN`|10||
 |`EKF2_OF_N_MIN`|0.05||
 |`EKF2_OF_N_MAX`|0.2||
-|`EKF2_HGT_MODE`|3 (*Vision*)|If the [rangefinder](laser.md) is present and flying over horizontal floor – 2 (*Range sensor*)|
+|`EKF2_HGT_MODE`\*|3 (*Vision*)|If the [rangefinder](laser.md) is present and flying over horizontal floor – 2 (*Range sensor*)|
 |`EKF2_EVA_NOISE`|0.1||
 |`EKF2_EVP_NOISE`|0.1||
 |`EKF2_EV_DELAY`|0||
 |`EKF2_MAG_TYPE`|5 (*None*)|Disabling usage of the magnetometer (when navigating indoor)|
 
+\* — starting from PX4 version 1.14, the parameters marked with an asterisk are replaced with the following:
+
+|Parameter|Value|Comment|
+|-|-|-|
+|`EKF2_EV_CTRL`|11|Checkboxes: *Horizontal position* + *Vertical position* + *Yaw*|
+|`EKF2_GPS_CTRL`|0|All checkboxes are disabled|
+|`EKF2_BARO_CTRL`|0 (*Disabled*)|Barometer is disabled|
+|`EKF2_OF_CTRL`|1 (*Enabled*)|Optical flow is enabled|
+|`EKF2_HGT_REF`|3 (*Vision*)|If the [rangefinder](laser.md) is present and flying over horizontal floor – 2 (*Range sensor*)|
+
 <!-- markdownlint-enable MD031 -->
 
 > **Info** See also: list of default parameters of the [Clover simulator](simulation.md): https://github.com/CopterExpress/clover/blob/master/clover_simulation/airframes/4500_clover.

docs/en/rc_flysky_a8s.md

@@ -67,7 +67,7 @@ Connect your receiver to the RC IN port on your flight controller:
 </div>
 
 > **Hint** Double check that you're using the RC IN port on the COEX Pix:
-<img src="../assets/coexpix-bottom.jpg" width=300 class="zoom border center" alt="coex pix pinout">
+<img src="../assets/coex_pix/coexpix-bottom.jpg" width=300 class="zoom border center" alt="coex pix pinout">
 
 ## Binding your transmitter {#rc_bind}
 

docs/en/simple_offboard.md

@@ -1,5 +1,7 @@
 # Autonomous flight
 
+> **Note** The following applies to the [image version **0.24**](https://github.com/CopterExpress/clover/releases/tag/v0.24), which is not yet released. Older documentation is still available for [for version **0.23**](https://github.com/CopterExpress/clover/blob/f78a03ec8943b596d5a99b893188a159d5319888/docs/en/simple_offboard.md).
+
 The `simple_offboard` module of the `clover` package is intended for simplified programming of the autonomous drone flight (`OFFBOARD` [flight mode](modes.md)). It allows setting the desired flight tasks, and automatically transforms [coordinates between frames](frames.md).
 
 `simple_offboard` is a high level system for interacting with the flight controller. For a more low level system, see [mavros](mavros.md).
@@ -20,6 +22,9 @@ rospy.init_node('flight') # 'flight' is name of your ROS node
 get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
 navigate = rospy.ServiceProxy('navigate', srv.Navigate)
 navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)
+set_altitude = rospy.ServiceProxy('set_altitude', srv.SetAltitude)
+set_yaw = rospy.ServiceProxy('set_yaw', srv.SetYaw)
+set_yaw_rate = rospy.ServiceProxy('set_yaw_rate', srv.SetYawRate)
 set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
 set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
 set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
@@ -100,7 +105,6 @@ Parameters:
 
 * `x`, `y`, `z` — coordinates *(m)*;
 * `yaw` — yaw angle *(radians)*;
-* `yaw_rate` – angular yaw velocity (will be used if yaw is set to `NaN`) *(rad/s)*;
 * `speed` – flight speed (setpoint speed) *(m/s)*;
 * `auto_arm` – switch the drone to `OFFBOARD` mode and arm automatically (**the drone will take off**);
 * `frame_id` – [coordinate system](frames.md) for values `x`, `y`, `z` and `yaw`. Example: `map`, `body`, `aruco_map`. Default value: `map`.
@@ -119,7 +123,7 @@ Flying in a straight line to point 5:0 (altitude 2) in the local system of coord
 navigate(x=5, y=0, z=3, speed=0.8)
 ```
 
-Flying to point 5:0 without changing the yaw angle (`yaw` = `NaN`, `yaw_rate` = 0):
+Flying to point 5:0 without changing the yaw angle:
 
 ```python
 navigate(x=5, y=0, z=3, speed=0.8, yaw=float('nan'))
@@ -149,22 +153,10 @@ Flying to point 3:2 (with the altitude of 2 m) in the [ArUco map](aruco.md) coor
 navigate(x=3, y=2, z=2, speed=1, frame_id='aruco_map')
 ```
 
-Rotating on the spot at the speed of 0.5 rad/s (counterclockwise):
-
-```python
-navigate(x=0, y=0, z=0, yaw=float('nan'), yaw_rate=0.5, frame_id='body')
-```
-
-Flying 3 meters forwards at the speed of 0.5 m/s, yaw-rotating at the speed of 0.2 rad/s:
-
-```python
-navigate(x=3, y=0, z=0, speed=0.5, yaw=float('nan'), yaw_rate=0.2, frame_id='body')
-```
-
 Ascending to the altitude of 2 m (command line):
 
 ```(bash)
-rosservice call /navigate "{x: 0.0, y: 0.0, z: 2, yaw: 0.0, yaw_rate: 0.0, speed: 0.5, frame_id: 'body', auto_arm: true}"
+rosservice call /navigate "{x: 0.0, y: 0.0, z: 2, yaw: 0.0, speed: 0.5, frame_id: 'body', auto_arm: true}"
 ```
 
 > **Note** Consider using the `navigate_target` frame instead of `body` for missions that primarily use relative movements forward/back/left/right. This negates inaccuracies in relative point calculations.
@@ -178,7 +170,6 @@ Parameters:
 * `lat`, `lon` — latitude and longitude *(degrees)*;
 * `z` — altitude *(m)*;
 * `yaw` — yaw angle *(radians)*;
-* `yaw_rate` – angular yaw velocity (used for setting the yaw to `NaN`) *(rad/s)*;
 * `speed` – flight speed (setpoint speed) *(m/s)*;
 * `auto_arm` – switch the drone to `OFFBOARD` and arm automatically (**the drone will take off**);
 * `frame_id` – [coordinate system](frames.md) for `z` and `yaw` (Default value: `map`).
@@ -191,7 +182,7 @@ Flying to a global point at the speed of 5 m/s, while maintaining current altitu
 navigate_global(lat=55.707033, lon=37.725010, z=0, speed=5, frame_id='body')
 ```
 
-Flying to a global point without changing the yaw angle (`yaw` = `NaN`, `yaw_rate` = 0):
+Flying to a global point without changing the yaw angle:
 
 ```python
 navigate_global(lat=55.707033, lon=37.725010, z=0, speed=5, yaw=float('nan'), frame_id='body')
@@ -200,7 +191,71 @@ navigate_global(lat=55.707033, lon=37.725010, z=0, speed=5, yaw=float('nan'), fr
 Flying to a global point (command line):
 
 ```bash
-rosservice call /navigate_global "{lat: 55.707033, lon: 37.725010, z: 0.0, yaw: 0.0, yaw_rate: 0.0, speed: 5.0, frame_id: 'body', auto_arm: false}"
+rosservice call /navigate_global "{lat: 55.707033, lon: 37.725010, z: 0.0, yaw: 0.0, speed: 5.0, frame_id: 'body', auto_arm: false}"
+```
+
+### set_altitude
+
+Change the desired flight altitude. The service is used to set the altitude and its coordinate system independently, after calling [`navigate`](#navigate) or [`set_position`](#setposition).
+
+Parameters:
+
+* `z` – flight altitude *(m)*;
+* `frame_id` – [coordinate system](frames.md) for computing the altitude.
+
+Set the desired altitude to 2 m relative to the floor:
+
+```python
+set_altitude(z=2, frame_id='terrain')
+```
+
+Set the desired altitude to 1 m relative to [the ArUco map](aruco.md):
+
+```python
+set_altitude(z=1, frame_id='aruco_map')
+```
+
+### set_yaw
+
+Change the desired yaw angle (and its coordinate system), keeping the previous command in effect.
+
+Parameters:
+
+* `yaw` — yaw angle *(radians)*;
+* `frame_id` – [coordinate system](frames.md) for computing the yaw.
+
+Rotate by 90 degrees clockwise (the previous command continues):
+
+```python
+set_yaw(yaw=math.radians(-90), frame_id='body')
+```
+
+Set the desired yaw angle to zero relative to [the ArUco map](aruco.md):
+
+```python
+set_yaw(yaw=0, frame_id='aruco_map')
+```
+
+Stop yaw rotation (caused by [`set_yaw_rate`](#setyawrate) call):
+
+```python
+set_yaw(yaw=float('nan'))
+```
+
+### set_yaw_rate
+
+The the desired angular yaw velocity, keeping the previous command in effect.
+
+Parameters:
+
+* `yaw_rate` – angular yaw velocity *(rad/s)*;
+
+The positive direction of `yaw_rate` rotation (when viewed from the top) is counterclockwise.
+
+Start yaw rotation at 0.5 rad/s (the previous command continues):
+
+```python
+set_yaw_rate(yaw_rate=0.5)
 ```
 
 ### set_position
@@ -213,7 +268,6 @@ Parameters:
 
 * `x`, `y`, `z` — point coordinates *(m)*;
 * `yaw` — yaw angle *(radians)*;
-* `yaw_rate` – angular yaw velocity (used for setting the yaw to NaN) *(rad/s)*;
 * `auto_arm` – switch the drone to `OFFBOARD` and arm automatically (**the drone will take off**);
 * `frame_id` – [coordinate system](frames.md) for `x`, `y`, `z` and `yaw` parameters (Default value: `map`).
 
@@ -235,19 +289,12 @@ Assigning the target point 1 m ahead of the current position:
 set_position(x=1, y=0, z=0, frame_id='body')
 ```
 
-Rotating on the spot at the speed of 0.5 rad/s:
-
-```python
-set_position(x=0, y=0, z=0, frame_id='body', yaw=float('nan'), yaw_rate=0.5)
-```
-
 ### set_velocity
 
 Set speed and yaw setpoints.
 
 * `vx`, `vy`, `vz` – flight speed *(m/s)*;
 * `yaw` — yaw angle *(radians)*;
-* `yaw_rate` – angular yaw velocity (used for setting the yaw to NaN) *(rad/s)*;
 * `auto_arm` – switch the drone to `OFFBOARD` and arm automatically (**the drone will take off**);
 * `frame_id` – [coordinate system](frames.md) for `vx`, `vy`, `vz` and `yaw` (Default value: `map`).
 
@@ -280,7 +327,7 @@ Parameters:
 * `thrust` — throttle level, ranges from 0 (no throttle, propellers are stopped) to 1 (full throttle).
 * `auto_arm` – switch the drone to `OFFBOARD` and arm automatically (**the drone will take off**);
 
-The positive direction of `yaw_rate` rotation (when viewed from the top) is counterclockwise,`pitch_rate` rotation is forward, `roll_rate` rotation is to the left.
+The positive direction of `yaw_rate` rotation (when viewed from the top) is counterclockwise, `pitch_rate` rotation is forward, `roll_rate` rotation is to the left.
 
 ### land
 

docs/en/simulation_m1.md

@@ -9,7 +9,7 @@ The recommended virtual machine hypervisor is [UTM app](https://mac.getutm.app/)
 <img src="../assets/simulation_utm.png" width=500 class="center zoom">
 
 1. Download UTM App from the official site [mac.getutm.app](https://mac.getutm.app/) and install it.
-2. Download Ubuntu Linux 20.04 installation iso-file for ARM64 architecture using the link: https://cdimage.ubuntu.com/focal/daily-live/current/focal-desktop-arm64.iso.
+2. Download Ubuntu Linux 20.04 installation iso-file for ARM64 architecture using the link: https://clovervm.ams3.digitaloceanspaces.com/focal-desktop-arm64.iso.
 3. Create a new virtual machine in UTM, using the following settings:
 
     * **Type**: Virtualize.

docs/en/snippets.md

@@ -488,3 +488,23 @@ Check, if the code is running inside a [Gazebo simulation](simulation.md):
 ```python
 is_simulation = rospy.get_param('/use_sim_time', False)
 ```
+
+### # {#simulator-interaction}
+
+You can move a physical object (link) in Gazebo (as well as change its velocity) using the `gazebo/set_link_state` service (of the type [`SetLinkState`](http://docs.ros.org/en/api/gazebo_msgs/html/srv/SetLinkState.html)). For example, if you add a cube to the world (link `unit_box::link`), you can move it to the point (1, 2, 3):
+
+```python
+import rospy
+from geometry_msgs.msg import Point, Pose, Quaternion
+from gazebo_msgs.srv import SetLinkState
+from gazebo_msgs.msg import LinkState
+
+rospy.init_node('flight')
+
+set_link_state = rospy.ServiceProxy('gazebo/set_link_state', SetLinkState)
+
+# Change link's position
+set_link_state(LinkState(link_name='unit_box::link', pose=Pose(position=Point(1, 2, 3), orientation=Quaternion(0, 0, 0, 1))))
+```
+
+> **Info** Simple object animation in Gazebo can be implemented [using actors](http://classic.gazebosim.org/tutorials?tut=actor&cat=build_robot).

docs/en/sonar.md

@@ -1,14 +1,14 @@
-# Working with the ultrasonic distance gage
+# Working with the ultrasonic distance sensor
 
-Ultrasonic distance gage (*"sonar"*) is a distance gage based on the principle of measuring the time of a sound wave (about 40 kHz) propagation to the obstacle and back. The sonar can measure the distance up to 1.5 – 3 m with the accuracy of several centimeters.
+Ultrasonic distance sensor (*"sonar"*) is a distance sensor based on the principle of measuring the time of a sound wave (about 40 kHz) propagation to the obstacle and back. The sonar can measure the distance up to 1.5 – 3 m with the accuracy of several centimeters.
 
-## Distance gage HC-SR04
+## HC-SR04 distance sensor
 
 <img src="../assets/hc-sr04.jpg" alt="hc-sr04" width=200>
 
 ## Installation
 
-The distance gage is attached to the body using double-sided tape. For obtaining acceptable results, the use of vibro-insulation is required. A piece of PU foam may be used for vibro-insulation.
+The distance sensor is attached to the body using double-sided tape. For obtaining acceptable results, the use of vibro-insulation is required. A piece of PU foam may be used for vibro-insulation.
 
 ### Connection
 
@@ -24,17 +24,17 @@ Connect HC-SR04 to Raspberry Pi according to the connection diagram. Use 1.0 and
 
 ### Reading the data
 
-To read the data from distance gage HC-SR04 library for working with <abbr title="General-Purpose Input/Output">GPIO</abbr> is used – [`pigpio`](http://abyz.me.uk/rpi/pigpio/index.html). This library is pre-installed in the [Clover image](image.md), starting with version **v0.14**. For older versions of the image, use [an installation guide](http://abyz.me.uk/rpi/pigpio/download.html).
+To read the data from distance sensor HC-SR04 library for working with <abbr title="General-Purpose Input/Output">GPIO</abbr> is used – [`pigpio`](http://abyz.me.uk/rpi/pigpio/index.html). This library is pre-installed in the [Clover image](image.md), starting with version **v0.14**. For older versions of the image, use [an installation guide](http://abyz.me.uk/rpi/pigpio/download.html).
 
 To work with `pigpio`, start appropriate daemon:
 
-```(bash)
+```bash
 sudo systemctl start pigpiod.service
 ```
 
 You can also enable `pigpiod` auto launch on system startup:
 
-```(bash)
+```bash
 sudo systemctl enable pigpiod.service
 ```
 
@@ -113,15 +113,15 @@ An example of charts of initial and filtered data:
 
 The source code of the ROS-node used for building the chart can be found [on Gist](https://gist.github.com/okalachev/feb2d7235f5c9636802c3cda43add253).
 
-## Distance gage RCW-0001
+## RCW-0001 distance sensor
 
 <img src="../assets/rcw-0001.jpg" width=200>
 
-Ultrasonic distance gage RCW-0001 is compatible with distance gage HC-SR04. Use the instruction above to connect and work with it.
+The RCW-0001 distance sensor is compatible with distance sensor HC-SR04. Use the instruction above to connect and work with it.
 
 ## Flight
 
-An example of a flight program with the use of [simple_offboard](simple_offboard.md), which makes the copter fly forward until the connected ultrasonic distance gage detects an obstacle:
+An example of a flight program with the use of [simple_offboard](simple_offboard.md), which makes the copter fly forward until the connected ultrasonic distance sensor detects an obstacle:
 
 ```python
 set_velocity(vx=0.5, frame_id='body', auto_arm=True) # flying forward at the velocity of 0.5 mps

docs/en/ssh.md

@@ -13,9 +13,9 @@ ssh pi@192.168.11.1
 
 Password: `raspberry`.
 
-For SSH access from Windows, you may use [PuTTY](https://www.chiark.greenend.org.uk/~sgtatham/putty/latest.html).
+For SSH access from Windows, you may use [PuTTY](https://www.chiark.greenend.org.uk/~sgtatham/putty/latest.html). You can also gain SSH access from your smartphone using the [Termius](https://www.termius.com) app.
 
-You can also gain SSH access from your smart-phone using the [Termius](https://www.termius.com) app.
+> **Hint** To avoid entering the password each time you connect via SSH, see [the article on using SSH keys](ssh_keys.md).
 
 Read more: https://www.raspberrypi.org/documentation/remote-access/ssh/README.md
 

docs/en/ssh_keys.md

@@ -0,0 +1,180 @@
+# Connecting to Raspberry Pi using SSH keys
+
+*This instruction will allow you to quickly connect to the Raspberry Pi. In just one second. Without entering a password.*
+
+Basic information on working with SSH can be found in the section [SSH access to Raspberry Pi](ssh.md). In this section you will find advanced information on using SSH, as well as a number of recommendations on using SSH when working with Clover.
+
+## General information
+
+SSH (*secure shell*) is a network protocol that allows you to remotely control the operating system on the computer you are connected to. It is similar to a protocol such as *telnet*, but allows you to encrypt network traffic during interaction. Thus, the transfer of passwords and other secret information is hidden. The Raspberry Pi operating system supports SSH communication, like many other common Linux-based systems.
+
+SSH allows you not only to organize work in the command shell, but also to transfer files, as well as tunnel transmitted data from other protocols, such as information from a video camera or telemetry. In addition, SSH supports several authentication modes (that is, verification of the connecting user), with its help it is possible to connect to the Clover not only using a password, but also password-free access (authentication by a key pair, i.e. SSH keys).
+
+## Password authentication
+
+Authentication [by password](ssh.md) on the image of RPi for Clover is enabled by default and the password can be used to enter into the command shell of the minicomputer. On computers with Linux operating systems (and primarily on servers connected to the Internet), the ability to login with a password is usually disabled, since there is a more secure authentication method.
+
+> **Hint** It is not recommended to disable logging into Clover by password, since you can completely lose access to the command shell over the network.
+
+When connecting to RPi for the first time, you will see the notification with a suggestion to save a unique *fingerprint*. The stored information is accumulated on computers from which SSH login to RPi is performed, and is checked for sudden substitution.
+
+On Linux and Unix (Mac OS) the first SSH-connection to the RPi looks like this:
+
+```bash
+ssh pi@192.168.11.1
+# The authenticity of host '192.168.11.1 (192.168.11.1)' can't be established.
+# ED25519 key fingerprint is SHA256:4w/7MqTgrtsqPwKnVAMISpouaOJNqzUew2NkJjldMWI.
+# This key is not known by any other names
+# Are you sure you want to continue connecting (yes/no/[fingerprint])? yes
+# Warning: Permanently added '192.168.11.1' (ED25519) to the list of known hosts.
+# pi@192.168.11.1's password: *********
+# Linux clover-3270 5.10.17-v7l+ #1414 SMP Fri Apr 30 13:20:47 BST 2021 armv7l
+
+whoami
+# pi
+
+exit
+```
+
+In graphical programs in Windows, you will periodically see window with similar warnings.
+
+<img src="../assets/ssh-keys-known_hosts-fingerprint.png" alt="Сохранение отпечатка в Windows" class="border center">
+
+> **Hint** Windows 10 has a built-in SSH client that can be run from the command line, see the Microsoft usage guide [at this link](https://learn.microsoft.com/ru-ru/windows-server/administration/openssh/openssh_install_firstuse).
+
+## Authentication using SSH keys
+
+SSH keys are a convenient, fast alternative way to connect to the Raspberry Pi, which does not require entering a password. In particular, when operating with Clover, this method is convenient because it saves time, and therefore battery power, and the time limit allocated for events in flight zones. In addition, using SSH keys opens up opportunities for convenient use of other programs that you would hardly use if you needed to type a password every time.
+
+The SSH key is divided into two parts: the pair consists of a so-called *private* and *public* key. The key is generated once. One part of the key (open) is transferred once to the remote computer to which the connection will be made, the second part of the key (private) is stored on the computer that will connect, the private part of the key is not transferred anywhere.
+
+> **Hint** The public key is copied once to the Raspberry Pi, and the private key is stored in the laptop as a file.
+
+### Preparation
+
+In order for a key pair to appear, it must be generated. In Linux and Unix (Mac OS), there is a program `ssh-keygen` with which we will get the key pair we need (**attention!** commands are executed not in Raspberry Pi, and not in the virtual machine of the Gazebo simulator, but in the command shell of the laptop from which you will connect to the Clover):
+
+Before using the keys, you need to perform a number of actions to configure access rights *on the laptop*:
+
+```bash
+# one-time setting of access rights to user directories
+chmod o-rwx $HOME
+mkdir ~/.ssh
+chmod g-rwx,o-rwx ~/.ssh
+touch ~/.ssh/config ~/.ssh/known_hosts
+chmod 600 ~/.ssh/config ~/.ssh/known_hosts
+```
+
+> **Hint** The `.ssh` directory in the user's home folder is the standard storage location for both key pairs and SSH connection settings, so we prohibit access to it by the Others group (*outsiders*). Modern Linux distributions check access rights to files in the `.ssh` directory and may refuse authentication by key pairs.
+
+### Generating an SSH key pair
+
+Generating a pair of SSH keys in the `~/.ssh` directory on the laptop:
+
+```bash
+ssh-keygen -f ~/.ssh/id_clover -C "SSH key for Clover" -N ""
+# Your identification has been saved in /home/galina/.ssh/id_clover
+# Your public key has been saved in /home/galina/.ssh/id_clover.pub
+
+chmod 400 ~/.ssh/id_clover*
+```
+
+### Copying SSH key to Raspberry Pi
+
+After that [connect to Raspberry Pi via WiFi](wi fi.md) and continue to enter commands *on the laptop* to copy the key to the minicomputer:
+
+```bash
+ssh-copy-id -i ~/.ssh/id_clover.pub pi@192.168.11.1
+# pi@192.168.11.1's password: *********
+```
+
+As a result, the so-called *public* part of the key will be copied from the laptop to the RPi microcomputer, and the *private* part will remain on the laptop. To verify the connection without entering a password, use the command indicating the path where the SSH key is located:
+
+```bash
+ssh -i ~/.ssh/id_clover pi@192.168.11.1
+```
+
+If the terminal does not require you to enter a password to connect to the RPi, then you did everything correctly and the SSH key pair works. Now you can type the exit command from the SSH terminal to continue configuring the laptop:
+
+```bash
+pi@clover-3270:~ $ exit
+# logout
+# Connection to 192.168.11.1 closed.
+
+galina@Thinkpad-X1:~/.ssh$
+```
+
+## Configuring SSH connection to Clover
+
+Now let's set up the SSH terminal in such a way that you don't have to enter the path to the private key every time. This is done by editing the `~/.ssh/config` file *on a laptop*. Open the file in a text editor and add the following lines to the file (if there is already some information there, then put them at the end of the file):
+
+```txt
+Host 192.168.11.1
+    User pi
+    IdentityFile ~/.ssh/id_clover
+    PreferredAuthentications publickey,password
+    PubkeyAuthentication yes
+    PasswordAuthentication yes
+    ConnectTimeout 1
+    TCPKeepAlive yes
+    ServerAliveInterval 2
+    ServerAliveCountMax 3
+    StrictHostKeyChecking no
+```
+
+This setting:
+
+* affects the operation of the SSH terminal when connected to a computer with the IP address `192.168.11.1`;
+* if the user name is not specified, the name `pi` will be used automatically;
+* the private key `~/.ssh/id_clover` will be used automatically;
+* if the key does not fit for some reason (it was replaced on one laptop, but forgot to replace it on another), then the SSH terminal will switch to password authentication (settings `PreferredAuthentications`, `PubkeyAuthentication`, `PasswordAuthentication`);
+* if communication with RPi cannot be established (WiFi is not yet connected), then the SSH connection will not hang, but will be completed quickly (setting `ConnectTimeout`);
+* if the connection with RPi is suddenly severed, the SSH connection will not hang, but will be completed quickly (settings `TCPKeepAlive`, `ServerAliveInterval`, `ServerAliveCountMax`);
+* the unique SSH *fingerprints* of the RPi microcomputers mentioned above will no longer be checked (the settings `StrictHostKeyChecking`).
+
+This will solve a lot of inconveniences associated with using SSH connections.
+
+> **Hint** If you have several Raspberry Pi-based drones in your laboratory, and several laptops, then you can **generate SSH keys once**, copy them to all drones and spread them across all laptops, then you can quickly access any of the drones from any laptop.
+
+Now, to connect to RPi from a Linux terminal, you just need to type `ssh 1[TAB][TAB][ENTER]` and the ip address `192.168.11.1` will be automatically updated on the command line, because the command shell uses addresses from the file `~/.ssh/config` and is able to "guess" your intentions to connect to the Clover. By pressing enter, you will instantly find yourself in the RPi terminal.
+
+> **Hint** Graphical programs for Windows that support working with SSH keys, which you can use: [PuTTY](https://www.chiark.greenend.org.uk/~sgtatham/putty/latest.html) and [MobaXterm](https://mobaxterm.mobatek.net/).
+
+## Copying files using SSH
+
+To copy a file `circle_flight.py` from the laptop to the RPi to the user's home folder `pi`, you can also use SSH. To do this, type the command in the command shell:
+
+```bash
+# first we specify 'what' we copy, and then 'where'
+scp circle_flight.py 192.168.11.1
+```
+
+To copy `output.avi` file from the `examples` RPi' folder to the laptop, use a similar command:
+
+```bash
+# after the ':' character (colon), you can specify the path on the remote computer
+# the path specified as './' means the current folder where the file will be copied
+scp 192.168.11.1:examples/output.avi ./
+```
+
+## Remote command launch via SSH
+
+To run a command at laptop on the RPi (that is, remotely), you can also use SSH.
+
+Raspberry shutdown command:
+
+```bash
+ssh 192.168.11.1 'sudo shutdown now'
+```
+
+Example of a Python script' startup command:
+
+```bash
+ssh -t 192.168.11.1 'ROS_HOSTNAME=`hostname`.local && . /opt/ros/noetic/setup.bash && . /home/pi/catkin_ws/devel/setup.bash && python3 examples/get_telemetry.py'
+```
+
+In order to remotely start video recording, you can run the command:
+
+```bash
+ssh -t 192.168.11.1 'ROS_HOSTNAME=`hostname`.local && . /opt/ros/noetic/setup.bash && . /home/pi/catkin_ws/devel/setup.bash && rosrun image_view video_recorder image:=/main_camera/image_raw'
+```

docs/en/swarm_in_blocks_2.md

@@ -0,0 +1,247 @@
+<!-- markdownlint-disable MD041 -->
+
+<a name="logo" href="https://swarm-in-blocks.gitbook.io/swarm-in-blocks/introduction/swarm-in-blocks"><img align="center" src="../assets/swarm_in_blocks_2/capa_swarm_23_banner.png" alt="Swarm in Blocks" style="width:100%;height:100%"/></a>
+
+<h1 align="center" style="display: block; font-size: 2.5em; margin-block-start: 1em; margin-block-end: 1em;">
+  Swarm in Blocks
+</h1>
+
+[CopterHack-2023](copterhack2023.md), team **Atena**.
+
+## Project Status[![](https://raw.githubusercontent.com/aregtech/areg-sdk/master/docs/img/pin.svg)](#project-status)
+
+<table class="no-border">
+  <tr>
+    <td><img alt="GitHub last commit" src="https://img.shields.io/github/last-commit/Grupo-SEMEAR-USP/swarm_in_blocks"></td>
+    <td><img alt="GitHub commit activity" src="https://img.shields.io/github/commit-activity/y/Grupo-SEMEAR-USP/swarm_in_blocks"></td>
+    <td><img alt="GitHub contributors" src="https://img.shields.io/github/contributors/Grupo-SEMEAR-USP/swarm_in_blocks"></td>
+    <td><img alt="GitHub language count" src="https://img.shields.io/github/languages/count/Grupo-SEMEAR-USP/swarm_in_blocks"></td>
+  </tr>
+
+</table>
+
+## Final Video ![](https://raw.githubusercontent.com/aregtech/areg-sdk/master/docs/img/pin.svg)
+
+<p align="center">
+  <a href="https://www.youtube.com/watch?v=QFKgrqIAO1E&ab_channel=SwarminBlocks" title="Final Video 2023"><img img width="500" height="281" src="https://img.youtube.com/vi/QFKgrqIAO1E/maxresdefault.jpg" /></a>
+</p>
+
+---
+
+## Table of contents[![](https://raw.githubusercontent.com/aregtech/areg-sdk/master/docs/img/pin.svg)](#table-of-contents)
+
+- [Introduction](#Introduction)
+- [Getting started](#getting-started)
+- [Usage modes](#Usage-modes)
+- [New Swarm Features](#New-Swarm-Features)
+- [Conclusion](#Conclusion)
+
+---
+
+## Introduction[![](https://raw.githubusercontent.com/aregtech/areg-sdk/master/docs/img/pin.svg)](#Introduction)
+
+Nowadays, **swarms of drones** are getting more and more applications and being used in several different areas, from agriculture to surveillance and rescues. But controlling a high amount of drones isn't a simple task, demanding a lot of studies and complex software.
+
+Swarm in Blocks (from it's origin in 2022) was born looking to make a *high-level interface based on the blocks language*, to make simple handling swarms, without requiring advanced knowledge in all the necessary platforms, creating tools to allow a lot of applications based on the user needs and also using the Clover platform.
+
+In 2023, Swarm in Blocks has taken an even bigger step, looking to fulfill our biggest vision **"It's never been easier to Swarm"**, we talk to transcend the local scope of the past project and explore the biggest problems for implementing a Swarm. For Copterhack 2023, we present Swarm in Blocks 2.0, an even more complete platform with the purpose of facing the biggest difficulties of a Swarm in a simple and polished way.
+
+<p align="center">
+    <img width="600" src="https://raw.githubusercontent.com/Grupo-SEMEAR-USP/swarm_in_blocks/master/assets/intro/clovers_leds.gif" />
+</p>
+
+### Swarm in Blocks 2022
+
+Swarm in Blocks is a CopterHack 2022 project. It's a high-level interface based on the blocks language, which consists of fitting code parts, like a puzzle. Each script represents a functionality, for example, conditional structures, loops, or functions that receive parameters and return an instruction to the swarm.
+
+<p align="center">
+    <img width="500" src="https://raw.githubusercontent.com/Grupo-SEMEAR-USP/swarm_in_blocks/master/assets/intro/blocksIDE.gif" />
+</p>
+
+<p align="center">
+    <img width="500" src="https://raw.githubusercontent.com/Grupo-SEMEAR-USP/swarm_in_blocks/master/assets/intro/ring.gif" />
+</p>
+
+For more information on our project from last year, see our final article in [Swarm in Blocks 2022](https://clover.coex.tech/en/swarm_in_blocks.html). In addition, we also recommend watching our final video from last year, [Swarm in Blocks 2022 - Final Video](https://www.youtube.com/watch?v=5C-1rRnyiE8).
+
+Even with the huge facilities that the block platform offers, we realized that this was just the *tip of the iceberg* when it comes to deploying real swarms. Several other operational and conceptual problems in validating a real swarm still haunted the general public. With that, this year's project comes precisely with the purpose of **tackling the main problems in validating a Swarm in a simple and polished way**.
+
+### What's new
+
+As already mentioned, of the various problems that can increase the complexity of a real swarm, we decided to deal with the ones that most afflicted us and reintegrated our solutions into our central platform, building a single extremely complete and cohesive platform.
+
+| Problem | Our Solution |
+| -------- | -------- |
+| Possible collision between drones (lack of safety especially for large Swarms)  | Collision Avoidance System  |
+| Giant clutter to keep track of all Clovers in a swarm individually (several terminals, many simultaneous computers with several people to keep track of)  | Swarm Station  |
+| Lack of basic features for handling a swarm pre-implemented in the Clover platform (such as access to battery data and raspberry computational power)  | Full integration of low level data in our Swarm Station  |
+| Lack of security in indoor tests regarding the limitation of physical space (walls and objects) in the Swarm region  | Safe Area Pop Up in Swarm Station  |
+| Decentralization of information and platforms for access  | Web Homepage  |
+| Difficulty configuring physical drones for swarm  | Our complete documentation with pre-designed settings for swarms in our repo image  |
+| Lack of a center for reports of successful tests with swarms of drones for the Clover platform describing the test conditions (odometry, etc.)  | Show off section in our Gitbook  |
+
+And many other solutions are also featured on our platform, for more information please check the solutions described clearly and in detail throughout our **Gitbook**. We recommend reading in order to understand the fundamental precepts of our platform.
+
+📖 **Access our [Gitbook](https://swarm-in-blocks.gitbook.io/swarm-in-blocks/background-theory/systems)!**
+
+💻 **Access our [GitHub](https://github.com/Grupo-SEMEAR-USP/swarm_in_blocks.git)!**
+
+<div align="right">[ <a href="#table-of-contents">↑ to top ↑</a> ]</div>
+
+---
+
+## Getting started[![](https://raw.githubusercontent.com/aregtech/areg-sdk/master/docs/img/pin.svg)](#getting-started)
+
+Our platform was made to be extremely intuitive and easy to use. To start (after completing the installation we suggested in our gitbook), you can run the command:
+
+```bash
+roslaunch swarm_in_blocks simulation.launch num:=2
+```
+
+After that, you can open your browser and access our homepage by typing `localhost` in the search bar.
+
+<div align="right">[ <a href="#table-of-contents">↑ to top ↑</a> ]</div>
+
+---
+
+## Usage modes[![](https://raw.githubusercontent.com/aregtech/areg-sdk/master/docs/img/pin.svg)](#Usage-modes)
+
+The Swarm in Blocks can be programmed either with the blocks interface or directly in Python and we developed three main launch modes, each one focused on a different application of the project, they are:
+
+- *Planning Mode:* Its main goal is to allow the user to check the drones' layout, save and load formations, before starting the simulator or using real clovers. In order to need less computational power and avoid possible errors during the simulation.
+- *Simulation Mode:* In this mode happens the simulation indeed, starting the Gazebo, the necessary ROS nodes and some other tools. It allows applying the developed features, which will be explained ahead and see how they would behave in real life.
+- *Navigation Mode:* The last mode will support executing everything developed in real clovers so that it's possible to control a swarm with block programming. The biggest obstacle yet is the practical testing of this mode, due to the financial difficulty of acquiring a Clover swarm.
+
+<div align="right">[ <a href="#table-of-contents">↑ to top ↑</a> ]</div>
+
+---
+
+## New Swarm Features[![](https://raw.githubusercontent.com/aregtech/areg-sdk/master/docs/img/pin.svg)](#New-Swarm-Features)
+
+With our vision of solving the problems that most plague the deployment of a real swarm, we have developed several features (and even integrated platforms), below we will list our main developments:
+
+### Homepage
+
+Like last year, we really wanted to make it easier for the user to go through our platform. That's why this year we decided to restructure our Homepage, gathering our main features and functionalities.
+
+<p align="center">
+    <img width="700" src="https://raw.githubusercontent.com/Grupo-SEMEAR-USP/swarm_in_blocks/master/assets/homepage/homepage.gif"/>
+</p>
+
+### Swarm Station
+
+The main feature from our platform is the *Swarm Station*, which is a **3d Web Visualizer** that shows in real time all the necessary information regarding the drones state, such as real time positioning and visualization, which clover is connected, the topics available and a lot more. Also, you can define a safe area to ensure each drones safety, forcing them to land in case they cross the forbidden area. The front end runs completely on the web browser, saving processing and installation resources. It also comes with a web terminal, allowing the user to open several instances of a terminal emulation in just one click.
+
+<p align="center">
+    <img width="700" src="https://raw.githubusercontent.com/Grupo-SEMEAR-USP/swarm_in_blocks/master/assets/swarm_station/vid01.gif"/>
+</p>
+
+This package uses the ROS suite `rosbridge_server` to establish a communication between the ROS environment and the web server.
+
+To run it, we recommend using **Firefox** browser to assure stability. But feel free to test it on other navigators.
+
+If you launched our `simulation.launch` from the `swarm_in_blocks` package, then you just have to run
+
+```bash
+roslaunch swarm_station swarm_station.launch
+```
+
+Otherwise, you have to make sure that the `rosbridge_websocket` is running on port `9090`:
+
+```bash
+roslaunch rosbridge_server rosbridge_websocket.launch port:=9090
+```
+
+For more detailed instructions on how to use each single feature from the Swarm Station, check our [Gitbook page about the station](https://swarm-in-blocks.gitbook.io/swarm-in-blocks/).
+
+### Swarm Collision Avoidance
+
+When many drones move close to each other, collisions are very likely to occur. To avoid this problem, an algorithm was developed to avoid collisions between drones. When analyzing a collision, 3 types of scenario are possible, the case where one clover is stationary and the other in motion, the case where both are in motion and with parallel trajectories, and finally the case where both are in motion and with non-parallel trajectory.
+
+To turn on the collision avoidance, it is necessary to run:
+
+```bash
+rosrun swarm_collision_avoidance swarm_collision_avoidance_node.py
+```
+
+<p align="center">
+    <img width="600" src="https://raw.githubusercontent.com/Grupo-SEMEAR-USP/swarm_in_blocks/master/assets/collision.gif" />
+</p>
+
+### Rasp Package
+
+The Raspberry package was developed to instantiate a node that will be responsible for collecting essential processing, memory and temperature information from the raspberry and send it to the Swarm Station. It's the package that should be put on the `catkin_ws/src/` directory of each Raspberry Pi, because it also contains the `realClover.launch` needed to launch the swarm on real life.
+
+### Swarm FPV
+
+This package is a reformulation of one of the CopterHack 2022 implementations, the **Swarm First Person Viewer**. This year, we decided to restart its structure, making it run also completely on the web to integrate with the Swarm Station. It also depends on the `rosbridge_websocket` running on the port `9090` (default).
+
+<p align="center">
+    <img width="600" src="https://raw.githubusercontent.com/Grupo-SEMEAR-USP/swarm_in_blocks/master/assets/fpv_2023.gif"/>
+</p>
+
+### Real Swarm
+
+In order to fly a real swarm using clover, we decided to take an approach of putting every clover on the same ROS network / environment so that the master could talk to each one of them.
+
+We did this by separating each drone topics / nodes / services with namespaces. The goal is to achieve the same effect as the simulation that we've done in [**CopterHack-2022**](copterhack2022.md), so each drone would have its own `/cloverID` namespace, and the ID is the identifier for each drone.
+
+In other words, instead of just `simple_offboard` node for a single drone, we'd now have `/clover0/simple_offboard`, `/clover1/simple_offboard` and so on.
+
+To launch it, you need to first stop clover's default daemon, and then connect all Raspberries to the same network. After that, you should connect all their `roscore` to the same IP address (the master's), and then launch the `realClover.launch` file passing the `ID` argument as a parameter. Again, for more detailed information on how this works, please check out our [gitbook](https://swarm-in-blocks.gitbook.io/swarm-in-blocks/):
+
+```bash
+sudo systemctl stop clover
+roslaunch rasp_pkg realClover.launch ID:=0
+```
+
+<p align="center">
+    <img width="500" src="https://raw.githubusercontent.com/Grupo-SEMEAR-USP/swarm_in_blocks/master/assets/swarm_real/swarm.gif"/>
+</p>
+
+> **Note** We are aware that in the video the calibration of the drone control is not ideal, however, the objective of this test was really to validate the operation of the swarm in a real environment (which was actually done).
+
+<div align="right">[ <a href="#table-of-contents">↑ to top ↑</a> ]</div>
+
+---
+
+## Conclusion[![](https://raw.githubusercontent.com/aregtech/areg-sdk/master/docs/img/pin.svg)](#Conclusion)
+
+Engineering and robotics challenges have always been the main driver of Team Athena, from which we seek to impact society through innovation. Last year, during CopterHack 2022, there was no lack of challenges of this type, and in them we grew and exceeded our limits, all to deliver the best possible project: **Swarm in Blocks**. All the motivation to facilitate a task as complex as the manipulation of swarms of drones, even through block programming, delighted us a lot and we hope that it delights all our users.
+
+With that came the Swarm in Blocks 2.0, which brought with it innovations that optimized the clover's flight control and that could allow for greater emotions in the handling of the drone, in addition to focusing on greater flight safety.
+The Swarm in Blocks 2.0 presents new features for this year, such as the Web terminal, First Person View (FPV), Collision Avoidance, Clover UI and Swarm Station.
+However, the work will not stop there. Our goal is to further improve our system and next steps include validating Collision Avoidance outside the simulated world and performing performance tests with network communication solutions to optimize Real Swarm.
+
+Finally, we thank the entire COEX team that made CopterHack 2023 possible and all the support given during the competition. We are Team Atena, creator of the Swarm in Blocks platform and we appreciate all your attention!
+
+<div align="right">[ <a href="#table-of-contents">↑ to top ↑</a> ]</div>
+
+---
+
+## The Atena Team
+
+Atena Team 2023 (Swarm in Blocks 2.0):
+
+- Agnes Bressan de Almeida : [GitHub](https://github.com/AgnesBressan), [LinkedIn](https://www.linkedin.com/in/agnes-bressan-148615262/)
+- Felipe Tommaselli: [GitHub](https://github.com/Felipe-Tommaselli), [LinkedIn](https://www.linkedin.com/in/felipe-tommaselli-385a9b1a4/)
+- Gabriel Ribeiro Rodrigues Dessotti : [GitHub](https://github.com/dessotti1), [LinkedIn](https://www.linkedin.com/in/gabriel-ribeiro-rodrigues-dessotti-8884a3216)
+- José Carlos Andrade do Nascimento: [GitHub](https://github.com/joseCarlosAndrade), [LinkedIn](https://www.linkedin.com/in/jos%C3%A9-carlos-andrade-do-nascimento-71186421a)
+- Lucas Sales Duarte : [GitHub](https://github.com/LucasDuarte026), [LinkedIn](https://www.linkedin.com/in/lucas-sales-duarte-a963071a1)
+- Matheus Della Rocca Martins : [GitHub](https://github.com/MatheusDrm), [LinkedIn](https://www.linkedin.com/in/matheus-martins-9aba09212/)
+- Nathan Fernandes Vilas Boas : [GitHub](https://github.com/uspnathan), [LinkedIn](https://www.linkedin.com/mwlite/in/nathan-fernandes-vilas-boas-047616262)
+
+<p align="center">
+    <img width="500" src="https://raw.githubusercontent.com/Grupo-SEMEAR-USP/swarm_in_blocks/master/assets/atena_team.JPG"/>
+</p>
+
+In honor of Atena Team 2022:
+
+- Guilherme Soares Silvestre : [GitHub](https://github.com/guisoares9), [LinkedIn](https://www.linkedin.com/in/guilherme-soares-silvestre-76570118b/)
+- Eduardo Morelli Fares: [GitHub](https://github.com/faresedu), [LinkedIn](https://www.linkedin.com/in/eduardo-fares-a271561a0/)
+- Felipe Tommaselli: [GitHub](https://github.com/Felipe-Tommaselli), [LinkedIn](https://www.linkedin.com/in/felipe-tommaselli-385a9b1a4/)
+- João Aires C. F. Marsicano: [GitHub](https://github.com/Playergeek181), [LinkedIn](https://www.linkedin.com/in/joao-aires-correa-fernandes-marciano-53b426195/)
+- José Carlos Andrade do Nascimento: [GitHub](https://github.com/joseCarlosAndrade), [LinkedIn](https://www.linkedin.com/in/jos%C3%A9-carlos-andrade-do-nascimento-71186421a)
+- Rafael Saud C. Ferro: [GitHub](https://github.com/Rafael-Saud), [LinkedIn](https://www.linkedin.com/in/rafael-saud/)
+
+<div align="right">[ <a href="#table-of-contents">↑ to top ↑</a> ]</div>

docs/ru/SUMMARY.md

@@ -58,6 +58,7 @@
   * [COEX Pix](coex_pix.md)
   * [COEX PDB](coex_pdb.md)
   * [COEX GPS](coex_gps.md)
+  * [Использование SSH-ключей](ssh_keys.md)
   * [Радио-телеметрия](radio_telemetry.md)
   * [Камера Hawk Eye](hawk_eye.md)
   * [Гид по автономному полету](auto_setup.md)
@@ -120,6 +121,7 @@
   * [Конкурс видео](video_contest.md)
   * [Образовательные конкурсы](educational_contests.md)
 * [Проекты на базе Клевера](projects.md)
+  * [Система радионавигации](nav-beacon.md)
   * [Advanced Clover Simulator](advanced_clover_simulator.md)
   * [Copter For Space](c4s.md)
   * [CopterCat CM4](copter_cat.md)

docs/ru/aruco_marker.md

@@ -84,12 +84,6 @@ navigate(frame_id='aruco_5', x=0, y=0, z=1)
 navigate(frame_id='aruco_7', x=-1, y=0, z=2)
 ```
 
-Вращаться против часовой стрелки на высоте 1.5 метра над маркером 10:
-
-```python
-navigate(frame_id='aruco_10', x=0, y=0, z=1.5, yaw_rate=0.5)
-```
-
 Если необходимый маркер не появится в поле зрения в течение полусекунды, дрон продолжит выполнять предыдущую команду.
 
 Подобные значения `frame_id` можно использовать и в других сервисах, например `get_telemetry`. Получение расположения дрона относительно маркера 3:

docs/ru/camera.md

@@ -1,5 +1,7 @@
 # Работа с камерой
 
+> **Note** Эта статья описывает работу с [образом версии **0.24**](https://github.com/CopterExpress/clover/releases/tag/v0.24), который пока находится в стадии тестирования. Для версии **0.23** доступна [более старая документация](https://github.com/CopterExpress/clover/blob/f78a03ec8943b596d5a99b893188a159d5319888/docs/ru/camera.md).
+
 <!-- TODO: физическое подключение -->
 
 Для работы с основной камерой необходимо убедиться что она включена в файле `~/catkin_ws/src/clover/clover/launch/clover.launch`:

docs/ru/camera_setup.md

@@ -66,7 +66,7 @@
 #### Камера направлена вверх, шлейф вперёд
 
 ```xml
-<arg name="direction_z" default="down"/>
+<arg name="direction_z" default="up"/>
 <arg name="direction_y" default="forward"/>
 ```
 

docs/ru/cli.md

@@ -30,6 +30,16 @@ cd ..
 pwd
 ```
 
+Перейти в домашнюю директорию пользователя:
+
+```bash
+# все три команды равнозначны, где символ тильда (~) это сокращённая запись пути
+# к домашней директории, а переменная $HOME хранит этот путь
+cd
+cd ~
+cd $HOME
+```
+
 Вывести содержимое файла `file.py`:
 
 ```bash

docs/ru/connection.md

@@ -6,9 +6,11 @@
 
 Основным способом подключения является подключение по интерфейсу USB.
 
+<img src="../assets/assembling_clever4/usb_connection_1.png" alt="Подключение по USB" height=400 class="zoom border center">
+
 1. Соедините Raspberry Pi и полетный контроллер micro-USB to USB кабелем.
 2. [Подключитесь в Raspberry Pi по SSH](ssh.md).
-3. Убедитесь в работоспособности подключения, [выполнив на Raspberry Pi](ssh.md):
+3. Убедитесь в работоспособности подключения, [выполнив команду на Raspberry Pi](cli.md):
 
     ```bash
     rostopic echo /mavros/state
@@ -20,14 +22,24 @@
 
 ## Подключение по UART
 
-<!-- TODO схема подключения -->
+Дополнительным способом подключения является подключение по интерфейсу UART.
 
-Дополнительным способом подключения является подключение подключение по интерфейсу UART.
+<img src="../assets/raspberry-uart-telemetry2.png" alt="Подключение UART через TELEM2" height=400 class="zoom border center">
+
+Если обозначенный пин GND занят, можно использовать другой свободный, используя [распиновку](https://pinout.xyz).
 
 1. Подключите Raspberry Pi к полетному контроллеру по UART. Для этого соедините кабелем порт TELEM 2 на полетном контроллере к пинам на Raspberry Pi следующем образом: черный провод (GND) к Ground, зеленый (*UART_RX*) к *GPIO14*, желтый (*UART_TX*) к *GPIO15*. Красный провод (*5V*) подключать не нужно.
-2. Измените значения параметров PX4: `MAV_1_CONFIG` на TELEM 2, `SER_TEL2_BAUND` на 921600 8N1. В PX4 до версии v1.10.0 необходима установка параметра `SYS_COMPANION` в значение 921600.
+2. В PX4 версии v1.9.0 и выше измените значения параметров PX4: `MAV_1_CONFIG` на TELEM 2, `SER_TEL2_BAUND` на 921600 8N1. В PX4 [до версии v1.9.0](https://github.com/mavlink/qgroundcontrol/issues/6905#issuecomment-464549610) необходима установка параметра `SYS_COMPANION` в значение `Companion Link (921600 baud, 8N1)`, для его корректной установки используйте старую версию QGC [v3.3.1](https://github.com/mavlink/qgroundcontrol/releases/tag/v3.3.1).
 3. [Подключитесь в Raspberry Pi по SSH](ssh.md).
-4. Поменяйте в launch-файле Клевера (`~/catkin_ws/src/clover/clover/launch/clover.launch`) тип подключения на UART:
+4. Проверьте наличие параметров `enable_uart=1` и `dtoverlay=pi3-disable-bt` в файле `/boot/config.txt`, [выполнив команду на Raspberry Pi](cli.md):
+
+    ```bash
+    cat /boot/config.txt | grep -E "^enable_uart=.|^dtoverlay=pi3-disable-bt"
+    ```
+
+    Если параметры в файле отличаются или отсутствуют, то отредактируйте файл и перезагрузите Raspberry Pi.
+
+5. Поменяйте в launch-файле Клевера (`~/catkin_ws/src/clover/clover/launch/clover.launch`) тип подключения с `usb` на `uart`:
 
     ```xml
     <arg name="fcu_conn" default="uart"/>
@@ -39,4 +51,14 @@
     sudo systemctl restart clover
     ```
 
+6. Убедитесь в работоспособности подключения:
+
+    ```bash
+    rostopic echo -n1 /mavros/state
+    ```
+
+    Поле `connected` должно содержать значение `True`.
+
+Дополнительная информация: https://docs.px4.io/main/en/peripherals/serial_configuration.html.
+
 **Далее**: [Подключение QGroundControl по Wi-Fi](gcs_bridge.md).

docs/ru/copterhack2023.md

@@ -8,27 +8,35 @@ CopterHack 2023 — это международный конкурс по ра
 
 На конкурс принимаются проекты с открытым исходным кодом и совместимые с платформой квадрокоптера "Клевер". На протяжении конкурса команды работают на собственными идеями и разработками, приближая их к состоянию готового продукта. В этом участникам помогают эксперты отрасли через лекции и регулярную обратную связь.
 
+Финал конкурса CopterHack 2022 прошел 27 мая 2023. Победителями стала команда 🇷🇺 **[Clover Cloud Platform](../en/clover-cloud-platform.html)**.
+
+## Полный стрим финала
+
+<iframe width="560" height="315" src="https://www.youtube.com/embed/Hdl6Sah7nkE" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
+
 ## Проекты участников конкурса {#participants}
 
 |Место|Команда|Проект|Балл|
 |:-:|-|-|-|
-||🇷🇺 Clover Cloud Team|[Clover Cloud Platform](https://github.com/DevMBS/clover/blob/clover-cloud-platform/docs/en/clover-cloud-platform.md)||
-||🇰🇬 Zavarka|[Система обмена грузами с помощью конвейера](https://github.com/aiurobotics/clover/blob/conveyance/docs/ru/conveyance.md)||
-||🇮🇳 DJS PHOENIX|[Autonomous Racing Drone](https://github.com/DJSPhoenix/clover/blob/DJSPhoenix_chetak/docs/ru/djs_phoenix_chetak.md)||
-||🇷🇺 FSOTM|[Дрон-перехватчик](https://github.com/deadln/clover/blob/interceptor/docs/ru/interceptor.md)||
-||🇰🇬 Бездомные|[Дрон-бездомный](https://github.com/Isa-jesus/clover/blob/trash-collector/docs/ru/trash-collector.md)||
-||🇷🇺 Digital otters|[Digital otters](https://github.com/Mentalsupernova/clover_cool/blob/new-article.md/docs/ru/new-article.md)||
-||🇷🇺 Light Flight|[Сопровождение БПЛА при посадке](https://github.com/SirSerow/clover_inertial_ns/blob/inertial-1/Description.md)||
-||🇰🇬 LiveSavers|[LiveSavers](https://github.com/Sarvar00/clover/blob/livesavers/docs/ru/livesaver.md)||
-||🇷🇺 C305|[Система радио-навигации](https://github.com/Lukerrr/clover-c305/blob/nav_beacon/docs/ru/nav-beacon.md)||
-||🇷🇺 XenCOM|[Bound by fate](https://github.com/xenkek/clover/blob/xenkek-patch-1/docs/ru/bound_by_fate.md)||
-||🇨🇦 Clover with Motion Capture System|[Clover with Motion Capture System](https://github.com/ssmith-81/clover/blob/MoCap_Clover/docs/en/mocap_clover.md)||
-||🇧🇷 Atena|[Swarm in Blocks 2](https://github.com/Grupo-SEMEAR-USP/clover/blob/swarm_in_blocks_2/docs/en/swarm_in_blocks_2.md)||
-||🇧🇾 FTL|[Advanced Clover 2](https://github.com/FTL-team/clover/blob/FTL-advancedClover3/docs/ru/advanced_clover_simulator_platform.md)||
-||🇷🇺 Лицей №128|[Платформа для зарядки квадрокоптера](https://github.com/Juli-Shvetsova/clover/blob/liceu128-1/docs/ru/liceu128.md)||
-||🇷🇺 Ava_Clover|[DoubleClover](https://github.com/bessiaka/clover/blob/Ava_Clover/docs/ru/soosocta.md)||
-||🇷🇺 TPU_1|[Совместная транспортировка груза](https://github.com/shamoleg/clover/blob/tpu_1/docs/ru/tpu_1.md)||
-||🇷🇺 TPU_2|[Алгоритм полета сквозь лесную местность](https://github.com/shamoleg/clover/blob/tpu_2/docs/ru/tpu_2.md)|&nbsp;|
+|1|🇷🇺 Clover Cloud Team|[Clover Cloud Platform](../en/clover-cloud-platform.html)|21.7|
+|2|🇧🇾 FTL|[Advanced Clover 2](../en/advanced_clover_simulator_platform.html)|21|
+|3|🇨🇦 Clover with Motion Capture System|[Clover with Motion Capture System](../en/mocap_clover.html)|20.5|
+|4|🇧🇷 Atena|[Swarm in Blocks 2](../en/swarm_in_blocks_2.html)|20.3|
+|5|🇷🇺 C305|[Система радио-навигации](nav-beacon.md)|17.5|
+|6|🇮🇳 DJS PHOENIX|[Autonomous Racing Drone](../en/djs_phoenix_chetak.html)|14.6|
+|7|🇷🇺 Лицей №128|[Платформа для зарядки квадрокоптера](../en/liceu128.html)|13.7|
+|✕|🇰🇬 Zavarka|[Система обмена грузами с помощью конвейера](https://github.com/aiurobotics/clover/blob/conveyance/docs/ru/conveyance.md)||
+|✕|🇷🇺 FSOTM|[Дрон-перехватчик](https://github.com/deadln/clover/blob/interceptor/docs/ru/interceptor.md)||
+|✕|🇰🇬 Бездомные|[Дрон-бездомный](https://github.com/Isa-jesus/clover/blob/trash-collector/docs/ru/show_maker.md)||
+|✕|🇷🇺 Digital otters|[Digital otters](https://github.com/Mentalsupernova/clover_cool/blob/new-article.md/docs/ru/new-article.md)||
+|✕|🇷🇺 Light Flight|[Сопровождение БПЛА при посадке](https://github.com/SirSerow/clover_inertial_ns/blob/inertial-1/Description.md)||
+|✕|🇰🇬 LiveSavers|[LiveSavers](https://github.com/Sarvar00/clover/blob/livesavers/docs/ru/livesaver.md)||
+|✕|🇷🇺 XenCOM|[Bound by fate](https://github.com/xenkek/clover/blob/xenkek-patch-1/docs/ru/bound_by_fate.md)||
+|✕|🇷🇺 Ava_Clover|[DoubleClover](https://github.com/bessiaka/clover/blob/Ava_Clover/docs/ru/soosocta.md)||
+|✕|🇷🇺 TPU_1|[Совместная транспортировка груза](https://github.com/shamoleg/clover/blob/tpu_1/docs/ru/tpu_1.md)||
+|✕|🇷🇺 TPU_2|[Алгоритм полета сквозь лесную местность](https://github.com/shamoleg/clover/blob/tpu_2/docs/ru/tpu_2.md)|&nbsp;|
+
+Смотрите все оценки по критериям в [полной таблице](https://docs.google.com/spreadsheets/d/1qTpW8zFVdSEGnbtOvMgQD6DcYwu8URFt1RKOCeUaOe8).
 
 ## Этапы CopterHack 2023
 

docs/ru/firmware.md

@@ -17,6 +17,8 @@ Pixhawk, Pixracer и [COEX Pix](coex_pix.md) можно прошить, испо
 </ul>
 </div>
 
+> **Warning** Если вы используете прошивку с версией ниже, чем *v1.10* (например `v1.8.2-clover.13`), то во избежание ошибок конфигурирования полётного контроллера, используйте [QGroundControl версии *v4.2.0*](https://github.com/mavlink/qgroundcontrol/releases/tag/v4.2.0) (или ниже). См. [подробную информацию](https://docs.px4.io/v1.11/en/config/battery.html#parameter-migration-notes) об изменениях в параметрах, которые вызывают ошибки в более новых версиях QGroundControl.
+
 <script type="text/javascript">
     // get latest release from GitHub
     fetch('https://api.github.com/repos/CopterExpress/Firmware/releases').then(function(res) {

docs/ru/frames.md

@@ -11,6 +11,7 @@
 * `base_link` — координаты относительно квадрокоптера: схематичное изображение квадрокоптера на иллюстрации;
 * `body` — координаты относительно квадрокоптера без учета наклонов по тангажу и крену: красная, синяя и зеленая линии на иллюстрации;
 * <a name="navigate_target"></a>`navigate_target` – координаты точки, в которую сейчас летит дрон (с использованием [navigate](simple_offboard.md#navigate));
+* `terrain` – координаты относительно пола в текущей позиции коптера (см. сервис [set_altitude](simple_offboard.md#set_altitude))
 * `setpoint` – текущий setpoint по позиции;
 * `main_camera_optical` – система координат, [связанная с основной камерой](camera_setup.md#frame).
 

docs/ru/models.md

@@ -200,13 +200,20 @@
 
 ### 3D печать
 
+#### Механический захват
+
+* **Левая клешня**: [`grip_left.stl`](https://github.com/CopterExpress/clover/raw/master/docs/assets/stl/grip_left.stl).
+* **Правая клешня**: [`grip_right.stl`](https://github.com/CopterExpress/clover/raw/master/docs/assets/stl/grip_right.stl).
+
+Материал: SBS Glass. Заполнение 100%. Количество: 1 шт.
+
 #### Груз для магнитного захвата
 
-* Груз для магнитного захвата: [`load_for_magnetic_grip.stl`](https://github.com/CopterExpress/clover/raw/master/docs/assets/grip_load/load_for_magnetic_grip.stl)
-* Дополнение-для-подставки-груза: [`add-on_for_load_support.stl`](https://github.com/CopterExpress/clover/raw/master/docs/assets/grip_load/add-on_for_load_support.stl)
-* Подставка под теннисный мяч для магнитного захвата: [`tennis_ball_stand_for_magnetic_grip.stl`](https://github.com/CopterExpress/clover/raw/master/docs/assets/grip_load/tennis_ball_stand_for_magnetic_grip.stl).
+* **Груз для магнитного захвата**: [`load_for_magnetic_grip.stl`](https://github.com/CopterExpress/clover/raw/master/docs/assets/grip_load/load_for_magnetic_grip.stl).
+* **Дополнение для подставки груза**: [`add-on_for_load_support.stl`](https://github.com/CopterExpress/clover/raw/master/docs/assets/grip_load/add-on_for_load_support.stl).
+* **Подставка под теннисный мяч для магнитного захвата**: [`tennis_ball_stand_for_magnetic_grip.stl`](https://github.com/CopterExpress/clover/raw/master/docs/assets/grip_load/tennis_ball_stand_for_magnetic_grip.stl).
 
-Материал: PETG. Заполнение 100%. Количество: 1шт.
+Материал: PETG. Заполнение 100%. Количество: 1 шт.
 
 ## Клевер 4
 

docs/ru/nav-beacon.md

@@ -0,0 +1,49 @@
+# Система радио-навигации
+
+[CopterHack-2023](copterhack2023.md), команда **C305**.
+
+## Информация о команде
+
+Мы команда студентов, представляющая Центр Проектной Деятельности Дальневосточного федерального университета (C305).
+
+Состав команды:
+
+* Антонов Георгий, @SonSobaki, инженер.
+* Филимонов Сергей, @Lukerrr, программист.
+* Смадыч Никита, @Sm_nikita, инженер-программист.
+* Максим Харченко, @milian_c305, программист.
+
+## Описание проекта
+
+### Идея проекта
+
+Проект направлен на разработку системы позиционирования внутри помещений для квадрокоптеров с использованием широкополосных передатчиков DWM1000.
+
+Разрабатываемая система позиционирования использует передатчики DWM1000, которые обеспечивают широкополосную связь на радиочастотах. Она предназначена для обеспечения точного и надежного позиционирования квадрокоптеров внутри зданий, где оптические системы могут оказаться ограниченными или неэффективными.
+
+Одной из ключевых особенностей этой системы является ее способность обеспечивать высокую точность позиционирования и дальность действия. Широкополосные передатчики позволяют достичь высокой разрешающей способности и низкой задержки передачи данных, что особенно важно в случае быстрого и точного позиционирования квадрокоптеров. Благодаря использованию радиочастотных сигналов, система не подвержена помехам от окружающей среды, таких как освещение или преграды. Это обеспечивает стабильную работу системы в различных условиях и позволяет использовать ее в помещениях с ограниченной видимостью или сложным рельефом.
+
+В целом, разрабатываемая система предлагает более точное, надежное и экономичное решение по сравнению с оптическими системами.
+
+### Ключевые особенности
+
+* Точность системы позиционирования +-0.1м.
+* Поддержка indoor и outdoor навигации.
+* Лёгкая масштабируемость системы.
+* Лёгкое развёртывание и лёгкая настройка системы.
+
+### Презентационный ролик
+
+[![](https://img.youtube.com/vi/ra45vH3IFuI/0.jpg)](https://www.youtube.com/watch?v=ra45vH3IFuI)
+
+### Документация к проекту
+
+* [Работа с UWB модулями](https://github.com/NikitaS2001/dw1000-stm32/blob/main/README.md)
+* [Запуск ROS пакета позиционирования](https://github.com/NikitaS2001/dwm1000_pose/blob/main/README.md)
+* [Настройка системы позиционирования](https://github.com/NikitaS2001/dwm1000_pose/blob/main/docs/ru/navigation_system_setup.md)
+
+### Ресурсы проекта
+
+* [Исходный код прошивок UWB модулей](https://github.com/NikitaS2001/dw1000-stm32)
+* [Исходный код ROS пакета позиционирования](https://github.com/NikitaS2001/dwm1000_pose)
+* [Модели корпуса UWB модулей](https://github.com/NikitaS2001/dw1000-stm32/tree/main/3D)

docs/ru/parameters.md

@@ -39,17 +39,27 @@
 
 |Параметр|Значение|Примечание|
 |-|-|-|
-|`EKF2_AID_MASK`|26|Чекбоксы: *flow* + *vision position* + *vision yaw*.<br>Подробнее: [Optical Flow](optical_flow.md), [ArUco-маркеры](aruco_map.md), [GPS](gps.md).|
+|`EKF2_AID_MASK`\*|26|Чекбоксы: *flow* + *vision position* + *vision yaw*.<br>Подробнее: [Optical Flow](optical_flow.md), [ArUco-маркеры](aruco_map.md), [GPS](gps.md).|
 |`EKF2_OF_DELAY`|0||
 |`EKF2_OF_QMIN`|10||
 |`EKF2_OF_N_MIN`|0.05||
 |`EKF2_OF_N_MAX`|0.2||
-|`EKF2_HGT_MODE`|3 (*Vision*)|При наличии [дальномера](laser.md) и полете над ровным полом — 2 (*Range sensor*)|
+|`EKF2_HGT_MODE`\*|3 (*Vision*)|При наличии [дальномера](laser.md) и полете над ровным полом — 2 (*Range sensor*)|
 |`EKF2_EVA_NOISE`|0.1||
 |`EKF2_EVP_NOISE`|0.1||
 |`EKF2_EV_DELAY`|0||
 |`EKF2_MAG_TYPE`|5 (*None*)|Выключение магнитометра (при навигации внутри помещения)|
 
+\* — начиная с версии PX4 1.14 помеченные звездочкой параметры заменены на следующие:
+
+|Параметр|Значение|Примечание|
+|-|-|-|
+|`EKF2_EV_CTRL`|11|Чекбоксы: *Horizontal position* + *Vertical position* + *Yaw*|
+|`EKF2_GPS_CTRL`|0|Все чекбоксы сняты|
+|`EKF2_BARO_CTRL`|0 (*Disabled*)|Барометр отключен|
+|`EKF2_OF_CTRL`|1 (*Enabled*)|Optical flow включен|
+|`EKF2_HGT_REF`|3 (*Vision*)|При наличии [дальномера](laser.md) и полете над ровным полом — 2 (*Range sensor*)|
+
 <!-- markdownlint-enable MD031 -->
 
 > **Info** См. также: список параметров по умолчанию в [симуляторе](simulation.md): https://github.com/CopterExpress/clover/blob/master/clover_simulation/airframes/4500_clover.

docs/ru/rc_flysky_a8s.md

@@ -67,7 +67,7 @@
 </div>
 
 > **Hint** Убедитесь, что провод, идущий в COEX Pix, подключен к порту RC IN:
-<img src="../assets/coexpix-bottom.jpg" width=300 class="zoom border center" alt="coex pix pinout">
+<img src="../assets/coex_pix/coexpix-bottom.jpg" width=300 class="zoom border center" alt="coex pix pinout">
 
 ## Сопряжение приёмника с пультом {#rc_bind}
 

docs/ru/simple_offboard.md

@@ -1,5 +1,7 @@
 # Автономный полет
 
+> **Note** Эта статья описывает работу с [образом версии **0.24**](https://github.com/CopterExpress/clover/releases/tag/v0.24), который пока находится в стадии тестирования. Для версии **0.23** доступна [более старая документация](https://github.com/CopterExpress/clover/blob/f78a03ec8943b596d5a99b893188a159d5319888/docs/ru/simple_offboard.md).
+
 Модуль `simple_offboard` пакета `clover` предназначен для упрощенного программирования автономного полета дрона ([режим](modes.md) `OFFBOARD`). Он позволяет устанавливать желаемые полетные задачи и автоматически трансформирует [систему координат](frames.md).
 
 `simple_offboard` является высокоуровневым способом взаимодействия с полетным контроллером. Для более низкоуровневой работы см. [mavros](mavros.md).
@@ -20,6 +22,9 @@ rospy.init_node('flight')
 get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
 navigate = rospy.ServiceProxy('navigate', srv.Navigate)
 navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)
+set_altitude = rospy.ServiceProxy('set_altitude', srv.SetAltitude)
+set_yaw = rospy.ServiceProxy('set_yaw', srv.SetYaw)
+set_yaw_rate = rospy.ServiceProxy('set_yaw_rate', srv.SetYawRate)
 set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
 set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
 set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
@@ -100,7 +105,6 @@ rosservice call /get_telemetry "{frame_id: ''}"
 
 * `x`, `y`, `z` – координаты *(м)*;
 * `yaw` – угол по рысканью *(радианы)*;
-* `yaw_rate` – угловая скорость по рысканью (применяется при установке yaw в `NaN`) *(рад/с)*;
 * `speed` – скорость полета (скорость движения setpoint) *(м/с)*;
 * `auto_arm` – перевести коптер в `OFFBOARD` и заармить автоматически (**коптер взлетит**);
 * `frame_id` – [система координат](frames.md), в которой заданы `x`, `y`, `z` и `yaw` (по умолчанию: `map`).
@@ -119,7 +123,7 @@ navigate(x=0, y=0, z=1.5, speed=0.5, frame_id='body', auto_arm=True)
 navigate(x=5, y=0, z=3, speed=0.8)
 ```
 
-Полет в точку 5:0 без изменения угла по рысканью (`yaw` = `NaN`, `yaw_rate` = 0):
+Полет в точку 5:0 без изменения угла по рысканью:
 
 ```python
 navigate(x=5, y=0, z=3, speed=0.8, yaw=float('nan'))
@@ -149,22 +153,10 @@ navigate(yaw=math.radians(-90), frame_id='body')
 navigate(x=3, y=2, z=2, speed=1, frame_id='aruco_map')
 ```
 
-Вращение на месте со скоростью 0.5 рад/c (против часовой):
-
-```python
-navigate(x=0, y=0, z=0, yaw=float('nan'), yaw_rate=0.5, frame_id='body')
-```
-
-Полет вперед 3 метра со скоростью 0.5 м/с, вращаясь по рысканью со скоростью 0.2 рад/с:
-
-```python
-navigate(x=3, y=0, z=0, speed=0.5, yaw=float('nan'), yaw_rate=0.2, frame_id='body')
-```
-
 Взлет на высоту 2 м (командная строка):
 
 ```bash
-rosservice call /navigate "{x: 0.0, y: 0.0, z: 2, yaw: 0.0, yaw_rate: 0.0, speed: 0.5, frame_id: 'body', auto_arm: true}"
+rosservice call /navigate "{x: 0.0, y: 0.0, z: 2, yaw: 0.0, speed: 0.5, frame_id: 'body', auto_arm: true}"
 ```
 
 > **Note** При программировании миссии дрона в терминах "вперед-назад-влево-вправо" рекомендуется использовать систему координат `navigate_target` вместо `body`, чтобы не учитывать неточность прилета дрона в предыдущую целевую точку при вычислении следующей.
@@ -178,12 +170,11 @@ rosservice call /navigate "{x: 0.0, y: 0.0, z: 2, yaw: 0.0, yaw_rate: 0.0, speed
 * `lat`, `lon` – широта и долгота *(градусы)*;
 * `z` – высота *(м)*;
 * `yaw` – угол по рысканью *(радианы)*;
-* `yaw_rate` – угловая скорость по рысканью (при установке yaw в `NaN`) *(рад/с)*;
 * `speed` – скорость полета (скорость движения setpoint) *(м/с)*;
 * `auto_arm` – перевести коптер в `OFFBOARD` и заармить автоматически (**коптер взлетит**);
 * `frame_id` – [система координат](frames.md), в которой заданы `z` и `yaw` (по умолчанию: `map`).
 
-> **Note** Для полета без изменения угла по рысканью достаточно установить `yaw` в `NaN` (значение угловой скорости по умолчанию – 0).
+> **Note** Для полета без изменения угла по рысканью достаточно установить `yaw` в `NaN`.
 
 Полет в глобальную точку со скоростью 5 м/с, оставаясь на текущей высоте (`yaw` установится в 0, коптер сориентируется передом на восток):
 
@@ -191,7 +182,7 @@ rosservice call /navigate "{x: 0.0, y: 0.0, z: 2, yaw: 0.0, yaw_rate: 0.0, speed
 navigate_global(lat=55.707033, lon=37.725010, z=0, speed=5, frame_id='body')
 ```
 
-Полет в глобальную точку без изменения угла по рысканью (`yaw` = `NaN`, `yaw_rate` = 0):
+Полет в глобальную точку без изменения угла по рысканью:
 
 ```python
 navigate_global(lat=55.707033, lon=37.725010, z=0, speed=5, yaw=float('nan'), frame_id='body')
@@ -200,7 +191,71 @@ navigate_global(lat=55.707033, lon=37.725010, z=0, speed=5, yaw=float('nan'), fr
 Полет в глобальную точку (командная строка):
 
 ```bash
-rosservice call /navigate_global "{lat: 55.707033, lon: 37.725010, z: 0.0, yaw: 0.0, yaw_rate: 0.0, speed: 5.0, frame_id: 'body', auto_arm: false}"
+rosservice call /navigate_global "{lat: 55.707033, lon: 37.725010, z: 0.0, yaw: 0.0, speed: 5.0, frame_id: 'body', auto_arm: false}"
+```
+
+### set_altitude
+
+Изменить целевую высоту полета. Сервис используется для независимой установки высоты (и системы координат для расчета высота) в режимах полета [`navigate`](#navigate) и [`set_position`](#setposition).
+
+Параметры:
+
+* `z` – высота полета *(м)*;
+* `frame_id` – [система координат](frames.md) для расчета высоты полета.
+
+Установить высоту полета в 2 м относительно пола:
+
+```python
+set_altitude(z=2, frame_id='terrain')
+```
+
+Установить высоту полета в 1 м относительно [маркерного поля](aruco.md):
+
+```python
+set_altitude(z=1, frame_id='aruco_map')
+```
+
+### set_yaw
+
+Изменить целевой угол по рысканью (и систему координат для его расчета), оставив предыдущую команду в силе.
+
+Параметры:
+
+* yaw – угол по рысканью *(радианы)*;
+* frame_id – [система координат](frames.md) для расчета угла по рысканью.
+
+Повернуться на 90 градусов по часовой (продолжая выполнять предыдущую команду):
+
+```python
+set_yaw(yaw=math.radians(-90), frame_id='body')
+```
+
+Установить угол по рысканью в ноль в системе координат [маркерного поля](aruco.md):
+
+```python
+set_yaw(yaw=0, frame_id='aruco_map')
+```
+
+Остановить вращение по рысканью (при использовании [`set_yaw_rate`](#setyawrate)):
+
+```python
+set_yaw(yaw=float('nan'))
+```
+
+### set_yaw_rate
+
+Изменить целевую угловую скорость по рысканью, оставив предыдущую команду в силе.
+
+Параметры:
+
+* yaw_rate – угловая скорость по рысканью *(рад/с)*.
+
+Положительное направление вращения (при виде сверху) – против часовой.
+
+Начать вращение на месте со скоростью 0.5 рад/c против часовой (продолжая выполнять предыдущую команду):
+
+```python
+set_yaw_rate(yaw_rate=0.5)
 ```
 
 ### set_position
@@ -213,7 +268,6 @@ rosservice call /navigate_global "{lat: 55.707033, lon: 37.725010, z: 0.0, yaw:
 
 * `x`, `y`, `z` – координаты точки *(м)*;
 * `yaw` – угол по рысканью *(радианы)*;
-* `yaw_rate` – угловая скорость по рысканью (при установке yaw в NaN) *(рад/с)*;
 * `auto_arm` – перевести коптер в `OFFBOARD` и заармить автоматически (**коптер взлетит**);
 * `frame_id` – [система координат](frames.md), в которой заданы `x`, `y`, `z` и `yaw` (по умолчанию: `map`).
 
@@ -235,19 +289,12 @@ set_position(x=0, y=0, z=3, frame_id='body')
 set_position(x=1, y=0, z=0, frame_id='body')
 ```
 
-Вращение на месте со скоростью 0.5 рад/c:
-
-```python
-set_position(x=0, y=0, z=0, frame_id='body', yaw=float('nan'), yaw_rate=0.5)
-```
-
 ### set_velocity
 
 Установить скорости и рысканье.
 
 * `vx`, `vy`, `vz` – требуемая скорость полета *(м/с)*;
 * `yaw` – угол по рысканью *(радианы)*;
-* `yaw_rate` – угловая скорость по рысканью (при установке yaw в NaN) *(рад/с)*;
 * `auto_arm` – перевести коптер в `OFFBOARD` и заармить автоматически (**коптер взлетит**);
 * `frame_id` – [система координат](frames.md), в которой заданы `vx`, `vy`, `vz` и `yaw` (по умолчанию: `map`).
 

docs/ru/simulation_m1.md

@@ -9,7 +9,7 @@
 <img src="../assets/simulation_utm.png" width=500 class="center zoom">
 
 1. Скачайте UTM с официального сайта [mac.getutm.app](https://mac.getutm.app/) и установите его.
-2. Скачайте исходный образ установщика Ubuntu 20.04 для архитектуры ARM64 по ссылке: https://cdimage.ubuntu.com/focal/daily-live/current/focal-desktop-arm64.iso.
+2. Скачайте исходный образ установщика Ubuntu 20.04 для архитектуры ARM64 по ссылке: https://clovervm.ams3.digitaloceanspaces.com/focal-desktop-arm64.iso.
 3. Создайте новую виртуальную машину в UTM, выбирая следующие настройки:
 
     * **Тип**: Virtualize.

docs/ru/snippets.md

@@ -499,3 +499,23 @@ param_set(param_id='MPC_Z_P', value=ParamValue(real=1.5))
 ```python
 is_simulation = rospy.get_param('/use_sim_time', False)
 ```
+
+### # {#simulator-interaction}
+
+Переместить физический объект (линк) в Gazebo (а также поменять его скорости) можно при помощи сервиса `gazebo/set_link_state` (тип [`SetLinkState`](http://docs.ros.org/en/api/gazebo_msgs/html/srv/SetLinkState.html)). Например, если добавить в мир объект куб (линк `unit_box::link`), то так можно переместить его в точку (1, 2, 3):
+
+```python
+import rospy
+from geometry_msgs.msg import Point, Pose, Quaternion
+from gazebo_msgs.srv import SetLinkState
+from gazebo_msgs.msg import LinkState
+
+rospy.init_node('flight')
+
+set_link_state = rospy.ServiceProxy('gazebo/set_link_state', SetLinkState)
+
+# Переместить линк в Gazebo
+set_link_state(LinkState(link_name='unit_box::link', pose=Pose(position=Point(1, 2, 3), orientation=Quaternion(0, 0, 0, 1))))
+```
+
+> **Info** Простую анимацию объектов в Gazebo можно реализовать [с помощью акторов](http://classic.gazebosim.org/tutorials?tut=actor&cat=build_robot).

docs/ru/ssh.md

@@ -10,10 +10,12 @@
 ssh pi@192.168.11.1
 ```
 
-Пароль: ``raspberry``.
+Пароль: `raspberry`.
 
 Для доступа по SSH из Windows можно использовать [PuTTY](https://www.chiark.greenend.org.uk/~sgtatham/putty/latest.html) или веб-доступ (см. далее). Также можно получить доступ по SSH со смартфона с помощью приложения [Termius](https://www.termius.com).
 
+> **Hint** Для того, чтобы не вводить пароль при каждом подключении по SSH, см. [статью об использовании SSH-ключей](ssh_keys.md).
+
 Подробнее: https://www.raspberrypi.org/documentation/remote-access/ssh/README.md.
 
 ## Веб-доступ

docs/ru/ssh_keys.md

@@ -0,0 +1,184 @@
+# Подключение к Raspberry Pi с использованием SSH-ключей
+
+*Эта инструкция позволит вам быстро подключаться к Raspberry Pi. Всего за одну секунду. Без ввода пароля.*
+
+Базовые сведения по работе с SSH вы можете найти в разделе [Доступ по SSH к Raspberry Pi](ssh.md). А в этом разделе вы найдёте расширенную информацию по использованию SSH, а также ряд рекомендаций по использованию SSH при работе с Клевером.
+
+## Общая информация
+
+SSH (англ. *secure shell* — "безопасная оболочка") - сетевой протокол, позволяющий удалённо управлять операционной системой на компьютере, к которому вы подключились. Аналогичен такому протоколу, как *telnet*, но позволяет выполнять шифрование сетевого трафика по время взаимодействия. Таким образом передача паролей и другой секретной информации оказываются скрыты. Операционная система Raspberry Pi поддерживает взаимодействие по SSH, как и многие другие распространённые системы на базе Linux.
+
+SSH позволяет не только организовывать работу в командной оболочке, но и передавать файлы, а также туннелировать передаваемые данные других протоколов, например информацию с видеокамеры или телеметрию. Кроме того, SSH поддерживает несколько режимов аутентификации (то есть проверки подключающегося пользователя), с его помощью возможно подключение к Клеверу не только с использованием пароля, но и беспарольный доступ (аутентификация по ключевой паре, т.е. SSH-ключи).
+
+## Аутентификация по паролю
+
+Аутентификация [по паролю](ssh.md) на образе RPi для Клевера включена и пароль может быть использован для входа в командную оболочку мини-компьютера. На ЭВМ с операционными системами Linux (и в первую очередь на серверах, подключенных к интернету) возможность входа по паролю обычно отключают, поскольку есть более безопасный способ аутентификации.
+
+> **Hint** Вход в Клевер по паролю отключать не рекомендуется, поскольку можно совсем утратить доступ к командной оболочке по сети.
+
+При первом подключении к RPi пользователю показывается уведомление с предложением сохранить уникальный отпечаток *fingerprint*. Сохранённая информация накапливается на компьютерах с которых выполняется вход по SSH на RPi, и проверяется на внезапную подмену.
+
+В ОС Linux и Unix (Mac OS) в текстовом SSH-клиенте первое подключение к RPi выглядит таким образом:
+
+```bash
+ssh pi@192.168.11.1
+# The authenticity of host '192.168.11.1 (192.168.11.1)' can't be established.
+# ED25519 key fingerprint is SHA256:4w/7MqTgrtsqPwKnVAMISpouaOJNqzUew2NkJjldMWI.
+# This key is not known by any other names
+# Are you sure you want to continue connecting (yes/no/[fingerprint])? yes
+# Warning: Permanently added '192.168.11.1' (ED25519) to the list of known hosts.
+# pi@192.168.11.1's password: *********
+# Linux clover-3270 5.10.17-v7l+ #1414 SMP Fri Apr 30 13:20:47 BST 2021 armv7l
+
+whoami
+# pi
+
+exit
+```
+
+В графических программах в Windows у вас будут периодически возникать окошки с похожими предупреждениями.
+
+<img src="../assets/ssh-keys-known_hosts-fingerprint.png" alt="Сохранение отпечатка в Windows" class="border center">
+
+> **Hint** В Windows 10 появился встроенный SSH-клиент, который можно запускать из командной строки, см. руководство по использованию от Microsoft [по этой ссылке](https://learn.microsoft.com/ru-ru/windows-server/administration/openssh/openssh_install_firstuse).
+
+## Аутентификация с использованием SSH-ключей
+
+SSH-ключи - это удобный, быстрый альтернативный способ подключения к Raspberry Pi, для которого не требуется ввод пароля. В частности, при эксплуатации Клевера такой способ удобен потому, что экономит время, а значит и заряд аккумулятора, и лимит времени отведённого на мероприятия в полётных зонах. Кроме того, использование SSH-ключей открывает возможности по удобному использованию других программ, которыми бы вы вряд-ли воспользовались бы при необходимости всякий раз набирать пароль.
+
+SSH-ключ делится на две части: пара состоит из т.н. *закрытого* и *открытого* ключа. Ключ однократно генерируется. Одна часть ключа (открытая) однократно передаётся на удалённый компьютер к которому будет выполняться подключение, вторая часть ключа (закрытая) хранится на компьютере, который будет подключаться, закрытая часть ключа никуда не передаётся.
+
+> **Hint** Открытый ключ однократно копируется на Raspberry Pi, а закрытый ключ сохраняется в ноутбуке в виде файла.
+
+### Подготовка
+
+Для того, чтобы пара ключей появилась, её необходимо сгенерировать. В ОС Linux и Unix (Mac OS) есть программа `ssh-keygen` с помощью которой мы и получим нужную нам пару ключей (**внимание!** команды выполняются не в Raspberry Pi, и не в виртуальной машине симулятора Gazebo, а в командной оболочке ноутбука с которого вы будете подключаться к Клеверу):
+
+Прежде чем пользоваться ключами, необходимо выполнить ряд действий для настройки прав доступа *на ноутбуке*:
+
+```bash
+# однократная настойка прав доступа к пользовательским директориям
+chmod o-rwx $HOME
+mkdir ~/.ssh
+chmod g-rwx,o-rwx ~/.ssh
+touch ~/.ssh/config ~/.ssh/known_hosts
+chmod 600 ~/.ssh/config ~/.ssh/known_hosts
+```
+
+> **Hint** Директория `.ssh` в домашней папке пользователя - это стандартное место хранения и ключевых пар, и настроек подключения с использованием SSH, поэтому доступ к ней запрещаем группе Others (*посторонние*). Современные дистрибутивы Linux проверяют права доступа к файлам в директории `.ssh` и могут отказать в аутентификации по ключевым парам.
+
+### Генерация пары SSH-ключей
+
+Генерируем пару SSH-ключей в директории `~/.ssh` на ноутбуке:
+
+<!-- TODO: в Windows начиная с версии 10 все команды перечисленные статье должны работать, - Проверить! -->
+
+```bash
+ssh-keygen -f ~/.ssh/id_clover -C "SSH key for Clover" -N ""
+# Your identification has been saved in /home/galina/.ssh/id_clover
+# Your public key has been saved in /home/galina/.ssh/id_clover.pub
+
+chmod 400 ~/.ssh/id_clover*
+```
+
+### Копирование SSH-ключа на Raspberry Pi
+
+После чего [подключаемся к Raspberry Pi по Wi-Fi](wifi.md) и продолжаем вводить команды *на ноутбуке* для копирования ключа на мини-компьютер:
+
+```bash
+ssh-copy-id -i ~/.ssh/id_clover.pub pi@192.168.11.1
+# pi@192.168.11.1's password: *********
+```
+
+В результате с ноутбука на микрокомпьютер RPi будет скопирована т.н. *открытая* часть ключа, а *закрытая* останется на ноутбуке. Для проверки подключения без ввода пароля используем команду с указанием пути где находится SSH-ключ:
+
+```bash
+ssh -i ~/.ssh/id_clover pi@192.168.11.1
+```
+
+Если терминал не потребует ввода пароля для подключения к RPi, то вы всё сделали правильно и пара SSH-ключей работает. Теперь можно набрать команду выхода из SSH-терминала, чтобы продолжить настройку ноутбука:
+
+```bash
+pi@clover-3270:~ $ exit
+# logout
+# Connection to 192.168.11.1 closed.
+
+galina@Thinkpad-X1:~/.ssh$
+```
+
+## Настройка SSH-подключения к Клеверу
+
+Теперь давайте настроим SSH-терминал таким образом, чтобы не приходилось всякий раз вписывать путь к закрытому ключу. Это делается с помощью редактирования файла `~/.ssh/config` *на ноутбуке*. Откройте файл в текстовом редакторе и добавьте в файл следующие строки (если там уже есть какая-то информация, то поместите их в конец файла):
+
+```txt
+Host 192.168.11.1
+    User pi
+    IdentityFile ~/.ssh/id_clover
+    PreferredAuthentications publickey,password
+    PubkeyAuthentication yes
+    PasswordAuthentication yes
+    ConnectTimeout 1
+    TCPKeepAlive yes
+    ServerAliveInterval 2
+    ServerAliveCountMax 3
+    StrictHostKeyChecking no
+```
+
+Эта настройка:
+
+* влияет на работу SSH-терминала при подключении к компьютеру с ip-адресом `192.168.11.1`;
+* если имя пользователя не указано, то автоматически будет использоваться имя `pi`;
+* будет автоматически использоваться приватный ключ `~/.ssh/id_clover`;
+* если ключ по каким-то причинам не подойдёт (был заменён на одном ноутбуке, но забыт заменить на другом), то SSH-терминал перейдёт к аутентификации по паролю (настройки `PreferredAuthentications`, `PubkeyAuthentication`, `PasswordAuthentication`);
+* если связь с RPi не может установиться (WiFi ещё не включился), то SSH-подключение не зависнет, а быстро завершится (настройка `ConnectTimeout`);
+* если связь с RPi будет внезапно разорвана, то SSH-подключение не зависнет, а быстро завершится (настройки `TCPKeepAlive`, `ServerAliveInterval`, `ServerAliveCountMax`);
+* уникальные SSH-отпечатки RPi-микрокомпьютеров (*fingerprints*) о которых упоминалось выше, проверяться больше не будут (настройка `StrictHostKeyChecking`).
+
+Таким образом будет решено множество неудобств, связанных с использованием SSH-подключений.
+
+> **Hint** Если у вас в лаборатории несколько дронов на базе Raspberry Pi, и несколько ноутбуков, то можно **однократно** сгенерировать SSH-ключи, скопировать их на все дроны и разложить по всем ноутбукам, тогда с любого ноутбука можно будет быстро зайти на любой из дронов.
+
+Теперь, чтобы подключиться к RPi из терминала Linux вам достаточно набрать `ssh 1[TAB][TAB][ENTER]` и ip-адрес `192.168.11.1` автоматически дополнится в командной строке, т.к. командная оболочка использует адреса из файла `~/.ssh/config` и способна "угадать" ваши намерения для подключения к Клеверу. Нажав ввод вы мгновенно окажетесь в терминале RPi.
+
+> **Hint** Графические программы для Windows, которые поддерживают работу с SSH-ключами, которыми вы можете воспользоваться: [PuTTY](https://www.chiark.greenend.org.uk/~sgtatham/putty/latest.html) и [MobaXterm](https://mobaxterm.mobatek.net/).
+
+## Копирование файлов при помощи SSH
+
+Чтобы скопировать файл `circle_flight.py` с ноутбука на RPi в домашнюю папку пользователя `pi` можно также воспользоваться SSH. Для этого наберите в командной оболочке команду:
+
+```bash
+# сначала указываем 'что' копируем, а потом 'куда'
+scp circle_flight.py 192.168.11.1
+```
+
+Для того, чтобы скопировать файл `output.avi` c RPi из папки `examples` на ноутбук используем похожую команду:
+
+```bash
+# после символа ':' (двоеточие) можно указать путь на удалённом компьютере
+# путь указанный как './' означает текущую папку, куда будет скопирован файл
+scp 192.168.11.1:examples/output.avi ./
+```
+
+## Удалённый запуск команд по SSH
+
+Чтобы запустить команду с ноутбука на RPi (то есть удалённо) можно также воспользоваться SSH.
+
+Команда выключения Raspberry:
+
+```bash
+ssh 192.168.11.1 'sudo shutdown now'
+```
+
+Пример команды запуска Python-скрипта:
+
+<!-- TODO: здесь слишком длинная команда получается, потому что-то запускать скрипты в .bashrc нехорошо (команды выполняются не только из bash) Должно быть так: ssh -t 192.168.11.1 'python3 examples/get_telemetry.py' -->
+
+```bash
+ssh -t 192.168.11.1 'ROS_HOSTNAME=`hostname`.local && . /opt/ros/noetic/setup.bash && . /home/pi/catkin_ws/devel/setup.bash && python3 examples/get_telemetry.py'
+```
+
+Для того, чтобы удалённо запустить запись видео можно выполнить команду:
+
+```bash
+ssh -t 192.168.11.1 'ROS_HOSTNAME=`hostname`.local && . /opt/ros/noetic/setup.bash && . /home/pi/catkin_ws/devel/setup.bash && rosrun image_view video_recorder image:=/main_camera/image_raw'
+```

docs/ru/testing.md

@@ -23,6 +23,7 @@
 * **Корректная работа optical flow и всех его топиков, полет по optical flow**
 * **Полет по полю маркеров**
 * **Корректная установка OpenCV – возможность использования из Python и C++**
+* Работа примера с компьютерном зрением: `red_circle.py`
 * **Отсутствие неожиданного жора памяти и CPU (можно контролировать с помощью `selfcheck.py` или `htop`)**
 * Автоматическая перекалибровка камеры при изменении разрешения
 
@@ -46,6 +47,13 @@
 * **Показывает возникающие ошибки и опечатки, допущенные в .launch файлах**
 * **Проверка на throttling**
 
+### Автоматизированные тесты
+
+* **Корректная работы автоматизированных тестов**:
+  * Тест автономного полета: `rosrun clover autotest_flight.py`
+  * Тест автономного полета по маркерам: `rosrun clover autotest_aruco.py`
+  * Тест LED-ленты: `rosrun clover autotest_led.py`
+
 ### Тесты simple_offboard
 
 * **Корректная работа simple_offboard – взлет, полет в точку в любом фрейме, отсутствие проблем с `yaw` и `yaw_rate`**
@@ -53,6 +61,7 @@
 * **В фрейме `aruco_map`**
 * **В фрейме `map`**
 * **В фрейме `navigate_target`**
+* **В фрейме `terrain`**
 * Корректное выполнения флипа
 * **Возможность лететь к отдельным маркерам в карте, которые вне кадра и в кадре**
 * **Корректное детектирование статуса kill switch при выполнение команды с флагом `auto_arm`**
@@ -70,11 +79,6 @@
 * Полет по Optical Flow над 1 маркером
 * `aruco_map` не падает в случае маленьких размеров карты и маркеров
 
-### Тесты [pigpiod](gpio.md)
-
-* Корректная работа pigpiod, возможность работы с сонаром, сервой и электромагнитом по мануалу
-* Одновременная работа pigpiod и rpi_ws281x (правильная работа светодиодной ленты и сервы)
-
 ### Тесты [LED-ленты](leds.md)
 
 * **Работает нода LED ленты на RPi 4**
@@ -83,6 +87,11 @@
 * **Низкоуровневое управление отдельными диодами**
 * **Высокоуровневое управление эффектами**
 
+### Тесты [pigpiod](gpio.md)
+
+* Корректная работа pigpiod, возможность работы с сонаром, сервой и электромагнитом по мануалу
+* Одновременная работа pigpiod и rpi_ws281x (правильная работа светодиодной ленты и сервы)
+
 ### [Блочное программирование](blocks.md)
 
 * Корректная работа функционала блочного программирования
@@ -95,6 +104,7 @@
 * ROS ноды не падают в случае потери всех соединений (удобно проверять с экраном)
 * Работает `rosshow`
 * Работает `espeak`
+* Работает аргумент `rectify` в `main_camera.launch`
 * *Работает LIRC*
 * *Работа iOS-пульта из коробки*
 * *Работа Android-пульта из коробки*

redirects.json

@@ -21,6 +21,7 @@
         { "from": "connection.html", "to": "en/connection.html" },
         { "from": "wifi.html", "to": "ru/wifi.html" },
         { "from": "ssh.html", "to": "ru/ssh.html" },
+        { "from": "ssh_keys.html", "to": "ru/ssh_keys.html" },
         { "from": "network.html", "to": "ru/network.html" },
         { "from": "gcs_bridge.html", "to": "ru/gcs_bridge.html" },
         { "from": "rc.html", "to": "ru/rc.html" },

roswww_static/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>roswww_static</name>
-  <version>0.23.0</version>
+  <version>0.24.0</version>
   <description>Static web pages for ROS packages</description>
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
   <license>MIT</license>