Add Gazebo simulator to image

2026-05-31 23:19:32 +00:00 · 2022-09-21 23:41:42 +03:00
85 changed files with 638 additions and 1973 deletions
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -25,8 +25,8 @@ jobs:
    - uses: actions/checkout@v2
      with:
        path: catkin_ws/src/clover
-    - name: Install requirements
-      run: apt-get update && apt-get -y install python3-pip fakeroot python3-bloom debhelper dpkg-dev
+    - name: Install pip
+      run: apt-get update && apt-get -y install python3-pip
    - name: Install dependencies
      run: rosdep update && rosdep install --from-paths src --ignore-src -y
    - name: Install GeographicLib datasets
@@ -35,17 +35,5 @@ jobs:
      run: source /opt/ros/$ROS_DISTRO/setup.bash && catkin_make
    - name: Run tests
      run: source devel/setup.bash && catkin_make run_tests && catkin_test_results
-    - name: Build Debian packages
-      run: |
-        source devel/setup.bash
-        for file in `find . -name "package.xml"`; do
-          cd $(dirname ${file})
-          bloom-generate rosdebian --os-name ubuntu --os-version $(lsb_release -cs) --ros-distro $ROS_DISTRO  
-          fakeroot debian/rules binary
-          cd -
-        done
-    - uses: actions/upload-artifact@v3
-      with:
-        name: debian-packages
-        path: catkin_ws/src/clover/*.deb
-        retention-days: 1
+    - name: Install
+      run: source devel/setup.bash && catkin_make install
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -11,6 +11,10 @@ permissions:
  pages: write
  id-token: write

+concurrency:
+  group: "pages"
+  cancel-in-progress: true
+
 defaults:
  run:
    shell: bash
@@ -71,9 +75,6 @@ jobs:

  deploy-docs:
    if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
-    concurrency:
-        group: "pages"
-        cancel-in-progress: true
    environment:
      name: github-pages
      url: ${{ steps.deployment.outputs.page_url }}
--- a/README.md
+++ b/README.md
@@ -20,7 +20,7 @@ Clover drone is used on a wide range of educational events, including [Copter Ha

 Preconfigured image for Raspberry Pi with installed and configured software, ready to fly, is available [in the Releases section](https://github.com/CopterExpress/clover/releases).

-![GitHub Workflow Status](https://img.shields.io/github/actions/workflow/status/CopterExpress/clover/build-image.yaml?branch=master)
+![GitHub Workflow Status](https://img.shields.io/github/workflow/status/CopterExpress/clover/CI)
 ![GitHub all releases](https://img.shields.io/github/downloads/CopterExpress/clover/total)

 Image features:
--- a/aruco_pose/README.md
+++ b/aruco_pose/README.md
@@ -43,8 +43,7 @@ It's recommended to run it within the same nodelet manager with the camera nodel
 * `~frame_id_prefix` (*string*) – prefix for TF transforms names, marker's ID is appended (default: `aruco_`)
 * `~length` (*double*) – markers' sides length
 * `~length_override` (*map*) – lengths of markers with specified ids
-* `~known_vertical` (*string*) – known vertical (Z axis) of all the markers as a frame
-* `~flip_vertical` – flip vertical vector
+* `~known_tilt` (*string*) – known tilt (pitch and roll) of all the markers as a frame

 ### Topics

@@ -72,8 +71,7 @@ It's recommended to run it within the same nodelet manager with the camera nodel

 * `~map` – path to text file with markers list
 * `~frame_id` – published frame id (default: `aruco_map`)
-* `~known_vertical` – known vertical (Z axis) of markers map as a frame
-* `~flip_vertical` – flip vertical vector
+* `~known_tilt` – known tilt (pitch and roll) of markers map as a frame
 * `~image_width` – debug image width (default: 2000)
 * `~image_height` – debug image height (default: 2000)
 * `~image_margin` – debug image margin (default: 200)
--- a/aruco_pose/package.xml
+++ b/aruco_pose/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="3">
+<package format="2">
  <name>aruco_pose</name>
  <version>0.23.0</version>
  <description>Positioning with ArUco markers</description>
@@ -28,8 +28,6 @@
  <depend>sensor_msgs</depend>
  <depend>rostest</depend>
  <depend>dynamic_reconfigure</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 2">python-docopt</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 3">python3-docopt</depend>

  <test_depend>image_publisher</test_depend>
  <test_depend>ros_pytest</test_depend>
--- a/aruco_pose/src/aruco_detect.cpp
+++ b/aruco_pose/src/aruco_detect.cpp
@@ -71,12 +71,11 @@ private:
 	ros::Publisher markers_pub_, vis_markers_pub_;
 	ros::Subscriber map_markers_sub_;
 	ros::ServiceServer set_markers_srv_;
-	bool estimate_poses_, send_tf_, flip_vertical_, auto_flip_, use_map_markers_;
-	bool waiting_for_map_;
+	bool estimate_poses_, send_tf_, auto_flip_;
 	double length_;
 	ros::Duration transform_timeout_;
 	std::unordered_map<int, double> length_override_;
-	std::string frame_id_prefix_, known_vertical_;
+	std::string frame_id_prefix_, known_tilt_;
 	Mat camera_matrix_, dist_coeffs_;
 	aruco_pose::MarkerArray array_;
 	std::unordered_set<int> map_markers_ids_;
@@ -96,8 +95,6 @@ public:
 		dictionary = nh_priv_.param("dictionary", 2);
 		estimate_poses_ = nh_priv_.param("estimate_poses", true);
 		send_tf_ = nh_priv_.param("send_tf", true);
-		use_map_markers_ = nh_priv_.param("use_map_markers", false);
-		waiting_for_map_ = use_map_markers_;
 		if (estimate_poses_ && !nh_priv_.getParam("length", length_)) {
 			NODELET_FATAL("can't estimate marker's poses as ~length parameter is not defined");
 			ros::shutdown();
@@ -105,8 +102,7 @@ public:
 		readLengthOverride(nh_priv_);
 		transform_timeout_ = ros::Duration(nh_priv_.param("transform_timeout", 0.02));

-		known_vertical_ = nh_priv_.param("known_vertical", nh_priv_.param("known_tilt", std::string(""))); // known_tilt is an old name
-		flip_vertical_ = nh_priv_.param<bool>("flip_vertical", false);
+		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
 		auto_flip_ = nh_priv_.param("auto_flip", false);

 		frame_id_prefix_ = nh_priv_.param<std::string>("frame_id_prefix", "aruco_");
@@ -137,7 +133,6 @@ private:
 	void imageCallback(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr &cinfo)
 	{
 		if (!enabled_) return;
-		if (waiting_for_map_) return;

 		Mat image = cv_bridge::toCvShare(msg, "bgr8")->image;

@@ -145,7 +140,7 @@ private:
 		vector<vector<cv::Point2f>> corners, rejected;
 		vector<cv::Vec3d> rvecs, tvecs;
 		vector<cv::Point3f> obj_points;
-		geometry_msgs::TransformStamped vertical;
+		geometry_msgs::TransformStamped snap_to;

 		// Detect markers
 		cv::aruco::detectMarkers(image, dictionary_, corners, ids, parameters_, rejected);
@@ -180,12 +175,12 @@ private:
 					}
 				}

-				if (!known_vertical_.empty()) {
+				if (!known_tilt_.empty()) {
 					try {
-						vertical = tf_buffer_->lookupTransform(msg->header.frame_id, known_vertical_,
-						                                       msg->header.stamp, transform_timeout_);
+						snap_to = tf_buffer_->lookupTransform(msg->header.frame_id, known_tilt_,
+						                                      msg->header.stamp, transform_timeout_);
 					} catch (const tf2::TransformException& e) {
-						NODELET_WARN_THROTTLE(5, "can't retrieve known vertical: %s", e.what());
+						NODELET_WARN_THROTTLE(5, "can't snap: %s", e.what());
 					}
 				}
 			}
@@ -206,9 +201,9 @@ private:
 				if (estimate_poses_) {
 					fillPose(marker.pose, rvecs[i], tvecs[i]);

-					// apply known vertical (if enabled and vertical frame available)
-					if (!known_vertical_.empty() && !vertical.header.frame_id.empty()) {
-						applyVertical(marker.pose.orientation, vertical.transform.rotation, false, auto_flip_);
+					// snap orientation (if enabled and snap frame available)
+					if (!known_tilt_.empty() && !snap_to.header.frame_id.empty()) {
+						snapOrientation(marker.pose.orientation, snap_to.transform.rotation, auto_flip_);
 					}

 					if (send_tf_) {
@@ -400,13 +395,7 @@ private:
 		map_markers_ids_.clear();
 		for (auto const& marker : msg.markers) {
 			map_markers_ids_.insert(marker.id);
-			if (use_map_markers_) {
-				if (length_override_.find(marker.id) == length_override_.end()) {
-					length_override_[marker.id] = marker.length;
-				}
-			}
 		}
-		waiting_for_map_ = false;
 	}

 	void paramCallback(aruco_pose::DetectorConfig &config, uint32_t level)
--- a/aruco_pose/src/aruco_map.cpp
+++ b/aruco_pose/src/aruco_map.cpp
@@ -81,9 +81,9 @@ private:
 	bool enabled_ = true;
 	std::string type_;
 	visualization_msgs::MarkerArray vis_array_;
-	std::string known_vertical_, map_, markers_frame_, markers_parent_frame_;
+	std::string known_tilt_, map_, markers_frame_, markers_parent_frame_;
 	int image_width_, image_height_, image_margin_;
-	bool flip_vertical_, auto_flip_, image_axis_;
+	bool auto_flip_, image_axis_;

 public:
 	virtual void onInit()
@@ -104,8 +104,7 @@ public:

 		type_ = nh_priv_.param<std::string>("type", "map");
 		transform_.child_frame_id = nh_priv_.param<std::string>("frame_id", "aruco_map");
-		known_vertical_ = nh_priv_.param("known_vertical", nh_priv_.param("known_tilt", std::string(""))); // known_tilt is an old name
-		flip_vertical_ = nh_priv_.param<bool>("flip_vertical", false);
+		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
 		auto_flip_ = nh_priv_.param("auto_flip", false);
 		image_width_ = nh_priv_.param("image_width" , 2000);
 		image_height_ = nh_priv_.param("image_height", 2000);
@@ -178,7 +177,7 @@ public:
 			corners.push_back(marker_corners);
 		}

-		if (known_vertical_.empty()) {
+		if (known_tilt_.empty()) {
 			// simple estimation
 			valid = cv::aruco::estimatePoseBoard(corners, ids, board_, camera_matrix_, dist_coeffs_,
 			                                     rvec, tvec, false);
@@ -192,7 +191,7 @@ public:

 		} else {
 			Mat obj_points, img_points;
-			// estimation with known vertical
+			// estimation with "snapping"
 			cv::aruco::getBoardObjectAndImagePoints(board_, corners, ids, obj_points, img_points);
 			if (obj_points.empty()) goto publish_debug;

@@ -204,11 +203,11 @@ public:

 			fillTransform(transform_.transform, rvec, tvec);
 			try {
-				geometry_msgs::TransformStamped vertical = tf_buffer_.lookupTransform(markers->header.frame_id,
-				                                           known_vertical_, markers->header.stamp, ros::Duration(0.02));
-				applyVertical(transform_.transform.rotation, vertical.transform.rotation, flip_vertical_, auto_flip_);
+				geometry_msgs::TransformStamped snap_to = tf_buffer_.lookupTransform(markers->header.frame_id,
+				                                          known_tilt_, markers->header.stamp, ros::Duration(0.02));
+				snapOrientation(transform_.transform.rotation, snap_to.transform.rotation, auto_flip_);
 			} catch (const tf2::TransformException& e) {
-				NODELET_WARN_THROTTLE(1, "can't retrieve known vertical: %s", e.what());
+				NODELET_WARN_THROTTLE(1, "can't snap: %s", e.what());
 			}

 			geometry_msgs::TransformStamped shift;
@@ -504,7 +503,7 @@ publish_debug:
 		vis_marker.pose.position.x = x;
 		vis_marker.pose.position.y = y;
 		vis_marker.pose.position.z = z;
-		tf::quaternionTFToMsg(q, vis_marker.pose.orientation);
+		tf::quaternionTFToMsg(q, marker.pose.orientation);
 		vis_marker.frame_locked = true;
 		vis_array_.markers.push_back(vis_marker);

--- a/aruco_pose/src/utils.h
+++ b/aruco_pose/src/utils.h
@@ -106,25 +106,26 @@ inline bool isFlipped(tf::Quaternion& q)
 	return (abs(pitch) > M_PI / 2) || (abs(roll) > M_PI / 2);
 }

-/* Apply a vertical to an orientation */
-inline void applyVertical(geometry_msgs::Quaternion& orientation, const geometry_msgs::Quaternion& vertical,
-                          bool flip_vertical = false, bool auto_flip = false) // editorconfig-checker-disable-line
+/* Set roll and pitch from "from" to "to", keeping yaw */
+inline void snapOrientation(geometry_msgs::Quaternion& to, const geometry_msgs::Quaternion& from, bool auto_flip = false)
 {
-	tf::Quaternion _vertical, _orientation;
-	tf::quaternionMsgToTF(vertical, _vertical);
-	tf::quaternionMsgToTF(orientation, _orientation);
+	tf::Quaternion _from, _to;
+	tf::quaternionMsgToTF(from, _from);
+	tf::quaternionMsgToTF(to, _to);

-	if (flip_vertical || (auto_flip && !isFlipped(_orientation))) {
-		static const tf::Quaternion flip = tf::createQuaternionFromRPY(M_PI, 0, 0);
-		_vertical *= flip; // flip vertical
+	if (auto_flip) {
+		if (!isFlipped(_from)) {
+			static const tf::Quaternion flip = tf::createQuaternionFromRPY(M_PI, 0, 0);
+			_from *= flip; // flip "from"
+		}
 	}

-	auto diff = tf::Matrix3x3(_orientation).transposeTimes(tf::Matrix3x3(_vertical));
+	auto diff = tf::Matrix3x3(_to).transposeTimes(tf::Matrix3x3(_from));
 	double _, yaw;
 	diff.getRPY(_, _, yaw);
 	auto q = tf::createQuaternionFromRPY(0, 0, -yaw);
-	_vertical = _vertical * q; // set yaw from orientation to vertical
-	tf::quaternionTFToMsg(_vertical, orientation); // set vertical to orientation
+	_from = _from * q; // set yaw from "to" to "from"
+	tf::quaternionTFToMsg(_from, to); // set "from" to "to"
 }

 inline void transformToPose(const geometry_msgs::Transform& transform, geometry_msgs::Pose& pose)
--- a/aruco_pose/test/basic.py
+++ b/aruco_pose/test/basic.py
@@ -6,7 +6,7 @@ import tf2_geometry_msgs
 from geometry_msgs.msg import PoseWithCovarianceStamped
 from sensor_msgs.msg import Image
 from aruco_pose.msg import MarkerArray
-from visualization_msgs.msg import MarkerArray as VisMarkerArray, Marker as VisMarker
+from visualization_msgs.msg import MarkerArray as VisMarkerArray


@pytest.fixture
@@ -199,36 +199,6 @@ def test_map_markers(node):

 def test_map_visualization(node):
    vis = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
-    assert len(vis.markers) == 7
-    assert vis.markers[0].header.frame_id == 'aruco_map'
-    assert vis.markers[0].type == VisMarker.CUBE
-    assert vis.markers[0].action == VisMarker.ADD
-    assert vis.markers[0].pose.position.x == 0
-    assert vis.markers[0].pose.position.y == 0
-    assert vis.markers[0].pose.position.z == 0
-    assert vis.markers[0].pose.orientation.x == 0
-    assert vis.markers[0].pose.orientation.y == 0
-    assert vis.markers[0].pose.orientation.z == 0
-    assert vis.markers[0].pose.orientation.w == 1
-    assert vis.markers[0].scale.x == approx(0.33)
-    assert vis.markers[0].scale.y == approx(0.33)
-    assert vis.markers[0].scale.z == approx(0.001)
-    assert vis.markers[1].pose.position.x == 1
-    assert vis.markers[1].pose.position.y == 0
-    assert vis.markers[1].pose.position.z == 0
-    assert vis.markers[1].pose.orientation.x == 0
-    assert vis.markers[1].pose.orientation.y == 0
-    assert vis.markers[1].pose.orientation.z == 0
-    assert vis.markers[1].pose.orientation.w == 1
-    # non-zero yaw marker:
-    assert vis.markers[4].scale.x == approx(0.5)
-    assert vis.markers[4].pose.position.x == approx(0.5)
-    assert vis.markers[4].pose.position.y == 2
-    assert vis.markers[4].pose.position.z == 0
-    assert vis.markers[4].pose.orientation.x == 0
-    assert vis.markers[4].pose.orientation.y == 0
-    assert vis.markers[4].pose.orientation.z == approx(0.5646424733950354)
-    assert vis.markers[4].pose.orientation.w == approx(0.8253356149096783)

 def test_map_debug(node):
    img = rospy.wait_for_message('aruco_map/debug', Image, timeout=5)
--- a/builder/image-build.sh
+++ b/builder/image-build.sh
@@ -120,6 +120,7 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/launch.
 # ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-ros-clover.rosinstall' '/home/pi/ros_catkin_ws/'
 # Add rename script
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS}
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-simulator.sh'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-validate.sh'

 ${BUILDER_DIR}/image-resize.sh ${IMAGE_PATH}
--- a/builder/image-ros.sh
+++ b/builder/image-ros.sh
@@ -151,9 +151,6 @@ catkin_make run_tests #&& catkin_test_results
 echo_stamp "Change permissions for catkin_ws"
 chown -Rf pi:pi /home/pi/catkin_ws

-echo_stamp "Update www"
-sudo -u pi sh -c ". devel/setup.sh && rosrun clover www"
-
 echo_stamp "Make \$HOME/examples symlink"
 ln -s "$(catkin_find clover examples --first-only)" /home/pi
 chown -Rf pi:pi /home/pi/examples
--- a/builder/image-simulator.sh
+++ b/builder/image-simulator.sh
@@ -0,0 +1,42 @@
+#! /usr/bin/env bash
+
+#
+# Script for build the image. Used builder script of the target repo
+# For build: docker run --privileged -it --rm -v /dev:/dev -v $(pwd):/builder/repo smirart/builder
+#
+# Copyright (C) 2018 Copter Express Technologies
+#
+# Author: Artem Smirnov <urpylka@gmail.com>
+#
+# Distributed under MIT License (available at https://opensource.org/licenses/MIT).
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+
+set -ex # exit on error, echo commands
+
+echo "--- Downloading PX4"
+cd /home/pi/catkin_ws/
+git clone --recursive --depth 1 --branch v1.13.0 https://github.com/PX4/PX4-Autopilot.git /home/pi/PX4-Autopilot
+ln -s /home/pi/PX4-Autopilot /home/pi/catkin_ws/src/
+ln -s /home/pi/PX4-Autopilot/Tools/sitl_gazebo /home/pi/catkin_ws/src/
+
+echo "--- Installing PX4 dependencies"
+echo "progress=dot:giga" > /home/pi/.wgetrc # make wget don't spam to log
+apt-get install --no-install-recommends -y gazebo11
+/home/pi/PX4-Autopilot/Tools/setup/ubuntu.sh --no-nuttx
+rm /home/pi/.wgetrc
+pip3 install --user toml
+
+echo "--- Patching mavlink_sitl_gazebo"
+# See https://github.com/PX4/PX4-SITL_gazebo/pull/872
+cd /home/pi/PX4-Autopilot/Tools/sitl_gazebo
+patch -p1 < /tmp/patches/sitl_gazebo.patch
+
+echo "--- Build mavlink"
+cd /home/pi/catkin_ws
+catkin_make mavlink_c_generate -DCATKIN_WHITELIST_PACKAGES="px4"  # at first build PX4's mavlink to enforce mavlink_sitl_gazebo using it
+ln -s "." build/mavlink/mavlink  # fix https://github.com/PX4/PX4-Autopilot/pull/19964
+
+echo "--- Building the workspace"
+catkin_make -DCATKIN_WHITELIST_PACKAGES=""
--- a/builder/test/tests.py
+++ b/builder/test/tests.py
@@ -2,7 +2,6 @@

 # validate all required modules installed

-import os
 import rospy
 from geometry_msgs.msg import PoseStamped
 from sensor_msgs.msg import Range, BatteryState
@@ -23,7 +22,6 @@ from clover.srv import GetTelemetry, Navigate, NavigateGlobal, SetPosition, SetV
 from led_msgs.srv import SetLEDs
 from led_msgs.msg import LEDStateArray, LEDState
 from aruco_pose.msg import Marker, MarkerArray, Point2D
-from clover import long_callback

 import dynamic_reconfigure.client

@@ -33,12 +31,9 @@ import tf2_geometry_msgs
 import VL53L1X
 import pymavlink
 from pymavlink import mavutil
+import rpi_ws281x
+import pigpio
 # from espeak import espeak
 from pyzbar import pyzbar
-import docopt

 print(cv2.getBuildInformation())
-
-if not os.environ.get('VM'):
-    import rpi_ws281x
-    import pigpio
--- a/builder/test/tests.sh
+++ b/builder/test/tests.sh
@@ -6,10 +6,16 @@ set -ex

 # validate required software is installed

+python --version
 python2 --version
 python3 --version
+ipython --version
 ipython3 --version

+# ptvsd does not have a stand-alone binary
+python -m ptvsd --version
+python3 -m ptvsd --version
+
 node -v
 npm -v

@@ -19,77 +25,42 @@ lsof -v
 git --version
 vim --version
 pip --version
+pip2 --version
 pip3 --version
 tcpdump --version
 monkey --version
+pigpiod -v
+i2cdetect -V
+butterfly -h
 # espeak --version
+mjpg_streamer --version
 systemctl --version

-if [ -z $VM ]; then
-	# rpi only software
-	python --version
-	ipython --version
-	pip2 --version
-	# `python` is python2 for now
-	[[ $(python -c 'import sys;print(sys.version_info.major)') == "2" ]]
-
-	# ptvsd does not have a stand-alone binary
-	python -m ptvsd --version
-	python3 -m ptvsd --version
-
-	pigpiod -v
-	i2cdetect -V
-	butterfly -h
-	mjpg_streamer --version
-fi
-
 # ros stuff

 roscore -h
 rosversion clover
 rosversion aruco_pose
+rosversion vl53l1x
 rosversion mavros
 rosversion mavros_extras
 rosversion ws281x
 rosversion led_msgs
 rosversion dynamic_reconfigure
 rosversion tf2_web_republisher
-rosversion rosbridge_server
+rosversion compressed_image_transport
+rosversion rosbridge_suite
+rosversion rosserial
 rosversion usb_cam
 rosversion cv_camera
 rosversion web_video_server
+rosversion rosshow
 rosversion nodelet
 rosversion image_view

+# validate some versions
+[[ $(rosversion cv_camera) == "0.5.1" ]] # patched version with init fix
 [[ $(rosversion ws281x) == "0.0.13" ]]

-if [ -z $VM ]; then
-	rosversion compressed_image_transport
-	rosversion rosshow
-	rosversion vl53l1x
-	rosversion rosserial
-	[[ $(rosversion cv_camera) == "0.5.1" ]] # patched version with init fix
-fi
-
-# determine user home directory
-[ $VM ] && H="/home/clover" || H="/home/pi"
-
-# test basic ros tool work
-source $H/catkin_ws/devel/setup.bash
-roscd
-rosrun
-rosmsg
-rossrv
-rosnode || [ $? -eq 64 ] # usage output code is 64
-rostopic || [ $? -eq 64 ]
-rosservice || [ $? -eq 64 ]
-rosparam
-roslaunch -h
-
 # validate examples are present
-[[ $(ls $H/examples/*) ]]
-
-# validate web tools present
-[ -d $H/.ros/www ]
-[ "$(readlink $H/.ros/www/clover)" = "$H/catkin_ws/src/clover/clover/www" ]
-[ "$(readlink $H/.ros/www/clover_blocks)" = "$H/catkin_ws/src/clover/clover_blocks/www" ]
+[[ $(ls /home/pi/examples/*) ]]
--- a/clover/CMakeLists.txt
+++ b/clover/CMakeLists.txt
@@ -53,7 +53,7 @@ find_package(OpenCV ${_opencv_version} REQUIRED
 ## Uncomment this if the package has a setup.py. This macro ensures
 ## modules and global scripts declared therein get installed
 ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-catkin_python_setup()
+# catkin_python_setup()

 ################################################
 ## Declare ROS messages, services and actions ##
@@ -80,10 +80,11 @@ catkin_python_setup()
 ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

 ## Generate messages in the 'msg' folder
-add_message_files(
-  FILES
-  State.msg
-)
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )

 ## Generate services in the 'srv' folder
 add_service_files(
@@ -91,9 +92,6 @@ add_service_files(
  GetTelemetry.srv
  Navigate.srv
  NavigateGlobal.srv
-  SetAltitude.srv
-  SetYaw.srv
-  SetYawRate.srv
  SetPosition.srv
  SetVelocity.srv
  SetAttitude.srv
@@ -308,5 +306,4 @@ endif()
 if (CATKIN_ENABLE_TESTING)
  find_package(rostest REQUIRED)
  add_rostest(test/basic.test)
-  add_rostest(test/offboard.test)
 endif()
--- a/clover/examples/camera.py
+++ b/clover/examples/camera.py
@@ -1,64 +0,0 @@
-# Information: https://clover.coex.tech/camera
-
-# Example on basic working with the camera and image processing:
-
-# - cuts out a central square from the camera image;
-# - publishes this cropped image to the topic `/cv/center`;
-# - computes the average color of it;
-# - prints its name to the console.
-
-import rospy
-import cv2
-from sensor_msgs.msg import Image
-from cv_bridge import CvBridge
-from clover import long_callback
-
-rospy.init_node('cv')
-bridge = CvBridge()
-
-printed_color = None
-center_pub = rospy.Publisher('~center', Image, queue_size=1)
-
-def get_color_name(h):
-    if h < 15: return 'red'
-    elif h < 30: return 'orange'
-    elif h < 60: return 'yellow'
-    elif h < 90: return 'green'
-    elif h < 120: return 'cyan'
-    elif h < 150: return 'blue'
-    elif h < 170: return 'magenta'
-    else: return 'red'
-
-
-@long_callback
-def image_callback(msg):
-    img = bridge.imgmsg_to_cv2(msg, 'bgr8')
-
-    # convert to HSV to work with color hue
-    img_hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
-
-    # cut out a central square
-    w = img.shape[1]
-    h = img.shape[0]
-    r = 20
-    center = img_hsv[h // 2 - r:h // 2 + r, w // 2 - r:w // 2 + r]
-
-    # compute and print the average hue
-    mean_hue = center[:, :, 0].mean()
-    color = get_color_name(mean_hue)
-    global printed_color
-    if color != printed_color:
-        print(color)
-        printed_color = color
-
-    # publish the cropped image
-    center = cv2.cvtColor(center, cv2.COLOR_HSV2BGR)
-    center_pub.publish(bridge.cv2_to_imgmsg(center, 'bgr8'))
-
-# process every frame:
-image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
-
-# process 5 frames per second:
-# image_sub = rospy.Subscriber('main_camera/image_raw_throttled', Image, image_callback, queue_size=1)
-
-rospy.spin()
--- a/clover/examples/navigate_wait.py
+++ b/clover/examples/navigate_wait.py
@@ -16,8 +16,11 @@ set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
 set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
 land = rospy.ServiceProxy('land', Trigger)

-def navigate_wait(x=0, y=0, z=0, yaw=math.nan, speed=0.5, frame_id='body', tolerance=0.2, auto_arm=False):
-    res = navigate(x=x, y=y, z=z, yaw=yaw, speed=speed, frame_id=frame_id, auto_arm=auto_arm)
+def navigate_wait(x=0, y=0, z=0, yaw=float('nan'), yaw_rate=0, speed=0.5, \
+        frame_id='body', tolerance=0.2, auto_arm=False):
+
+    res = navigate(x=x, y=y, z=z, yaw=yaw, yaw_rate=yaw_rate, speed=speed, \
+        frame_id=frame_id, auto_arm=auto_arm)

    if not res.success:
        return res
--- a/clover/examples/red_circle.py
+++ b/clover/examples/red_circle.py
@@ -1,97 +0,0 @@
-# This example makes the drone find and follow the red circle.
-# To test in the simulator, place 'Red Circle' model on the floor.
-# More information: https://clover.coex.tech/red_circle
-
-# Input topic: main_camera/image_raw (camera image)
-# Output topics:
-#   cv/mask (red color mask)
-#   cv/red_circle (position of the center of the red circle in 3D space)
-
-import rospy
-import cv2
-import numpy as np
-from math import nan
-from sensor_msgs.msg import Image, CameraInfo
-from geometry_msgs.msg import PointStamped, Point
-from cv_bridge import CvBridge
-from clover import long_callback, srv
-import tf2_ros
-import tf2_geometry_msgs
-
-rospy.init_node('cv', disable_signals=True) # disable signals to allow interrupting with ctrl+c
-
-get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
-set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
-
-bridge = CvBridge()
-
-tf_buffer = tf2_ros.Buffer()
-tf_listener = tf2_ros.TransformListener(tf_buffer)
-
-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()
-
-
-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)
-
-def get_center_of_mass(mask):
-    M = cv2.moments(mask)
-    if M['m00'] == 0:
-        return None
-    return M['m10'] // M['m00'], M['m01'] // M['m00']
-
-follow_red_circle = False
-
-@long_callback
-def image_callback(msg):
-    img = bridge.imgmsg_to_cv2(msg, 'bgr8')
-    img_hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
-
-    # we need to use two ranges for red color
-    mask1 = cv2.inRange(img_hsv, (0, 150, 150), (15, 255, 255))
-    mask2 = cv2.inRange(img_hsv, (160, 150, 150), (180, 255, 255))
-
-    # combine two masks using bitwise OR
-    mask = cv2.bitwise_or(mask1, mask2)
-
-    # publish the mask
-    if mask_pub.get_num_connections() > 0:
-        mask_pub.publish(bridge.cv2_to_imgmsg(mask, 'mono8'))
-
-    # calculate x and y of the circle
-    xy = get_center_of_mass(mask)
-    if xy is None:
-        return
-
-    # calculate and publish the position of the circle in 3D space
-    altitude = get_telemetry('terrain').z
-    xy3d = img_xy_to_point(xy, altitude)
-    target = PointStamped(header=msg.header, point=xy3d)
-    point_pub.publish(target)
-
-    if follow_red_circle:
-        # follow the target
-        setpoint = tf_buffer.transform(target, 'map', timeout=rospy.Duration(0.2))
-        set_position(x=setpoint.point.x, y=setpoint.point.y, z=nan, yaw=nan, frame_id=setpoint.header.frame_id)
-
-# process each camera frame:
-image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
-
-rospy.loginfo('Hit enter to follow the red circle')
-input()
-follow_red_circle = True
-rospy.spin()
--- a/clover/launch/aruco.launch
+++ b/clover/launch/aruco.launch
@@ -18,9 +18,8 @@
        <remap from="map_markers" to="aruco_map/map"/>
        <param name="estimate_poses" value="true"/>
        <param name="send_tf" value="true"/>
-        <param name="use_map_markers" value="true"/>
-        <param name="known_vertical" value="map" if="$(eval placement == 'floor' or placement == 'ceiling')"/>
-        <param name="flip_vertical" value="true" if="$(eval placement == 'ceiling')"/>
+        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
+        <param name="known_tilt" value="map_flipped" if="$(eval placement == 'ceiling')"/>
        <param name="length" value="$(arg length)"/>
        <param name="transform_timeout" value="0.1"/>
        <!-- aruco detector parameters -->
@@ -36,8 +35,8 @@
        <remap from="camera_info" to="main_camera/camera_info"/>
        <remap from="markers" to="aruco_detect/markers"/>
        <param name="map" value="$(find aruco_pose)/map/$(arg map)"/>
-        <param name="known_vertical" value="map" if="$(eval placement == 'floor' or placement == 'ceiling')"/>
-        <param name="flip_vertical" value="true" if="$(eval placement == 'ceiling')"/>
+        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
+        <param name="known_tilt" value="map_flipped" if="$(eval placement == 'ceiling')"/>
        <param name="image_axis" value="true"/>
        <param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
        <param name="frame_id" value="aruco_map" unless="$(arg aruco_vpe)"/>
--- a/clover/launch/clover.launch
+++ b/clover/launch/clover.launch
@@ -45,9 +45,10 @@
        <remap from="camera_info" to="main_camera/camera_info"/>
        <param name="calc_flow_gyro" value="true"/>
        <param name="roi_rad" value="0.8"/>
-        <param name="disable_on_vpe" value="true"/>
    </node>

+    <node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame" args="0 0 0 3.1415926 3.1415926 0 map map_flipped"/>
+
    <!-- 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"/>
@@ -85,4 +86,8 @@
        <param name="use_fake_gcs" value="false"/>
    </node>

+    <!-- Update static directory -->
+    <node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true">
+        <param name="default_package" value="clover"/>
+    </node>
 </launch>
--- a/clover/launch/main_camera.launch
+++ b/clover/launch/main_camera.launch
@@ -4,8 +4,6 @@
    <arg name="direction_z" default="down"/> <!-- direction the camera points: down, up -->
    <arg name="direction_y" default="backward"/> <!-- direction the camera cable points: backward, forward -->
    <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="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"/>
@@ -45,8 +43,4 @@
    <node pkg="clover" type="camera_markers" ns="main_camera" name="main_camera_markers">
        <param name="scale" value="3.0"/>
    </node>
-
-    <!-- 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)"/>
 </launch>
--- a/clover/launch/simulator.launch
+++ b/clover/launch/simulator.launch
@@ -1,4 +1,4 @@
 <launch>
-    <!-- shortcut for running the simulation (`roslaunch clover simulator.launch`) -->
+    <!-- shurtcut for running the simulation (`roslaunch clover simulator.launch`) -->
    <include file="$(find clover_simulation)/launch/simulator.launch"/>
 </launch>
--- a/clover/msg/State.msg
+++ b/clover/msg/State.msg
@@ -1,38 +0,0 @@
-uint8 MODE_NONE = 0
-uint8 MODE_NAVIGATE = 1
-uint8 MODE_NAVIGATE_GLOBAL = 2
-uint8 MODE_POSITION = 3
-uint8 MODE_VELOCITY = 4
-uint8 MODE_ATTITUDE = 5
-uint8 MODE_RATES = 6
-
-uint8 YAW_MODE_YAW = 0
-uint8 YAW_MODE_YAW_RATE = 1
-uint8 YAW_MODE_YAW_TOWARDS = 2
-
-# type of offboard control
-uint8 mode
-uint8 yaw_mode
-
-# targets
-float32 x
-float32 y
-float32 z
-float32 speed
-float32 lat
-float32 lon
-float32 vx
-float32 vy
-float32 vz
-float32 roll
-float32 pitch
-float32 yaw
-float32 roll_rate
-float32 pitch_rate
-float32 yaw_rate
-float32 thrust
-
-# frames of reference
-string xy_frame_id
-string z_frame_id
-string yaw_frame_id
--- a/clover/package.xml
+++ b/clover/package.xml
@@ -43,7 +43,8 @@
  <depend condition="$ROS_PYTHON_VERSION == 3">python3-lxml</depend>
  <depend>dynamic_reconfigure</depend>
  <exec_depend>python-pymavlink</exec_depend>
-  <test_depend>ros_pytest</test_depend>
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->

  <!-- The export tag contains other, unspecified, tags -->
  <export>
--- a/clover/requirements.txt
+++ b/clover/requirements.txt
@@ -1,4 +1,5 @@
 flask==1.1.1
+docopt==0.6.2
 geopy==1.11.0
 smbus2==0.3.0
 VL53L1X==0.0.5
--- a/clover/setup.py
+++ b/clover/setup.py
@@ -1,11 +0,0 @@
-## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
-
-from distutils.core import setup
-from catkin_pkg.python_setup import generate_distutils_setup
-
-# fetch values from package.xml
-setup_args = generate_distutils_setup(
-    packages=['clover'],
-    package_dir={'': 'src'})
-
-setup(**setup_args)
--- a/clover/src/autotest/autotest_aruco.py
+++ b/clover/src/autotest/autotest_aruco.py
@@ -13,12 +13,7 @@ from util import handle_response

 rospy.init_node('autotest_aruco', disable_signals=True) # disable signals to allow interrupting with ctrl+c

-try:
-    flow_client = dynamic_reconfigure.client.Client('optical_flow', timeout=2)
-except rospy.ROSException:
-    flow_client = None
-    print('Cannot configure optical flow, skip')
-
+flow_client = dynamic_reconfigure.client.Client('optical_flow')
 get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
 navigate = handle_response(rospy.ServiceProxy('navigate', srv.Navigate))
 land = handle_response(rospy.ServiceProxy('land', Trigger))
@@ -35,8 +30,11 @@ def print_current_map_position():
    dist = rospy.wait_for_message('rangefinder/range', Range).range
    print('Map position:\tx={:.1f}\ty={:.1f}\tz={:.1f}\tyaw={:.1f}\tdist={:.2f}'.format(telem.x, telem.y, telem.z, telem.yaw, dist))

-def navigate_wait(x=0, y=0, z=0, yaw=math.nan, speed=0.5, frame_id='body', tolerance=0.2, auto_arm=False):
-    res = navigate(x=x, y=y, z=z, yaw=yaw, speed=speed, frame_id=frame_id, auto_arm=auto_arm)
+def navigate_wait(x=0, y=0, z=0, yaw=float('nan'), yaw_rate=0, speed=0.5, \
+        frame_id='body', tolerance=0.2, auto_arm=False):
+
+    res = navigate(x=x, y=y, z=z, yaw=yaw, yaw_rate=yaw_rate, speed=speed, \
+        frame_id=frame_id, auto_arm=auto_arm)

    if not res.success:
        return res
@@ -69,13 +67,12 @@ input('Go to center %g %g 1.5 speed 5 [enter] ' % (center_x, center_y))
 navigate_wait(x=center_x, y=center_y, z=1.5, speed=5, frame_id='aruco_map')
 print_current_map_position()

-if flow_client:
-    input('Disable optical flow and keep hovering [enter] ')
-    flow_client.update_configuration({'enabled': False})
-    rospy.sleep(5)
+input('Disable optical flow and keep hovering [enter] ')
+flow_client.update_configuration({'enabled': False})
+rospy.sleep(5)

-    input('Enable optical flow back [enter] ')
-    flow_client.update_configuration({'enabled': True})
+input('Enable optical flow back [enter] ')
+flow_client.update_configuration({'enabled': True})

 input('Go to side 1 %g 2 heading top [enter] ' % (center_y))
 navigate_wait(x=1, y=center_y, z=2, yaw=1.57, frame_id='aruco_map')
--- a/clover/src/autotest/autotest_flight.py
+++ b/clover/src/autotest/autotest_flight.py
@@ -2,7 +2,7 @@

 import rospy
 import math
-from math import nan, inf
+from math import nan
 import signal
 import sys
 from clover import srv
@@ -15,8 +15,6 @@ rospy.init_node('autotest_flight', disable_signals=True) # disable signals to al
 get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
 navigate = handle_response(rospy.ServiceProxy('navigate', srv.Navigate))
 navigate_global = handle_response(rospy.ServiceProxy('navigate_global', srv.NavigateGlobal))
-set_yaw = handle_response(rospy.ServiceProxy('set_yaw', srv.SetYaw))
-set_yaw_rate = handle_response(rospy.ServiceProxy('set_yaw_rate', srv.SetYawRate))
 set_position = handle_response(rospy.ServiceProxy('set_position', srv.SetPosition))
 set_velocity = handle_response(rospy.ServiceProxy('set_velocity', srv.SetVelocity))
 set_attitude = handle_response(rospy.ServiceProxy('set_attitude', srv.SetAttitude))
@@ -30,8 +28,11 @@ def interrupt(sig, frame):

 signal.signal(signal.SIGINT, interrupt)

-def navigate_wait(x=0, y=0, z=0, yaw=nan, speed=0.5, frame_id='body', tolerance=0.2, auto_arm=False):
-    res = navigate(x=x, y=y, z=z, yaw=yaw, speed=speed, frame_id=frame_id, auto_arm=auto_arm)
+def navigate_wait(x=0, y=0, z=0, yaw=nan, yaw_rate=0, speed=0.5, \
+        frame_id='body', tolerance=0.2, auto_arm=False):
+
+    res = navigate(x=x, y=y, z=z, yaw=yaw, yaw_rate=yaw_rate, speed=speed, \
+        frame_id=frame_id, auto_arm=auto_arm)

    if not res.success:
        return res
@@ -68,17 +69,17 @@ set_velocity(vx=1, vy=0.0, vz=0, frame_id='body')
 rospy.sleep(2)
 set_position(frame_id='body')

-input('Rotate right 90° using set_yaw [enter] ')
-set_yaw(yaw=-math.pi / 2, frame_id='navigate_target')
+input('Rotate right 90° [enter] ')
+navigate(yaw=-math.pi / 2, frame_id='navigate_target')
 rospy.sleep(3)

 input('Use set_attitude to fly backwards [enter]')
-set_attitude(roll=0, pitch=-0.3, yaw=0, thrust=0.5, frame_id='body')
+set_attitude(pitch=-0.3, roll=0, yaw=0, thrust=0.5, frame_id='body')
 rospy.sleep(0.3)
 set_position(frame_id='body')

 input('Use set_attitude to fly right [enter]')
-set_attitude(roll=0.3, pitch=0, yaw=0, thrust=0.5, frame_id='body')
+set_attitude(pitch=0, roll=0.3, yaw=0, thrust=0.5, frame_id='body')
 rospy.sleep(0.5)
 set_position(frame_id='body')

@@ -87,13 +88,13 @@ set_rates(roll_rate=1.2, thrust=0.5)
 rospy.sleep(0.4)
 set_position(frame_id='body')

-input('Rotate 360° to the right using set_yaw_rate [enter]')
-set_yaw_rate(yaw_rate=-1)
+input('Rotate 360° to the right using yaw_rate [enter]')
+set_position(x=nan, y=nan, z=nan, frame_id='body', yaw=nan, yaw_rate=-1)
 rospy.sleep(2 * math.pi)
 set_position(frame_id='body')

-input('Return to start point heading forward [enter]')
-navigate_wait(x=start.x, y=start.y, z=start.z, yaw=inf, speed=1, frame_id='map')
+input('Return to start point [enter]')
+navigate_wait(x=start.x, y=start.y, z=start.z, yaw=start.yaw, speed=1, frame_id='map')

 input('Land [enter]')
 land()
--- a/clover/src/clover/init.py
+++ b/clover/src/clover/init.py
@@ -1,35 +0,0 @@
-import rospy
-from threading import Thread, Event
-
-def long_callback(fn):
-    """
-    Decorator fixing a rospy issue for long-running topic callbacks, primarily
-    for image processing.
-
-    See: https://github.com/ros/ros_comm/issues/1901.
-
-    Usage example:
-
-    @long_callback
-    def image_callback(msg):
-        # perform image processing
-        # ...
-
-    rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
-    """
-    e = Event()
-
-    def thread():
-        while not rospy.is_shutdown():
-            e.wait()
-            e.clear()
-            fn(thread.current_msg)
-
-    thread.current_msg = None
-    Thread(target=thread, daemon=True).start()
-
-    def wrapper(msg):
-        thread.current_msg = msg
-        e.set()
-
-    return wrapper
--- a/clover/src/led.cpp
+++ b/clover/src/led.cpp
@@ -319,8 +319,8 @@ int main(int argc, char **argv)

 	auto set_effect = nh.advertiseService("set_effect", &setEffect);

-	auto mavros_state_sub = nh.subscribe("mavros/state", 1, &handleMavrosState);
-	auto battery_sub = nh.subscribe("mavros/battery", 1, &handleBattery);
+	auto mavros_state_sub = nh.subscribe("/mavros/state", 1, &handleMavrosState);
+	auto battery_sub = nh.subscribe("/mavros/battery", 1, &handleBattery);
 	auto rosout_sub = nh.subscribe("/rosout_agg", 1, &handleLog);

 	timer = nh.createTimer(ros::Duration(0), &proceed, false, false);
--- a/clover/src/optical_flow.cpp
+++ b/clover/src/optical_flow.cpp
@@ -25,7 +25,6 @@
 #include <dynamic_reconfigure/server.h>
 #include <mavros_msgs/OpticalFlowRad.h>
 #include <sensor_msgs/Imu.h>
-#include <geometry_msgs/PoseStamped.h>
 #include <geometry_msgs/Vector3Stamped.h>
 #include <geometry_msgs/PointStamped.h>
 #include <geometry_msgs/TwistStamped.h>
@@ -58,9 +57,6 @@ private:
 	std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
 	bool calc_flow_gyro_;
 	float flow_gyro_default_;
-	bool disable_on_vpe_;
-	ros::Subscriber vpe_sub_;
-	ros::Time last_vpe_time_;
 	std::shared_ptr<dynamic_reconfigure::Server<clover::FlowConfig>> dyn_srv_;

 	void onInit()
@@ -91,11 +87,6 @@ private:

 		img_sub_ = it.subscribeCamera("image_raw", 1, &OpticalFlow::flow, this);

-		disable_on_vpe_ = nh_priv.param("disable_on_vpe", false);
-		if (disable_on_vpe_) {
-			vpe_sub_ = nh.subscribe("mavros/vision_pose/pose", 1, &OpticalFlow::vpeCallback, this);
-		}
-
 		dyn_srv_ = std::make_shared<dynamic_reconfigure::Server<clover::FlowConfig>>(nh_priv);
 		dynamic_reconfigure::Server<clover::FlowConfig>::CallbackType cb;

@@ -130,12 +121,6 @@ private:
 	{
 		if (!enabled_) return;

-		if (disable_on_vpe_ &&
-			!last_vpe_time_.isZero() &&
-			(msg->header.stamp - last_vpe_time_).toSec() < 0.1) {
-			return;
-		}
-
 		parseCameraInfo(cinfo);

 		auto img = cv_bridge::toCvShare(msg, "mono8")->image;
@@ -251,14 +236,6 @@ private:
 			prev_ = curr_.clone();
 			prev_stamp_ = msg->header.stamp;

-			// Publish estimated angular velocity
-			geometry_msgs::TwistStamped velo;
-			velo.header.stamp = msg->header.stamp;
-			velo.header.frame_id = fcu_frame_id_;
-			velo.twist.angular.x = flow_fcu.vector.x / integration_time.toSec();
-			velo.twist.angular.y = flow_fcu.vector.y / integration_time.toSec();
-			velo_pub_.publish(velo);
-
 publish_debug:
 			// Publish debug image
 			if (img_pub_.getNumSubscribers() > 0) {
@@ -271,6 +248,14 @@ publish_debug:
 				out_msg.image = img;
 				img_pub_.publish(out_msg.toImageMsg());
 			}
+
+			// Publish estimated angular velocity
+			geometry_msgs::TwistStamped velo;
+			velo.header.stamp = msg->header.stamp;
+			velo.header.frame_id = fcu_frame_id_;
+			velo.twist.angular.x = flow_fcu.vector.x / integration_time.toSec();
+			velo.twist.angular.y = flow_fcu.vector.y / integration_time.toSec();
+			velo_pub_.publish(velo);
 		}
 	}

@@ -299,10 +284,6 @@ publish_debug:
 			prev_ = Mat(); // clear previous frame
 		}
 	}
-
-	void vpeCallback(const geometry_msgs::PoseStamped& vpe) {
-		last_vpe_time_ = vpe.header.stamp;
-	}
 };

 PLUGINLIB_EXPORT_CLASS(OpticalFlow, nodelet::Nodelet)
--- a/clover/src/selfcheck.py
+++ b/clover/src/selfcheck.py
@@ -9,14 +9,13 @@
 # The above copyright notice and this permission notice shall be included in all
 # copies or substantial portions of the Software.

-import os, sys
+import os
 import math
 import subprocess
 import re
 from collections import OrderedDict
 import traceback
-import threading
-from threading import Event, Thread, Lock
+from threading import Event
 import numpy
 import rospy
 import tf2_ros
@@ -28,16 +27,24 @@ from mavros_msgs.msg import State, OpticalFlowRad, Mavlink
 from mavros_msgs.srv import ParamGet
 from geometry_msgs.msg import PoseStamped, TwistStamped, PoseWithCovarianceStamped, Vector3Stamped
 from visualization_msgs.msg import MarkerArray as VisualizationMarkerArray
-from diagnostic_msgs.msg import DiagnosticArray
 import tf.transformations as t
 from aruco_pose.msg import MarkerArray
 from mavros import mavlink
 import locale


+# TODO: check attitude is present
+# TODO: disk free space
+# TODO: map, base_link, body
+# TODO: rc service
+# TODO: perform commander check, ekf2 status on PX4
+# TODO: check if FCU params setter succeed
+# TODO: selfcheck ROS service (with blacklists for checks)
+
+
 rospy.init_node('selfcheck')

-os.environ['ROSCONSOLE_FORMAT']='${message}'
+os.environ['ROSCONSOLE_FORMAT']='[${severity}]: ${message}'

 # use user's locale to convert numbers, etc
 locale.setlocale(locale.LC_ALL, '')
@@ -46,68 +53,46 @@ tf_buffer = tf2_ros.Buffer()
 tf_listener = tf2_ros.TransformListener(tf_buffer)


-thread_local = threading.local()
-reports_lock = Lock()
-
-
-# formatting colors
-if sys.stdout.isatty():
-    GREY = '\033[90m'
-    GREEN = '\033[92m'
-    RED = '\033[31m'
-    END = '\033[0m'
-else:
-    GREY = GREEN = RED = END = ''
+failures = []
+infos = []
+current_check = None


 def failure(text, *args):
    msg = text % args
-    thread_local.reports += [{'failure': msg}]
+    rospy.logwarn('%s: %s', current_check, msg)
+    failures.append(msg)


 def info(text, *args):
    msg = text % args
-    thread_local.reports += [{'info': msg}]
+    rospy.loginfo('%s: %s', current_check, msg)
+    infos.append(msg)


 def check(name):
    def inner(fn):
        def wrapper(*args, **kwargs):
-            start = rospy.get_time()
-            thread_local.reports = []
+            failures[:] = []
+            infos[:] = []
+            global current_check
+            current_check = name
            try:
                fn(*args, **kwargs)
            except Exception as e:
                traceback.print_exc()
                rospy.logerr('%s: exception occurred', name)
-            with reports_lock:
-                for report in thread_local.reports:
-                    if 'failure' in report:
-                        rospy.logerr('%s: %s', name, report['failure'])
-                    elif 'info' in report:
-                        rospy.loginfo(GREY + name + END + ': ' + report['info'])
-                if not thread_local.reports:
-                    rospy.loginfo(GREY + name + END + ': ' + GREEN + 'OK' + END)
-                if rospy.get_param('~time', False):
-                    rospy.loginfo('%s: %.1f sec', name, rospy.get_time() - start)
+                return
+            if not failures and not infos:
+                rospy.loginfo('%s: OK', name)
        return wrapper
    return inner


-def ff(value, precision=2):
-    # safely format float or int
-    if value is None:
-        return RED + '???' + END
-    if isinstance(value, float):
-        return ('{:.' + str(precision + 1) + '}').format(value)
-    elif isinstance(value, int):
-        return str(value)
-
-
 param_get = rospy.ServiceProxy('mavros/param/get', ParamGet)


-def get_param(name, default=None):
+def get_param(name):
    try:
        res = param_get(param_id=name)
    except rospy.ServiceException as e:
@@ -116,17 +101,12 @@ def get_param(name, default=None):

    if not res.success:
        failure('unable to retrieve PX4 parameter %s', name)
-        return default
    else:
        if res.value.integer != 0:
            return res.value.integer
        return res.value.real


-def get_paramf(name, precision=2):
-    return ff(get_param(name), precision)
-
-
 recv_event = Event()
 link = mavutil.mavlink.MAVLink('', 255, 1)
 mavlink_pub = rospy.Publisher('mavlink/to', Mavlink, queue_size=1)
@@ -171,24 +151,6 @@ def mavlink_exec(cmd, timeout=3.0):
    return mavlink_recv


-def read_diagnostics(name, key):
-    e = Event()
-    def cb(msg):
-        for status in msg.status:
-            if status.name.lower() == name.lower():
-                for value in status.values:
-                    if value.key.lower() == key.lower():
-                        cb.value = value.value
-                        e.set()
-                        return
-
-    cb.value = None
-    sub = rospy.Subscriber('/diagnostics', DiagnosticArray, cb)
-    e.wait(1.0)  # wait to read all the diagnostics from nodes publishing them
-    sub.unregister()
-    return cb.value
-
-
 BOARD_ROTATIONS = {
    0: 'no rotation',
    1: 'yaw 45°',
@@ -234,31 +196,29 @@ def check_fcu():
        state = rospy.wait_for_message('mavros/state', State, timeout=3)
        if not state.connected:
            failure('no connection to the FCU (check wiring)')
-            info('fcu_url = %s', rospy.get_param('mavros/fcu_url', '?'))
            return

-        if not is_process_running('px4', exact=True): # can't use px4 console in SITL
-            clover_tag = re.compile(r'-cl[oe]ver\.\d+$')
-            clover_fw = False
+        clover_tag = re.compile(r'-cl[oe]ver\.\d+$')
+        clover_fw = False

-            # Make sure the console is available to us
-            mavlink_exec('\n')
-            version_str = mavlink_exec('ver all')
-            if version_str == '':
-                info('no version data available from SITL')
+        # Make sure the console is available to us
+        mavlink_exec('\n')
+        version_str = mavlink_exec('ver all')
+        if version_str == '':
+            info('no version data available from SITL')

-            for line in version_str.split('\n'):
-                if line.startswith('FW version: '):
-                    info(line[len('FW version: '):])
-                elif line.startswith('FW git tag: '): # only Clover's firmware
-                    tag = line[len('FW git tag: '):]
-                    clover_fw = clover_tag.search(tag)
-                    info(tag)
-                elif line.startswith('HW arch: '):
-                    info(line[len('HW arch: '):])
+        for line in version_str.split('\n'):
+            if line.startswith('FW version: '):
+                info(line[len('FW version: '):])
+            elif line.startswith('FW git tag: '): # only Clover's firmware
+                tag = line[len('FW git tag: '):]
+                clover_fw = clover_tag.search(tag)
+                info(tag)
+            elif line.startswith('HW arch: '):
+                info(line[len('HW arch: '):])

-            if not clover_fw:
-                info('not Clover PX4 firmware, check https://clover.coex.tech/firmware')
+        if not clover_fw:
+            info('not Clover PX4 firmware, check https://clover.coex.tech/firmware')

        est = get_param('SYS_MC_EST_GROUP')
        if est == 1:
@@ -295,29 +255,21 @@ def check_fcu():
        if cbrk_usb_chk != 197848:
            failure('set parameter CBRK_USB_CHK to 197848 for flying with USB connected')

-        if not is_process_running('px4', exact=True): # skip battery check in SITL
-            try:
-                battery = rospy.wait_for_message('mavros/battery', BatteryState, timeout=3)
-                if not battery.cell_voltage:
-                    failure('cell voltage is not available, https://clover.coex.tech/power')
-                else:
-                    cell = battery.cell_voltage[0]
-                    if cell > 4.3 or cell < 3.0:
-                        failure('incorrect cell voltage: %.2f V, https://clover.coex.tech/power', cell)
-                    elif cell < 3.7:
-                        failure('critically low cell voltage: %.2f V, recharge battery', cell)
-            except rospy.ROSException:
-                failure('no battery state')
-
-        # time sync check
        try:
-            info('time sync offset: %.2f s', float(read_diagnostics('mavros: Time Sync', 'Estimated time offset (s)')))
-        except:
-            failure('cannot read time sync offset')
+            battery = rospy.wait_for_message('mavros/battery', BatteryState, timeout=3)
+            if not battery.cell_voltage:
+                failure('cell voltage is not available, https://clover.coex.tech/power')
+            else:
+                cell = battery.cell_voltage[0]
+                if cell > 4.3 or cell < 3.0:
+                    failure('incorrect cell voltage: %.2f V, https://clover.coex.tech/power', cell)
+                elif cell < 3.7:
+                    failure('critically low cell voltage: %.2f V, recharge battery', cell)
+        except rospy.ROSException:
+            failure('no battery state')

    except rospy.ROSException:
        failure('no MAVROS state (check wiring)')
-        info('fcu_url = %s', rospy.get_param('mavros/fcu_url', '?'))


 def describe_direction(v):
@@ -394,24 +346,19 @@ def is_process_running(binary, exact=False, full=False):

@check('ArUco markers')
 def check_aruco():
-    markers = None
-
    if is_process_running('aruco_detect', full=True):
        try:
-            info('aruco_detect/length = %g m', rospy.get_param('aruco_detect/length', '?'))
+            info('aruco_detect/length = %g m', rospy.get_param('aruco_detect/length'))
        except KeyError:
            failure('aruco_detect/length parameter is not set')
-        known_vertical = rospy.get_param('aruco_detect/known_vertical', '')
-        flip_vertical = rospy.get_param('aruco_detect/flip_vertical', False)
-        description = ''
-        if known_vertical == 'map' and not flip_vertical:
-            description = ' (all markers are on the floor)'
-        elif known_vertical == 'map' and flip_vertical:
-            description = ' (all markers are on the ceiling)'
-        info('aruco_detect/known_vertical = %s', known_vertical)
-        info('aruco_detect/flip_vertical = %s%s', flip_vertical, description)
+        known_tilt = rospy.get_param('aruco_detect/known_tilt', '')
+        if known_tilt == 'map':
+            known_tilt += ' (ALL markers are on the floor)'
+        elif known_tilt == 'map_flipped':
+            known_tilt += ' (ALL markers are on the ceiling)'
+        info('aruco_detector/known_tilt = %s', known_tilt)
        try:
-            markers = rospy.wait_for_message('aruco_detect/markers', MarkerArray, timeout=0.8)
+            rospy.wait_for_message('aruco_detect/markers', MarkerArray, timeout=1)
        except rospy.ROSException:
            failure('no markers detection')
            return
@@ -420,61 +367,42 @@ def check_aruco():
        return

    if is_process_running('aruco_map', full=True):
-        known_vertical = rospy.get_param('aruco_map/known_vertical', '')
-        flip_vertical = rospy.get_param('aruco_map/flip_vertical', False)
-        description = ''
-        if known_vertical == 'map' and not flip_vertical:
-            description += ' (markers map is on the floor)'
-        elif known_vertical == 'map' and flip_vertical:
-            description += ' (markers map is on the ceiling)'
-        info('aruco_map/known_vertical = %s', known_vertical)
-        info('aruco_map/flip_vertical = %s%s', flip_vertical, description)
+        known_tilt = rospy.get_param('aruco_map/known_tilt', '')
+        if known_tilt == 'map':
+            known_tilt += ' (marker\'s map is on the floor)'
+        elif known_tilt == 'map_flipped':
+            known_tilt += ' (marker\'s map is on the ceiling)'
+        info('aruco_map/known_tilt = %s', known_tilt)

        try:
-            visualization = rospy.wait_for_message('aruco_map/visualization', VisualizationMarkerArray, timeout=0.8)
+            visualization = rospy.wait_for_message('aruco_map/visualization', VisualizationMarkerArray, timeout=1)
            info('map has %s markers', len(visualization.markers))
        except:
            failure('cannot read aruco_map/visualization topic')

        try:
-            rospy.wait_for_message('aruco_map/pose', PoseWithCovarianceStamped, timeout=0.8)
+            rospy.wait_for_message('aruco_map/pose', PoseWithCovarianceStamped, timeout=1)
        except rospy.ROSException:
-            if not markers:
-                info('no map detection as no markers detection')
-            elif not markers.markers:
-                info('no map detection as no markers detected')
-            else:
-                failure('no map detection')
+            failure('no map detection')
    else:
        info('aruco_map is not running')


-def is_on_the_floor():
-    try:
-        dist = rospy.wait_for_message('rangefinder/range', Range, timeout=1)
-        return dist.range < 0.3
-    except rospy.ROSException:
-        return False
-
-
@check('Vision position estimate')
 def check_vpe():
    vis = None
    try:
-        vis = rospy.wait_for_message('mavros/vision_pose/pose', PoseStamped, timeout=0.8)
+        vis = rospy.wait_for_message('mavros/vision_pose/pose', PoseStamped, timeout=1)
    except rospy.ROSException:
        try:
-            vis = rospy.wait_for_message('mavros/mocap/pose', PoseStamped, timeout=0.8)
+            vis = rospy.wait_for_message('mavros/mocap/pose', PoseStamped, timeout=1)
        except rospy.ROSException:
-            if not is_process_running('vpe_publisher', full=True):
-                info('no vision position estimate, vpe_publisher is not running')
-            elif rospy.get_param('aruco_map/known_vertical', '') == 'map' \
-                   and rospy.get_param('aruco_map/flip_vertical', False):
-                failure('no vision position estimate, markers are on the ceiling')
-            elif is_on_the_floor():
-                info('no vision position estimate, the drone is on the floor')
-            else:
-                failure('no vision position estimate')
+            failure('no VPE or MoCap messages')
+            # check if vpe_publisher is running
+            try:
+                subprocess.check_output(['pgrep', '-x', 'vpe_publisher'])
+            except subprocess.CalledProcessError:
+                return  # it's not running, skip following checks

    # check PX4 settings
    est = get_param('SYS_MC_EST_GROUP')
@@ -486,14 +414,14 @@ def check_vpe():
        if vision_yaw_w == 0:
            failure('vision yaw weight is zero, change ATT_W_EXT_HDG parameter')
        else:
-            info('vision yaw weight: %s', ff(vision_yaw_w))
+            info('Vision yaw weight: %.2f', vision_yaw_w)
        fuse = 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')
        if delay != 0:
-            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'))
+            failure('LPE_VIS_DELAY parameter is %s, but it should be zero', delay)
+        info('LPE_VIS_XY is %.2f m, LPE_VIS_Z is %.2f m', get_param('LPE_VIS_XY'), get_param('LPE_VIS_Z'))
    elif est == 2:
        fuse = get_param('EKF2_AID_MASK')
        if not fuse & (1 << 3):
@@ -502,10 +430,10 @@ def check_vpe():
            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)
-        info('EKF2_EVA_NOISE = %s, EKF2_EVP_NOISE = %s',
-            get_paramf('EKF2_EVA_NOISE', 3),
-            get_paramf('EKF2_EVP_NOISE', 3))
+            failure('EKF2_EV_DELAY is %.2f, but it should be zero', delay)
+        info('EKF2_EVA_NOISE is %.3f, EKF2_EVP_NOISE is %.3f',
+            get_param('EKF2_EVA_NOISE'),
+            get_param('EKF2_EVP_NOISE'))

    if not vis:
        return
@@ -603,19 +531,15 @@ def check_velocity():
@check('Global position (GPS)')
 def check_global_position():
    try:
-        rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=0.8)
+        rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=1)
    except rospy.ROSException:
        info('no global position')
-        if get_param('SYS_MC_EST_GROUP') == 2 and (get_param('EKF2_AID_MASK', 0) & (1 << 0)):
+        if get_param('SYS_MC_EST_GROUP') == 2 and (get_param('EKF2_AID_MASK') & (1 << 0)):
            failure('enabled GPS fusion may suppress vision position aiding')


@check('Optical flow')
 def check_optical_flow():
-    if not is_process_running('optical_flow', full=True):
-        info('optical_flow is not running')
-        return
-
    # TODO:check FPS!
    try:
        rospy.wait_for_message('mavros/px4flow/raw/send', OpticalFlowRad, timeout=0.5)
@@ -623,7 +547,7 @@ def check_optical_flow():
        # check PX4 settings
        rot = get_param('SENS_FLOW_ROT')
        if rot != 0:
-            failure('SENS_FLOW_ROT = %s, but it should be zero', rot)
+            failure('SENS_FLOW_ROT parameter is %s, but it should be zero', rot)
        est = get_param('SYS_MC_EST_GROUP')
        if est == 1:
            fuse = get_param('LPE_FUSION')
@@ -631,36 +555,32 @@ def check_optical_flow():
                failure('optical flow fusion is disabled, change LPE_FUSION parameter')
            if not fuse & (1 << 1):
                failure('flow gyro compensation is disabled, change LPE_FUSION parameter')
-            scale = get_param('LPE_FLW_SCALE', 1)
+            scale = get_param('LPE_FLW_SCALE')
            if not numpy.isclose(scale, 1.0):
-                failure('LPE_FLW_SCALE = %.2f, but it should be 1.0', scale)
+                failure('LPE_FLW_SCALE parameter is %.2f, but it should be 1.0', scale)

-            info('LPE_FLW_QMIN = %s, LPE_FLW_R = %s, LPE_FLW_RR = %s',
-                          get_paramf('LPE_FLW_QMIN'),
-                          get_paramf('LPE_FLW_R', 4),
-                          get_paramf('LPE_FLW_RR', 4))
+            info('LPE_FLW_QMIN is %s, LPE_FLW_R is %.4f, LPE_FLW_RR is %.4f, SENS_FLOW_MINHGT is %.3f, SENS_FLOW_MAXHGT is %.3f',
+                          get_param('LPE_FLW_QMIN'),
+                          get_param('LPE_FLW_R'),
+                          get_param('LPE_FLW_RR'),
+                          get_param('SENS_FLOW_MINHGT'),
+                          get_param('SENS_FLOW_MAXHGT'))
        elif est == 2:
-            fuse = get_param('EKF2_AID_MASK', 0)
+            fuse = get_param('EKF2_AID_MASK')
            if not fuse & (1 << 1):
                failure('optical flow fusion is disabled, change EKF2_AID_MASK parameter')
-            delay = get_param('EKF2_OF_DELAY', 0)
+            delay = get_param('EKF2_OF_DELAY')
            if delay != 0:
-                failure('EKF2_OF_DELAY = %.2f, but it should be zero', delay)
-            info('EKF2_OF_QMIN = %s, EKF2_OF_N_MIN = %s, EKF2_OF_N_MAX = %s',
-                          get_paramf('EKF2_OF_QMIN'),
-                          get_paramf('EKF2_OF_N_MIN', 4),
-                          get_paramf('EKF2_OF_N_MAX', 4))
-        info('SENS_FLOW_MINHGT = %s, SENS_FLOW_MAXHGT = %s', get_paramf('SENS_FLOW_MINHGT', 3), get_paramf('SENS_FLOW_MAXHGT', 3))
+                failure('EKF2_OF_DELAY is %.2f, but it should be zero', delay)
+            info('EKF2_OF_QMIN is %s, EKF2_OF_N_MIN is %.4f, EKF2_OF_N_MAX is %.4f, SENS_FLOW_MINHGT is %.3f, SENS_FLOW_MAXHGT is %.3f',
+                          get_param('EKF2_OF_QMIN'),
+                          get_param('EKF2_OF_N_MIN'),
+                          get_param('EKF2_OF_N_MAX'),
+                          get_param('SENS_FLOW_MINHGT'),
+                          get_param('SENS_FLOW_MAXHGT'))

    except rospy.ROSException:
-        if rospy.get_param('optical_flow/disable_on_vpe', False):
-            try:
-                rospy.wait_for_message('mavros/vision_pose/pose', PoseStamped, timeout=1)
-                info('no optical flow as disable_on_vpe is true')
-            except:
-                failure('no optical flow on RPi, disable_on_vpe is true, but no vision pose also')
-        else:
-            failure('no optical flow on RPi')
+        failure('no optical flow data (from Raspberry)')


@check('Rangefinder')
@@ -684,7 +604,7 @@ def check_rangefinder():

    est = get_param('SYS_MC_EST_GROUP')
    if est == 1:
-        fuse = get_param('LPE_FUSION', 0)
+        fuse = get_param('LPE_FUSION')
        if not fuse & (1 << 5):
            info('"pub agl as lpos down" in LPE_FUSION is disabled, NOT operating over flat surface')
        else:
@@ -718,7 +638,7 @@ def check_boot_duration():

@check('CPU usage')
 def check_cpu_usage():
-    WHITELIST = 'nodelet', 'gzclient', 'gzserver', 'selfcheck.py'
+    WHITELIST = 'nodelet', 'gzclient', 'gzserver'
    CMD = "top -n 1 -b -i | tail -n +8 | awk '{ printf(\"%-8s\\t%-8s\\t%-8s\\n\", $1, $9, $12); }'"
    output = subprocess.check_output(CMD, shell=True).decode()
    processes = output.split('\n')
@@ -787,10 +707,7 @@ def check_image():
    try:
        info('version: %s', open('/etc/clover_version').read().strip())
    except IOError:
-        try:
-            info('VM version: %s', open('/etc/clover_vm_version').read().strip())
-        except IOError:
-            info('no /etc/clover_version file, not the Clover image?')
+        info('no /etc/clover_version file, not the Clover image?')


@check('Preflight status')
@@ -901,47 +818,26 @@ def check_board():
        info('could not open /proc/device-tree/model, not a Raspberry Pi?')


-def parallel_for(fns):
-    threads = []
-    for fn in fns:
-        thread = Thread(target=fn)
-        thread.start()
-        threads.append(thread)
-    for thread in threads:
-        thread.join()
-
-
-def consequentially_for(fns):
-    for fn in fns:
-        fn()
-
-
 def selfcheck():
-    checks = [
-        check_image,
-        check_board,
-        check_clover_service,
-        check_network,
-        check_fcu,
-        check_imu,
-        check_local_position,
-        check_velocity,
-        check_global_position,
-        check_preflight_status,
-        check_main_camera,
-        check_aruco,
-        check_simpleoffboard,
-        check_optical_flow,
-        check_vpe,
-        check_rangefinder,
-        check_rpi_health,
-        check_cpu_usage,
-        check_boot_duration,
-    ]
-    if rospy.get_param('~parallel', False):
-        parallel_for(checks)
-    else:
-        consequentially_for(checks)
+    check_image()
+    check_board()
+    check_clover_service()
+    check_network()
+    check_fcu()
+    check_imu()
+    check_local_position()
+    check_velocity()
+    check_global_position()
+    check_preflight_status()
+    check_main_camera()
+    check_aruco()
+    check_simpleoffboard()
+    check_optical_flow()
+    check_vpe()
+    check_rangefinder()
+    check_rpi_health()
+    check_cpu_usage()
+    check_boot_duration()


 if __name__ == '__main__':
--- a/clover/src/simple_offboard.cpp
+++ b/clover/src/simple_offboard.cpp
@@ -23,7 +23,6 @@
 #include <tf2_ros/static_transform_broadcaster.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <std_srvs/Trigger.h>
-#include <geometry_msgs/PointStamped.h>
 #include <geometry_msgs/PoseStamped.h>
 #include <geometry_msgs/TwistStamped.h>
 #include <geometry_msgs/Vector3Stamped.h>
@@ -38,19 +37,14 @@
 #include <mavros_msgs/State.h>
 #include <mavros_msgs/StatusText.h>
 #include <mavros_msgs/ManualControl.h>
-#include <mavros_msgs/Altitude.h>

 #include <clover/GetTelemetry.h>
 #include <clover/Navigate.h>
 #include <clover/NavigateGlobal.h>
-#include <clover/SetAltitude.h>
-#include <clover/SetYaw.h>
-#include <clover/SetYawRate.h>
 #include <clover/SetPosition.h>
 #include <clover/SetVelocity.h>
 #include <clover/SetAttitude.h>
 #include <clover/SetRates.h>
-#include <clover/State.h>

 using std::string;
 using std::isnan;
@@ -60,7 +54,6 @@ using namespace clover;
 using mavros_msgs::PositionTarget;
 using mavros_msgs::AttitudeTarget;
 using mavros_msgs::Thrust;
-using mavros_msgs::Altitude;

 // tf2
 tf2_ros::Buffer tf_buffer;
@@ -88,40 +81,33 @@ bool land_only_in_offboard, nav_from_sp, check_kill_switch;
 std::map<string, string> reference_frames;

 // Publishers
-ros::Publisher attitude_pub, attitude_raw_pub, position_pub, position_raw_pub, rates_pub, thrust_pub, state_pub;
+ros::Publisher attitude_pub, attitude_raw_pub, position_pub, position_raw_pub, rates_pub, thrust_pub;

 // Service clients
 ros::ServiceClient arming, set_mode;

 // Containers
 ros::Timer setpoint_timer;
+tf::Quaternion tq;
 PoseStamped position_msg;
 PositionTarget position_raw_msg;
-//TwistStamped rates_msg;
+AttitudeTarget att_raw_msg;
+Thrust thrust_msg;
+TwistStamped rates_msg;
 TransformStamped target, setpoint;
 geometry_msgs::TransformStamped body;
-geometry_msgs::TransformStamped terrain;

 // State
 PoseStamped nav_start;
-PointStamped setpoint_position;
-PointStamped setpoint_altitude;
-Vector3Stamped setpoint_velocity;
-float setpoint_yaw, setpoint_roll, setpoint_pitch;
-Vector3 setpoint_rates;
-string yaw_frame_id;
-float setpoint_thrust;
+PoseStamped setpoint_position, setpoint_position_transformed;
+Vector3Stamped setpoint_velocity, setpoint_velocity_transformed;
+QuaternionStamped setpoint_attitude, setpoint_attitude_transformed;
+float setpoint_yaw_rate;
 float nav_speed;
-float setpoint_lat = NAN, setpoint_lon = NAN;
 bool busy = false;
 bool wait_armed = false;
 bool nav_from_sp_flag = false;

-// Last published
-PoseStamped setpoint_pose_local;
-Vector3Stamped setpoint_velocity_local;
-float yaw_local;
-
 enum setpoint_type_t {
 	NONE,
 	NAVIGATE,
@@ -129,10 +115,7 @@ enum setpoint_type_t {
 	POSITION,
 	VELOCITY,
 	ATTITUDE,
-	RATES,
-	_ALTITUDE,
-	_YAW,
-	_YAW_RATE,
+	RATES
 };

 enum setpoint_type_t setpoint_type = NONE;
@@ -187,7 +170,7 @@ void handleLocalPosition(const PoseStamped& pose)
 {
 	local_position = pose;
 	publishBodyFrame();
-	// TODO: home?
+	// TODO: terrain?, home?
 }

 // wait for transform without interrupting publishing setpoints
@@ -205,20 +188,6 @@ inline bool waitTransform(const string& target, const string& source,
 	return false;
 }

-void handleAltitude(const Altitude& alt)
-{
-	// publish terrain frame
-	if (!std::isfinite(alt.bottom_clearance)) return;
-	// terrain.header.stamp = 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);
-}
-
 #define TIMEOUT(msg, timeout) (msg.header.stamp.isZero() || (ros::Time::now() - msg.header.stamp > timeout))

 bool getTelemetry(GetTelemetry::Request& req, GetTelemetry::Response& res)
@@ -238,11 +207,11 @@ bool getTelemetry(GetTelemetry::Request& req, GetTelemetry::Response& res)
 	res.vx = NAN;
 	res.vy = NAN;
 	res.vz = NAN;
-	res.roll = NAN;
 	res.pitch = NAN;
+	res.roll = NAN;
 	res.yaw = NAN;
-	res.roll_rate = NAN;
 	res.pitch_rate = NAN;
+	res.roll_rate = NAN;
 	res.yaw_rate = NAN;
 	res.voltage = NAN;
 	res.cell_voltage = NAN;
@@ -372,20 +341,20 @@ inline float getDistance(const Point& from, const Point& to)
 	return hypot(from.x - to.x, from.y - to.y, from.z - to.z);
 }

-void getNavigateSetpoint(const ros::Time& stamp, const float speed, Point& nav_setpoint)
+void getNavigateSetpoint(const ros::Time& stamp, float speed, Point& nav_setpoint)
 {
 	if (wait_armed) {
 		// don't start navigating if we're waiting arming
 		nav_start.header.stamp = stamp;
 	}

-	float distance = getDistance(nav_start.pose.position, setpoint_pose_local.pose.position);
+	float distance = getDistance(nav_start.pose.position, setpoint_position_transformed.pose.position);
 	float time = distance / speed;
 	float passed = std::min((stamp - nav_start.header.stamp).toSec() / time, 1.0);

-	nav_setpoint.x = nav_start.pose.position.x + (setpoint_pose_local.pose.position.x - nav_start.pose.position.x) * passed;
-	nav_setpoint.y = nav_start.pose.position.y + (setpoint_pose_local.pose.position.y - nav_start.pose.position.y) * passed;
-	nav_setpoint.z = nav_start.pose.position.z + (setpoint_pose_local.pose.position.z - nav_start.pose.position.z) * passed;
+	nav_setpoint.x = nav_start.pose.position.x + (setpoint_position_transformed.pose.position.x - nav_start.pose.position.x) * passed;
+	nav_setpoint.y = nav_start.pose.position.y + (setpoint_position_transformed.pose.position.y - nav_start.pose.position.y) * passed;
+	nav_setpoint.z = nav_start.pose.position.z + (setpoint_position_transformed.pose.position.z - nav_start.pose.position.z) * passed;
 }

 PoseStamped globalToLocal(double lat, double lon)
@@ -416,101 +385,44 @@ PoseStamped globalToLocal(double lat, double lon)
 	return pose;
 }

-// publish navigate_target frame
-void publishTarget(ros::Time stamp, bool _static = false)
-{
-	bool single_frame = (setpoint_position.header.frame_id == setpoint_altitude.header.frame_id);
-
-	// handle yaw for target frame
-	if (setpoint_yaw_type == YAW || setpoint_yaw_type == YAW_RATE) { // use last set yaw for yaw_rate
-		if (setpoint_altitude.header.frame_id == yaw_frame_id) {
-			target.transform.rotation = tf::createQuaternionMsgFromYaw(setpoint_yaw);
-		} else {
-			single_frame = false;
-			target.transform.rotation = tf::createQuaternionMsgFromYaw(yaw_local);
-		}
-	} else if (setpoint_yaw_type == TOWARDS) {
-		single_frame = false;
-		target.transform.rotation = tf::createQuaternionMsgFromYaw(yaw_local);
-	}
-
-	if (_static && single_frame) {
-		// publish at user's command, if all frames are the same
-		target.header.frame_id = setpoint_position.header.frame_id;
-		target.header.stamp = stamp;
-		target.transform.translation.x = setpoint_position.point.x;
-		target.transform.translation.y = setpoint_position.point.y;
-		target.transform.translation.z = setpoint_position.point.z;
-
-	} else if (!_static) {
-		// publish at each iteration, if frames are different
-		target.header = setpoint_pose_local.header;
-		target.transform.translation.x = setpoint_pose_local.pose.position.x;
-		target.transform.translation.y = setpoint_pose_local.pose.position.y;
-		target.transform.translation.z = setpoint_pose_local.pose.position.z;
-	}
-
-	static_transform_broadcaster->sendTransform(target);
-}
-
 void publish(const ros::Time stamp)
 {
 	if (setpoint_type == NONE) return;

 	position_raw_msg.header.stamp = stamp;
+	thrust_msg.header.stamp = stamp;
+	rates_msg.header.stamp = stamp;

-	// transform position
-	if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION) {
-		setpoint_position.header.stamp = stamp;
-		setpoint_altitude.header.stamp = stamp;
-		// transform xy
-		try {
-			auto xy = tf_buffer.transform(setpoint_position, local_frame, ros::Duration(0.05));
-			setpoint_pose_local.header = xy.header;
-			setpoint_pose_local.pose.position.x = xy.point.x;
-			setpoint_pose_local.pose.position.y = xy.point.y;
-		} catch (tf2::TransformException& ex) {
-			// can't transform xy, use last known
-			ROS_WARN_THROTTLE(10, "can't transform: %s", ex.what());
+	try {
+		// transform position and/or yaw
+		if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION || setpoint_type == VELOCITY || setpoint_type == ATTITUDE) {
+			setpoint_position.header.stamp = stamp;
+			tf_buffer.transform(setpoint_position, setpoint_position_transformed, local_frame, ros::Duration(0.05));
 		}
-		// transform altitude
-		try {
-			setpoint_pose_local.pose.position.z = tf_buffer.transform(setpoint_altitude, local_frame, ros::Duration(0.05)).point.z;
-		} catch (tf2::TransformException& ex) {
-			// can't transform altitude, use last known
-			ROS_WARN_THROTTLE(10, "can't transform: %s", ex.what());
+
+		// transform velocity
+		if (setpoint_type == VELOCITY) {
+			setpoint_velocity.header.stamp = stamp;
+			tf_buffer.transform(setpoint_velocity, setpoint_velocity_transformed, local_frame, ros::Duration(0.05));
 		}
+
+	} catch (const tf2::TransformException& e) {
+		ROS_WARN_THROTTLE(10, "can't transform");
 	}

-	// transform yaw
-	if (setpoint_yaw_type == YAW) {
-		try {
-			QuaternionStamped q;
-			q.header.stamp = stamp;
-			q.header.frame_id = yaw_frame_id;
-			q.quaternion = tf::createQuaternionMsgFromYaw(setpoint_yaw);
-			yaw_local = tf2::getYaw(tf_buffer.transform(q, local_frame, ros::Duration(0.05)).quaternion);
-		} catch (tf2::TransformException& ex) {
-			// can't transform yaw, use last known
-			ROS_WARN_THROTTLE(10, "can't transform: %s", ex.what());
-		}
-	}
-
-	// compute navigate setpoint
 	if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL) {
+		position_msg.pose.orientation = setpoint_position_transformed.pose.orientation; // copy yaw
 		getNavigateSetpoint(stamp, nav_speed, position_msg.pose.position);

 		if (setpoint_yaw_type == TOWARDS) {
-			yaw_local = atan2(position_msg.pose.position.y - nav_start.pose.position.y,
-			                  position_msg.pose.position.x - nav_start.pose.position.x);
+			double yaw_towards = atan2(position_msg.pose.position.y - nav_start.pose.position.y,
+			                           position_msg.pose.position.x - nav_start.pose.position.x);
+			position_msg.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(0, 0, yaw_towards);
 		}
-
-		position_msg.pose.orientation = tf::createQuaternionMsgFromYaw(yaw_local);
 	}

 	if (setpoint_type == POSITION) {
-		position_msg = setpoint_pose_local;
-		position_msg.pose.orientation = tf::createQuaternionMsgFromYaw(yaw_local);
+		position_msg = setpoint_position_transformed;
 	}

 	if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL) {
@@ -527,14 +439,14 @@ void publish(const ros::Time stamp)
 			                             PositionTarget::IGNORE_AFY +
 			                             PositionTarget::IGNORE_AFZ +
 			                             PositionTarget::IGNORE_YAW;
-			position_raw_msg.yaw_rate = setpoint_rates.z;
+			position_raw_msg.yaw_rate = setpoint_yaw_rate;
 			position_raw_msg.position = position_msg.pose.position;
 			position_raw_pub.publish(position_raw_msg);
 		}

 		// publish setpoint frame
 		if (!setpoint.child_frame_id.empty()) {
-			if (setpoint.header.stamp >= position_msg.header.stamp) {
+			if (setpoint.header.stamp == position_msg.header.stamp) {
 				return; // avoid TF_REPEATED_DATA warnings
 			}

@@ -546,22 +458,9 @@ void publish(const ros::Time stamp)
 			setpoint.header.stamp = position_msg.header.stamp;
 			transform_broadcaster->sendTransform(setpoint);
 		}
-
-		// publish dynamic target frame
-		publishTarget(stamp);
 	}

 	if (setpoint_type == VELOCITY) {
-		// transform velocity to local frame
-		setpoint_velocity.header.stamp = stamp;
-		try {
-			setpoint_velocity_local = tf_buffer.transform(setpoint_velocity, local_frame, ros::Duration(0.05));
-		} catch (tf2::TransformException& ex) {
-			// can't transform velocity, use last known
-			ROS_WARN_THROTTLE(10, "can't transform: %s", ex.what());
-		}
-
-		// publish velocity
 		position_raw_msg.type_mask = PositionTarget::IGNORE_PX +
 		                             PositionTarget::IGNORE_PY +
 		                             PositionTarget::IGNORE_PZ +
@@ -569,22 +468,14 @@ void publish(const ros::Time stamp)
 		                             PositionTarget::IGNORE_AFY +
 		                             PositionTarget::IGNORE_AFZ;
 		position_raw_msg.type_mask += setpoint_yaw_type == YAW ? PositionTarget::IGNORE_YAW_RATE : PositionTarget::IGNORE_YAW;
-		position_raw_msg.velocity = setpoint_velocity_local.vector;
-		position_raw_msg.yaw = yaw_local;
-		position_raw_msg.yaw_rate = setpoint_rates.z;
+		position_raw_msg.velocity = setpoint_velocity_transformed.vector;
+		position_raw_msg.yaw = tf2::getYaw(setpoint_position_transformed.pose.orientation);
+		position_raw_msg.yaw_rate = setpoint_yaw_rate;
 		position_raw_pub.publish(position_raw_msg);
 	}

 	if (setpoint_type == ATTITUDE) {
-		PoseStamped msg;
-		msg.header.stamp = stamp;
-		msg.header.frame_id = local_frame;
-		msg.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(setpoint_roll, setpoint_pitch, yaw_local);
-		attitude_pub.publish(msg);
-
-		Thrust thrust_msg;
-		thrust_msg.header.stamp = stamp;
-		thrust_msg.thrust = setpoint_thrust;
+		attitude_pub.publish(setpoint_position_transformed);
 		thrust_pub.publish(thrust_msg);
 	}

@@ -593,12 +484,11 @@ void publish(const ros::Time stamp)
 		// thrust_pub.publish(thrust_msg);
 		// mavros rates topics waits for rates in local frame
 		// use rates in body frame for simplicity
-		AttitudeTarget att_raw_msg;
 		att_raw_msg.header.stamp = stamp;
 		att_raw_msg.header.frame_id = fcu_frame;
 		att_raw_msg.type_mask = AttitudeTarget::IGNORE_ATTITUDE;
-		att_raw_msg.body_rate = setpoint_rates;
-		att_raw_msg.thrust = setpoint_thrust;
+		att_raw_msg.body_rate = rates_msg.twist.angular;
+		att_raw_msg.thrust = thrust_msg.thrust;
 		attitude_raw_pub.publish(att_raw_msg);
 	}
 }
@@ -638,59 +528,10 @@ inline void checkState()
 		throw std::runtime_error("No connection to FCU, https://clover.coex.tech/connection");
 }

-void publishState()
-{
-	clover::State msg;
-	msg.mode = setpoint_type;
-	msg.yaw_mode = setpoint_yaw_type;
-
-	if (setpoint_position.header.frame_id.empty()) {
-		msg.x = NAN;
-		msg.y = NAN;
-		msg.z = NAN;
-	} else {
-		msg.x = setpoint_position.point.x;
-		msg.y = setpoint_position.point.y;
-		msg.z = setpoint_altitude.point.z;
-	}
-
-	msg.speed = nav_speed;
-	msg.lat = setpoint_lat;
-	msg.lon = setpoint_lon;
-	msg.vx = setpoint_velocity.vector.x;
-	msg.vy = setpoint_velocity.vector.y;
-	msg.vz = setpoint_velocity.vector.z;
-	msg.roll = setpoint_roll;
-	msg.pitch = setpoint_pitch;
-	msg.yaw = !yaw_frame_id.empty() ? setpoint_yaw : NAN;
-
-	msg.roll_rate = setpoint_rates.x;
-	msg.pitch_rate = setpoint_rates.y;
-	msg.yaw_rate = setpoint_rates.z;
-	msg.thrust = setpoint_thrust;
-
-	if (setpoint_type == VELOCITY) {
-		msg.xy_frame_id = setpoint_velocity.header.frame_id;
-		msg.z_frame_id = setpoint_velocity.header.frame_id;
-	} else {
-		msg.xy_frame_id = setpoint_position.header.frame_id;
-		msg.z_frame_id = setpoint_altitude.header.frame_id;
-	}
-	msg.yaw_frame_id = yaw_frame_id;
-
-	state_pub.publish(msg);
-}
-
-inline float safe(float value) {
-	return std::isfinite(value) ? value : 0;
-}
-
 #define ENSURE_FINITE(var) { if (!std::isfinite(var)) throw std::runtime_error(#var " argument cannot be NaN or Inf"); }

-#define ENSURE_NON_INF(var) { if (std::isinf(var)) throw std::runtime_error(#var " argument cannot be Inf"); }
-
 bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, float vy, float vz,
-           float roll, float pitch, float yaw, float roll_rate, float pitch_rate, float yaw_rate, // editorconfig-checker-disable-line
+           float pitch, float roll, float yaw, float pitch_rate, float roll_rate, float yaw_rate, // editorconfig-checker-disable-line
           float lat, float lon, float thrust, float speed, string frame_id, bool auto_arm, // editorconfig-checker-disable-line
           uint8_t& success, string& message) // editorconfig-checker-disable-line
 {
@@ -717,40 +558,69 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 		auto search = reference_frames.find(frame_id);
 		const string& reference_frame = search == reference_frames.end() ? frame_id : search->second;

-		ENSURE_NON_INF(x);
-		ENSURE_NON_INF(y);
-		ENSURE_NON_INF(z);
-		ENSURE_NON_INF(speed); // TODO: allow inf
-		ENSURE_NON_INF(vx);
-		ENSURE_NON_INF(vy);
-		ENSURE_NON_INF(vz);
-		ENSURE_NON_INF(roll);
-		ENSURE_NON_INF(pitch);
-		ENSURE_NON_INF(roll_rate);
-		ENSURE_NON_INF(pitch_rate);
-		ENSURE_NON_INF(yaw_rate);
-		ENSURE_NON_INF(thrust);
+		// Serve "partial" commands

-		if (sp_type == NAVIGATE_GLOBAL) {
+		if (!auto_arm && std::isfinite(yaw) &&
+		    isnan(x) && isnan(y) && isnan(z) && isnan(vx) && isnan(vy) && isnan(vz) &&
+		    isnan(pitch) && isnan(roll) && isnan(thrust) &&
+		    isnan(lat) && isnan(lon)) {
+			// change only the yaw
+			if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == VELOCITY) {
+				if (!waitTransform(setpoint_position.header.frame_id, frame_id, stamp, transform_timeout))
+					throw std::runtime_error("Can't transform from " + frame_id + " to " + setpoint_position.header.frame_id);
+
+				message = "Changing yaw only";
+
+				QuaternionStamped q;
+				q.header.frame_id = frame_id;
+				q.header.stamp = stamp;
+				q.quaternion = tf::createQuaternionMsgFromYaw(yaw); // TODO: pitch=0, roll=0 is not totally correct
+				setpoint_position.pose.orientation = tf_buffer.transform(q, setpoint_position.header.frame_id).quaternion;
+				setpoint_yaw_type = YAW;
+				goto publish_setpoint;
+			} else {
+				throw std::runtime_error("Setting yaw is possible only when position or velocity setpoints active");
+			}
+		}
+
+		if (!auto_arm && std::isfinite(yaw_rate) &&
+		    isnan(x) && isnan(y) && isnan(z) && isnan(vx) && isnan(vy) && isnan(vz) &&
+		    isnan(pitch) && isnan(roll) && isnan(yaw) && isnan(thrust) &&
+		    isnan(lat) && isnan(lon)) {
+			// change only the yaw rate
+			if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == VELOCITY) {
+				message = "Changing yaw rate only";
+
+				setpoint_yaw_type = YAW_RATE;
+				setpoint_yaw_rate = yaw_rate;
+				goto publish_setpoint;
+			} else {
+				throw std::runtime_error("Setting yaw rate is possible only when position or velocity setpoints active");
+			}
+		}
+
+		// Serve normal commands
+
+		if (sp_type == NAVIGATE || sp_type == POSITION) {
+			ENSURE_FINITE(x);
+			ENSURE_FINITE(y);
+			ENSURE_FINITE(z);
+		} else if (sp_type == NAVIGATE_GLOBAL) {
 			ENSURE_FINITE(lat);
 			ENSURE_FINITE(lon);
-		}
-
-		if (isfinite(x) != isfinite(y)) {
-			throw std::runtime_error("x and y can be set only together");
-		}
-
-		if (isfinite(yaw_rate)) {
-			if (sp_type > RATES && setpoint_type == ATTITUDE) {
-				throw std::runtime_error("Yaw rate cannot be set in attitude mode.");
-			}
-		}
-
-		// set_altitude
-		if (sp_type == _ALTITUDE) {
-			if (setpoint_type == VELOCITY || setpoint_type == ATTITUDE || setpoint_type == RATES) {
-				throw std::runtime_error("Altitude cannot be set in velocity, attitude or rates mode.");
-			}
+			ENSURE_FINITE(z);
+		} else if (sp_type == VELOCITY) {
+			ENSURE_FINITE(vx);
+			ENSURE_FINITE(vy);
+			ENSURE_FINITE(vz);
+		} else if (sp_type == ATTITUDE) {
+			ENSURE_FINITE(pitch);
+			ENSURE_FINITE(roll);
+			ENSURE_FINITE(thrust);
+		} else if (sp_type == RATES) {
+			ENSURE_FINITE(pitch_rate);
+			ENSURE_FINITE(roll_rate);
+			ENSURE_FINITE(thrust);
 		}

 		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL) {
@@ -764,13 +634,20 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 				speed = default_speed;
 		}

+		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == POSITION || sp_type == VELOCITY) {
+			if (yaw_rate != 0 && !std::isnan(yaw))
+				throw std::runtime_error("Yaw value should be NaN for setting yaw rate");
+
+			if (std::isnan(yaw_rate) && std::isnan(yaw))
+				throw std::runtime_error("Both yaw and yaw_rate cannot be NaN");
+		}
+
 		if (sp_type == NAVIGATE_GLOBAL) {
 			if (TIMEOUT(global_position, global_position_timeout))
 				throw std::runtime_error("No global position");
 		}

-		// if any value need to be transformed to reference frame
-		if (isfinite(x) || isfinite(y) || isfinite(z) || isfinite(vx) || isfinite(vy) || isfinite(vz) || isfinite(yaw)) {
+		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == POSITION || sp_type == VELOCITY || sp_type == ATTITUDE) {
 			// make sure transform from frame_id to reference frame available
 			if (!waitTransform(reference_frame, frame_id, stamp, transform_timeout))
 				throw std::runtime_error("Can't transform from " + frame_id + " to " + reference_frame);
@@ -787,26 +664,15 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 			auto xy_in_req_frame = tf_buffer.transform(pose_local, frame_id);
 			x = xy_in_req_frame.pose.position.x;
 			y = xy_in_req_frame.pose.position.y;
-			setpoint_lat = lat;
-			setpoint_lon = lon;
 		}

 		// Everything fine - switch setpoint type
-		if (sp_type <= RATES) {
-			setpoint_type = sp_type;
-		}
+		setpoint_type = sp_type;

-		if (setpoint_type != NAVIGATE && setpoint_type != NAVIGATE_GLOBAL) {
+		if (sp_type != NAVIGATE && sp_type != NAVIGATE_GLOBAL) {
 			nav_from_sp_flag = false;
 		}

-		if (auto_arm || setpoint_type == VELOCITY || setpoint_type == ATTITUDE || setpoint_type == RATES) {
-			// invalidate position setpoint
-			setpoint_position.header.frame_id = "";
-			setpoint_altitude.header.frame_id = "";
-			yaw_frame_id = "";
-		}
-
 		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL) {
 			// starting point
 			if (nav_from_sp && nav_from_sp_flag) {
@@ -815,139 +681,89 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 			} else {
 				nav_start = local_position;
 			}
-
-			if (!isnan(speed)) {
-				nav_speed = speed;
-			}
-
+			nav_speed = speed;
 			nav_from_sp_flag = true;
 		}

-		// handle position
-		if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION) {
+		// if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == POSITION || sp_type == VELOCITY) {
+		// 	if (std::isnan(yaw) && yaw_rate == 0) {
+		// 		// keep yaw unchanged
+		//		// TODO: this is incorrect, because we need yaw in desired frame
+		// 		yaw = tf2::getYaw(local_position.pose.orientation);
+		// 	}
+		// }

-			PointStamped desired;
-			desired.header.frame_id = frame_id;
-			desired.header.stamp = stamp;
-			desired.point.x = safe(x);
-			desired.point.y = safe(y);
-			desired.point.z = safe(z);
+		if (sp_type == POSITION || sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == VELOCITY || sp_type == ATTITUDE) {
+			// destination point and/or attitude
+			PoseStamped ps;
+			ps.header.frame_id = frame_id;
+			ps.header.stamp = stamp;
+			ps.pose.position.x = x;
+			ps.pose.position.y = y;
+			ps.pose.position.z = z;
+			ps.pose.orientation.w = 1.0; // Ensure quaternion is always valid

-			// transform to reference frame
-			desired = tf_buffer.transform(desired, reference_frame);
-
-			// set horizontal position
-			if (isfinite(x) && isfinite(y)) {
-				setpoint_position = desired;
-			} else if (setpoint_position.header.frame_id.empty()) {
-				 // TODO: use transform for current stamp
-				setpoint_position.header = local_position.header;
-				setpoint_position.point = local_position.pose.position;
-			}
-
-			// set altitude
-			if (isfinite(z)) {
-				setpoint_altitude = desired;
-			} else if (setpoint_altitude.header.frame_id.empty()) {
-				setpoint_altitude.header = local_position.header;
-				setpoint_altitude.point = local_position.pose.position;
-			}
-		}
-
-		// handle velocity
-		if (sp_type == VELOCITY) {
-			// TODO: allow setting different modes by altitude and xy
-			Vector3Stamped desired;
-			desired.header.frame_id = frame_id;
-			desired.header.stamp = stamp;
-			desired.vector.x = safe(vx);
-			desired.vector.y = safe(vy);
-			desired.vector.z = safe(vz);
-
-			// transform to reference frame
-			desired = tf_buffer.transform(desired, reference_frame);
-			setpoint_velocity.header = desired.header;
-
-			// set horizontal velocity
-			if (isfinite(vx) && isfinite(vy)) {
-				setpoint_velocity.vector.x = desired.vector.x;
-				setpoint_velocity.vector.y = desired.vector.y;
-			}
-
-			// set vertical velocity
-			if (isfinite(vz)) {
-				setpoint_velocity.vector.z = desired.vector.z;
-			}
-		}
-
-		// handle yaw
-		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == POSITION || sp_type == VELOCITY || sp_type == ATTITUDE || sp_type == _YAW) {
-			if (isfinite(yaw)) {
-				setpoint_yaw_type = YAW;
-				QuaternionStamped desired;
-				desired.header.frame_id = frame_id;
-				desired.header.stamp = stamp;
-				desired.quaternion = tf::createQuaternionMsgFromYaw(yaw);
-
-				// transform to reference frame
-				desired = tf_buffer.transform(desired, reference_frame);
-				setpoint_yaw = tf2::getYaw(desired.quaternion);
-				yaw_frame_id = reference_frame;
-
-			} else if (isinf(yaw) && yaw > 0) {
+			if (sp_type == ATTITUDE) {
+				ps.pose.position.x = 0;
+				ps.pose.position.y = 0;
+				ps.pose.position.z = 0;
+				ps.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(roll, pitch, yaw);
+			} else if (std::isnan(yaw)) {
+				setpoint_yaw_type = YAW_RATE;
+				setpoint_yaw_rate = yaw_rate;
+			} else if (std::isinf(yaw) && yaw > 0) {
 				// yaw towards
 				setpoint_yaw_type = TOWARDS;
-
-			} else if (yaw_frame_id.empty() || sp_type == _YAW) {
-				// yaw is nan and not set previously OR set_yaw(yaw=nan) was called
+				yaw = 0;
+				setpoint_yaw_rate = 0;
+			} else {
 				setpoint_yaw_type = YAW;
-				setpoint_yaw = tf2::getYaw(local_position.pose.orientation); // set yaw to current yaw
-				yaw_frame_id = local_position.header.frame_id;
+				setpoint_yaw_rate = 0;
+				ps.pose.orientation = tf::createQuaternionMsgFromYaw(yaw);
 			}
+
+			tf_buffer.transform(ps, setpoint_position, reference_frame);
 		}

-		// handle roll
-		if (isfinite(roll)) {
-			setpoint_roll = roll;
+		if (sp_type == VELOCITY) {
+			Vector3Stamped vel;
+			vel.header.frame_id = frame_id;
+			vel.header.stamp = stamp;
+			vel.vector.x = vx;
+			vel.vector.y = vy;
+			vel.vector.z = vz;
+			tf_buffer.transform(vel, setpoint_velocity, reference_frame);
 		}

-		// handle pitch
-		if (isfinite(pitch)) {
-			setpoint_pitch = pitch;
+		if (sp_type == ATTITUDE || sp_type == RATES) {
+			thrust_msg.thrust = thrust;
 		}

-		// handle yaw rate
-		if (isfinite(yaw_rate)) {
-			setpoint_yaw_type = YAW_RATE;
-			setpoint_rates.z = yaw_rate;
-		}
-
-		// handle pitch rate
-		if (isfinite(roll_rate)) {
-			setpoint_rates.x = roll_rate;
-		}
-
-		// handle roll rate
-		if (isfinite(pitch_rate)) {
-			setpoint_rates.y = pitch_rate;
-		}
-
-		// handle thrust
-		if (isfinite(thrust)) {
-			setpoint_thrust = thrust;
+		if (sp_type == RATES) {
+			rates_msg.twist.angular.x = roll_rate;
+			rates_msg.twist.angular.y = pitch_rate;
+			rates_msg.twist.angular.z = yaw_rate;
 		}

 		wait_armed = auto_arm;

+publish_setpoint:
 		publish(stamp); // calculate initial transformed messages first
 		setpoint_timer.start();

-		if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION) {
-			publishTarget(stamp, true);
+		// publish target frame
+		if (!target.child_frame_id.empty()) {
+			if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION) {
+				target.header.frame_id = setpoint_position.header.frame_id;
+				target.header.stamp = stamp;
+				target.transform.translation.x = setpoint_position.pose.position.x;
+				target.transform.translation.y = setpoint_position.pose.position.y;
+				target.transform.translation.z = setpoint_position.pose.position.z;
+				target.transform.rotation = setpoint_position.pose.orientation;
+				static_transform_broadcaster->sendTransform(target);
+			}
 		}

-		publishState();
-
 		if (auto_arm) {
 			offboardAndArm();
 			wait_armed = false;
@@ -972,39 +788,27 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 }

 bool navigate(Navigate::Request& req, Navigate::Response& res) {
-	return serve(NAVIGATE, req.x, req.y, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, NAN, NAN, NAN, NAN, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
+	return serve(NAVIGATE, req.x, req.y, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, NAN, NAN, NAN, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
 }

 bool navigateGlobal(NavigateGlobal::Request& req, NavigateGlobal::Response& res) {
-	return serve(NAVIGATE_GLOBAL, NAN, NAN, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, NAN, req.lat, req.lon, NAN, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
-}
-
-bool setAltitude(SetAltitude::Request& req, SetAltitude::Response& res) {
-	return serve(_ALTITUDE, NAN, NAN, req.z, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.frame_id, false, res.success, res.message);
-}
-
-bool setYaw(SetYaw::Request& req, SetYaw::Response& res) {
-	return serve(_YAW, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.frame_id, false, res.success, res.message);
-}
-
-bool setYawRate(SetYawRate::Request& req, SetYawRate::Response& res) {
-	return serve(_YAW_RATE, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.yaw_rate, NAN, NAN, NAN, NAN, "", false, res.success, res.message);
+	return serve(NAVIGATE_GLOBAL, NAN, NAN, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, req.lat, req.lon, NAN, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
 }

 bool setPosition(SetPosition::Request& req, SetPosition::Response& res) {
-	return serve(POSITION, req.x, req.y, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.frame_id, req.auto_arm, res.success, res.message);
+	return serve(POSITION, req.x, req.y, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, NAN, NAN, NAN, NAN, req.frame_id, req.auto_arm, res.success, res.message);
 }

 bool setVelocity(SetVelocity::Request& req, SetVelocity::Response& res) {
-	return serve(VELOCITY, NAN, NAN, NAN, req.vx, req.vy, req.vz, NAN, NAN, req.yaw, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.frame_id, req.auto_arm, res.success, res.message);
+	return serve(VELOCITY, NAN, NAN, NAN, req.vx, req.vy, req.vz, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, NAN, NAN, NAN, NAN, req.frame_id, req.auto_arm, res.success, res.message);
 }

 bool setAttitude(SetAttitude::Request& req, SetAttitude::Response& res) {
-	return serve(ATTITUDE, NAN, NAN, NAN, NAN, NAN, NAN, req.roll, req.pitch, req.yaw, NAN, NAN, NAN, NAN, NAN, req.thrust, NAN, req.frame_id, req.auto_arm, res.success, res.message);
+	return serve(ATTITUDE, NAN, NAN, NAN, NAN, NAN, NAN, req.pitch, req.roll, req.yaw, NAN, NAN, NAN, NAN, NAN, req.thrust, NAN, req.frame_id, req.auto_arm, res.success, res.message);
 }

 bool setRates(SetRates::Request& req, SetRates::Response& res) {
-	return serve(RATES, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.roll_rate, req.pitch_rate, req.yaw_rate, NAN, NAN, req.thrust, NAN, "", req.auto_arm, res.success, res.message);
+	return serve(RATES, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.pitch_rate, req.roll_rate, req.yaw_rate, NAN, NAN, req.thrust, NAN, "", req.auto_arm, res.success, res.message);
 }

 bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
@@ -1036,7 +840,9 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 		auto start = ros::Time::now();
 		while (ros::ok()) {
 			if (state.mode == "AUTO.LAND") {
-				break;
+				res.success = true;
+				busy = false;
+				return true;
 			}
 			if (ros::Time::now() - start > land_timeout)
 				throw std::runtime_error("Land request timed out");
@@ -1045,18 +851,6 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 			r.sleep();
 		}

-		// stop setpoints and invalidate position setpoint
-		setpoint_timer.stop();
-		setpoint_type = NONE;
-		setpoint_position.header.frame_id = "";
-		setpoint_altitude.header.frame_id = "";
-		yaw_frame_id = "";
-		publishState();
-
-		res.success = true;
-		busy = false;
-		return true;
-
 	} catch (const std::exception& e) {
 		res.message = e.what();
 		ROS_INFO("%s", e.what());
@@ -1066,18 +860,6 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 	return false;
 }

-bool release(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
-{
-	setpoint_timer.stop();
-	setpoint_type = NONE;
-	setpoint_position.header.frame_id = "";
-	setpoint_altitude.header.frame_id = "";
-	yaw_frame_id = "";
-	publishState();
-	res.success = true;
-	return true;
-}
-
 int main(int argc, char **argv)
 {
 	ros::init(argc, argv, "simple_offboard");
@@ -1099,7 +881,6 @@ int main(int argc, char **argv)
 	nh_priv.param("check_kill_switch", check_kill_switch, true);
 	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.getParam("reference_frames", reference_frames);

 	// Default reference frames
@@ -1135,12 +916,6 @@ int main(int argc, char **argv)
 	auto manual_control_sub = nh.subscribe(mavros + "/manual_control/control", 1, &handleMessage<mavros_msgs::ManualControl, manual_control>);
 	auto local_position_sub = nh.subscribe(mavros + "/local_position/pose", 1, &handleLocalPosition);

-	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);
-	}
-
 	// Setpoint publishers
 	position_pub = nh.advertise<PoseStamped>(mavros + "/setpoint_position/local", 1);
 	position_raw_pub = nh.advertise<PositionTarget>(mavros + "/setpoint_raw/local", 1);
@@ -1149,22 +924,15 @@ int main(int argc, char **argv)
 	rates_pub = nh.advertise<TwistStamped>(mavros + "/setpoint_attitude/cmd_vel", 1);
 	thrust_pub = nh.advertise<Thrust>(mavros + "/setpoint_attitude/thrust", 1);

-	// State publisher
-	state_pub = nh_priv.advertise<clover::State>("state", 1, true);
-
 	 // Service servers
 	auto gt_serv = nh.advertiseService("get_telemetry", &getTelemetry);
 	auto na_serv = nh.advertiseService("navigate", &navigate);
 	auto ng_serv = nh.advertiseService("navigate_global", &navigateGlobal);
-	auto sl_serv = nh.advertiseService("set_altitude", &setAltitude);
-	auto ya_serv = nh.advertiseService("set_yaw", &setYaw);
-	auto yr_serv = nh.advertiseService("set_yaw_rate", &setYawRate);
 	auto sp_serv = nh.advertiseService("set_position", &setPosition);
 	auto sv_serv = nh.advertiseService("set_velocity", &setVelocity);
 	auto sa_serv = nh.advertiseService("set_attitude", &setAttitude);
 	auto sr_serv = nh.advertiseService("set_rates", &setRates);
 	auto ld_serv = nh.advertiseService("land", &land);
-	auto rl_serv = nh_priv.advertiseService("release", &release);

 	// Setpoint timer
 	setpoint_timer = nh.createTimer(ros::Duration(1 / nh_priv.param("setpoint_rate", 30.0)), &publishSetpoint, false, false);
@@ -1172,7 +940,7 @@ int main(int argc, char **argv)
 	position_msg.header.frame_id = local_frame;
 	position_raw_msg.header.frame_id = local_frame;
 	position_raw_msg.coordinate_frame = PositionTarget::FRAME_LOCAL_NED;
-	//rates_msg.header.frame_id = fcu_frame;
+	rates_msg.header.frame_id = fcu_frame;

 	ROS_INFO("ready");
 	ros::spin();
--- a/clover/src/vpe_publisher.cpp
+++ b/clover/src/vpe_publisher.cpp
@@ -25,7 +25,7 @@
 using std::string;
 using namespace geometry_msgs;

-bool reset_flag = true; // offset should be reset on the start
+bool reset_flag = false;
 string local_frame_id, frame_id, child_frame_id, offset_frame_id;
 tf2_ros::Buffer tf_buffer;
 ros::Publisher vpe_pub;
--- a/clover/src/www
+++ b/clover/src/www
@@ -1,4 +0,0 @@
-#!/usr/bin/env bash
-
-export ROSWWW_DEFAULT=clover
-rosrun roswww_static update
--- a/clover/srv/GetTelemetry.srv
+++ b/clover/srv/GetTelemetry.srv
@@ -13,11 +13,11 @@ float32 alt
 float32 vx
 float32 vy
 float32 vz
-float32 roll
 float32 pitch
+float32 roll
 float32 yaw
-float32 roll_rate
 float32 pitch_rate
+float32 roll_rate
 float32 yaw_rate
 float32 voltage
 float32 cell_voltage
--- a/clover/srv/Navigate.srv
+++ b/clover/srv/Navigate.srv
@@ -2,6 +2,7 @@ float32 x
 float32 y
 float32 z
 float32 yaw
+float32 yaw_rate
 float32 speed
 string frame_id
 bool auto_arm
--- a/clover/srv/NavigateGlobal.srv
+++ b/clover/srv/NavigateGlobal.srv
@@ -2,6 +2,7 @@ float64 lat
 float64 lon
 float32 z
 float32 yaw
+float32 yaw_rate
 float32 speed
 string frame_id
 bool auto_arm
--- a/clover/srv/SetAltitude.srv
+++ b/clover/srv/SetAltitude.srv
@@ -1,5 +0,0 @@
-float32 z
-string frame_id
---
-bool success
-string message
--- a/clover/srv/SetAttitude.srv
+++ b/clover/srv/SetAttitude.srv
@@ -1,5 +1,5 @@
-float32 roll
 float32 pitch
+float32 roll
 float32 yaw
 float32 thrust
 string frame_id
--- a/clover/srv/SetPosition.srv
+++ b/clover/srv/SetPosition.srv
@@ -2,6 +2,7 @@ float32 x
 float32 y
 float32 z
 float32 yaw
+float32 yaw_rate
 string frame_id
 bool auto_arm
 ---
--- a/clover/srv/SetRates.srv
+++ b/clover/srv/SetRates.srv
@@ -1,5 +1,5 @@
-float32 roll_rate
 float32 pitch_rate
+float32 roll_rate
 float32 yaw_rate
 float32 thrust
 bool auto_arm
--- a/clover/srv/SetVelocity.srv
+++ b/clover/srv/SetVelocity.srv
@@ -2,6 +2,7 @@ float32 vx
 float32 vy
 float32 vz
 float32 yaw
+float32 yaw_rate
 string frame_id
 bool auto_arm
 ---
--- a/clover/srv/SetYaw.srv
+++ b/clover/srv/SetYaw.srv
@@ -1,5 +0,0 @@
-float32 yaw
-string frame_id
---
-bool success
-string message
--- a/clover/srv/SetYawRate.srv
+++ b/clover/srv/SetYawRate.srv
@@ -1,4 +0,0 @@
-float32 yaw_rate
---
-bool success
-string message
--- a/clover/test/basic.py
+++ b/clover/test/basic.py
@@ -3,7 +3,6 @@ import rospy
 import pytest
 from mavros_msgs.msg import State
 from clover import srv
-import time

@pytest.fixture()
 def node():
@@ -25,7 +24,6 @@ def test_simple_offboard_services_available():
    rospy.wait_for_service('set_attitude', timeout=5)
    rospy.wait_for_service('set_rates', timeout=5)
    rospy.wait_for_service('land', timeout=5)
-    rospy.wait_for_service('simple_offboard/release', timeout=5)

 def test_web_video_server(node):
    try:
@@ -61,18 +59,3 @@ def test_blocks(node):

    t.join()
    assert wait_print.result == 'test'
-
-def test_long_callback():
-    from clover import long_callback
-    from time import sleep
-
-    # very basic test for long_callback
-    @long_callback
-    def cb(i):
-        cb.counter += i
-    cb.counter = 0
-    cb(2)
-    sleep(0.1)
-    cb(3)
-    sleep(1)
-    assert cb.counter == 5
--- a/clover/test/basic.test
+++ b/clover/test/basic.test
@@ -37,9 +37,6 @@

    <node name="clover_blocks" pkg="clover_blocks" type="clover_blocks" output="screen" required="true"/>

-    <node pkg="topic_tools" name="main_camera_throttle" type="throttle" ns="main_camera"
-        args="messages image_raw 5.0 image_raw_throttled" required="true"/>
-
    <param name="test_module" value="$(find clover)/test/basic.py"/>
    <test test-name="basic_test" pkg="ros_pytest" type="ros_pytest_runner"/>
 </launch>
--- a/clover/test/offboard.py
+++ b/clover/test/offboard.py
@@ -1,402 +0,0 @@
-import rospy
-import pytest
-from pytest import approx
-import threading
-import mavros_msgs.msg
-from geometry_msgs.msg import PoseStamped
-from clover import srv
-from clover.msg import State
-from math import nan, inf
-import tf2_ros
-import tf2_geometry_msgs
-
-@pytest.fixture()
-def node():
-    return rospy.init_node('offboard_test', anonymous=True)
-
-@pytest.fixture
-def tf_buffer():
-    buf = tf2_ros.Buffer()
-    tf2_ros.TransformListener(buf)
-    return buf
-
-def get_state():
-    return rospy.wait_for_message('/simple_offboard/state', State, timeout=1)
-
-def get_navigate_target(tf_buffer):
-    target = tf_buffer.lookup_transform('map', 'navigate_target', rospy.get_rostime(), rospy.Duration(1))
-    assert target.child_frame_id == 'navigate_target'
-    return target
-
-def test_offboard(node, tf_buffer):
-    navigate = rospy.ServiceProxy('navigate', srv.Navigate)
-    set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
-    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_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
-    set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
-    set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
-    get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
-    res = navigate()
-    assert res.success == False
-    assert res.message.startswith('State timeout')
-
-    telem = get_telemetry()
-    assert telem.connected == False
-
-    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)
-
-    def publish_state():
-        r = rospy.Rate(2)
-        while not rospy.is_shutdown():
-            state_msg.header.stamp = rospy.Time.now()
-            state_pub.publish(state_msg)
-            r.sleep()
-
-    # start publishing state
-    threading.Thread(target=publish_state, daemon=True).start()
-    rospy.sleep(0.5)
-
-    telem = get_telemetry()
-    assert telem.connected == False
-
-    res = navigate()
-    assert res.success == False
-    assert res.message.startswith('No connection to FCU')
-
-    state_msg.connected = True
-    rospy.sleep(1)
-
-    telem = get_telemetry()
-    assert telem.connected == True
-
-    res = navigate()
-    assert res.success == False
-    assert res.message.startswith('No local position')
-
-    local_position_pub = rospy.Publisher('/mavros/local_position/pose', PoseStamped, latch=True, queue_size=1)
-    local_position_msg = PoseStamped()
-    local_position_msg.header.frame_id = 'map'
-    local_position_msg.pose.position.x = 1
-    local_position_msg.pose.position.y = 2
-    local_position_msg.pose.position.z = 3
-    local_position_msg.pose.orientation.w = 1
-
-    def publish_local_position():
-        r = rospy.Rate(30)
-        while not rospy.is_shutdown():
-            local_position_msg.header.stamp = rospy.Time.now()
-            local_position_pub.publish(local_position_msg)
-            r.sleep()
-
-    # start publishing local position
-    threading.Thread(target=publish_local_position, daemon=True).start()
-    rospy.sleep(0.5)
-
-    # check body frame
-    body = tf_buffer.lookup_transform('map', 'body', rospy.get_rostime(), rospy.Duration(1))
-    assert body.child_frame_id == 'body'
-    assert body.transform.translation.x == approx(1)
-    assert body.transform.translation.y == approx(2)
-    assert body.transform.translation.z == approx(3)
-
-    res = navigate(x=3, y=2, z=1, frame_id='map')
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_NAVIGATE
-    assert state.yaw_mode == State.YAW_MODE_YAW
-    assert state.x == 3
-    assert state.y == 2
-    assert state.z == 1
-    assert state.yaw == 0
-    assert state.xy_frame_id == 'map'
-    assert state.z_frame_id == 'map'
-    assert state.yaw_frame_id == 'map'
-    target = get_navigate_target(tf_buffer)
-    assert target.header.frame_id == 'map'
-    assert target.transform.translation.x == approx(3)
-    assert target.transform.translation.y == approx(2)
-    assert target.transform.translation.z == approx(1)
-    assert target.transform.rotation.x == 0
-    assert target.transform.rotation.y == 0
-    assert target.transform.rotation.z == 0
-    assert target.transform.rotation.w == 1
-
-    # try to set only the y
-    res = navigate(x=nan, y=1, z=nan)
-    assert res.success == False
-    assert res.message.startswith('x and y can be set only together')
-
-    # set z in body frame
-    res = navigate(x=nan, y=nan, z=1, frame_id='body')
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_NAVIGATE
-    assert state.yaw_mode == State.YAW_MODE_YAW
-    assert state.x == 3
-    assert state.y == 2
-    assert state.z == 4
-    assert state.yaw == 0
-    assert state.xy_frame_id == 'map'
-    assert state.z_frame_id == 'map'
-    assert state.yaw_frame_id == 'map'
-
-    # set xy in test frame
-    res = navigate(x=1, y=2, z=nan, frame_id='test')
-    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 == 4
-    assert state.yaw == 0
-    assert state.xy_frame_id == 'test'
-    assert state.z_frame_id == 'map'
-    assert state.yaw_frame_id == 'test'
-
-    # auto_arm should invalidate the setpoint
-    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 == 'map'
-    assert state.z_frame_id == 'map'
-    assert state.yaw_frame_id == 'map'
-
-    # set_attitude should invalidate the setpoint
-    res = set_attitude()
-    assert res.success == True
-
-    res = navigate(x=5, y=6, z=nan, yaw=nan, frame_id='map')
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_NAVIGATE
-    assert state.yaw_mode == State.YAW_MODE_YAW
-    assert state.x == 5
-    assert state.y == 6
-    assert state.z == 3
-    assert state.yaw == 0
-    assert state.xy_frame_id == 'map'
-    assert state.z_frame_id == 'map'
-    assert state.yaw_frame_id == 'map'
-
-    # test set_altitude
-    res = set_altitude(z=7, frame_id='test')
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_NAVIGATE
-    assert state.yaw_mode == State.YAW_MODE_YAW
-    assert state.x == 5
-    assert state.y == 6
-    assert state.z == 7
-    assert state.yaw == 0
-    assert state.xy_frame_id == 'map'
-    assert state.z_frame_id == 'test'
-    assert state.yaw_frame_id == 'map'
-
-    # test set_yaw
-    res = set_yaw(yaw=0.5, frame_id='test2')
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_NAVIGATE
-    assert state.yaw_mode == State.YAW_MODE_YAW
-    assert state.x == 5
-    assert state.y == 6
-    assert state.z == 7
-    assert state.yaw == 0.5
-    assert state.xy_frame_id == 'map'
-    assert state.z_frame_id == 'test'
-    assert state.yaw_frame_id == 'test2'
-
-    # test set_yaw_rate
-    res = set_yaw_rate(yaw_rate=2)
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_NAVIGATE
-    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
-    assert state.x == 5
-    assert state.y == 6
-    assert state.z == 7
-    assert state.yaw_rate == 2
-    assert state.xy_frame_id == 'map'
-    assert state.z_frame_id == 'test'
-
-    # navigate(yaw=nan) should keep yaw rate mode
-    res = navigate(x=nan, y=nan, z=nan, yaw=nan)
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_NAVIGATE
-    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
-    assert state.x == 5
-    assert state.y == 6
-    assert state.z == 7
-    assert state.yaw_rate == 2
-    assert state.xy_frame_id == 'map'
-    assert state.z_frame_id == 'test'
-
-    # set_yaw(nan) should change back to yaw mode
-    res = set_yaw(yaw=nan)
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_NAVIGATE
-    assert state.yaw_mode == State.YAW_MODE_YAW
-    assert state.yaw == 0
-    assert state.yaw_frame_id == 'map'
-
-    # test set_position
-    res = set_position(x=nan, y=nan, z=13, yaw=nan, frame_id='test2')
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_POSITION
-    assert state.yaw_mode == State.YAW_MODE_YAW
-    assert state.x == 5
-    assert state.y == 6
-    assert state.z == 13
-    assert state.yaw == 0
-    assert state.xy_frame_id == 'map'
-    assert state.z_frame_id == 'test2'
-    assert state.yaw_frame_id == 'map'
-
-    # set_altitude should not change the mode
-    res = set_altitude(z=3, frame_id='test')
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_POSITION
-    assert state.yaw_mode == State.YAW_MODE_YAW
-    assert state.x == 5
-    assert state.y == 6
-    assert state.z == 3
-    assert state.yaw == 0
-    assert state.xy_frame_id == 'map'
-    assert state.z_frame_id == 'test'
-    assert state.yaw_frame_id == 'map'
-
-    # set_yaw should not change the main mode
-    res = set_yaw(yaw=1, frame_id='test2')
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_POSITION
-    assert state.yaw_mode == State.YAW_MODE_YAW
-    assert state.x == 5
-    assert state.y == 6
-    assert state.z == 3
-    assert state.yaw == 1
-    assert state.xy_frame_id == 'map'
-    assert state.z_frame_id == 'test'
-    assert state.yaw_frame_id == 'test2'
-
-    # test set_velocity
-    res = set_velocity(vx=1, frame_id='body')
-    state = get_state()
-    assert state.mode == State.MODE_VELOCITY
-    assert state.yaw_mode == State.YAW_MODE_YAW
-    assert state.vx == 1
-    assert state.vy == 0
-    assert state.vz == 0
-    assert state.yaw == 0
-    assert state.xy_frame_id == 'map'
-    assert state.z_frame_id == 'map'
-    assert state.yaw_frame_id == 'map'
-
-    # set_altitude should not work in velocity mode
-    res = set_altitude(z=3, frame_id='test')
-    assert res.success == False
-    assert res.message.startswith('Altitude cannot be set in')
-
-    # test set_attitude
-    res = set_attitude(roll=0.1, pitch=0.2, yaw=0.3, thrust=0.5)
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_ATTITUDE
-    assert state.yaw_mode == State.YAW_MODE_YAW
-    assert state.roll == approx(0.1)
-    assert state.pitch == approx(0.2)
-    assert state.yaw == approx(0.3)
-    assert state.thrust == approx(0.5)
-    assert state.yaw_frame_id == 'map'
-    msg = rospy.wait_for_message('/mavros/setpoint_attitude/attitude', PoseStamped, timeout=3)
-    # Tait-Bryan ZYX angle (rzyx) converted to quaternion
-    assert msg.pose.orientation.x == approx(0.0342708)
-    assert msg.pose.orientation.y == approx(0.10602051)
-    assert msg.pose.orientation.z == approx(0.14357218)
-    assert msg.pose.orientation.w == approx(0.98334744)
-    msg = rospy.wait_for_message('/mavros/setpoint_attitude/thrust', mavros_msgs.msg.Thrust, timeout=3)
-    assert msg.thrust == approx(0.5)
-
-    # set_yaw should work in attitude mode
-    res = set_yaw(yaw=0.7, frame_id='test2')
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_ATTITUDE
-    assert state.yaw_mode == State.YAW_MODE_YAW
-    assert state.roll == approx(0.1)
-    assert state.pitch == approx(0.2)
-    assert state.yaw == approx(0.7)
-    assert state.thrust == approx(0.5)
-    assert state.yaw_frame_id == 'test2'
-
-    # set_yaw_rate should not work in attitude mode
-    res = set_yaw_rate(yaw_rate=0.3)
-    assert res.success == False
-    assert res.message.startswith('Yaw rate cannot be set in')
-
-    # test set_rates
-    res = set_rates(roll_rate=nan, pitch_rate=nan, yaw_rate=0.3, thrust=0.6)
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_RATES
-    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
-    assert state.roll_rate == approx(0)
-    assert state.pitch_rate == approx(0)
-    assert state.yaw_rate == approx(0.3)
-    assert state.thrust == approx(0.6)
-    msg = rospy.wait_for_message('/mavros/setpoint_raw/attitude', mavros_msgs.msg.AttitudeTarget, timeout=3)
-    assert msg.thrust == approx(0.6)
-
-    res = set_rates(roll_rate=0.3, pitch_rate=0.2, yaw_rate=0.1, thrust=0.4)
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_RATES
-    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
-    assert state.roll_rate == approx(0.3)
-    assert state.pitch_rate == approx(0.2)
-    assert state.yaw_rate == approx(0.1)
-    assert state.thrust == approx(0.4)
-
-    res = set_rates(roll_rate=nan, pitch_rate=nan, yaw_rate=nan, thrust=0.3)
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_RATES
-    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
-    assert state.roll_rate == approx(0.3)
-    assert state.pitch_rate == approx(0.2)
-    assert state.yaw_rate == approx(0.1)
-    assert state.thrust == approx(0.3)
-    msg = rospy.wait_for_message('/mavros/setpoint_raw/attitude', mavros_msgs.msg.AttitudeTarget, timeout=3)
-    assert msg.type_mask == mavros_msgs.msg.AttitudeTarget.IGNORE_ATTITUDE
-    assert msg.body_rate.x == approx(0.3)
-    assert msg.body_rate.y == approx(0.2)
-    assert msg.body_rate.z == approx(0.1)
-
-    # set_yaw_rate should work in rates mode
-    res = set_yaw_rate(yaw_rate=0.4)
-    assert res.success == True
-    state = get_state()
-    assert state.mode == State.MODE_RATES
-    assert state.yaw_mode == State.YAW_MODE_YAW_RATE
-    assert state.roll_rate == approx(0.3)
-    assert state.pitch_rate == approx(0.2)
-    assert state.yaw_rate == approx(0.4)
-    assert state.thrust == approx(0.3)
-
-    res = set_rates(roll_rate=inf)
-    assert res.success == False
-    assert res.message == 'roll_rate argument cannot be Inf'
--- a/clover/test/offboard.test
+++ b/clover/test/offboard.test
@@ -1,10 +0,0 @@
-<launch>
-    <node name="simple_offboard" pkg="clover" type="simple_offboard" required="true" output="screen"/>
-
-    <node pkg="tf2_ros" type="static_transform_publisher" name="test_frame" args="10 20 30 0 0 0 map test"/>
-
-    <node pkg="tf2_ros" type="static_transform_publisher" name="test2_frame" args="100 200 300 0 0 0 map test2"/>
-
-    <param name="test_module" value="$(find clover)/test/offboard.py"/>
-    <test test-name="offboard_test" pkg="ros_pytest" type="ros_pytest_runner"/>
-</launch>
--- a/clover_blocks/www/blocks.js
+++ b/clover_blocks/www/blocks.js
@@ -15,7 +15,6 @@ const COLOR_GPIO = 200;
 const DOCS_URL = 'https://clover.coex.tech/en/blocks.html';

 var frameIds = [["body", "BODY"], ["markers map", "ARUCO_MAP"], ["marker", "ARUCO"], ["last navigate target", "NAVIGATE_TARGET"], ["map", "MAP"]];
-var frameIdsWithTerrain = frameIds.concat([["terrain", "TERRAIN"]]);

 function considerFrameId(e) {
 	if (!(e instanceof Blockly.Events.Change || e instanceof Blockly.Events.Create)) return;
@@ -23,7 +22,7 @@ function considerFrameId(e) {
 	var frameId = this.getFieldValue('FRAME_ID');
 	// set appropriate coordinates labels
 	if (this.getInput('X')) { // block has x-y-z fields
-		if (frameId == 'BODY' || frameId == 'NAVIGATE_TARGET' || frameId == 'BASE_LINK' || frameId == 'TERRAIN') {
+		if (frameId == 'BODY' || frameId == 'NAVIGATE_TARGET' || frameId == 'BASE_LINK') {
 			this.getInput('X').fieldRow[0].setValue('forward');
 			this.getInput('Y').fieldRow[0].setValue('left');
 			this.getInput('Z').fieldRow[0].setValue('up');
@@ -60,8 +59,8 @@ function updateSetpointBlock(e) {
 	this.getInput('VY').setVisible(velocity);
 	this.getInput('VZ').setVisible(velocity);
 	this.getInput('YAW').setVisible(attitude);
-	this.getInput('ROLL').setVisible(attitude);
 	this.getInput('PITCH').setVisible(attitude);
+	this.getInput('ROLL').setVisible(attitude);
 	this.getInput('THRUST').setVisible(attitude);
 	this.getInput('RELATIVE_TO').setVisible(type != 'RATES');

@@ -74,7 +73,7 @@ function updateSetpointBlock(e) {

 Blockly.Blocks['navigate'] = {
 	init: function () {
-		let navFrameId = frameIdsWithTerrain.slice();
+		let navFrameId = frameIds.slice();
 		navFrameId.push(['global', 'GLOBAL_LOCAL'])
 		navFrameId.push(['global, WGS 84 alt.', 'GLOBAL'])
 		this.appendDummyInput()
@@ -164,14 +163,14 @@ Blockly.Blocks['setpoint'] = {
 		this.appendValueInput("VZ")
 			.setCheck("Number")
 			.appendField("vz");
-		this.appendValueInput("ROLL")
-			.setCheck("Number")
-			.appendField("roll")
-			.setVisible(false);
 		this.appendValueInput("PITCH")
 			.setCheck("Number")
 			.appendField("pitch")
 			.setVisible(false);
+		this.appendValueInput("ROLL")
+			.setCheck("Number")
+			.appendField("roll")
+			.setVisible(false);
 		this.appendValueInput("YAW")
 			.setCheck("Number")
 			.appendField("yaw")
@@ -214,7 +213,7 @@ Blockly.Blocks['get_position'] = {
 			.appendField("current")
 			.appendField(new Blockly.FieldDropdown([["x", "X"], ["y", "Y"], ["z", "Z"], ["vx", "VX"], ["vy", "VY"], ["vz", "VZ"]]), "FIELD")
 			.appendField("relative to")
-			.appendField(new Blockly.FieldDropdown(frameIdsWithTerrain), "FRAME_ID");
+			.appendField(new Blockly.FieldDropdown(frameIds), "FRAME_ID");
 		this.appendValueInput("ID")
 			.setCheck("Number")
 			.appendField("with ID")
@@ -248,7 +247,7 @@ Blockly.Blocks['get_attitude'] = {
 	init: function () {
 		this.appendDummyInput()
 			.appendField("current")
-			.appendField(new Blockly.FieldDropdown([["roll", "ROLL"], ["pitch", "PITCH"], ["roll rate", "ROLL_RATE"], ["pitch rate", "PITCH_RATE"], ["yaw rate", "YAW_RATE"]]), "FIELD");
+			.appendField(new Blockly.FieldDropdown([["pitch", "PITCH"], ["roll", "ROLL"], ["pitch rate", "PITCH_RATE"], ["roll rate", "ROLL_RATE"], ["yaw rate", "YAW_RATE"]]), "FIELD");
 		this.setOutput(true, "Number");
 		this.setColour(COLOR_STATE);
 		this.setTooltip("Returns current orientation or angle rates in degree or degree per second (not radian).");
@@ -510,7 +509,7 @@ Blockly.Blocks['distance'] = {
 			.appendField("z");
 		this.appendDummyInput()
 			.appendField("relative to")
-			.appendField(new Blockly.FieldDropdown([["markers map", "ARUCO_MAP"], ["marker", "ARUCO"], ["last navigate target", "NAVIGATE_TARGET"], ["terrain", "TERRAIN"]]), "FRAME_ID");
+			.appendField(new Blockly.FieldDropdown([["markers map", "ARUCO_MAP"], ["marker", "ARUCO"], ["last navigate target", "NAVIGATE_TARGET"]]), "FRAME_ID");
 		this.appendValueInput("ID")
 			.setCheck("Number")
 			.appendField("with ID")
--- a/clover_blocks/www/index.html
+++ b/clover_blocks/www/index.html
@@ -69,8 +69,8 @@
 				<value name="VX"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="VY"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="VZ"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
-				<value name="ROLL"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="PITCH"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
+				<value name="ROLL"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="YAW"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="THRUST"><shadow type="math_number"><field name="NUM">0.5</field></shadow></value>
 				<value name="ID"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
--- a/clover_blocks/www/python.js
+++ b/clover_blocks/www/python.js
@@ -81,7 +81,7 @@ function generateROSDefinitions() {
 		code += `get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)\n`;
 		code += `navigate = rospy.ServiceProxy('navigate', srv.Navigate)\n`;
 		if (rosDefinitions.navigateGlobal) {
-			code += `navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)\n`;
+		code += `navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)\n`;
 		}
 		if (rosDefinitions.setVelocity) {
 			code += `set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)\n`;
@@ -276,11 +276,10 @@ Blockly.Python.angle = function(block) {
 }

 Blockly.Python.set_yaw = function(block) {
-	rosDefinitions.setYaw = true;
 	simpleOffboard();
 	let yaw = Blockly.Python.valueToCode(block, 'YAW', Blockly.Python.ORDER_NONE);
 	let frameId = buildFrameId(block);
-	let code = `set_yaw(yaw=${yaw}, frame_id=${frameId})\n`;
+	let code = `navigate(x=float('nan'), y=float('nan'), z=float('nan'), yaw=${yaw}, frame_id=${frameId})\n`;
 	if (block.getFieldValue('WAIT') == 'TRUE') {
 		rosDefinitions.waitYaw = true;
 		simpleOffboard();
@@ -329,11 +328,11 @@ Blockly.Python.setpoint = function(block) {
 	} else if (type == 'ATTITUDE') {
 		rosDefinitions.setAttitude = true;
 		simpleOffboard();
-		return `set_attitude(roll=${roll}, pitch=${pitch}, yaw=${yaw}, thrust=${thrust}, frame_id=${frameId})\n`;
+		return `set_attitude(pitch=${pitch}, roll=${roll}, yaw=${yaw}, thrust=${thrust}, frame_id=${frameId})\n`;
 	} else if (type == 'RATES') {
 		rosDefinitions.setRates = true;
 		simpleOffboard();
-		return `set_rates(roll_rate=${roll}, pitch_rate=${pitch}, yaw_rate=${yaw}, thrust=${thrust})\n`;
+		return `set_rates(pitch_rate=${pitch}, roll_rate=${roll}, yaw_rate=${yaw}, thrust=${thrust})\n`;
 	}
 }

--- a/clover_description/urdf/sensors/distance_sensor.urdf.xacro
+++ b/clover_description/urdf/sensors/distance_sensor.urdf.xacro
@@ -2,7 +2,7 @@
 <robot name="rpi_camera" xmlns:xacro="http://ros.org/wiki/xacro">
  <xacro:include filename="../camera_sensor.urdf.xacro"/>

-  <xacro:macro name="distance_sensor" params="name:=lidar_vl53l1x parent x:=0 y:=0 z:=0 roll:=0 pitch:=0 yaw:=0 range_min:=0.01 range_max:=4.0 resolution:=0.01 rate:=10 fov:=0.471239">
+  <xacro:macro name="distance_sensor" params="name:=lidar_vl53l1x parent x:=0 y:=0 z:=0 roll:=0 pitch:=0 yaw:=0 range_min:=0.01 range_max:=4.0 resolution:=0.01 rate:=10">
    <joint name="${name}_joint" type="fixed">
      <origin xyz="${x} ${y} ${z}"
              rpy="${roll} ${pitch} ${yaw}"/>
@@ -58,7 +58,7 @@
          <topicName>/rangefinder/range</topicName>
          <frameName>rangefinder</frameName>
          <radiation>infrared</radiation>
-          <fov>${fov}</fov>
+          <fov>0.01</fov>
          <gaussianNoise>0.001</gaussianNoise>
          <updateRate>${rate}</updateRate>
          <min_distance>${range_min}</min_distance>
--- a/clover_simulation/airframes/4500_clover
+++ b/clover_simulation/airframes/4500_clover
@@ -31,7 +31,7 @@ param set-default EKF2_OF_DELAY 0
 param set-default EKF2_OF_QMIN 10
 param set-default EKF2_OF_N_MIN 0.05
 param set-default EKF2_OF_N_MAX 0.2
-param set-default EKF2_HGT_MODE 3 # 0 = baro, 1 = gps, 2 = range, 3 = vision
+param set-default EKF2_HGT_MODE 2 # 0 = baro, 1 = gps, 2 = range, 3 = vision
 param set-default EKF2_EVA_NOISE 0.1
 param set-default EKF2_EVP_NOISE 0.1
 param set-default EKF2_EV_DELAY 0
--- a/clover_simulation/models/red_circle/materials/scripts/red_circle.material
+++ b/clover_simulation/models/red_circle/materials/scripts/red_circle.material
@@ -1,16 +0,0 @@
-material red_circle
-{
-	technique
-	{
-		pass
-		{
-			scene_blend alpha_blend
-			texture_unit
-			{
-				texture red_circle.png
-				filtering none
-				scale 1.0 1.0
-			}
-		}
-	}
-}
--- a/clover_simulation/models/red_circle/materials/textures/red_circle.png
+++ b/clover_simulation/models/red_circle/materials/textures/red_circle.png
--- a/clover_simulation/models/red_circle/model.config
+++ b/clover_simulation/models/red_circle/model.config
@@ -1,13 +0,0 @@
-<?xml version="1.0"?>
-<model>
-    <name>Red Circle</name>
-    <version>1.0</version>
-    <sdf version="1.5">red_circle.sdf</sdf>
-    <author>
-        <name>Oleg Kalachev</name>
-        <email>okalachev@gmail.com</email>
-    </author>
-    <description>
-        Red circle of size 40 cm on the floor for recognizing by a drone
-    </description>
-</model>
--- a/clover_simulation/models/red_circle/red_circle.sdf
+++ b/clover_simulation/models/red_circle/red_circle.sdf
@@ -1,24 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.5">
-    <model name="red_circle">
-        <static>true</static>
-        <link name="red_circle_link">
-            <pose>0 0 1e-3 0 0 0</pose>
-            <visual name="red_circle_texture">
-                <cast_shadows>false</cast_shadows>
-                <geometry>
-                    <box>
-                        <size>0.4 0.4 1e-3</size>
-                    </box>
-                </geometry>
-                <material>
-                    <script>
-                        <uri>model://red_circle/materials/scripts</uri>
-                        <uri>model://red_circle/materials/textures</uri>
-                        <name>red_circle</name>
-                    </script>
-                </material>
-            </visual>
-        </link>
-    </model>
-</sdf>
--- a/clover_simulation/models/red_circle/red_circle.svg
+++ b/clover_simulation/models/red_circle/red_circle.svg
@@ -1,7 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<svg xmlns="http://www.w3.org/2000/svg" width="20" height="20" viewBox="0 0 20 20">
-	<title>
-		red_circle
-	</title><g fill="red">
-	<circle cx="10.05" cy="10.05" r="9.9"/>
-</g></svg>
--- a/clover_simulation/package.xml
+++ b/clover_simulation/package.xml
@@ -1,4 +1,4 @@
-<package format="3">
+<package format="2">
    <name>clover_simulation</name>
    <version>0.23.0</version>
    <description>The clover_simulation package provides worlds and launch files for Gazebo.</description>
@@ -22,8 +22,6 @@
    <depend>gazebo_ros</depend>
    <depend>gazebo_plugins</depend>
    <depend>rospy</depend>
-    <depend condition="$ROS_PYTHON_VERSION == 2">python-docopt</depend>
-    <depend condition="$ROS_PYTHON_VERSION == 3">python3-docopt</depend>

    <export>
        <gazebo_ros gazebo_media_path="${prefix}"/>
--- a/clover_simulation/src/sim_leds.cpp
+++ b/clover_simulation/src/sim_leds.cpp
@@ -65,8 +65,7 @@ public:
 		}

 		role = (ros::this_node::getName() == "/gazebo") ? Role::Server : Role::Client;
-		ROS_INFO_NAMED(("LedController_" + robotNamespace).c_str(), "LedController has started (as %s) in namespace '%s'",
-			role == Role::Client ? "client" : "server", robotNamespace.c_str());
+		ROS_INFO_NAMED(("LedController_" + robotNamespace).c_str(), "LedController has started (as %s)", role == Role::Client ? "client" : "server");

 		nh.reset(new ros::NodeHandle(robotNamespace));

@@ -110,6 +109,7 @@ LedController& get(std::string robotNamespace)
 	std::lock_guard<std::mutex> lock(controllerMutex);
 	auto it = controllers.find(robotNamespace);
 	if (it == controllers.end()) {
+		gzwarn << "Creating new LED controller for namespace " << robotNamespace << "\n";
 		controllers[robotNamespace].reset(new LedController(robotNamespace));
 		return *controllers[robotNamespace];
 	}
--- a/docs/en/SUMMARY.md
+++ b/docs/en/SUMMARY.md
@@ -36,7 +36,7 @@
  * [Optical Flow](optical_flow.md)
  * [Autonomous flight (OFFBOARD)](simple_offboard.md)
  * [Coordinate systems (frames)](frames.md)
-  * [Code examples](snippets.md)
+  * [Code snippets](snippets.md)
  * [Interfacing with a laser rangefinder](laser.md)
  * [LED strip](leds.md)
  * [Working with GPIO](gpio.md)
--- a/docs/en/camera.md
+++ b/docs/en/camera.md
@@ -14,7 +14,7 @@ The `clover` service must be restarted after the launch-file has been edited:
 sudo systemctl restart clover
 ```

-You may use [rqt](rviz.md) or [web_video_server](web_video_server.md) to view the camera stream.
+You may use rqt or [web_video_server](web_video_server.md) to view the camera stream.

 ## Troubleshooting

@@ -52,6 +52,8 @@ The [SD card image](image.md) comes with a preinstalled [OpenCV](https://opencv.

 ### Python

+Main article: http://wiki.ros.org/cv_bridge/Tutorials/ConvertingBetweenROSImagesAndOpenCVImagesPython.
+
 An example of creating a subscriber for a topic with an image from the main camera for processing with OpenCV:

 ```python
@@ -59,14 +61,12 @@ import rospy
 import cv2
 from sensor_msgs.msg import Image
 from cv_bridge import CvBridge
-from clover import long_callback

-rospy.init_node('cv')
+rospy.init_node('computer_vision_sample')
 bridge = CvBridge()

-@long_callback
 def image_callback(data):
-    img = bridge.imgmsg_to_cv2(data, 'bgr8')  # OpenCV image
+    cv_image = bridge.imgmsg_to_cv2(data, 'bgr8')  # OpenCV image
    # Do any image processing with cv2...

 image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback)
@@ -74,31 +74,19 @@ image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback)
 rospy.spin()
 ```

-> **Note** Image processing may take significant time to finish. This can cause an [issue](https://github.com/ros/ros_comm/issues/1901) in rospy library, which would lead to processing stale camera frames. To solve this problem you need to use `long_callback` decorator from `clover` library, as in the example above.
-
-#### Limiting CPU usage
-
-When using the `main_camera/image_raw` topic, the script will process the maximum number of frames from the camera, actively utilizing the CPU (up to 100%). In tasks, where processing each camera frame is not critical, you can use the topic, where the frames are published at rate 5 Hz: `main_camera/image_raw_throttled`:
-
-```python
-image_sub = rospy.Subscriber('main_camera/image_raw_throttled', Image, image_callback, queue_size=1)
-```
-
-#### Publishing images
-
 To debug image processing, you can publish a separate topic with the processed image:

 ```python
 image_pub = rospy.Publisher('~debug', Image)
 ```

-Publishing the processed image:
+Publishing the processed image (at the end of the image_callback function):

 ```python
-image_pub.publish(bridge.cv2_to_imgmsg(img, 'bgr8'))
+image_pub.publish(bridge.cv2_to_imgmsg(cv_image, 'bgr8'))
 ```

-The published images can be viewed using [web_video_server](web_video_server.md) or [rqt](rviz.md).
+The obtained images can be viewed using [web_video_server](web_video_server.md).

 #### Retrieving one frame

@@ -109,7 +97,7 @@ import rospy
 from sensor_msgs.msg import Image
 from cv_bridge import CvBridge

-rospy.init_node('cv')
+rospy.init_node('computer_vision_sample')
 bridge = CvBridge()

 # ...
@@ -131,32 +119,38 @@ QR codes recognition in Python:
 ```python
 import rospy
 from pyzbar import pyzbar
-import cv2
 from cv_bridge import CvBridge
 from sensor_msgs.msg import Image
-from clover import long_callback

-rospy.init_node('cv')
 bridge = CvBridge()

-@long_callback
-def image_callback(msg):
-    img = bridge.imgmsg_to_cv2(msg, 'bgr8')
-    barcodes = pyzbar.decode(img)
+rospy.init_node('barcode_test')
+
+# Image subscriber callback function
+def image_callback(data):
+    cv_image = bridge.imgmsg_to_cv2(data, 'bgr8')  # OpenCV image
+    barcodes = pyzbar.decode(cv_image)
    for barcode in barcodes:
-        b_data = barcode.data.decode('utf-8')
+        b_data = barcode.data.decode("utf-8")
        b_type = barcode.type
        (x, y, w, h) = barcode.rect
        xc = x + w/2
        yc = y + h/2
-        print('Found {} with data {} with center at x={}, y={}'.format(b_type, b_data, xc, yc))
+        print("Found {} with data {} with center at x={}, y={}".format(b_type, b_data, xc, yc))

-image_sub = rospy.Subscriber('main_camera/image_raw_throttled', Image, image_callback, queue_size=1)
+image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)

 rospy.spin()
 ```

-> **Hint** See other computer vision examples in the `~/examples` directory of the [RPi image](image.md).
+The script will take up to 100% CPU capacity. To slow down the script artificially, you can use [throttling](http://wiki.ros.org/topic_tools/throttle) of frames from the camera, for example, at 5 Hz (`main_camera.launch`):
+
+```xml
+<node pkg="topic_tools" name="cam_throttle" type="throttle"
+    args="messages main_camera/image_raw 5.0 main_camera/image_raw_throttled"/>
+```
+
+The topic for the subscriber in this case should be changed for `main_camera/image_raw_throttled`.

 ## Video recording

--- a/docs/en/copterhack2023.md
+++ b/docs/en/copterhack2023.md
@@ -8,28 +8,6 @@ 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.

-## 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;|
-
 ## CopterHack 2023 stages

 The qualifying and project development stages will be held in an online format, however, the final round will be in a hybrid mode (offline + online). The competition involves monthly updates from the teams with regular feedback from the jury. All teams are required to prepare a final video and presentation on the project's results to participate in the final stage.
--- a/docs/en/educational_contests.md
+++ b/docs/en/educational_contests.md
@@ -20,7 +20,7 @@ The main goal of the contest is aerial robotics popularization  and community de
 * Third parties can provide technical support for recording a lecture.
 * The status of the participant is unlimited (student, representative of a general education institution, representative of the industry, amateur).

-Applications deadline: November 30, 2022.
+Applications deadline: September 1, 2022.

 ### How to apply?

@@ -64,7 +64,7 @@ The main goal of the contest is aerial robotics popularization  and community de

 The application to the contest is performed via the [Google Form](https://docs.google.com/forms/d/e/1FAIpQLSdelVy6yQ1iN6u88KeiEIKGj7gGaM0xccSt2tiYKB46ICmjkQ/viewform).

-Applications deadline: November 30, 2022.
+Applications deadline: September 1, 2022.

 ### Prizes

@@ -105,7 +105,7 @@ The course is evaluated according to a separate, publicly available lesson submi

 The application to the contest is performed via the [Google Form](https://docs.google.com/forms/d/e/1FAIpQLSdf2Q68X4hPnFE9f3EP95AxPNnzHKqIsFHtTRT6EBKiH93wzg/viewform) where the link to the video course should be attached.

-Applications deadline: November 30, 2022.
+Applications deadline: September 1, 2022.

 ### Prizes

--- a/docs/en/parameters.md
+++ b/docs/en/parameters.md
@@ -44,7 +44,7 @@ In case of using EKF2 (official firmware):
 |`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`|2 (*Range sensor*)|If the [rangefinder](laser.md) is present and flying over horizontal floor|
 |`EKF2_EVA_NOISE`|0.1||
 |`EKF2_EVP_NOISE`|0.1||
 |`EKF2_EV_DELAY`|0||
@@ -60,8 +60,8 @@ The `SYS_MC_EST_GROUP` parameter defines the estimator subsystem to use.

 Estimator subsystem is a group of modules that calculates the current state of the copter using readings from the sensors. The copter state includes:

-* Angle rate of the copter – roll_rate, pitch_rate, yaw_rate;
-* Copter orientation (in the local coordinate system) – roll, pitch, yaw (one of presentations);
+* Angle rate of the copter – pitch_rate, roll_rate, yaw_rate;
+* Copter orientation (in the local coordinate system) – pitch, roll, yaw (one of presentations);
 * Copter position (in the local coordinate system) – x, y, z;
 * Copter speed (in the local coordinate system) – vx, vy, vz;
 * Global coordinates of the copter – latitude, longitude, altitude;
--- a/docs/en/simple_offboard.md
+++ b/docs/en/simple_offboard.md
@@ -51,11 +51,11 @@ Response format:
 * `lat, lon` – drone latitude and longitude *(degrees)*, requires [GPS](gps.md) module;
 * `alt` – altitude in the global coordinate system (according to [WGS-84](https://ru.wikipedia.org/wiki/WGS_84) standard, not <abbr title="Above Mean Sea Level">AMSL</abbr>!), requires [GPS](gps.md) module;
 * `vx, vy, vz` – drone velocity *(m/s)*;
-* `roll` – roll angle *(radians)*;
 * `pitch` – pitch angle *(radians)*;
+* `roll` – roll angle *(radians)*;
 * `yaw` — yaw angle *(radians)*;
-* `roll_rate` – angular roll velocity *(rad/s)*;
 * `pitch_rate` — angular pitch velocity *(rad/s)*;
+* `roll_rate` – angular roll velocity *(rad/s)*;
 * `yaw_rate` – angular yaw velocity *(rad/s)*;
 * `voltage` – total battery voltage *(V)*;
 * `cell_voltage` – battery cell voltage *(V)*.
@@ -103,7 +103,7 @@ Parameters:
 * `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`.
+* `frame_id` – [coordinate system](frames.md) for values `x`, `y`, `z`, `vx`, `vy`, `vz`. Example: `map`, `body`, `aruco_map`. Default value: `map`.

 > **Note** If you don't want to change your current yaw set the `yaw` parameter to `NaN` (angular velocity by default is 0).

@@ -261,22 +261,22 @@ set_velocity(vx=1, vy=0.0, vz=0, frame_id='body')

 ### set_attitude

-Set roll, pitch, yaw and throttle level (similar to [the `STABILIZED` mode](modes.md)). This service may be used for lower level control of the drone behavior, or controlling the drone when no reliable data on its position is available.
+Set pitch, roll, yaw and throttle level (similar to [the `STABILIZED` mode](modes.md)). This service may be used for lower level control of the drone behavior, or controlling the drone when no reliable data on its position is available.

 Parameters:

-* `roll`, `pitch`, `yaw` – requested roll, pitch, and yaw angle *(radians)*;
+* `pitch`, `roll`, `yaw` – requested pitch, roll, and yaw angle *(radians)*;
 * `thrust` — throttle level, ranges from 0 (no throttle, propellers are stopped) to 1 (full throttle).
 * `auto_arm` – switch the drone to `OFFBOARD` mode and arm automatically (**the drone will take off**);
 * `frame_id` – [coordinate system](frames.md) for `yaw` (Default value: `map`).

 ### set_rates

-Set roll, pitch, and yaw rates and the throttle level (similar to [the `ACRO` mode](modes.md)). This is the lowest drone control level (excluding direct control of motor rotation speed). This service may be used to automatically perform aerobatic tricks (e.g., flips).
+Set pitch, roll, and yaw rates and the throttle level (similar to [the `ACRO` mode](modes.md)). This is the lowest drone control level (excluding direct control of motor rotation speed). This service may be used to automatically perform aerobatic tricks (e.g., flips).

 Parameters:

-* `roll_rate`, `pitch_rate`, `yaw_rate` – pitch, roll, and yaw rates *(rad/s)*;
+* `pitch_rate`, `roll_rate`, `yaw_rate` – pitch, roll, and yaw rates *(rad/s)*;
 * `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**);

@@ -305,16 +305,6 @@ rosservice call /land "{}"

 > **Caution** In recent PX4 versions, the vehicle will be switched out of LAND mode to manual mode, if the remote control sticks are moved significantly.

-### release
-
-If it's necessary to pause sending setpoint messages, use the `simple_offboard/release` service:
-
-```python
-release = rospy.ServiceProxy('simple_offboard/release', Trigger)
-
-release()
-```
-
 ## Additional materials

 * [ArUco-based position estimation and navigation](aruco.md).
--- a/docs/en/simulation_native.md
+++ b/docs/en/simulation_native.md
@@ -147,8 +147,6 @@ sudo systemctl enable roscore
 sudo systemctl start roscore
 ```

-### Web tools setup
-
 Install any web server to serve Clover's web tools (`~/.ros/www` directory), e. g. Monkey:

 ```bash
@@ -160,11 +158,3 @@ sudo cp ~/catkin_ws/src/clover/builder/assets/monkey.service /etc/systemd/system
 sudo systemctl enable monkey
 sudo systemctl start monkey
 ```
-
-Create `~/.ros/www` using the following command:
-
-```bash
-rosrun clover www
-```
-
-If the set of packages containing a web part (through `www` directory) is changed, the above command also must be run.
--- a/docs/en/simulation_usage.md
+++ b/docs/en/simulation_usage.md
@@ -97,13 +97,3 @@ PX4_SIM_SPEED_FACTOR=0.42 roslaunch clover_simulation simulator.launch
 The virtual machine may benefit from several CPU cores, especially if the cores are not very performant. In our tests, a four-core machine with only a single core allocated to the VM was unable to run the simulation, with constant interface freezes and dropped ROS messages. The same machine with all four cores available to the VM was able to run the simulation at 0.25 real-time speed.

 Do note that you should not allocate more resources than you have on your host hardware.
-
-### Changing the map of ArUco-markers in the simulator
-
-In order to change the map of ArUco-markers in the simulator, you can use the following command:
-
-```bash
-rosrun clover_simulation aruco_gen --single-model --source-world=$(catkin_find clover_simulation resources/worlds/clover.world) $(catkin_find aruco_pose map/map.txt) > $(catkin_find clover_simulation resources/worlds/clover_aruco.world)
-```
-
-In this example, `map.txt` is the name of markers name.
--- a/docs/en/snippets.md
+++ b/docs/en/snippets.md
@@ -144,7 +144,7 @@ Determine whether the copter is turned upside-down:
 PI_2 = math.pi / 2
 telem = get_telemetry()

-flipped = abs(telem.roll) > PI_2 or abs(telem.pitch) > PI_2
+flipped = abs(telem.pitch) > PI_2 or abs(telem.roll) > PI_2
 ```

 ### # {#angle-hor}
@@ -155,8 +155,8 @@ Calculate the copter horizontal angle:
 PI_2 = math.pi / 2
 telem = get_telemetry()

-flipped = not -PI_2 <= telem.roll <= PI_2 or not -PI_2 <= telem.pitch <= PI_2
-angle_to_horizon = math.atan(math.hypot(math.tan(telem.roll), math.tan(telem.pitch)))
+flipped = not -PI_2 <= telem.pitch <= PI_2 or not -PI_2 <= telem.roll <= PI_2
+angle_to_horizon = math.atan(math.hypot(math.tan(telem.pitch), math.tan(telem.roll)))
 if flipped:
    angle_to_horizon = math.pi - angle_to_horizon
 ```
@@ -207,9 +207,9 @@ def pose_update(pose):
    # Processing new data of copter's position
    pass

-rospy.Subscriber('mavros/local_position/pose', PoseStamped, pose_update)
-rospy.Subscriber('mavros/local_position/velocity', TwistStamped, velocity_update)
-rospy.Subscriber('mavros/battery', BatteryState, battery_update)
+rospy.Subscriber('/mavros/local_position/pose', PoseStamped, pose_update)
+rospy.Subscriber('/mavros/local_position/velocity', TwistStamped, velocity_update)
+rospy.Subscriber('/mavros/battery', BatteryState, battery_update)
 rospy.Subscriber('mavros/rc/in', RCIn, rc_callback)

 rospy.spin()
@@ -240,30 +240,6 @@ ros_msg = mavlink.convert_to_rosmsg(msg)
 mavlink_pub.publish(ros_msg)
 ```

-<!-- markdownlint-disable MD044 -->
-
-### # {#mavlink-receive}
-
-<!-- markdownlint-enable MD044 -->
-
-Subscribe to all MAVLink messages from the flight controller and decode them:
-
-```python
-from mavros_msgs.msg import Mavlink
-from mavros import mavlink
-from pymavlink import mavutil
-
-link = mavutil.mavlink.MAVLink('', 255, 1)
-
-def mavlink_cb(msg):
-    mav_msg = link.decode(mavlink.convert_to_bytes(msg))
-    print('msgid =', msg.msgid, mav_msg) # print message id and parsed message
-
-mavlink_sub = rospy.Subscriber('mavlink/from', Mavlink, mavlink_cb)
-
-rospy.spin()
-```
-
 ### # {#rc-sub}

 React to the drone's mode switching (may be used for starting an autonomous flight, see [example](https://gist.github.com/okalachev/b709f04522d2f9af97e835baedeb806b)):
@@ -324,7 +300,7 @@ def flip():

    while True:
        telem = get_telemetry()
-        flipped = abs(telem.roll) > PI_2 or abs(telem.pitch) > PI_2
+        flipped = abs(telem.pitch) > PI_2 or abs(telem.roll) > PI_2
        if flipped:
            break

@@ -349,7 +325,7 @@ from pymavlink import mavutil
 from mavros_msgs.srv import CommandLong
 from mavros_msgs.msg import State

-send_command = rospy.ServiceProxy('mavros/cmd/command', CommandLong)
+send_command = rospy.ServiceProxy('/mavros/cmd/command', CommandLong)

 def calibrate_gyro():
    rospy.loginfo('Calibrate gyro')
@@ -480,11 +456,3 @@ param_set(param_id='COM_FLTMODE1', value=ParamValue(integer=8))
 # Set parameter of type FLOAT:
 param_set(param_id='MPC_Z_P', value=ParamValue(real=1.5))
 ```
-
-### # {#is-simulation}
-
-Check, if the code is running inside a [Gazebo simulation](simulation.md):
-
-```python
-is_simulation = rospy.get_param('/use_sim_time', False)
-```
--- a/docs/en/wall_aruco.md
+++ b/docs/en/wall_aruco.md
@@ -49,10 +49,10 @@ If you are using the marker map, where the markers have equal distances along th

 After you fill out the map, you need to apply it. To do it, edit the file `aruco.launch`, located in `~/catkin_ws/src/clover/clover/launch/`. Change the line `<param name="map" value="$(find aruco_pose)/map/map_name.txt"/>`, where `map_name.txt` is the name of your map file.

-If you are using markers that are not linked to horizontal surfaces (floor, ceiling), you must blank the `placement` argument in the same file:
+If you are using markers that are not linked to horizontal surfaces (floor, ceiling), you must disable the parameter `known_tilt` both in the module `aruco_detect` and `aruco_map` in the same file. To do it automatically, enter:

-```xml
-<arg name="placement" default=""/>
+```bash
+sed -i "/known_tilt/s/value=\".*\"/value=\"\"/" /home/pi/catkin_ws/src/clover/clover/launch/aruco.launch
 ```

 After all the settings, call `sudo systemctl restart clover` to restart the `clover` service.
--- a/docs/ru/camera.md
+++ b/docs/ru/camera.md
@@ -54,6 +54,8 @@ raspistill -o test.jpg

 ### Python

+Основная статья: http://wiki.ros.org/cv_bridge/Tutorials/ConvertingBetweenROSImagesAndOpenCVImagesPython.
+
 Пример создания подписчика на топик с изображением с основной камеры для обработки с использованием OpenCV:

 ```python
@@ -61,14 +63,12 @@ import rospy
 import cv2
 from sensor_msgs.msg import Image
 from cv_bridge import CvBridge
-from clover import long_callback

-rospy.init_node('cv')
+rospy.init_node('computer_vision_sample')
 bridge = CvBridge()

-@long_callback
 def image_callback(data):
-    img = bridge.imgmsg_to_cv2(data, 'bgr8')  # OpenCV image
+    cv_image = bridge.imgmsg_to_cv2(data, 'bgr8')  # OpenCV image
    # Do any image processing with cv2...

 image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback)
@@ -76,31 +76,19 @@ image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback)
 rospy.spin()
 ```

-> **Note** Обработка изображения может занимать значительное время. Это может вызвать [проблему](https://github.com/ros/ros_comm/issues/1901) в библиотеке rospy, которая приведет к обработке устаревших кадров с камеры. Для решения этой проблемы необходимо использовать декоратор `long_callback` из библиотеки `clover`, как в примере выше.
-
-#### Ограничение использования CPU
-
-При использовании топика `main_camera/image_raw` скрипт будет обрабатывать максимальное количество кадров с камеры, активно используя CPU (вплоть до 100%). В задачах, где обработка каждого кадра не критична, можно использовать топик, где кадры публикуются с частотой 5 Гц: `main_camera/image_raw_throttled`:
-
-```python
-image_sub = rospy.Subscriber('main_camera/image_raw_throttled', Image, image_callback, queue_size=1)
-```
-
-#### Публикация изображений
-
 Для отладки обработки изображения можно публиковать отдельный топик с обработанным изображением:

 ```python
 image_pub = rospy.Publisher('~debug', Image)
 ```

-Публикация обработанного изображения:
+Публикация обработанного изображения (в конце функции image_callback):

 ```python
-image_pub.publish(bridge.cv2_to_imgmsg(img, 'bgr8'))
+image_pub.publish(bridge.cv2_to_imgmsg(cv_image, 'bgr8'))
 ```

-Получаемые изображения можно просматривать используя [web_video_server](web_video_server.md) или [rqt](rviz.md).
+Получаемые изображения можно просматривать используя [web_video_server](web_video_server.md).

 #### Получение одного кадра

@@ -111,12 +99,12 @@ import rospy
 from sensor_msgs.msg import Image
 from cv_bridge import CvBridge

-rospy.init_node('cv')
+rospy.init_node('computer_vision_sample')
 bridge = CvBridge()

 # ...

-# Retrieve a frame:
+# Получение кадра:
 img = bridge.imgmsg_to_cv2(rospy.wait_for_message('main_camera/image_raw', Image), 'bgr8')
 ```

@@ -133,32 +121,38 @@ img = bridge.imgmsg_to_cv2(rospy.wait_for_message('main_camera/image_raw', Image
 ```python
 import rospy
 from pyzbar import pyzbar
-import cv2
 from cv_bridge import CvBridge
 from sensor_msgs.msg import Image
-from clover import long_callback

-rospy.init_node('cv')
 bridge = CvBridge()

-@long_callback
-def image_callback(msg):
-    img = bridge.imgmsg_to_cv2(msg, 'bgr8')
-    barcodes = pyzbar.decode(img)
+rospy.init_node('barcode_test')
+
+# Image subscriber callback function
+def image_callback(data):
+    cv_image = bridge.imgmsg_to_cv2(data, 'bgr8')  # OpenCV image
+    barcodes = pyzbar.decode(cv_image)
    for barcode in barcodes:
-        b_data = barcode.data.decode('utf-8')
+        b_data = barcode.data.decode("utf-8")
        b_type = barcode.type
        (x, y, w, h) = barcode.rect
        xc = x + w/2
        yc = y + h/2
-        print('Found {} with data {} with center at x={}, y={}'.format(b_type, b_data, xc, yc))
+        print("Found {} with data {} with center at x={}, y={}".format(b_type, b_data, xc, yc))

-image_sub = rospy.Subscriber('main_camera/image_raw_throttled', Image, image_callback, queue_size=1)
+image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)

 rospy.spin()
 ```

-> **Hint** Смотрите другие примеры по работе с компьютерным зрением в каталоге `~/examples` [образа для RPi](image.md).
+Скрипт будет занимать 100% процессора. Для искусственного замедления работы скрипта можно запустить [throttling](http://wiki.ros.org/topic_tools/throttle) кадров с камеры, например, в 5 Гц (`main_camera.launch`):
+
+```xml
+<node pkg="topic_tools" name="cam_throttle" type="throttle"
+    args="messages main_camera/image_raw 5.0 main_camera/image_raw_throttled"/>
+```
+
+Топик для подписчика в этом случае необходимо поменять на `main_camera/image_raw_throttled`.

 ## Запись видео

--- a/docs/ru/copterhack2023.md
+++ b/docs/ru/copterhack2023.md
@@ -8,28 +8,6 @@ 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.

-## 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;|
-
 ## Этапы CopterHack 2023

 Отборочный и проектный этапы конкурса проходят в онлайн-формате, формат проведения финала – гибридный (оффлайн + онлайн). Конкурс подразумевает ежемесячные апдейты от команд с получением регулярной обратной связи от жюри. Для участия в заключительном этапе необходимо подготовить финальное видео и презентацию о результатах проекта.
--- a/docs/ru/educational_contests.md
+++ b/docs/ru/educational_contests.md
@@ -26,7 +26,7 @@

 Прием заявок осуществляется через [Google Форму](https://docs.google.com/forms/d/e/1FAIpQLScE2kN5dO2OYNSM8hOYzOa5Qvh2uDdd9Fjx8OnL1W93bfEBgw/viewform).

-Дедлайн подачи заявок: 30 ноября 2022 года.
+Дедлайн подачи заявок: 1 сентября 2022 года.

 ### Призы

@@ -64,7 +64,7 @@

 Прием заявок осуществляется через [Google Форму](https://docs.google.com/forms/d/e/1FAIpQLSdelVy6yQ1iN6u88KeiEIKGj7gGaM0xccSt2tiYKB46ICmjkQ/viewform).

-Дедлайн подачи заявок: 30 ноября 2022 года.
+Дедлайн подачи заявок: 1 сентября 2022 года.

 ### Призы

@@ -106,7 +106,7 @@

 Прием заявок осуществляется через [Google Форму](https://docs.google.com/forms/d/e/1FAIpQLSdf2Q68X4hPnFE9f3EP95AxPNnzHKqIsFHtTRT6EBKiH93wzg/viewform).

-Дедлайн подачи заявок: 30 ноября 2022 года
+Дедлайн подачи заявок: 1 сентября 2022 года

 ### Призы

--- a/docs/ru/parameters.md
+++ b/docs/ru/parameters.md
@@ -44,7 +44,7 @@
 |`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`|2 (*Range sensor*)|При наличии [дальномера](laser.md) и полете над ровным полом|
 |`EKF2_EVA_NOISE`|0.1||
 |`EKF2_EVP_NOISE`|0.1||
 |`EKF2_EV_DELAY`|0||
@@ -60,8 +60,8 @@

 Estimator это подсистема, которая вычисляет текущее состояние (state) коптера, используя показания с датчиков. В состояние коптера входит:

-* угловая скорость коптера – roll_rate, pitch_rate, yaw_rate;
-* ориентация коптера (в локальной системе координат) – roll (крен), pitch (тангаж), yaw (рысканье) (одно из представлений);
+* угловая скорость коптера – pitch_rate, roll_rate, yaw_rate;
+* ориентация коптера (в локальной системе координат) – pitch (тангаж), roll (крен), yaw (рысканье) (одно из представлений);
 * позиция коптера (в локальной системе координат) – x, y, z;
 * скорость коптера (в локальной системе координат) – vx, vy, vz;
 * глобальные координаты коптера – latitude, longitude, altitude;
--- a/docs/ru/simple_offboard.md
+++ b/docs/ru/simple_offboard.md
@@ -51,11 +51,11 @@ land = rospy.ServiceProxy('land', Trigger)
 * `lat, lon` – широта, долгота *(градусы)*, необходимо наличие [GPS](gps.md);
 * `alt` – высота в глобальной системе координат (стандарт [WGS-84](https://ru.wikipedia.org/wiki/WGS_84), не <abbr title="Above Mean Sea Level, выше среднего уровня моря">AMSL</abbr>!), необходимо наличие [GPS](gps.md);
 * `vx, vy, vz` – скорость коптера *(м/с)*;
-* `roll` – угол по крену *(радианы)*;
 * `pitch` – угол по тангажу *(радианы)*;
+* `roll` – угол по крену *(радианы)*;
 * `yaw` – угол по рысканью *(радианы)*;
-* `roll_rate` – угловая скорость по крену *(рад/с)*;
 * `pitch_rate` – угловая скорость по тангажу *(рад/с)*;
+* `roll_rate` – угловая скорость по крену *(рад/с)*;
 * `yaw_rate` – угловая скорость по рысканью *(рад/с)*;
 * `voltage` – общее напряжение аккумулятора *(В)*;
 * `cell_voltage` – напряжение аккумулятора на ячейку *(В)*.
@@ -265,7 +265,7 @@ set_velocity(vx=1, vy=0.0, vz=0, frame_id='body')

 Параметры:

-* `roll`, `pitch`, `yaw` – необходимый угол по тангажу, крену и рысканью *(радианы)*;
+* `pitch`, `roll`, `yaw` – необходимый угол по тангажу, крену и рысканью *(радианы)*;
 * `thrust` – уровень газа от 0 (нет газа, пропеллеры остановлены) до 1 (полный газ);
 * `auto_arm` – перевести коптер в `OFFBOARD` и заармить автоматически (**коптер взлетит**);
 * `frame_id` – [система координат](frames.md), в которой задан `yaw` (по умолчанию: `map`).
@@ -276,7 +276,7 @@ set_velocity(vx=1, vy=0.0, vz=0, frame_id='body')

 Параметры:

-* `roll_rate`, `pitch_rate`, `yaw_rate` – угловая скорость по тангажу, крену и рыканью *(рад/с)*;
+* `pitch_rate`, `roll_rate`, `yaw_rate` – угловая скорость по тангажу, крену и рыканью *(рад/с)*;
 * `thrust` – уровень газа от 0 (нет газа, пропеллеры остановлены) до 1 (полный газ).
 * `auto_arm` – перевести коптер в `OFFBOARD` и заармить автоматически (**коптер взлетит**);

@@ -305,16 +305,6 @@ rosservice call /land "{}"

 > **Caution** В более новых версиях PX4 коптер выйдет из режима LAND в ручной режим, если сильно перемещать стики.

-### release
-
-В случае необходимости приостановки отправки setpoint-сообщений, используйте сервис `simple_offboard/release`:
-
-```python
-release = rospy.ServiceProxy('simple_offboard/release', Trigger)
-
-release()
-```
-
 ## Дополнительные материалы

 * [Полеты в поле ArUco-маркеров](aruco.md).
--- a/docs/ru/simulation_native.md
+++ b/docs/ru/simulation_native.md
@@ -147,8 +147,6 @@ sudo systemctl enable roscore
 sudo systemctl start roscore
 ```

-### Конфигурация веб-инструментов
-
 Установите любой веб-сервер, чтобы раздавать веб-инструменты Клевера (директория `~/.ros/www`), например, Monkey:

 ```bash
@@ -160,11 +158,3 @@ sudo cp ~/catkin_ws/src/clover/builder/assets/monkey.service /etc/systemd/system
 sudo systemctl enable monkey
 sudo systemctl start monkey
 ```
-
-Создайте директорию `~/.ros/www` следующей командой:
-
-```bash
-rosrun clover www
-```
-
-При обновлении набора пакетов, содержащих веб-часть (через каталог `www`), также необходимо выполнение данной команды.
--- a/docs/ru/simulation_usage.md
+++ b/docs/ru/simulation_usage.md
@@ -99,13 +99,3 @@ PX4_SIM_SPEED_FACTOR=0.42 roslaunch clover_simulation simulator.launch
 Выделение нескольких процессорных ядер для виртуальной машины может значительно повысить производительность симуляции. В наших испытаниях виртуальная машина, для которой было выделено одно ядро, не позволяла работать в симуляторе: окно Gazebo не реагировало на пользовательский ввод, сообщения ROS терялись. После выделения четырёх ядер для этой же виртуальной машины симуляция стала работать со скоростью 0.25 от реального времени.

 При этом не следует пытаться выделить для виртуальной машины больше ресурсов, чем доступно на основной системе.
-
-### Изменение карты ArUco-меток в симуляторе
-
-Для того, чтобы изменить карту ArUco-меток в симуляторе, можно использовать следующую команду:
-
-```bash
-rosrun clover_simulation aruco_gen --single-model --source-world=$(catkin_find clover_simulation resources/worlds/clover.world) $(catkin_find aruco_pose map/map.txt) > $(catkin_find clover_simulation resources/worlds/clover_aruco.world)
-```
-
-В данном примере `map.txt` – имя карты меток.
--- a/docs/ru/snippets.md
+++ b/docs/ru/snippets.md
@@ -154,7 +154,7 @@ new_pose = tf_buffer.transform(pose, frame_id, transform_timeout)
 PI_2 = math.pi / 2
 telem = get_telemetry()

-flipped = abs(telem.roll) > PI_2 or abs(telem.pitch) > PI_2
+flipped = abs(telem.pitch) > PI_2 or abs(telem.roll) > PI_2
 ```

 ### # {#angle-hor}
@@ -165,7 +165,7 @@ flipped = abs(telem.roll) > PI_2 or abs(telem.pitch) > PI_2
 PI_2 = math.pi / 2
 telem = get_telemetry()

-flipped = not -PI_2 <= telem.roll <= PI_2 or not -PI_2 <= telem.pitch <= PI_2
+flipped = not -PI_2 <= telem.pitch <= PI_2 or not -PI_2 <= telem.roll <= PI_2
 angle_to_horizon = math.atan(math.hypot(math.tan(telem.pitch), math.tan(telem.roll)))
 if flipped:
    angle_to_horizon = math.pi - angle_to_horizon
@@ -217,9 +217,9 @@ def pose_update(pose):
    # Обработка новых данных о позиции коптера
    pass

-rospy.Subscriber('mavros/local_position/pose', PoseStamped, pose_update)
-rospy.Subscriber('mavros/local_position/velocity', TwistStamped, velocity_update)
-rospy.Subscriber('mavros/battery', BatteryState, battery_update)
+rospy.Subscriber('/mavros/local_position/pose', PoseStamped, pose_update)
+rospy.Subscriber('/mavros/local_position/velocity', TwistStamped, velocity_update)
+rospy.Subscriber('/mavros/battery', BatteryState, battery_update)
 rospy.Subscriber('mavros/rc/in', RCIn, rc_callback)

 rospy.spin()
@@ -251,30 +251,6 @@ ros_msg = mavlink.convert_to_rosmsg(msg)
 mavlink_pub.publish(ros_msg)
 ```

-<!-- markdownlint-disable MD044 -->
-
-### # {#mavlink-receive}
-
-<!-- markdownlint-enable MD044 -->
-
-Подписка на все MAVLink-сообщения от полетного контроллера и их декодирование:
-
-```python
-from mavros_msgs.msg import Mavlink
-from mavros import mavlink
-from pymavlink import mavutil
-
-link = mavutil.mavlink.MAVLink('', 255, 1)
-
-def mavlink_cb(msg):
-    mav_msg = link.decode(mavlink.convert_to_bytes(msg))
-    print('msgid =', msg.msgid, mav_msg) # print message id and parsed message
-
-mavlink_sub = rospy.Subscriber('mavlink/from', Mavlink, mavlink_cb)
-
-rospy.spin()
-```
-
 ### # {#rc-sub}

 Реакция на переключение режима на пульте радиоуправления (может быть использовано для запуска автономного полета, см. [пример](https://gist.github.com/okalachev/b709f04522d2f9af97e835baedeb806b)):
@@ -335,7 +311,7 @@ def flip():

    while True:
        telem = get_telemetry()
-        flipped = abs(telem.roll) > PI_2 or abs(telem.pitch) > PI_2
+        flipped = abs(telem.pitch) > PI_2 or abs(telem.roll) > PI_2
        if flipped:
            break

@@ -360,7 +336,7 @@ from pymavlink import mavutil
 from mavros_msgs.srv import CommandLong
 from mavros_msgs.msg import State

-send_command = rospy.ServiceProxy('mavros/cmd/command', CommandLong)
+send_command = rospy.ServiceProxy('/mavros/cmd/command', CommandLong)

 def calibrate_gyro():
    rospy.loginfo('Calibrate gyro')
@@ -491,11 +467,3 @@ param_set(param_id='COM_FLTMODE1', value=ParamValue(integer=8))
 # Изменить параметр типа FLOAT:
 param_set(param_id='MPC_Z_P', value=ParamValue(real=1.5))
 ```
-
-### # {#is-simulation}
-
-Проверить, что код запущен в [симуляции Gazebo](simulation.md):
-
-```python
-is_simulation = rospy.get_param('/use_sim_time', False)
-```
--- a/docs/ru/wall_aruco.md
+++ b/docs/ru/wall_aruco.md
@@ -51,10 +51,10 @@ sed -i "/direction_y/s/default=\".*\"/default=\"\"/" /home/pi/catkin_ws/src/clov

 После того, как вы заполните карту, необходимо применить ее — для этого отредактируйте файл `aruco.launch`, расположенный в `~/catkin_ws/src/clover/clover/launch/`. Измените в нем строку `<param name="map" value="$(find aruco_pose)/map/map_name.txt"/>`, где `map_name.txt` название вашего файла с картой.

-При использовании маркеров, не привязанных к горизонтальным плоскостям (пол, потолок), необходимо также сделать пустым значение аргумента `placement` в том же файле:
+При использовании маркеров,  не привязанных к горизонтальным плоскостям(пол, потолок), необходимо отключить параметр `known_tilt` как в модуле `aruco_detect`, так и в модуле `aruco_map` в том же файле. Для того, чтобы сделать это автоматически, введите:

-```xml
-<arg name="placement" default=""/>
+```bash
+sed -i "/known_tilt/s/value=\".*\"/value=\"\"/" /home/pi/catkin_ws/src/clover/clover/launch/aruco.launch
 ```

 После всех настроек вызовите `sudo systemctl restart clover` для перезагрузки сервиса `clover`.
--- a/redirects.json
+++ b/redirects.json
@@ -35,7 +35,7 @@
        { "from": "snippets.html", "to": "ru/snippets.html" },
        { "from": "camera_frame.html", "to": "ru/camera_setup.html" },
        { "from": "ru/camera_frame.html", "to": "camera_setup.html" },
-        { "from": "camera.html", "to": "en/camera.html" },
+        { "from": "camera.html", "to": "ru/camera.html" },
        { "from": "led.html", "to": "en/leds.html" },
        { "from": "leds.html", "to": "ru/leds.html" },
        { "from": "rviz.html", "to": "ru/rviz.html" },
@@ -51,7 +51,7 @@
        { "from": "firmware/", "to": "en/firmware.html" },
        { "from": "simple_offboard/", "to": "en/simple_offboard.html" },
        { "from": "offboard/", "to": "en/simple_offboard.html" },
-        { "from": "camera/", "to": "en/camera.html" },
+        { "from": "camera/", "to": "ru/camera.html" },
        { "from": "snippets/", "to": "ru/snippets.html" },
        { "from": "optical_flow/", "to": "ru/optical_flow.html" },
        { "from": "laser/", "to": "ru/laser.html" },
@@ -65,7 +65,6 @@
        { "from": "clover_vm/", "to": "en/simulation_vm.html" },
        { "from": "gpio/", "to": "en/gpio.html" },
        { "from": "blocks/", "to": "en/blocks.html" },
-        { "from": "red_circle/", "to": "en/camera.html" },

        { "from": "ru/microsd_images.html", "to": "image.html" },
        { "from": "en/microsd_images.html", "to": "image.html" },
--- a/roswww_static/CMakeLists.txt
+++ b/roswww_static/CMakeLists.txt
@@ -5,6 +5,8 @@ find_package(catkin REQUIRED)

 catkin_package()

-catkin_install_python(PROGRAMS src/update
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+catkin_install_python(PROGRAMS main.py
    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
--- a/roswww_static/README.md
+++ b/roswww_static/README.md
@@ -6,14 +6,12 @@ Note: you should configure your web server to make it follow symlinks.

 ## Instructions

-* Run `update` script and it will generate the symlinks and index file: `rosrun roswww_static update`.
+* Run `main.py` node and it will generate the symlinks and index file.
 * Point your static web server path to `~/.ros/www`.

-You can rerun `update` if the list of installed packages changes.
+You can rerun `main.py` if the list of installed packages changes.

 ## Parameters

-Parameters are passed through environment variables:
-
-* `ROSWWW_INDEX` – path for index page, otherwise packages list would be generated.
-* `ROSWWW_DEFAULT` – if set then the index page would redirect to this package's page.
+* `index` – path for index page, otherwise packages list would be generated.
+* `default_package` – if set then the index page would redirect to this package's page.
--- a/roswww_static/launch/example.launch
+++ b/roswww_static/launch/example.launch
@@ -0,0 +1,6 @@
+<launch>
+    <node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true" output="screen">
+        <!-- <param name="index" value="$(find my_package)/www/index.html"/> -->
+        <!-- <param name="default_package" value="my_package"/> -->
+    </node>
+</launch>
--- a/roswww_static/src/update
+++ b/roswww_static/src/update
@@ -13,15 +13,17 @@

 import os
 import shutil
+import rospy
 import rospkg

+rospy.init_node('roswww_static')
+
 rospack = rospkg.RosPack()

 www = rospkg.get_ros_home() + '/www'
-index_file = os.environ.get('ROSWWW_INDEX')
-default_package = os.environ.get('ROSWWW_DEFAULT')
+index_file = rospy.get_param('~index_file', None)
+default_package = rospy.get_param('~default_package', None)

-print('using www dir: ' + www)
 shutil.rmtree(www, ignore_errors=True)  # reset www directory content
 os.mkdir(www)

@@ -32,7 +34,7 @@ index = '<h1>Packages list</h1>\n<ul>\n'
 for name in packages:
    path = rospack.get_path(name)
    if os.path.exists(path + '/www'):
-        print('found www path for %s package' % name)
+        rospy.loginfo('found www path for %s package', name)
        os.symlink(path + '/www', www + '/' + name)
        index += '<li><a href="{name}/">{name}</a></li>'.format(name=name)

@@ -40,7 +42,7 @@ if default_package is not None:
    redirect_html = '<meta http-equiv=refresh content="0; url={name}/">'.format(name=default_package)
    open(www + '/index.html', 'w').write(redirect_html)
 elif index_file is not None:
-    print('symlinking index file')
+    rospy.loginfo('symlinking index file')
    os.symlink(index_file, www + '/index.html')
 else:
    open(www + '/index.html', 'w').write(index)