docs

image_builder: fix pack 4

.editorconfig

@@ -0,0 +1,13 @@
+root = true
+
+[*]
+end_of_line = lf
+insert_final_newline = true
+charset = utf-8
+
+[*.{py,cpp,h,swift,launch}]
+indent_style = space
+indent_size = 4
+
+[*.{js,html}]
+indent_style = tab

.gitattributes

@@ -0,0 +1,2 @@
+apps/ios/cleverrc/roslib.js linguist-vendored
+apps/ios/cleverrc/BinUtils.swift linguist-vendored

.gitmodules

@@ -1,4 +0,0 @@
-[submodule "clever/static"]
-	path = clever/static
-	url = https://github.com/CopterExpress/clever-rc.git
-	branch = build

.markdownlint.json

@@ -0,0 +1,22 @@
+{
+    "MD003": false,
+    "MD013": false,
+    "MD033": false,
+    "MD034": false,
+    "MD044": {
+        "names": [
+            "MAVLink",
+            "ROS",
+            "Python",
+            "C++",
+            "PX4",
+            "WireShark",
+            "Wi-Fi",
+            "Raspberry Pi",
+            "PixHawk",
+            "PixRacer",
+            "ArUco"
+        ],
+        "code_blocks": false
+    }
+}

LICENSE.md

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2018 Copter Express
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

@@ -1,62 +1,69 @@
-Клевер
-======
+# CLEVER
 
-<img src="assets/clever.jpg" align="right" width="300px" alt="Клевер">
+<img src="docs/assets/clever3.png" align="right" width="300px" alt="CLEVER drone">
 
-«Клевер» — это учебный конструктор программируемого квадрокоптера, состоящего из популярных открытых компонентов, а также набор необходимой документации и библиотек для работы с ним.
+CLEVER is an educational programmable drone kit consisting of an unassembled quadcopter, open source software and documentation. The kit includes Pixhawk/Pixracer autopilot running PX4 firmware, Raspberry Pi 3 as companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices.
 
-Набор включает в себя полетный контроллер PixHawk/PixRacer с полетным стеком PX4, Raspberry Pi 3 в качестве управлящего бортового компьютера, модуль камеры для реализации полетов с использованием компьютерного зрения, а также набор различных датчиков и другой периферии.
+Copter Express has implemented a large number of different autonomous drone projects using exactly the same platform: [automated pizza delivery](https://www.youtube.com/watch?v=hmkAoZOtF58) in Samara and Kazan, coffee delivery in Skolkovo Innovation Center, [autonomous quadcopter with charging station](https://www.youtube.com/watch?v=RjX6nUqw1mI) for site monitoring and security, winning drones on [Robocross-2016](https://www.youtube.com/watch?v=dGbDaz_VmYU) and [Robocross-2017](https://youtu.be/AQnd2CRczbQ) competitions and many others.
 
-На базе точно такой же платформы были созданы многие «большие» проекты компании Copter Express, например, дроны для [пиар-акций по автономной доставке пиццы](https://www.youtube.com/watch?v=hmkAoZOtF58) (Самара, Казань); дрон-доставщик кофе в Сколково, мониторинговый дрон с зарядной станцией, дроны-победители на полевых испытаниях «[Робокросс-2016](https://www.youtube.com/watch?v=dGbDaz_VmYU)», «[Робокросс-2017](https://youtu.be/AQnd2CRczbQ)» и многие другие.
+**The main documentation in Russian is available [on our Gitbook](https://clever.copterexpress.com/).**
 
-Для того, чтобы научиться собирать, настраивать, пилотировать и программировать автономный дрон «Клевер», воспользуйтесь этим учебником.
+Use it to learn how to assemble, configure, pilot and program autonomous CLEVER drone.
 
-Основная документация
----------------------
+## Preconfigured RPi 3 image
 
-https://copterexpress.gitbooks.io/clever/content/
+**Preconfigured image for Raspberry Pi 3 with installed and configured software, ready to fly, is available [in the Releases section](https://github.com/CopterExpress/clever/releases).**
 
-**Готовый образ ОС** для RPi 3 с предустановленным и преднастроенным ПО можно скачать [здесь](https://copterexpress.gitbooks.io/clever/content/docs/microsd_images.html).
+[![Build Status](http://builder.coex.space/job/CopterExpress---clever/badge/icon)](http://builder.coex.space/job/CopterExpress---clever/)
 
-[Описание API](https://copterexpress.gitbooks.io/clever/content/docs/simple_offboard.html) для автономных полетов.
+Image includes:
 
-Ручная установка
----------
+* Raspbian Stretch
+* ROS Kinetic
+* Configured networking
+* OpenCV
+* mavros
+* CLEVER software bundle for autonomous drone control
 
-Склонировать репозиторий в папку `/home/pi/catkin_ws/src/clever` (**важно**):
+API description (in Russian) for autonomous flights is available [on GitBook](https://copterexpress.gitbooks.io/clever/simple_offboard.html).
+
+## Manual installation
+
+Install ROS Kinetic according to the [documentation](http://wiki.ros.org/kinetic/Installation).
+
+Clone repo to directory `/home/pi/catkin_ws/src/clever`:
 
 ```bash
 cd ~/catkin_ws/src
-git clone https://github.com/CopterExpress/clever_bundle.git clever
+git clone https://github.com/CopterExpress/clever.git clever
 ```
 
-Пересобрать ROS-пакеты:
+Build ROS packages:
 
 ```bash
 cd ~/catkin_ws
 catkin_make -j1
 ```
 
-Включить сервис roscore (если он не включен):
+Enable systemd service `roscore` (if not enabled):
 
 ```bash
 sudo systemctl enable /home/pi/catkin_ws/src/clever/deploy/roscore.service
 sudo systemctl start roscore
 ```
 
-Включить сервис clever:
+Enable systemd service `clever`:
 
 ```bash
 sudo systemctl enable /home/pi/catkin_ws/src/clever/deploy/clever.service
 sudo systemctl start clever
 ```
 
-Зависимости
------------
+### Dependencies
 
 [ROS Kinetic](http://wiki.ros.org/kinetic).
 
-Необходимые для работы ROS-пакеты:
+Necessary ROS packages:
 
 * `opencv3`
 * `mavros`
@@ -65,8 +72,6 @@ sudo systemctl start clever
 * `cv_camera`
 * `nodelet`
 * `dynamic_reconfigure`
-* `bondcpp`, ветка `master`
+* `bondcpp`, branch `master`
 * `roslint`
 * `rosserial`
-
-TODO: внести в package.xml

SUMMARY.md

@@ -1,44 +0,0 @@
-# Summary
-
-* [Введение](README.md)
-* [Сборка](docs/assemble.md)
-* [Первоначальная настройка](docs/setup.md)
-* [Полетные режимы](docs/modes.md)
-* [Raspberry Pi](docs/raspberry.md)
-* [Образ операционной системы на RPi](docs/microsd_images.md)
-* [Подключение Raspberry Pi к PixHawk](docs/connection.md)
-* [Подключение по Wi-Fi](docs/wifi.md)
-* [Работа с QGroundControl через Wi-Fi](docs/gcs_bridge.md)
-* [SSH-доступ](docs/ssh.md)
-* [Неисправности радиоаппаратуры](docs/radioerrors.md)
-* [Безопасность](docs/safety.md)
-* [Техника безопасности по пайке](docs/tb.md)
-* [Просмотр видеострима с камер](docs/web_video_server.md)
-* [Работа с ROS](docs/ros.md)
-* [MAVROS](docs/mavros.md)
-* [Автономный полет в OFFBOARD](docs/simple_offboard.md)
-* [Навигация по ArUco-маркерам](docs/aruco.md)
-* [Взаимодействие с Arduino](docs/arduino.md)
-* [Системы координат](docs/frames.md)
-* [Работа с камерой \(компьютерное зрение\)](docs/camera.md)
-* [Ориентация камеры](docs/camera_frame.md)
-* [Визуализация с помощью rviz](docs/rviz.md)
-* [Работа с SITL](docs/sitl.md)
-* [Подключение GPS](docs/gps.md)
-* [Использование 3G-модема](docs/3g.md)
-* [Примеры программ](primeri-programm.md)
-* Учебник
-  * [Урок 1](docs/les1.md)
-  * [Урок 2](docs/les2.md)
-  * [Урок 7](docs/les7.md)
-  * [Урок 8](docs/les8.md)
-  * [Урок 9](docs/les9.md)
-  * [Урок 11](docs/les11.md)
-  * [Урок 13](docs/les13.md)
-  * [Урок 15](docs/les15.md)
-  * [Урок 16](docs/les16.md)
-* Другое
-  * [CopterHack-2017](docs/copterhack2017.md)
-  * [Прошивка ESC контроллеров с помощью Arduino](docs/esc_firmware.md)
-* [Полезные ссылки](docs/links.md)
-

apps/ios/.gitignore

@@ -0,0 +1,17 @@
+# Xcode
+.DS_Store
+build/
+*.pbxuser
+!default.pbxuser
+*.mode1v3
+!default.mode1v3
+*.mode2v3
+!default.mode2v3
+*.perspectivev3
+!default.perspectivev3
+!default.xcworkspace
+xcuserdata
+profile
+*.moved-aside
+DerivedData
+Pods/

apps/ios/Podfile

@@ -0,0 +1,13 @@
+project 'cleverrc.xcodeproj/'
+
+# Uncomment the next line to define a global platform for your project
+# platform :ios, '9.0'
+
+target 'cleverrc' do
+  # Comment the next line if you're not using Swift and don't want to use dynamic frameworks
+  use_frameworks!
+
+  # Pods for cleverrc
+  pod 'SwiftSocket', '~> 2.0'
+
+end

apps/ios/Podfile.lock

@@ -0,0 +1,21 @@
+PODS:
+  - MarqueeLabel/Swift (3.1.4)
+  - NotificationBannerSwift (1.5.4):
+    - MarqueeLabel/Swift
+    - SnapKit (~> 4.0)
+  - SnapKit (4.0.0)
+  - SwiftSocket (2.0.2)
+
+DEPENDENCIES:
+  - NotificationBannerSwift
+  - SwiftSocket (~> 2.0)
+
+SPEC CHECKSUMS:
+  MarqueeLabel: bf768455fe88d427f71476ebb23f9092b660f40b
+  NotificationBannerSwift: 4f6666c8421dcf11be0812dd1093d932c15921af
+  SnapKit: a42d492c16e80209130a3379f73596c3454b7694
+  SwiftSocket: 6f4c9c63fbc5c1d61188936bb3c599fd546f40ae
+
+PODFILE CHECKSUM: fd5199f69c3ee8c1fbc0dd582477d890c8b2a24f
+
+COCOAPODS: 1.4.0

apps/ios/README.md

@@ -0,0 +1,10 @@
+iOS-приложение для управления Клевером
+--------------------------------------
+
+Для установки зависимостей необходим [CocoaPods](https://cocoapods.org):
+
+```bash
+pod install
+```
+
+Для разработки и сборки откройте в XCode файл `cleverrc.xcworkspace`.

apps/ios/cleverrc.xcodeproj/project.pbxproj

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+				7C51655520153180004D1F4D /* main.js in Resources */,
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+/* Begin PBXShellScriptBuildPhase section */
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+			);
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+			);
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+				"$(DERIVED_FILE_DIR)/Pods-cleverrc-checkManifestLockResult.txt",
+			);
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+			shellPath = /bin/sh;
+			shellScript = "diff \"${PODS_PODFILE_DIR_PATH}/Podfile.lock\" \"${PODS_ROOT}/Manifest.lock\" > /dev/null\nif [ $? != 0 ] ; then\n    # print error to STDERR\n    echo \"error: The sandbox is not in sync with the Podfile.lock. Run 'pod install' or update your CocoaPods installation.\" >&2\n    exit 1\nfi\n# This output is used by Xcode 'outputs' to avoid re-running this script phase.\necho \"SUCCESS\" > \"${SCRIPT_OUTPUT_FILE_0}\"\n";
+			showEnvVarsInLog = 0;
+		};
+		A37DBBAD5E44E632F8A8A204 /* [CP] Embed Pods Frameworks */ = {
+			isa = PBXShellScriptBuildPhase;
+			buildActionMask = 2147483647;
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+			);
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+				"${BUILT_PRODUCTS_DIR}/MarqueeLabel/MarqueeLabel.framework",
+				"${BUILT_PRODUCTS_DIR}/NotificationBannerSwift/NotificationBannerSwift.framework",
+				"${BUILT_PRODUCTS_DIR}/SnapKit/SnapKit.framework",
+				"${BUILT_PRODUCTS_DIR}/SwiftSocket/SwiftSocket.framework",
+			);
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+				"${TARGET_BUILD_DIR}/${FRAMEWORKS_FOLDER_PATH}/MarqueeLabel.framework",
+				"${TARGET_BUILD_DIR}/${FRAMEWORKS_FOLDER_PATH}/NotificationBannerSwift.framework",
+				"${TARGET_BUILD_DIR}/${FRAMEWORKS_FOLDER_PATH}/SnapKit.framework",
+				"${TARGET_BUILD_DIR}/${FRAMEWORKS_FOLDER_PATH}/SwiftSocket.framework",
+			);
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+/* End PBXShellScriptBuildPhase section */
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+/* Begin PBXSourcesBuildPhase section */
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+				7C51654320139237004D1F4D /* ViewController.swift in Sources */,
+				7C51654120139237004D1F4D /* AppDelegate.swift in Sources */,
+				7C0AB7AB202A744400BAED27 /* BinUtils.swift in Sources */,
+			);
+			runOnlyForDeploymentPostprocessing = 0;
+		};
+/* End PBXSourcesBuildPhase section */
+
+/* Begin PBXVariantGroup section */
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+			isa = PBXVariantGroup;
+			children = (
+				7C51654520139237004D1F4D /* Base */,
+			);
+			name = Main.storyboard;
+			path = .;
+			sourceTree = "<group>";
+		};
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+			isa = PBXVariantGroup;
+			children = (
+				7C51654A20139237004D1F4D /* Base */,
+			);
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+			path = .;
+			sourceTree = "<group>";
+		};
+/* End PBXVariantGroup section */
+
+/* Begin XCBuildConfiguration section */
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+			isa = XCBuildConfiguration;
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+				ALWAYS_SEARCH_USER_PATHS = NO;
+				CLANG_ANALYZER_NONNULL = YES;
+				CLANG_ANALYZER_NUMBER_OBJECT_CONVERSION = YES_AGGRESSIVE;
+				CLANG_CXX_LANGUAGE_STANDARD = "gnu++14";
+				CLANG_CXX_LIBRARY = "libc++";
+				CLANG_ENABLE_MODULES = YES;
+				CLANG_ENABLE_OBJC_ARC = YES;
+				CLANG_WARN_BLOCK_CAPTURE_AUTORELEASING = YES;
+				CLANG_WARN_BOOL_CONVERSION = YES;
+				CLANG_WARN_COMMA = YES;
+				CLANG_WARN_CONSTANT_CONVERSION = YES;
+				CLANG_WARN_DEPRECATED_OBJC_IMPLEMENTATIONS = YES;
+				CLANG_WARN_DIRECT_OBJC_ISA_USAGE = YES_ERROR;
+				CLANG_WARN_DOCUMENTATION_COMMENTS = YES;
+				CLANG_WARN_EMPTY_BODY = YES;
+				CLANG_WARN_ENUM_CONVERSION = YES;
+				CLANG_WARN_INFINITE_RECURSION = YES;
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+				CLANG_WARN_OBJC_IMPLICIT_RETAIN_SELF = YES;
+				CLANG_WARN_OBJC_LITERAL_CONVERSION = YES;
+				CLANG_WARN_OBJC_ROOT_CLASS = YES_ERROR;
+				CLANG_WARN_RANGE_LOOP_ANALYSIS = YES;
+				CLANG_WARN_STRICT_PROTOTYPES = YES;
+				CLANG_WARN_SUSPICIOUS_MOVE = YES;
+				CLANG_WARN_UNGUARDED_AVAILABILITY = YES_AGGRESSIVE;
+				CLANG_WARN_UNREACHABLE_CODE = YES;
+				CLANG_WARN__DUPLICATE_METHOD_MATCH = YES;
+				CODE_SIGN_IDENTITY = "iPhone Developer";
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+				ENABLE_TESTABILITY = YES;
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+				GCC_PREPROCESSOR_DEFINITIONS = (
+					"DEBUG=1",
+					"$(inherited)",
+				);
+				GCC_WARN_64_TO_32_BIT_CONVERSION = YES;
+				GCC_WARN_ABOUT_RETURN_TYPE = YES_ERROR;
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+				GCC_WARN_UNINITIALIZED_AUTOS = YES_AGGRESSIVE;
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+				SWIFT_OPTIMIZATION_LEVEL = "-Onone";
+			};
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+		};
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+				CLANG_ENABLE_MODULES = YES;
+				CLANG_ENABLE_OBJC_ARC = YES;
+				CLANG_WARN_BLOCK_CAPTURE_AUTORELEASING = YES;
+				CLANG_WARN_BOOL_CONVERSION = YES;
+				CLANG_WARN_COMMA = YES;
+				CLANG_WARN_CONSTANT_CONVERSION = YES;
+				CLANG_WARN_DEPRECATED_OBJC_IMPLEMENTATIONS = YES;
+				CLANG_WARN_DIRECT_OBJC_ISA_USAGE = YES_ERROR;
+				CLANG_WARN_DOCUMENTATION_COMMENTS = YES;
+				CLANG_WARN_EMPTY_BODY = YES;
+				CLANG_WARN_ENUM_CONVERSION = YES;
+				CLANG_WARN_INFINITE_RECURSION = YES;
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+				CLANG_WARN_OBJC_ROOT_CLASS = YES_ERROR;
+				CLANG_WARN_RANGE_LOOP_ANALYSIS = YES;
+				CLANG_WARN_STRICT_PROTOTYPES = YES;
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+				CLANG_WARN_UNREACHABLE_CODE = YES;
+				CLANG_WARN__DUPLICATE_METHOD_MATCH = YES;
+				CODE_SIGN_IDENTITY = "iPhone Developer";
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+				DEBUG_INFORMATION_FORMAT = "dwarf-with-dsym";
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+				GCC_C_LANGUAGE_STANDARD = gnu11;
+				GCC_NO_COMMON_BLOCKS = YES;
+				GCC_WARN_64_TO_32_BIT_CONVERSION = YES;
+				GCC_WARN_ABOUT_RETURN_TYPE = YES_ERROR;
+				GCC_WARN_UNDECLARED_SELECTOR = YES;
+				GCC_WARN_UNINITIALIZED_AUTOS = YES_AGGRESSIVE;
+				GCC_WARN_UNUSED_FUNCTION = YES;
+				GCC_WARN_UNUSED_VARIABLE = YES;
+				IPHONEOS_DEPLOYMENT_TARGET = 11.2;
+				MTL_ENABLE_DEBUG_INFO = NO;
+				SDKROOT = iphoneos;
+				SWIFT_OPTIMIZATION_LEVEL = "-Owholemodule";
+				VALIDATE_PRODUCT = YES;
+			};
+			name = Release;
+		};
+		7C51655020139237004D1F4D /* Debug */ = {
+			isa = XCBuildConfiguration;
+			baseConfigurationReference = CB200F4B933204EA97E0E2E4 /* Pods-cleverrc.debug.xcconfig */;
+			buildSettings = {
+				ASSETCATALOG_COMPILER_APPICON_NAME = AppIcon;
+				CODE_SIGN_STYLE = Automatic;
+				DEVELOPMENT_TEAM = 7QY6KJ2672;
+				INFOPLIST_FILE = cleverrc/Info.plist;
+				LD_RUNPATH_SEARCH_PATHS = "$(inherited) @executable_path/Frameworks";
+				PRODUCT_BUNDLE_IDENTIFIER = coex.cleverrc;
+				PRODUCT_NAME = "$(TARGET_NAME)";
+				SWIFT_VERSION = 4.0;
+				TARGETED_DEVICE_FAMILY = "1,2";
+			};
+			name = Debug;
+		};
+		7C51655120139237004D1F4D /* Release */ = {
+			isa = XCBuildConfiguration;
+			baseConfigurationReference = AAC9195BF3A9BF6942EF4D0B /* Pods-cleverrc.release.xcconfig */;
+			buildSettings = {
+				ASSETCATALOG_COMPILER_APPICON_NAME = AppIcon;
+				CODE_SIGN_STYLE = Automatic;
+				DEVELOPMENT_TEAM = 7QY6KJ2672;
+				INFOPLIST_FILE = cleverrc/Info.plist;
+				LD_RUNPATH_SEARCH_PATHS = "$(inherited) @executable_path/Frameworks";
+				PRODUCT_BUNDLE_IDENTIFIER = coex.cleverrc;
+				PRODUCT_NAME = "$(TARGET_NAME)";
+				SWIFT_VERSION = 4.0;
+				TARGETED_DEVICE_FAMILY = "1,2";
+			};
+			name = Release;
+		};
+/* End XCBuildConfiguration section */
+
+/* Begin XCConfigurationList section */
+		7C51653820139237004D1F4D /* Build configuration list for PBXProject "cleverrc" */ = {
+			isa = XCConfigurationList;
+			buildConfigurations = (
+				7C51654D20139237004D1F4D /* Debug */,
+				7C51654E20139237004D1F4D /* Release */,
+			);
+			defaultConfigurationIsVisible = 0;
+			defaultConfigurationName = Release;
+		};
+		7C51654F20139237004D1F4D /* Build configuration list for PBXNativeTarget "cleverrc" */ = {
+			isa = XCConfigurationList;
+			buildConfigurations = (
+				7C51655020139237004D1F4D /* Debug */,
+				7C51655120139237004D1F4D /* Release */,
+			);
+			defaultConfigurationIsVisible = 0;
+			defaultConfigurationName = Release;
+		};
+/* End XCConfigurationList section */
+	};
+	rootObject = 7C51653520139237004D1F4D /* Project object */;
+}

apps/ios/cleverrc.xcodeproj/project.xcworkspace/contents.xcworkspacedata

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Workspace
+   version = "1.0">
+   <FileRef
+      location = "self:cleverrc.xcodeproj">
+   </FileRef>
+</Workspace>

apps/ios/cleverrc.xcworkspace/contents.xcworkspacedata

@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Workspace
+   version = "1.0">
+   <FileRef
+      location = "group:cleverrc.xcodeproj">
+   </FileRef>
+   <FileRef
+      location = "group:Pods/Pods.xcodeproj">
+   </FileRef>
+</Workspace>

apps/ios/cleverrc.xcworkspace/xcshareddata/IDEWorkspaceChecks.plist

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>IDEDidComputeMac32BitWarning</key>
+	<true/>
+</dict>
+</plist>

apps/ios/cleverrc/AppDelegate.swift

@@ -0,0 +1,46 @@
+//
+//  AppDelegate.swift
+//  cleverrc
+//
+//  Created by Oleg Kalachev on 20.01.2018.
+//  Copyright © 2018 Copter Express. All rights reserved.
+//
+
+import UIKit
+
+@UIApplicationMain
+class AppDelegate: UIResponder, UIApplicationDelegate {
+
+    var window: UIWindow?
+
+
+    func application(_ application: UIApplication, didFinishLaunchingWithOptions launchOptions: [UIApplicationLaunchOptionsKey: Any]?) -> Bool {
+        // Override point for customization after application launch.
+        return true
+    }
+
+    func applicationWillResignActive(_ application: UIApplication) {
+        // Sent when the application is about to move from active to inactive state. This can occur for certain types of temporary interruptions (such as an incoming phone call or SMS message) or when the user quits the application and it begins the transition to the background state.
+        // Use this method to pause ongoing tasks, disable timers, and invalidate graphics rendering callbacks. Games should use this method to pause the game.
+    }
+
+    func applicationDidEnterBackground(_ application: UIApplication) {
+        // Use this method to release shared resources, save user data, invalidate timers, and store enough application state information to restore your application to its current state in case it is terminated later.
+        // If your application supports background execution, this method is called instead of applicationWillTerminate: when the user quits.
+    }
+
+    func applicationWillEnterForeground(_ application: UIApplication) {
+        // Called as part of the transition from the background to the active state; here you can undo many of the changes made on entering the background.
+    }
+
+    func applicationDidBecomeActive(_ application: UIApplication) {
+        // Restart any tasks that were paused (or not yet started) while the application was inactive. If the application was previously in the background, optionally refresh the user interface.
+    }
+
+    func applicationWillTerminate(_ application: UIApplication) {
+        // Called when the application is about to terminate. Save data if appropriate. See also applicationDidEnterBackground:.
+    }
+
+
+}
+

apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/Contents.json

@@ -0,0 +1,116 @@
+{
+  "images" : [
+    {
+      "size" : "20x20",
+      "idiom" : "iphone",
+      "filename" : "cleverrc40.png",
+      "scale" : "2x"
+    },
+    {
+      "size" : "20x20",
+      "idiom" : "iphone",
+      "filename" : "clever60.png",
+      "scale" : "3x"
+    },
+    {
+      "size" : "29x29",
+      "idiom" : "iphone",
+      "filename" : "clever58.png",
+      "scale" : "2x"
+    },
+    {
+      "size" : "29x29",
+      "idiom" : "iphone",
+      "filename" : "clever87.png",
+      "scale" : "3x"
+    },
+    {
+      "size" : "40x40",
+      "idiom" : "iphone",
+      "filename" : "clever80.png",
+      "scale" : "2x"
+    },
+    {
+      "size" : "40x40",
+      "idiom" : "iphone",
+      "filename" : "clever120.png",
+      "scale" : "3x"
+    },
+    {
+      "size" : "60x60",
+      "idiom" : "iphone",
+      "filename" : "clever120-1.png",
+      "scale" : "2x"
+    },
+    {
+      "size" : "60x60",
+      "idiom" : "iphone",
+      "filename" : "clever180-1.png",
+      "scale" : "3x"
+    },
+    {
+      "size" : "20x20",
+      "idiom" : "ipad",
+      "filename" : "clever20.png",
+      "scale" : "1x"
+    },
+    {
+      "size" : "20x20",
+      "idiom" : "ipad",
+      "filename" : "clever40.png",
+      "scale" : "2x"
+    },
+    {
+      "size" : "29x29",
+      "idiom" : "ipad",
+      "filename" : "clever29.png",
+      "scale" : "1x"
+    },
+    {
+      "size" : "29x29",
+      "idiom" : "ipad",
+      "filename" : "clever58-1.png",
+      "scale" : "2x"
+    },
+    {
+      "size" : "40x40",
+      "idiom" : "ipad",
+      "filename" : "clever40-1.png",
+      "scale" : "1x"
+    },
+    {
+      "size" : "40x40",
+      "idiom" : "ipad",
+      "filename" : "clever80-1.png",
+      "scale" : "2x"
+    },
+    {
+      "size" : "76x76",
+      "idiom" : "ipad",
+      "filename" : "clever76.png",
+      "scale" : "1x"
+    },
+    {
+      "size" : "76x76",
+      "idiom" : "ipad",
+      "filename" : "clever152.png",
+      "scale" : "2x"
+    },
+    {
+      "size" : "83.5x83.5",
+      "idiom" : "ipad",
+      "filename" : "clever167.png",
+      "scale" : "2x"
+    },
+    {
+      "size" : "1024x1024",
+      "idiom" : "ios-marketing",
+      "filename" : "clever1024.png",
+      "scale" : "1x"
+    }
+  ],
+  "info" : {
+    "version" : 1,
+    "author" : "xcode"
+  }
+}

apps/ios/cleverrc/Assets.xcassets/Contents.json

@@ -0,0 +1,6 @@
+{
+  "info" : {
+    "version" : 1,
+    "author" : "xcode"
+  }
+}

apps/ios/cleverrc/Assets.xcassets/Image.imageset/Contents.json

@@ -0,0 +1,20 @@
+{
+  "images" : [
+    {
+      "idiom" : "universal",
+      "scale" : "1x"
+    },
+    {
+      "idiom" : "universal",
+      "scale" : "2x"
+    },
+    {
+      "idiom" : "universal",
+      "scale" : "3x"
+    }
+  ],
+  "info" : {
+    "version" : 1,
+    "author" : "xcode"
+  }
+}

apps/ios/cleverrc/Base.lproj/LaunchScreen.storyboard

@@ -0,0 +1,29 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<document type="com.apple.InterfaceBuilder3.CocoaTouch.Storyboard.XIB" version="3.0" toolsVersion="13771" targetRuntime="iOS.CocoaTouch" propertyAccessControl="none" useAutolayout="YES" launchScreen="YES" useTraitCollections="YES" useSafeAreas="YES" colorMatched="YES" initialViewController="01J-lp-oVM">
+    <device id="retina4_7" orientation="portrait">
+        <adaptation id="fullscreen"/>
+    </device>
+    <dependencies>
+        <deployment identifier="iOS"/>
+        <plugIn identifier="com.apple.InterfaceBuilder.IBCocoaTouchPlugin" version="13772"/>
+        <capability name="Safe area layout guides" minToolsVersion="9.0"/>
+        <capability name="documents saved in the Xcode 8 format" minToolsVersion="8.0"/>
+    </dependencies>
+    <scenes>
+        <!--View Controller-->
+        <scene sceneID="EHf-IW-A2E">
+            <objects>
+                <viewController id="01J-lp-oVM" sceneMemberID="viewController">
+                    <view key="view" contentMode="scaleToFill" id="Ze5-6b-2t3">
+                        <rect key="frame" x="0.0" y="0.0" width="375" height="667"/>
+                        <autoresizingMask key="autoresizingMask" widthSizable="YES" heightSizable="YES"/>
+                        <color key="backgroundColor" red="0.10586584359407425" green="0.10589186102151871" blue="0.10586420446634293" alpha="1" colorSpace="custom" customColorSpace="sRGB"/>
+                        <viewLayoutGuide key="safeArea" id="6Tk-OE-BBY"/>
+                    </view>
+                </viewController>
+                <placeholder placeholderIdentifier="IBFirstResponder" id="iYj-Kq-Ea1" userLabel="First Responder" sceneMemberID="firstResponder"/>
+            </objects>
+            <point key="canvasLocation" x="53" y="375"/>
+        </scene>
+    </scenes>
+</document>

apps/ios/cleverrc/Base.lproj/Main.storyboard

@@ -0,0 +1,46 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<document type="com.apple.InterfaceBuilder3.CocoaTouch.Storyboard.XIB" version="3.0" toolsVersion="13771" targetRuntime="iOS.CocoaTouch" propertyAccessControl="none" useAutolayout="YES" useTraitCollections="YES" useSafeAreas="YES" colorMatched="YES" initialViewController="BYZ-38-t0r">
+    <device id="retina4_7" orientation="landscape">
+        <adaptation id="fullscreen"/>
+    </device>
+    <dependencies>
+        <deployment identifier="iOS"/>
+        <plugIn identifier="com.apple.InterfaceBuilder.IBCocoaTouchPlugin" version="13772"/>
+        <capability name="Safe area layout guides" minToolsVersion="9.0"/>
+        <capability name="documents saved in the Xcode 8 format" minToolsVersion="8.0"/>
+    </dependencies>
+    <scenes>
+        <!--View Controller-->
+        <scene sceneID="tne-QT-ifu">
+            <objects>
+                <viewController id="BYZ-38-t0r" customClass="ViewController" customModule="cleverrc" customModuleProvider="target" sceneMemberID="viewController">
+                    <view key="view" contentMode="scaleToFill" id="8bC-Xf-vdC">
+                        <rect key="frame" x="0.0" y="0.0" width="667" height="375"/>
+                        <autoresizingMask key="autoresizingMask" widthSizable="YES" heightSizable="YES"/>
+                        <subviews>
+                            <wkWebView opaque="NO" clipsSubviews="YES" multipleTouchEnabled="YES" contentMode="scaleToFill" ambiguous="YES" translatesAutoresizingMaskIntoConstraints="NO" id="dtJ-LN-BYT">
+                                <rect key="frame" x="0.0" y="0.0" width="667" height="375"/>
+                                <color key="backgroundColor" red="0.12939286231994629" green="0.12942266464233398" blue="0.12939092516899109" alpha="1" colorSpace="custom" customColorSpace="sRGB"/>
+                                <wkWebViewConfiguration key="configuration">
+                                    <audiovisualMediaTypes key="mediaTypesRequiringUserActionForPlayback" none="YES"/>
+                                    <wkPreferences key="preferences"/>
+                                </wkWebViewConfiguration>
+                            </wkWebView>
+                        </subviews>
+                        <color key="backgroundColor" red="0.1097869947552681" green="0.10981365293264389" blue="0.10978532582521439" alpha="1" colorSpace="custom" customColorSpace="sRGB"/>
+                        <constraints>
+                            <constraint firstItem="dtJ-LN-BYT" firstAttribute="height" secondItem="8bC-Xf-vdC" secondAttribute="height" id="KRn-ag-67x"/>
+                            <constraint firstItem="dtJ-LN-BYT" firstAttribute="width" secondItem="8bC-Xf-vdC" secondAttribute="width" id="qOr-gg-e4M"/>
+                        </constraints>
+                        <viewLayoutGuide key="safeArea" id="6Tk-OE-BBY"/>
+                    </view>
+                    <connections>
+                        <outlet property="webView" destination="dtJ-LN-BYT" id="bQ3-jy-o6E"/>
+                    </connections>
+                </viewController>
+                <placeholder placeholderIdentifier="IBFirstResponder" id="dkx-z0-nzr" sceneMemberID="firstResponder"/>
+            </objects>
+            <point key="canvasLocation" x="138.0809595202399" y="124"/>
+        </scene>
+    </scenes>
+</document>

apps/ios/cleverrc/BinUtils.swift

@@ -0,0 +1,453 @@
+//
+//  BinUtils.swift
+//  BinUtils
+//
+//  Created by Nicolas Seriot on 12/03/16.
+//  Copyright © 2016 Nicolas Seriot. All rights reserved.
+//
+
+import Foundation
+import CoreFoundation
+
+// MARK: protocol UnpackedType
+
+public protocol Unpackable {}
+
+extension NSString: Unpackable {}
+extension Bool: Unpackable {}
+extension Int: Unpackable {}
+extension Double: Unpackable {}
+
+// MARK: protocol DataConvertible
+
+protocol DataConvertible {}
+
+extension DataConvertible {
+    
+    init?(data: Data) {
+        guard data.count == MemoryLayout<Self>.size else { return nil }
+        self = data.withUnsafeBytes { $0.pointee }
+    }
+
+    init?(bytes: [UInt8]) {
+        let data = Data(bytes:bytes)
+        self.init(data:data)
+    }
+    
+    var data: Data {
+        var value = self
+        return Data(buffer: UnsafeBufferPointer(start: &value, count: 1))
+    }
+}
+
+extension Bool : DataConvertible { }
+
+extension Int8 : DataConvertible { }
+extension Int16 : DataConvertible { }
+extension Int32 : DataConvertible { }
+extension Int64 : DataConvertible { }
+
+extension UInt8 : DataConvertible { }
+extension UInt16 : DataConvertible { }
+extension UInt32 : DataConvertible { }
+extension UInt64 : DataConvertible { }
+
+extension Float32 : DataConvertible { }
+extension Float64 : DataConvertible { }
+
+// MARK: String extension
+
+extension String {
+    subscript (from:Int, to:Int) -> String {
+        return NSString(string: self).substring(with: NSMakeRange(from, to-from))
+    }
+}
+
+// MARK: Data extension
+
+extension Data {
+    var bytes : [UInt8] {
+        return self.withUnsafeBytes {
+            [UInt8](UnsafeBufferPointer(start: $0, count: self.count))
+        }
+    }
+}
+
+// MARK: functions
+
+public func hexlify(_ data:Data) -> String {
+    
+    // similar to hexlify() in Python's binascii module
+    // https://docs.python.org/2/library/binascii.html
+    
+    var s = String()
+    var byte: UInt8 = 0
+    
+    for i in 0 ..< data.count {
+        NSData(data: data).getBytes(&byte, range: NSMakeRange(i, 1))
+        s = s.appendingFormat("%02x", byte)
+    }
+    
+    return s as String
+}
+
+public func unhexlify(_ string:String) -> Data? {
+    
+    // similar to unhexlify() in Python's binascii module
+    // https://docs.python.org/2/library/binascii.html
+    
+    let s = string.uppercased().replacingOccurrences(of: " ", with: "")
+    
+    let nonHexCharacterSet = CharacterSet(charactersIn: "0123456789ABCDEF").inverted
+    if let range = s.rangeOfCharacter(from: nonHexCharacterSet) {
+        print("-- found non hex character at range \(range)")
+        return nil
+    }
+    
+    var data = Data(capacity: s.count / 2)
+    
+    for i in stride(from: 0, to:s.count, by:2) {
+        let byteString = s[i, i+2]
+        let byte = UInt8(byteString.withCString { strtoul($0, nil, 16) })
+        data.append([byte] as [UInt8], count: 1)
+    }
+    
+    return data
+}
+
+func readIntegerType<T:DataConvertible>(_ type:T.Type, bytes:[UInt8], loc:inout Int) -> T {
+    let size = MemoryLayout<T>.size
+    let sub = Array(bytes[loc..<(loc+size)])
+    loc += size
+    return T(bytes: sub)!
+}
+
+func readFloatingPointType<T:DataConvertible>(_ type:T.Type, bytes:[UInt8], loc:inout Int, isBigEndian:Bool) -> T {
+    let size = MemoryLayout<T>.size
+    let sub = Array(bytes[loc..<(loc+size)])
+    loc += size
+    let sub_ = isBigEndian ? sub.reversed() : sub
+    return T(bytes: sub_)!
+}
+
+func isBigEndianFromMandatoryByteOrderFirstCharacter(_ format:String) -> Bool {
+    
+    guard let firstChar = format.first else { assertionFailure("empty format"); return false }
+    
+    let s = NSString(string: String(firstChar))
+    let c = s.substring(to: 1)
+    
+    if c == "@" { assertionFailure("native size and alignment is unsupported") }
+    
+    if c == "=" || c == "<" { return false }
+    if c == ">" || c == "!" { return true }
+    
+    assertionFailure("format '\(format)' first character must be among '=<>!'")
+    
+    return false
+}
+
+// akin to struct.calcsize(fmt)
+func numberOfBytesInFormat(_ format:String) -> Int {
+    
+    var numberOfBytes = 0
+    
+    var n = 0 // repeat counter
+    
+    var mutableFormat = format
+    
+    while !mutableFormat.isEmpty {
+        
+        let c = mutableFormat.remove(at: mutableFormat.startIndex)
+        
+        if let i = Int(String(c)) , 0...9 ~= i {
+            if n > 0 { n *= 10 }
+            n += i
+            continue
+        }
+        
+        if c == "s" {
+            numberOfBytes += max(n,1)
+            n = 0
+            continue
+        }
+        
+        for _ in 0..<max(n,1) {
+            
+            switch(c) {
+                
+            case "@", "<", "=", ">", "!", " ":
+                ()
+            case "c", "b", "B", "x", "?":
+                numberOfBytes += 1
+            case "h", "H":
+                numberOfBytes += 2
+            case "i", "l", "I", "L", "f":
+                numberOfBytes += 4
+            case "q", "Q", "d":
+                numberOfBytes += 8
+            case "P":
+                numberOfBytes += MemoryLayout<Int>.size
+            default:
+                assertionFailure("-- unsupported format \(c)")
+            }
+        }
+        
+        n = 0
+    }
+    
+    return numberOfBytes
+}
+
+func formatDoesMatchDataLength(_ format:String, data:Data) -> Bool {
+    let sizeAccordingToFormat = numberOfBytesInFormat(format)
+    let dataLength = data.count
+    if sizeAccordingToFormat != dataLength {
+        print("format \"\(format)\" expects \(sizeAccordingToFormat) bytes but data is \(dataLength) bytes")
+        return false
+    }
+    
+    return true
+}
+
+/*
+ pack() and unpack() should behave as Python's struct module https://docs.python.org/2/library/struct.html BUT:
+ - native size and alignment '@' is not supported
+ - as a consequence, the byte order specifier character is mandatory and must be among "=<>!"
+ - native byte order '=' assumes a little-endian system (eg. Intel x86)
+ - Pascal strings 'p' and native pointers 'P' are not supported
+ */
+
+public enum BinUtilsError: Error {
+    case formatDoesMatchDataLength(format:String, dataSize:Int)
+    case unsupportedFormat(character:Character)
+}
+
+public func pack(_ format:String, _ objects:[Any], _ stringEncoding:String.Encoding=String.Encoding.windowsCP1252) -> Data {
+    
+    var objectsQueue = objects
+    
+    var mutableFormat = format
+    
+    var mutableData = Data()
+    
+    var isBigEndian = false
+    
+    let firstCharacter = mutableFormat.remove(at: mutableFormat.startIndex)
+    
+    switch(firstCharacter) {
+    case "<", "=":
+        isBigEndian = false
+    case ">", "!":
+        isBigEndian = true
+    case "@":
+        assertionFailure("native size and alignment '@' is unsupported'")
+    default:
+        assertionFailure("unsupported format chacracter'")
+    }
+    
+    var n = 0 // repeat counter
+    
+    while !mutableFormat.isEmpty {
+        
+        let c = mutableFormat.remove(at: mutableFormat.startIndex)
+        
+        if let i = Int(String(c)) , 0...9 ~= i {
+            if n > 0 { n *= 10 }
+            n += i
+            continue
+        }
+        
+        var o : Any = 0
+        
+        if c == "s" {
+            o = objectsQueue.remove(at: 0)
+            
+            guard let stringData = (o as! String).data(using: .utf8) else { assertionFailure(); return Data() }
+            var bytes = stringData.bytes
+            
+            let expectedSize = max(1, n)
+            
+            // pad ...
+            while bytes.count < expectedSize { bytes.append(0x00) }
+            
+            // ... or trunk
+            if bytes.count > expectedSize { bytes = Array(bytes[0..<expectedSize]) }
+            
+            assert(bytes.count == expectedSize)
+            
+            if isBigEndian { bytes = bytes.reversed() }
+            
+            mutableData.append(bytes, count: bytes.count)
+            
+            n = 0
+            continue
+        }
+        
+        for _ in 0..<max(n,1) {
+            
+            var bytes : [UInt8] = []
+            
+            if c != "x" {
+                o = objectsQueue.removeFirst()
+            }
+            
+            switch(c) {
+            case "?":
+                bytes = (o as! Bool) ? [0x01] : [0x00]
+            case "c":
+                let charAsString = (o as! NSString).substring(to: 1)
+                guard let data = charAsString.data(using: stringEncoding) else {
+                    assertionFailure("cannot decode character \(charAsString) using encoding \(stringEncoding)")
+                    return Data()
+                }
+                bytes = data.bytes
+            case "b":
+                bytes = Int8(truncatingIfNeeded:o as! Int).data.bytes
+            case "h":
+                bytes = Int16(truncatingIfNeeded:o as! Int).data.bytes
+            case "i", "l":
+                bytes = Int32(truncatingIfNeeded:o as! Int).data.bytes
+            case "q", "Q":
+                bytes = Int64(o as! Int).data.bytes
+            case "B":
+                bytes = UInt8(truncatingIfNeeded:o as! Int).data.bytes
+            case "H":
+                bytes = UInt16(truncatingIfNeeded:o as! Int).data.bytes
+            case "I", "L":
+                bytes = UInt32(truncatingIfNeeded:o as! Int).data.bytes
+            case "f":
+                bytes = Float32(o as! Double).data.bytes
+            case "d":
+                bytes = Float64(o as! Double).data.bytes
+            case "x":
+                bytes = [0x00]
+            default:
+                assertionFailure("Unsupported packing format: \(c)")
+            }
+            
+            if isBigEndian { bytes = bytes.reversed() }
+            let data = Data(bytes)
+            mutableData.append(data)
+        }
+        
+        n = 0
+    }
+    
+    return mutableData
+}
+
+public func unpack(_ format:String, _ data:Data, _ stringEncoding:String.Encoding=String.Encoding.windowsCP1252) throws -> [Unpackable] {
+    
+    assert(CFByteOrderGetCurrent() == 1 /* CFByteOrderLittleEndian */, "\(#file) assumes little endian, but host is big endian")
+    
+    let isBigEndian = isBigEndianFromMandatoryByteOrderFirstCharacter(format)
+    
+    if formatDoesMatchDataLength(format, data: data) == false {
+        throw BinUtilsError.formatDoesMatchDataLength(format:format, dataSize:data.count)
+    }
+    
+    var a : [Unpackable] = []
+    
+    var loc = 0
+    
+    let bytes = data.bytes
+    
+    var n = 0 // repeat counter
+    
+    var mutableFormat = format
+    
+    mutableFormat.remove(at: mutableFormat.startIndex) // consume byte-order specifier
+    
+    while !mutableFormat.isEmpty {
+        
+        let c = mutableFormat.remove(at: mutableFormat.startIndex)
+        
+        if let i = Int(String(c)) , 0...9 ~= i {
+            if n > 0 { n *= 10 }
+            n += i
+            continue
+        }
+        
+        if c == "s" {
+            let length = max(n,1)
+            let sub = Array(bytes[loc..<loc+length])
+            
+            guard let s = NSString(bytes: sub, length: length, encoding: stringEncoding.rawValue) else {
+                assertionFailure("-- not a string: \(sub)")
+                return []
+            }
+            
+            a.append(s)
+            
+            loc += length
+            
+            n = 0
+            
+            continue
+        }
+        
+        for _ in 0..<max(n,1) {
+            
+            var o : Unpackable?
+            
+            switch(c) {
+                
+            case "c":
+                let optionalString = NSString(bytes: [bytes[loc]], length: 1, encoding: String.Encoding.utf8.rawValue)
+                loc += 1
+                guard let s = optionalString else { assertionFailure(); return [] }
+                o = s
+            case "b":
+                let r = readIntegerType(Int8.self, bytes:bytes, loc:&loc)
+                o = Int(r)
+            case "B":
+                let r = readIntegerType(UInt8.self, bytes:bytes, loc:&loc)
+                o = Int(r)
+            case "?":
+                let r = readIntegerType(Bool.self, bytes:bytes, loc:&loc)
+                o = r ? true : false
+            case "h":
+                let r = readIntegerType(Int16.self, bytes:bytes, loc:&loc)
+                o = Int(isBigEndian ? Int16(bigEndian: r) : r)
+            case "H":
+                let r = readIntegerType(UInt16.self, bytes:bytes, loc:&loc)
+                o = Int(isBigEndian ? UInt16(bigEndian: r) : r)
+            case "i":
+                fallthrough
+            case "l":
+                let r = readIntegerType(Int32.self, bytes:bytes, loc:&loc)
+                o = Int(isBigEndian ? Int32(bigEndian: r) : r)
+            case "I":
+                fallthrough
+            case "L":
+                let r = readIntegerType(UInt32.self, bytes:bytes, loc:&loc)
+                o = Int(isBigEndian ? UInt32(bigEndian: r) : r)
+            case "q":
+                let r = readIntegerType(Int64.self, bytes:bytes, loc:&loc)
+                o = Int(isBigEndian ? Int64(bigEndian: r) : r)
+            case "Q":
+                let r = readIntegerType(UInt64.self, bytes:bytes, loc:&loc)
+                o = Int(isBigEndian ? UInt64(bigEndian: r) : r)
+            case "f":
+                let r = readFloatingPointType(Float32.self, bytes:bytes, loc:&loc, isBigEndian:isBigEndian)
+                o = Double(r)
+            case "d":
+                let r = readFloatingPointType(Float64.self, bytes:bytes, loc:&loc, isBigEndian:isBigEndian)
+                o = Double(r)
+            case "x":
+                loc += 1
+            case " ":
+                ()
+            default:
+                throw BinUtilsError.unsupportedFormat(character:c)
+            }
+            
+            if let o = o { a.append(o) }
+        }
+        
+        n = 0
+    }
+    
+    return a
+}

apps/ios/cleverrc/Info.plist

@@ -0,0 +1,46 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>CFBundleDevelopmentRegion</key>
+	<string>$(DEVELOPMENT_LANGUAGE)</string>
+	<key>CFBundleDisplayName</key>
+	<string>CLEVER RC</string>
+	<key>CFBundleExecutable</key>
+	<string>$(EXECUTABLE_NAME)</string>
+	<key>CFBundleIdentifier</key>
+	<string>$(PRODUCT_BUNDLE_IDENTIFIER)</string>
+	<key>CFBundleInfoDictionaryVersion</key>
+	<string>6.0</string>
+	<key>CFBundleName</key>
+	<string>$(PRODUCT_NAME)</string>
+	<key>CFBundlePackageType</key>
+	<string>APPL</string>
+	<key>CFBundleShortVersionString</key>
+	<string>1.0</string>
+	<key>CFBundleVersion</key>
+	<string>5</string>
+	<key>LSRequiresIPhoneOS</key>
+	<true/>
+	<key>UILaunchStoryboardName</key>
+	<string>LaunchScreen</string>
+	<key>UIMainStoryboardFile</key>
+	<string>Main</string>
+	<key>UIRequiredDeviceCapabilities</key>
+	<array>
+		<string>armv7</string>
+	</array>
+	<key>UISupportedInterfaceOrientations</key>
+	<array>
+		<string>UIInterfaceOrientationLandscapeLeft</string>
+		<string>UIInterfaceOrientationLandscapeRight</string>
+	</array>
+	<key>UISupportedInterfaceOrientations~ipad</key>
+	<array>
+		<string>UIInterfaceOrientationPortrait</string>
+		<string>UIInterfaceOrientationPortraitUpsideDown</string>
+		<string>UIInterfaceOrientationLandscapeLeft</string>
+		<string>UIInterfaceOrientationLandscapeRight</string>
+	</array>
+</dict>
+</plist>

apps/ios/cleverrc/README.md

@@ -0,0 +1,10 @@
+iOS-приложение для управления Клевером
+--------------------------------------
+
+Для установки зависимостей необходим [CocoaPods](https://cocoapods.org):
+
+```bash
+pod install
+```
+
+Для разработки и сборки откройте в XCode файл `cleverrc.xcworkspace`.

apps/ios/cleverrc/ViewController.swift

@@ -0,0 +1,86 @@
+//
+//  ViewController.swift
+//  cleverrc
+//
+//  Created by Oleg Kalachev on 20.01.2018.
+//  Copyright © 2018 Copter Express. All rights reserved.
+//
+
+import UIKit
+import WebKit
+import SwiftSocket
+import NotificationBannerSwift
+import AudioToolbox.AudioServices
+
+class ViewController: UIViewController, WKScriptMessageHandler {
+    @IBOutlet weak var webView: WKWebView!
+    let impactGenerator = UIImpactFeedbackGenerator(style: .medium)
+    let notificationGenerator = UINotificationFeedbackGenerator()
+    let udpSocket = UDPClient(address: "255.255.255.255", port: 35602)
+
+    override func viewDidLoad() {
+        super.viewDidLoad()
+
+        // Don't lock screen
+        UIApplication.shared.isIdleTimerDisabled = true
+
+        // Setup webview event handlers
+        webView.scrollView.bounces = false;
+        webView.configuration.userContentController.add(self, name: "control")
+        webView.configuration.userContentController.add(self, name: "controlStart")
+        webView.configuration.userContentController.add(self, name: "lowBattery")
+        webView.configuration.userContentController.add(self, name: "notification")
+
+        // Load the main page
+        let url = Bundle.main.url(forResource: "index", withExtension: "html")
+        let requestObj = URLRequest(url: url!)
+        webView.load(requestObj)
+
+        // Setup UDP broadcasting
+        udpSocket.enableBroadcast()
+
+        // Set UDP broadcasting interface
+        var wifiInterface = if_nametoindex("en0");
+        setsockopt(udpSocket.fd!, IPPROTO_IP, IP_BOUND_IF, &wifiInterface, socklen_t(MemoryLayout<UInt32>.size));
+    }
+
+    override func didReceiveMemoryWarning() {
+        super.didReceiveMemoryWarning()
+        // Dispose of any resources that can be recreated.
+    }
+
+    func userContentController(_ userContentController: WKUserContentController, didReceive message: WKScriptMessage) {
+        if (message.name == "control") {
+            // Send UDP control message
+            let m = message.body as! NSDictionary;
+            let d = pack("<hhhh", [m["x"]!, m["y"]!, m["z"]!, m["r"]!])
+            _ = udpSocket.send(data: d)
+        } else if (message.name == "lowBattery") {
+            // Got low battery notification
+            print("Low battery notification")
+            tapticNotify()
+        } else if (message.name == "notification") {
+            // Got notification message
+            print(message)
+            tapticNotify()
+        }
+    }
+
+    func tapticNotify() {
+        if let feedbackSupportLevel = UIDevice.current.value(forKey: "_feedbackSupportLevel") as? Int {
+            switch feedbackSupportLevel {
+            case 2:
+                // 2nd Generation Taptic Engine w/ Haptic Feedback (iPhone 7/7+)
+                notificationGenerator.notificationOccurred(.warning)
+            case 1:
+                // 1st Generation Taptic Engine (iPhone 6S/6S+)
+                let peek = SystemSoundID(1519)
+                AudioServicesPlaySystemSound(peek)
+            case 0:
+                // No Taptic Engine
+                break
+            default: break
+            }
+        }
+    }
+}

apps/ios/cleverrc/clever.svg

@@ -0,0 +1,57 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   viewBox="0 0 69.988266 69.987198"
+   height="69.987198"
+   width="69.988266"
+   xml:space="preserve"
+   id="svg2"
+   version="1.1"><metadata
+     id="metadata8"><rdf:RDF><cc:Work
+         rdf:about=""><dc:format>image/svg+xml</dc:format><dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" /></cc:Work></rdf:RDF></metadata><defs
+     id="defs6"><clipPath
+       id="clipPath18"
+       clipPathUnits="userSpaceOnUse"><path
+         id="path16"
+         d="M 0,52.49 H 52.491 V 0 H 0 Z" /></clipPath></defs><g
+     transform="matrix(1.3333333,0,0,-1.3333333,0,69.9872)"
+     id="g10"><g
+       id="g12"><g
+         clip-path="url(#clipPath18)"
+         id="g14"><g
+           transform="translate(35.6531,35.3361)"
+           id="g20"><path
+             id="path22"
+             style="fill:white;fill-opacity:0.5;fill-rule:nonzero;stroke:none"
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apps/ios/cleverrc/index.html

@@ -0,0 +1,24 @@
+<html>
+	<head>
+		<meta name="apple-mobile-web-app-capable" content="yes" />
+		<meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1.0, minimum-scale=1.0, user-scalable=no, minimal-ui">
+		<link rel="stylesheet" href="main.css">
+		<script src="roslib.js"></script>
+	</head>
+	<body>
+		<div class="telemetry"><span class="mode">DISCONNECTED</span></div>
+		<div class="battery"></div>
+		<div class="logo"></div>
+		<div class="container">
+			<div class="stick stick-left">
+				<div class="stick-pointer"></div>
+			</div>
+			<div class="stick stick-right">
+				<div class="stick-pointer"></div>
+			</div>
+		</div>
+		<div class="notifications"></div>
+		<script src="main.js" type="text/javascript"></script>
+		<script src="telemetry.js" type="text/javascript"></script>
+	</body>
+</html>

apps/ios/cleverrc/main.css

@@ -0,0 +1,125 @@
+html, body {
+	margin: 0;
+	padding: 0;
+	user-select: none;
+	font-family: sans-serif;
+	background: #212121;
+	color: rgba(255, 255, 255, 0.9);
+}
+
+* {
+	user-select: none;
+}
+
+.stick {
+	border-radius: 50%;
+	width: 5cm;
+	height: 5cm;
+	position: relative;
+	transform: translateZ(0);
+	border: 4px solid rgba(255,255,255,.4);
+	box-shadow: 0 0 0 1px rgba(0,0,0,.2), inset 0 0 0 1px rgba(0,0,0,.2);
+}
+
+.stick-pointer {
+	position: absolute;
+	border-radius: 50%;
+	background-color: rgba(255,255,255,.25);
+	box-shadow: 0 0 10px rgba(0,0,0,.3);
+	width: 3cm;
+	height: 3cm;
+	margin-left: -1.5cm;
+	margin-top: -1.5cm;
+	top: 2.5cm;
+	left: 2.5cm;
+	pointer-events: none;
+	transform: translateZ(0);
+}
+
+.container {
+	display: flex;
+	justify-content: space-around;
+	align-items: center;
+	width: 100%;
+	height: 100%;
+}
+
+.telemetry {
+	position: absolute;
+	text-align: center;
+	width: 100%;
+	top: 30px;
+	font-size: 20px;
+	user-select: none;
+	pointer-events: none;
+}
+
+body.armed .telemetry .mode {
+	font-weight: bold;
+}
+
+@keyframes scale {
+	0% { transform: scale(1.0); }
+	50% { transform: scale(1.2); }
+	100% { transform: scale(1.0); }
+}
+
+.battery {
+	position: absolute;
+	text-align: center;
+	width: 100%;
+	bottom: 30px;
+	font-size: 20px;
+	user-select: none;
+	pointer-events: none;
+}
+
+body.low-battery .battery {
+	color: #ff554b;
+	animation: scale 0.3s 1 ease-in-out
+}
+
+.logo {
+	position: absolute;
+	background: url(clever.svg);
+	-webkit-background-size: 50px;
+	background-size: 50px;
+	width: 50px;
+	height: 50px;
+	top: 50%;
+	left: 50%;
+	margin-top: -25px;
+	margin-left: -25px;
+	font-size: 20px;
+	user-select: none;
+	pointer-events: none;
+}
+
+.notifications {
+	pointer-events: none;
+	position: absolute;
+	top: 0;
+	left: 0;
+	right: 0;
+	color: white;
+}
+
+.notifications.hidden {
+	transform: translateY(-100%);
+}
+
+.notifications.anim {
+	transition: transform 0.2s ease;
+}
+
+.notifications .item {
+	font-size: 4mm;
+	-webkit-text-size-adjust: none;
+	background: #fca83a;
+	padding: 3mm;
+	padding-bottom: 1.5mm;
+}
+
+.notifications .item:last-child {
+	padding-bottom: 3mm;
+}

apps/ios/cleverrc/main.js

@@ -0,0 +1,126 @@
+function throttle(func, ms) {
+	var isThrottled = false,
+		savedArgs,
+		savedThis;
+
+	function wrapper() {
+		if (isThrottled) {
+			savedArgs = arguments;
+			savedThis = this;
+			return;
+		}
+		func.apply(this, arguments);
+		isThrottled = true;
+		setTimeout(function() {
+			isThrottled = false;
+			if (savedArgs) {
+				wrapper.apply(savedThis, savedArgs);
+				savedArgs = savedThis = null;
+			}
+		}, ms);
+	}
+	return wrapper;
+}
+
+function callNativeApp(name, msg) {
+	try {
+		webkit.messageHandlers[name].postMessage(msg);
+		return true;
+	} catch(err) {
+		console.warn('The native context does not exist yet');
+		return false;
+	}
+}
+
+var rcLastPublish = null;
+
+function rcPublish() {
+	callNativeApp('control', controlMessage);
+	rcLastPublish = new Date();
+}
+
+rcPublishThrottled = throttle(rcPublish, 30);
+
+setInterval(function() {
+	if (rcLastPublish !== null && new Date() - rcLastPublish > 800) {
+		rcPublishThrottled();
+	}
+}, 50);
+
+var body = document.querySelector('body');
+var stickLeft = document.querySelector('.stick-left');
+var stickRight = document.querySelector('.stick-right');
+
+var controlMessage = { x: 0, y: 0, z: 0, r: 0 };
+
+function onStickTouchMove(touch) {
+	var target = touch.target;
+	var targetRect = target.getBoundingClientRect();
+	var stickPointer = target.querySelector('.stick-pointer');
+
+	var offsetX = touch.clientX - targetRect.left;
+	var offsetY = touch.clientY - targetRect.top;
+
+	var x = 2 * offsetX / targetRect.width;
+	var y = 2 * offsetY / targetRect.height;
+
+	x = Math.max(0, x);
+	x = Math.min(2, x);
+	y = Math.max(0, y);
+	y = Math.min(2, y);
+
+	stickPointer.style.left = (x * 50) + '%';
+	stickPointer.style.top = (y * 50) + '%';
+
+	x -= 1;
+	y = 1 - y;
+
+	if (target.matches('.stick-left')) {
+		controlMessage.z = Math.round((y + 1) * 500);
+		controlMessage.r = Math.round(x * 1000);
+	} else if (target.matches('.stick-right')) {
+		controlMessage.x = Math.round(y * 1000);
+		controlMessage.y = Math.round(x * 1000);
+	}
+}
+
+body.addEventListener('touchmove', function (e) {
+	e.preventDefault();
+});
+
+function stickTouchStart(e) {
+	setControlMode();
+	callNativeApp('controlStart');
+	onStickTouchMove(e.changedTouches[0]);
+	rcPublishThrottled();
+	e.stopPropagation();
+	e.preventDefault();
+}
+
+function stickTouchMove(e) {
+	onStickTouchMove(e.changedTouches[0]);
+	rcPublishThrottled();
+	e.stopPropagation();
+	e.preventDefault();
+}
+
+function stickTouchEnd(e) {
+	var pointer = e.target.querySelector('.stick-pointer');
+	if (e.target.matches('.stick-left')) {
+		controlMessage.r = 0;
+		pointer.style.left = '50%';
+	} else if (e.target.matches('.stick-right')) {
+		controlMessage.x = 0;
+		controlMessage.y = 0;
+		pointer.style.left = '50%';
+		pointer.style.top = '50%';
+	}
+	rcPublishThrottled();
+}
+
+stickLeft.addEventListener('touchmove', stickTouchMove);
+stickRight.addEventListener('touchmove', stickTouchMove);
+stickLeft.addEventListener('touchstart', stickTouchStart);
+stickRight.addEventListener('touchstart', stickTouchStart);
+stickLeft.addEventListener('touchend', stickTouchEnd);
+stickRight.addEventListener('touchend', stickTouchEnd);

apps/ios/cleverrc/telemetry.js

@@ -0,0 +1,115 @@
+var url = 'ws://192.168.11.1:9090';
+var modeEl = document.querySelector('.telemetry .mode');
+var batteryEl = document.querySelector('.battery');
+var notificationsEl = document.querySelector('.notifications');
+
+var ros = new ROSLIB.Ros({ url: url });
+
+ros.on('connection', function () {
+	body.classList.add('connected');
+});
+
+ros.on('close', function () {
+	body.classList.remove('connected');
+	modeEl.classList.remove('armed');
+	modeEl.innerHTML = 'DISCONNECTED';
+	batteryEl.innerHTML = '';
+	setTimeout(function() {
+		modeEl.innerHTML = 'RECONNECTING';
+		ros.connect(url);
+	}, 2000);
+});
+
+var fcuState;
+
+new ROSLIB.Topic({
+	ros: ros,
+	name: '/state_latched',
+	messageType: 'mavros_msgs/State'
+}).subscribe(function(message) {
+	body.classList.toggle('fcu-disconnected', !message.connected);
+	body.classList.toggle('armed', message.armed);
+	fcuState = message;
+	modeEl.classList.toggle('armed', fcuState.armed);
+	modeEl.innerHTML = message.connected ? fcuState.mode : 'DISCONNECTED FROM FCU';
+	console.log('state', message);
+});
+
+function notifyLowBattery() {
+	console.log('low battery');
+	callNativeApp('lowBattery');
+	body.classList.remove('low-battery');
+	void body.offsetWidth; // trick for repeating animation
+	body.classList.add('low-battery');
+}
+
+notifyLowBatteryThrottled = throttle(notifyLowBattery, 15000);
+
+new ROSLIB.Topic({
+	ros: ros,
+	name: '/mavros/battery',
+	messageType: 'sensor_msgs/BatteryState',
+	throttle_rate: 5000
+}).subscribe(function(message) {
+	var LOW_BATTERY = 3.8;
+	batteryEl.innerHTML = (message.cell_voltage[0].toFixed(2) + ' V') || '';
+
+	if (message.cell_voltage[0] < LOW_BATTERY) {
+		notifyLowBatteryThrottled();
+	} else {
+		body.classList.remove('low-battery');
+	}
+});
+
+var notificationHideTimer;
+
+function notify(text, severity) {
+	var item = document.createElement('div');
+	item.innerHTML = text;
+	item.classList.add('item');
+	notificationsEl.prepend(item);
+	var itemHeight = item.offsetHeight;
+	notificationsEl.classList.remove('anim');
+	notificationsEl.style.transform = 'translateY(' + -itemHeight + 'px)';
+	setTimeout(function() {
+		notificationsEl.classList.add('anim');
+		notificationsEl.style.transform = 'translateY(0)';
+	}, 0);
+	clearTimeout(notificationHideTimer);
+	notificationHideTimer = setTimeout(function() {
+		notificationsEl.style.transform = '';
+		notificationsEl.classList.add('hidden');
+		setTimeout(function() {
+			notificationsEl.innerHTML = '';
+		}, 210);
+	}, 4000);
+}
+
+new ROSLIB.Topic({
+	ros: ros,
+	name: '/mavros/statustext/recv',
+	messageType: 'mavros_msgs/StatusText'
+}).subscribe(function(message) {
+	var BLACKLIST = ['CMD: ', 'PR: ', 'DROPPED', 'Clock skew detected', 'MANUAL CONTROL LOST'];
+	if (message.severity <= 4) {
+		if (BLACKLIST.some(function(e) {
+				return message.text.indexOf(e) != -1;
+			})) {
+			console.log('Filtered out message ' + message.text);
+			return;
+		}
+		notify(message.text, message.severity);
+		callNativeApp('notification', message);
+	}
+});
+
+var setMode = new ROSLIB.Service({
+	ros: ros,
+	name : '/mavros/set_mode',
+	serviceType : 'mavros_msgs/SetMode'
+});
+
+function setControlMode() {
+	var CONTROL_MODE = 'STABILIZED';
+	setMode.callService(new ROSLIB.ServiceRequest({ custom_mode: CONTROL_MODE }));
+}

aruco_pose/src/aruco_pose.cpp

@@ -16,6 +16,11 @@
 #include <stdio.h>
 #include <tf/transform_broadcaster.h>
 
+#include "util.h"
+
+using std::vector;
+using std::string;
+
 namespace aruco_pose {
 
 class ArucoPose : public nodelet::Nodelet {
@@ -100,6 +105,45 @@ cv::Ptr<cv::aruco::Board> createCustomGridBoard(int markersX, int markersY, floa
     return res;
 }
 
+cv::Ptr<cv::aruco::Board> createCustomBoard(std::map<string, string> markers, const cv::Ptr<cv::aruco::Dictionary> &dictionary) {
+    cv::Ptr<cv::aruco::Board> res = cv::makePtr<cv::aruco::Board>();
+
+    res->dictionary = dictionary;
+
+    size_t total_markers = markers.size();
+    res->ids.reserve(total_markers);
+    res->objPoints.reserve(total_markers);
+
+    // Generate ids and objPoints
+    for(auto const &marker : markers) {
+        res->ids.push_back(std::stoi(marker.first));
+
+        vector<string> parts;
+        parts = strSplit(marker.second, " ");
+
+        float size = std::stof(parts.at(0));
+        float x = std::stof(parts.at(1));
+        float y = std::stof(parts.at(2));
+        float z = std::stof(parts.at(3));
+        float yaw = std::stof(parts.at(4));
+        float pitch = std::stof(parts.at(5));
+        float roll = std::stof(parts.at(6));
+
+        vector<cv::Point3f> corners;
+        corners.resize(4);
+        corners[0] = cv::Point3f(x - size / 2, y + size / 2, 0);
+        corners[1] = corners[0] + cv::Point3f(size, 0, 0);
+        corners[2] = corners[0] + cv::Point3f(size, -size, 0);
+        corners[3] = corners[0] + cv::Point3f(0, -size, 0);
+
+        // TODO: process yaw, pitch, roll
+
+        res->objPoints.push_back(corners);
+    }
+
+    return res;
+}
+
 #include "fix.cpp"
 
 void ArucoPose::createBoard()
@@ -178,8 +222,22 @@ void ArucoPose::createBoard()
     }
     else if (type == "custom")
     {
-        // Not implemented yet
-        ROS_FATAL("Custom boards are not implemented yet.");
+        ROS_INFO("Initialize a custom board");
+
+        std::map<string, string> markers;
+        nh_priv_.getParam("markers", markers);
+
+        board = createCustomBoard(markers, dictionary);
+
+        ROS_INFO("Draw a custom board");
+        // Publish map image for debugging
+        _drawPlanarBoard(board,  cv::Size(2000, 2000), map_image, 50, 1);
+
+        cv::cvtColor(map_image, map_image, CV_GRAY2BGR);
+
+        map_image_msg.encoding = sensor_msgs::image_encodings::BGR8;
+        map_image_msg.image = map_image;
+        map_image_pub.publish(map_image_msg.toImageMsg());
     }
     else
     {
@@ -214,10 +272,12 @@ void ArucoPose::detect(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs:
     cv::Mat distCoeffs(8, 1, CV_64F);
     parseCameraInfo(cinfo, cameraMatrix, distCoeffs);
 
+    int valid = 0;
+    cv::Mat rvec, tvec, objPoints;
+
     if (markerIds.size() > 0) {
 
-        cv::Mat rvec, tvec, objPoints;
-        int valid = _estimatePoseBoard(markerCorners, markerIds, board, cameraMatrix, distCoeffs,
+        valid = _estimatePoseBoard(markerCorners, markerIds, board, cameraMatrix, distCoeffs,
                                        rvec, tvec, false, objPoints);
 
         if (valid) {
@@ -243,18 +303,16 @@ void ArucoPose::detect(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs:
             ref_transform.setOrigin(ref_vector3);
             ref_transform.setRotation(q);
             br.sendTransform(ref_transform);
-
-            if(img_pub.getNumSubscribers() > 0)
-            {
-                // Publish debug image
-                cv::aruco::drawDetectedMarkers(image, markerCorners, markerIds);
-                cv::aruco::drawAxis(image, cameraMatrix, distCoeffs, rvec, tvec, 0.3);
-            }
         }
     }
 
     if (img_pub.getNumSubscribers() > 0)
     {
+        cv::aruco::drawDetectedMarkers(image, markerCorners, markerIds); // draw markers
+        if (valid)
+        {
+            cv::aruco::drawAxis(image, cameraMatrix, distCoeffs, rvec, tvec, 0.3); // draw board axis
+        }
         cv_bridge::CvImage out_msg;
         out_msg.header.frame_id = msg->header.frame_id;
         out_msg.header.stamp = msg->header.stamp;

aruco_pose/src/util.h

@@ -0,0 +1,20 @@
+#pragma once
+
+#include <vector>
+#include <string>
+
+std::vector<std::string> strSplit(const std::string& str, const std::string& delim)
+{
+    std::vector<std::string> tokens;
+    size_t prev = 0, pos = 0;
+    do
+    {
+        pos = str.find(delim, prev);
+        if (pos == std::string::npos) pos = str.length();
+        std::string token = str.substr(prev, pos-prev);
+        if (!token.empty()) tokens.push_back(token);
+        prev = pos + delim.length();
+    }
+    while (pos < str.length() && prev < str.length());
+    return tokens;
+}

book.json

@@ -3,5 +3,20 @@
     "description": "Конструктор квадрокоптера «Клевер»",
     "author": "Copter Express",
     "language": "ru",
-    "plugins": ["youtube", "richquotes"]
-}
+    "root": "docs/",
+    "plugins": ["youtube", "richquotes", "versions", "yametrika"],
+    "pluginsConfig": {
+        "disqus": {
+            "shortName": "coex-clever"
+        },
+        "versions": {
+            "type": "tags"
+        },
+        "yametrika": {
+            "id": 49359238
+        }
+    },
+    "structure": {
+        "glossary": "_GLOSSARY.md"
+    }
+}

clever/CMakeLists.txt

@@ -11,6 +11,7 @@ find_package(catkin REQUIRED COMPONENTS
   nodelet
   pluginlib
   roscpp
+  genmsg
   rospy
   std_msgs
   message_generation
@@ -68,15 +69,11 @@ add_service_files(
   FILES
   GetTelemetry.srv
   Navigate.srv
+  NavigateGlobal.srv
   SetPosition.srv
-  SetPositionYawRate.srv
   SetPositionGlobal.srv
-  SetPositionGlobalYawRate.srv
   SetVelocity.srv
-  SetVelocityYawRate.srv
   SetAttitude.srv
-  SetAttitudeYawRate.srv
-  SetRatesYaw.srv
   SetRates.srv
 )
 
@@ -157,7 +154,9 @@ add_library(aruco_vpe
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/clever_node.cpp)
+add_executable(rc src/rc.cpp)
+
+target_link_libraries(rc ${catkin_LIBRARIES})
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the

clever/launch/clever.launch

@@ -8,6 +8,7 @@
     <arg name="rosbridge" default="true"/>
     <arg name="main_camera" default="true"/>
     <arg name="aruco" default="false"/>
+    <arg name="rc" value="true"/>
     <arg name="fpv_camera" default="false"/>
     <arg name="fpv_camera_device" default="/dev/v4l/by-id/usb-HD_Camera_Manufacturer_USB_2.0_Camera-video-index0"/>
     <arg name="arduino" default="false"/>
@@ -46,7 +47,10 @@
     <include file="$(find clever)/launch/main_camera.launch" if="$(arg main_camera)"/>
 
     <!-- rosbridge -->
-    <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" if="$(arg rosbridge)"/>
+    <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" if="$(eval rosbridge or rc)"/>
+
+    <!-- rc backend -->
+    <node name="rc" pkg="clever" type="rc" output="screen" if="$(arg rc)"/>
 
     <!-- FPV video streaming -->
     <include file="$(find clever)/launch/fpv_camera.launch" if="$(arg fpv_camera)">

clever/launch/mavros.launch

@@ -3,8 +3,9 @@
     <arg name="fcu_ip" default="127.0.0.1"/>
     <arg name="gcs_bridge" default="tcp"/>
     <arg name="viz" default="true"/>
+    <arg name="respawn" default="true"/>
 
-    <node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" output="screen">
+    <node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" respawn="$(arg respawn)" respawn_delay="5" output="screen">
             <!-- UART connection -->
             <param name="fcu_url" value="/dev/ttyAMA0:921600" if="$(eval fcu_conn is None or fcu_conn == 'uart')"/>
 
@@ -16,8 +17,12 @@
 
             <!-- gcs bridge -->
             <param name="gcs_url" value="tcp-l://0.0.0.0:5760" if="$(eval gcs_bridge == 'tcp')"/>
-            <param name="gcs_url" value="udp://@192.168.11.14:14550" if="$(eval gcs_bridge == 'udp')"/> <!-- TODO: fix -->
+            <param name="gcs_url" value="udp://0.0.0.0:14550@14550" if="$(eval gcs_bridge == 'udp')"/>
+            <param name="gcs_url" value="udp-b://$(env ROS_IP):14550@14550" if="$(eval gcs_bridge == 'udp-b')"/>
+            <param name="gcs_url" value="udp-pb://$(env ROS_IP):14550@14550" if="$(eval gcs_bridge == 'udp-pb')"/>
             <param name="gcs_url" value="" if="$(eval not gcs_bridge)"/>
+            <param name="gcs_quiet_mode" value="true"/>
+            <param name="conn/timeout" value="8"/>
 
             <!-- default px4 params -->
             <rosparam command="load" file="$(find mavros)/launch/px4_config.yaml"/>
@@ -28,6 +33,7 @@
             <param name="local_position/tf/frame_id" value="local_origin"/>
             <param name="local_position/tf/child_frame_id" value="fcu"/>
             <param name="global_position/tf/send" value="false"/>
+            <param name="imu/frame_id" value="fcu"/>
             <rosparam param="plugin_blacklist">
                 - safety_area
                 - image_pub
@@ -37,7 +43,6 @@
                 - 3dr_radio
                 - actuator_control
                 - hil_controls
-                - manual_control
                 - vfr_hud
                 - px4flow
                 - vision_speed_estimate

clever/requirements.txt

@@ -1,2 +1,3 @@
 flask==0.12.2
 geopy==1.11.0
+pymavlink==2.2.10

clever/src/aruco_vpe.cpp

@@ -20,14 +20,15 @@ using std::string;
 class ArucoVPE : public nodelet::Nodelet
 {
 public:
-    ArucoVPE() : 
+    ArucoVPE() :
         last_published_(0),
         lookup_timeout_(0.05)
     {}
 
-private:    
+private:
     ros::Time last_published_;
     ros::Duration lookup_timeout_;
+    ros::Duration reset_timeout_;
     ros::Publisher vision_position_pub_;
     ros::Timer dummy_vision_timer_;
     string aruco_orientation_;
@@ -42,6 +43,9 @@ private:
         bool use_mocap;
         nh_priv.param<bool>("use_mocap", use_mocap, false);
         nh_priv.param<bool>("reset_vpe", reset_vpe_, !use_mocap);
+        double reset_timeout;
+        nh_priv.param("reset_timeout", reset_timeout, 2.0);
+        reset_timeout_ = ros::Duration(reset_timeout);
 
         static ros::Subscriber pose_sub = nh.subscribe("mavros/local_position/pose", 1, &ArucoVPE::handlePose, this);
         static ros::Subscriber aruco_pose_sub = nh.subscribe("aruco_pose/pose", 1, &ArucoVPE::handleArucoPose, this);
@@ -100,7 +104,7 @@ private:
             br.sendTransform(t);
 
             if (last_published_.toSec() == 0 || // no vpe has been posted
-               (reset_vpe_ && (ros::Time::now() - last_published_ > ros::Duration(2)))) // vpe origin outdated
+               (reset_vpe_ && (ros::Time::now() - last_published_ > reset_timeout_))) // vpe origin outdated
             {
                 ROS_INFO("Reset VPE");
                 t = tf_buffer.lookupTransform("local_origin", "aruco_map_vision", stamp, lookup_timeout_);

clever/src/global_local.py

@@ -9,8 +9,15 @@ from sensor_msgs.msg import NavSatFix
 def global_to_local(lat, lon):
     # TODO: refactor
 
-    position_global = rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=5)
-    pose = rospy.wait_for_message('mavros/local_position/pose', PoseStamped, timeout=5)
+    try:
+        position_global = rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=0.5)
+    except rospy.exceptions.ROSException:
+        raise Exception('No global position')
+
+    try:
+        pose = rospy.wait_for_message('mavros/local_position/pose', PoseStamped, timeout=0.5)
+    except rospy.exceptions.ROSException:
+        raise Exception('No local position')
 
     d = math.hypot(pose.pose.position.x, pose.pose.position.y)
 

clever/src/rc.cpp

@@ -0,0 +1,173 @@
+// CLEVER mobile remote control support:
+// * Send ManualControl messages through UDP
+// * `latched_state` topic
+
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <errno.h>
+#include <thread>
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "mavros_msgs/State.h"
+#include "mavros_msgs/ManualControl.h"
+#include "mavros_msgs/Mavlink.h"
+
+struct ControlMessage
+{
+    int16_t x, y, z, r;
+} __attribute__((packed));
+
+class RC
+{
+public:
+    RC():
+        nh(),
+        nh_priv("~")
+    {
+        // Create socket thread
+        std::thread t(&RC::socketThread, this);
+        t.detach();
+
+        std::thread gcst(&RC::fakeGCSThread, this);
+        gcst.detach();
+
+        initLatchedState();
+    }
+
+private:
+    ros::NodeHandle nh, nh_priv;
+    ros::Subscriber state_sub;
+    ros::Publisher state_pub;
+    ros::Timer state_timeout_timer;
+    ros::Time last_manual_control{0};
+    mavros_msgs::StateConstPtr state_msg;
+
+    void handleState(const mavros_msgs::StateConstPtr& state)
+    {
+        state_timeout_timer.setPeriod(ros::Duration(3), true);
+        state_timeout_timer.start();
+
+        if (!state_msg ||
+            state->connected != state_msg->connected ||
+            state->mode != state_msg->mode ||
+            state->armed != state_msg->armed) {
+                state_msg = state;
+                state_pub.publish(state_msg);
+            }
+    }
+
+    void stateTimedOut(const ros::TimerEvent&)
+    {
+        ROS_INFO("State timeout");
+        mavros_msgs::State unknown_state;
+        state_pub.publish(unknown_state);
+        state_msg = nullptr;
+    }
+
+    void initLatchedState()
+    {
+        state_sub = nh.subscribe("mavros/state", 1, &RC::handleState, this);
+        state_pub = nh.advertise<mavros_msgs::State>("state_latched", 1, true);
+        state_timeout_timer = nh.createTimer(ros::Duration(0), &RC::stateTimedOut, this, true, false);
+
+        // Publish initial state
+        mavros_msgs::State unknown_state;
+        state_pub.publish(unknown_state);
+    }
+
+    void fakeGCSThread()
+    {
+        // Awful workaround for fixing PX4 not sending STATUSTEXTs
+        // if there is no GCS hearbeats.
+        // TODO: use timer
+        // TODO: remove, when PX4 get this fixed.
+        ros::Publisher mavlink_pub = nh.advertise<mavros_msgs::Mavlink>("mavlink/to", 1);
+
+        // HEARTBEAT from GCS message
+        mavros_msgs::Mavlink hb;
+        hb.framing_status = mavros_msgs::Mavlink::FRAMING_OK;
+        hb.magic = mavros_msgs::Mavlink::MAVLINK_V20;
+        hb.len = 9;
+        hb.incompat_flags = 0;
+        hb.compat_flags = 0;
+        hb.seq = 0;
+        hb.sysid = 255;
+        hb.compid = 0;
+        hb.checksum = 26460;
+        hb.payload64.push_back(342282393542983680);
+        hb.payload64.push_back(3);
+
+        ros::Rate rate(1);
+        while (ros::ok()) {
+            if (ros::Time::now() - last_manual_control < ros::Duration(8)) {
+                mavlink_pub.publish(hb);
+            }
+            rate.sleep();
+        }
+    }
+
+    int createSocket(int port)
+    {
+        int sockfd = socket(AF_INET, SOCK_DGRAM, 0);
+
+        sockaddr_in sin;
+        sin.sin_family = AF_INET;
+        sin.sin_addr.s_addr = htonl(INADDR_ANY);
+        sin.sin_port = htons(port);
+
+        if (bind(sockfd, (sockaddr *)&sin, sizeof(sin)) < 0) {
+            ROS_FATAL("socket bind error: %s", strerror(errno));
+            close(sockfd);
+            ros::shutdown();
+        }
+
+        return sockfd;
+    }
+
+    void socketThread()
+    {
+        int port;
+        nh_priv.param("port", port, 35602);
+        int sockfd = createSocket(port);
+
+        char buff[9999];
+
+        ros::Publisher manual_control_pub = nh.advertise<mavros_msgs::ManualControl>("mavros/manual_control/send", 1);
+        mavros_msgs::ManualControl manual_control_msg;
+
+        sockaddr_in client_addr;
+        socklen_t client_addr_size = sizeof(client_addr);
+
+        ROS_INFO("UDP RC initialized on port %d", port);
+
+        while (true) {
+            // read next UDP packet
+            int bsize = recvfrom(sockfd, &buff[0], sizeof(buff) - 1, 0, (sockaddr *) &client_addr, &client_addr_size);
+
+            if (bsize < 0) {
+                ROS_ERROR("recvfrom() error: %s", strerror(errno));
+            } else if (bsize != sizeof(ControlMessage)) {
+                ROS_ERROR_THROTTLE(30, "Wrong UDP packet size: %d", bsize);
+            }
+
+            // unpack message
+            // warning: ignore endianness, so the code is platform-dependent
+            ControlMessage *msg = (ControlMessage *)buff;
+
+            manual_control_msg.x = msg->x;
+            manual_control_msg.y = msg->y;
+            manual_control_msg.z = msg->z;
+            manual_control_msg.r = msg->r;
+            manual_control_pub.publish(manual_control_msg);
+
+            last_manual_control = ros::Time::now();
+        }
+    }
+};
+
+int main(int argc, char **argv)
+{
+    ros::init(argc, argv, "rc");
+    RC rc;
+    ros::spin();
+}

clever/src/selfcheck.py

@@ -0,0 +1,109 @@
+#!/usr/bin/env python
+
+import rospy
+from std_srvs.srv import Trigger
+from sensor_msgs.msg import Image, CameraInfo, NavSatFix, Imu
+from mavros_msgs.msg import State
+from geometry_msgs.msg import PoseStamped, TwistStamped
+
+
+# TODO: roscore is running
+# TODO: local_origin, fcu, fcu_horiz
+# TODO: rc service
+# TODO: perform commander check in PX4
+
+
+rospy.init_node('selfcheck')
+
+
+def check_fcu():
+    try:
+        state = rospy.wait_for_message('mavros/state', State, timeout=3)
+        if not state.connected:
+            raise Exception('No connection to the FCU')
+    except rospy.ROSException:
+        raise Exception('No MAVROS state')
+
+
+def check_camera(name):
+    try:
+        rospy.wait_for_message(name + '/image_raw', Image, timeout=3)
+    except rospy.ROSException:
+        raise Exception('No %s camera images' % name)
+    try:
+        rospy.wait_for_message(name + '/camera_info', CameraInfo, timeout=3)
+    except rospy.ROSException:
+        raise Exception('No %s camera camera info' % name)
+
+def check_aruco():
+    try:
+        rospy.wait_for_message('aruco_pose/debug', Image, timeout=3)
+    except rospy.ROSException:
+        raise Exception('No aruco_pose/debug topic')
+
+
+def check_simpleoffboard():
+    try:
+        rospy.wait_for_service('navigate', timeout=3)
+        rospy.wait_for_service('get_telemetry', timeout=3)
+        rospy.wait_for_service('land', timeout=3)
+    except rospy.ROSException:
+        raise Exception('No simple_offboard services')
+
+
+def check_imu():
+    try:
+        rospy.wait_for_message('mavros/imu/data', Imu, timeout=3)
+    except rospy.ROSException:
+        raise Exception('No IMU data')
+
+
+def check_local_position():
+    try:
+        rospy.wait_for_message('mavros/local_position/pose', PoseStamped, timeout=3)
+    except rospy.ROSException:
+        raise Exception('No local position')
+
+
+def check_velocity():
+    try:
+        velocity = rospy.wait_for_message('mavros/local_position/velocity', TwistStamped, timeout=3)
+        horiz = math.hypot(velocity.twist.linear.x, velocity.twist.linear.y)
+        vert = velocity.twist.linear.z
+        if abs(horiz) > 0.1:
+            raise Exception('Horizontal velocity estimation is %s m/s; is the copter staying still?' % horiz)
+        if abs(vert) > 0.1:
+            raise Exception('Vertical velocity estimation is %s m/s; is the copter staying still?' % vert)
+    except rospy.ROSException:
+        raise Exception('No velocity estimation')
+
+
+def check_global_position():
+    try:
+        rospy.wait_for_message('mavros/global_position/global', PoseStamped, timeout=3)
+    except rospy.ROSException:
+        raise Exception('No global position')
+
+
+def check(name, fn):
+    try:
+        fn()
+        rospy.loginfo('%s: OK', name)
+    except BaseException as e:
+        rospy.logwarn('%s: %s', name, str(e))
+
+
+def selfcheck():
+    check('FCU', check_fcu)
+    check('Simple offboard node', check_simpleoffboard)
+    check('Main camera node', lambda: check_camera('main_camera'))
+    check('aruco_pose/debug topic', check_aruco)
+    check('IMU data', check_imu)
+    check('Local position', check_local_position)
+    check('Velocity estimation', check_velocity)
+    check('Global position (GPS)', check_global_position)
+
+
+if __name__ == '__main__':
+    rospy.loginfo('Performing selfcheck...')
+    selfcheck()

clever/src/simple_offboard.py

@@ -2,7 +2,8 @@
 from __future__ import division
 
 import rospy
-from geometry_msgs.msg import TransformStamped, PoseStamped, Point, PointStamped, Vector3, Vector3Stamped, TwistStamped, QuaternionStamped
+from geometry_msgs.msg import TransformStamped, PoseStamped, Point, PointStamped, Vector3, \
+    Vector3Stamped, TwistStamped, QuaternionStamped
 from sensor_msgs.msg import NavSatFix, BatteryState
 import tf2_ros
 import tf2_geometry_msgs
@@ -75,12 +76,19 @@ rospy.Subscriber('/mavros/global_position/global', NavSatFix, global_position_up
 rospy.Subscriber('/mavros/battery', BatteryState, battery_update)
 
 
+PT = PositionTarget
+AT = AttitudeTarget
 AUTO_OFFBOARD = rospy.get_param('~auto_offboard', True)
 AUTO_ARM = AUTO_OFFBOARD and rospy.get_param('~auto_arm', True)
 OFFBOARD_TIMEOUT = rospy.Duration(rospy.get_param('~offboard_timeout', 3))
 ARM_TIMEOUT = rospy.Duration(rospy.get_param('~arm_timeout', 5))
+LOCAL_POSITION_TIMEOUT = rospy.Duration(rospy.get_param('~local_position_timeout', 0.5))
+NAVIGATE_AFTER_ARMED = rospy.Duration(rospy.get_param('~navigate_after_armed', False))
 TRANSFORM_TIMEOUT = rospy.Duration(rospy.get_param('~transform_timeout', 3))
 SETPOINT_RATE = rospy.get_param('~setpoint_rate', 30)
+LOCAL_FRAME = rospy.get_param('~local_frame', 'local_origin')
+LAND_MODE = rospy.get_param('~land_mode', 'AUTO.LAND')
+LAND_TIMEOUT = rospy.Duration(rospy.get_param('~land_timeout', 2))
 
 
 def offboard_and_arm():
@@ -95,6 +103,7 @@ def offboard_and_arm():
                 break
             if rospy.get_rostime() - start > OFFBOARD_TIMEOUT:
                 raise Exception('OFFBOARD request timed out')
+            rospy.sleep(0.1)
 
     if AUTO_ARM and not state.armed:
         rospy.loginfo('Arming')
@@ -104,9 +113,9 @@ def offboard_and_arm():
         while True:
             if state.armed:
                 return True
-
             if rospy.get_rostime() - start > ARM_TIMEOUT:
                 raise Exception('Arming timed out')
+            rospy.sleep(0.1)
 
 
 ps = PoseStamped()
@@ -149,143 +158,84 @@ def get_publisher_and_message(req, stamp, continued=True, update_frame=True):
     ps.header.stamp = stamp
     vs.header.stamp = stamp
 
-    if isinstance(req, srv.NavigateRequest):
+    if isinstance(req, (srv.NavigateRequest, srv.NavigateGlobalRequest)):
         global current_nav_start, current_nav_start_stamp, current_nav_finish
 
         if update_frame:
-            ps.header.frame_id = req.frame_id or 'local_origin'
-            ps.pose.position = Point(req.x, req.y, req.z)
+            ps.header.frame_id = req.frame_id or LOCAL_FRAME
+            ps.pose.position = Point(getattr(req, 'x', 0), getattr(req, 'y', 0), req.z)
             ps.pose.orientation = orientation_from_euler(0, 0, req.yaw)
-            current_nav_finish = tf_buffer.transform(ps, 'local_origin', TRANSFORM_TIMEOUT)
+            current_nav_finish = tf_buffer.transform(ps, LOCAL_FRAME, TRANSFORM_TIMEOUT)
+
+            if isinstance(req, srv.NavigateGlobalRequest):
+                # Recalculate x and y from lat and lon
+                current_nav_finish.pose.position.x, current_nav_finish.pose.position.y = \
+                    global_to_local(req.lat, req.lon)
 
         if not continued:
             current_nav_start = pose.pose.position
             current_nav_start_stamp = stamp
 
+        if NAVIGATE_AFTER_ARMED and not state.armed:
+            current_nav_start_stamp = stamp
+
         setpoint = get_navigate_setpoint(stamp, current_nav_start, current_nav_finish.pose.position,
                                          current_nav_start_stamp, req.speed)
 
-        msg = PositionTarget(coordinate_frame=PositionTarget.FRAME_LOCAL_NED,
-                             type_mask=PositionTarget.IGNORE_VX + PositionTarget.IGNORE_VY + PositionTarget.IGNORE_VZ +
-                                       PositionTarget.IGNORE_AFX + PositionTarget.IGNORE_AFY + PositionTarget.IGNORE_AFZ +
-                                       PositionTarget.IGNORE_YAW_RATE,
+        yaw_rate_flag = math.isnan(req.yaw)
+        msg = PositionTarget(coordinate_frame=PT.FRAME_LOCAL_NED,
+                             type_mask=PT.IGNORE_VX + PT.IGNORE_VY + PT.IGNORE_VZ +
+                                       PT.IGNORE_AFX + PT.IGNORE_AFY + PT.IGNORE_AFZ +
+                                       (PT.IGNORE_YAW if yaw_rate_flag else PT.IGNORE_YAW_RATE),
                              position=setpoint,
-                             yaw=euler_from_orientation(current_nav_finish.pose.orientation)[2] - math.pi / 2)
-        return position_pub, msg
-
-    elif isinstance(req, srv.SetPositionRequest):
-        ps.header.frame_id = req.frame_id or 'local_origin'
-        ps.pose.position = Point(req.x, req.y, req.z)
-        ps.pose.orientation = orientation_from_euler(0, 0, req.yaw)
-        pose_local = tf_buffer.transform(ps, 'local_origin', TRANSFORM_TIMEOUT)
-
-        msg = PositionTarget(coordinate_frame=PositionTarget.FRAME_LOCAL_NED,
-                             type_mask=PositionTarget.IGNORE_VX + PositionTarget.IGNORE_VY + PositionTarget.IGNORE_VZ +
-                                       PositionTarget.IGNORE_AFX + PositionTarget.IGNORE_AFY + PositionTarget.IGNORE_AFZ +
-                                       PositionTarget.IGNORE_YAW_RATE,
-                             position=pose_local.pose.position,
-                             yaw=euler_from_orientation(pose_local.pose.orientation)[2] - math.pi / 2)
-        return position_pub, msg
-
-    elif isinstance(req, srv.SetPositionYawRateRequest):
-        ps.header.frame_id = req.frame_id or 'local_origin'
-        ps.pose.position = Point(req.x, req.y, req.z)
-        pose_local = tf_buffer.transform(ps, 'local_origin', TRANSFORM_TIMEOUT)
-        msg = PositionTarget(coordinate_frame=PositionTarget.FRAME_LOCAL_NED,
-                             type_mask=PositionTarget.IGNORE_VX + PositionTarget.IGNORE_VY + PositionTarget.IGNORE_VZ +
-                                       PositionTarget.IGNORE_AFX + PositionTarget.IGNORE_AFY + PositionTarget.IGNORE_AFZ +
-                                       PositionTarget.IGNORE_YAW,
-                             position=pose_local.pose.position,
+                             yaw=euler_from_orientation(current_nav_finish.pose.orientation, 'szyx')[2] - math.pi / 2,
                              yaw_rate=req.yaw_rate)
         return position_pub, msg
 
-    elif isinstance(req, srv.SetPositionGlobalRequest):
-        x, y = global_to_local(req.lat, req.lon)
-
-        ps.header.frame_id = req.frame_id or 'local_origin'
-        ps.pose.position = Point(0, 0, req.z)
+    elif isinstance(req, (srv.SetPositionRequest, srv.SetPositionGlobalRequest)):
+        ps.header.frame_id = req.frame_id or LOCAL_FRAME
+        ps.pose.position = Point(getattr(req, 'x', 0), getattr(req, 'y', 0), req.z)
         ps.pose.orientation = orientation_from_euler(0, 0, req.yaw)
-        pose_local = tf_buffer.transform(ps, 'local_origin', TRANSFORM_TIMEOUT)
-        pose_local.pose.position.x = x
-        pose_local.pose.position.y = y
+        pose_local = tf_buffer.transform(ps, LOCAL_FRAME, TRANSFORM_TIMEOUT)
 
-        msg = PositionTarget(coordinate_frame=PositionTarget.FRAME_LOCAL_NED,
-                             type_mask=PositionTarget.IGNORE_VX + PositionTarget.IGNORE_VY + PositionTarget.IGNORE_VZ +
-                                       PositionTarget.IGNORE_AFX + PositionTarget.IGNORE_AFY + PositionTarget.IGNORE_AFZ +
-                                       PositionTarget.IGNORE_YAW_RATE,
-                             position=pose_local.pose.position,
-                             yaw=euler_from_orientation(pose_local.pose.orientation)[2] - math.pi / 2)
-        return position_pub, msg
-
-    elif isinstance(req, srv.SetPositionGlobalYawRateRequest):
-        x, y = global_to_local(req.lat, req.lon)
-
-        ps.header.frame_id = req.frame_id or 'local_origin'
-        ps.pose.position = Point(0, 0, req.z)
-        pose_local = tf_buffer.transform(ps, 'local_origin', TRANSFORM_TIMEOUT)
-        pose_local.pose.position.x = x
-        pose_local.pose.position.y = y
-
-        msg = PositionTarget(coordinate_frame=PositionTarget.FRAME_LOCAL_NED,
-                             type_mask=PositionTarget.IGNORE_VX + PositionTarget.IGNORE_VY + PositionTarget.IGNORE_VZ +
-                                       PositionTarget.IGNORE_AFX + PositionTarget.IGNORE_AFY + PositionTarget.IGNORE_AFZ +
-                                       PositionTarget.IGNORE_YAW,
+        if isinstance(req, srv.SetPositionGlobalRequest):
+            pose_local.pose.position.x, pose_local.pose.position.y = global_to_local(req.lat, req.lon)
+
+        yaw_rate_flag = math.isnan(req.yaw)
+        msg = PositionTarget(coordinate_frame=PT.FRAME_LOCAL_NED,
+                             type_mask=PT.IGNORE_VX + PT.IGNORE_VY + PT.IGNORE_VZ +
+                                       PT.IGNORE_AFX + PT.IGNORE_AFY + PT.IGNORE_AFZ +
+                                       (PT.IGNORE_YAW if yaw_rate_flag else PT.IGNORE_YAW_RATE),
                              position=pose_local.pose.position,
+                             yaw=euler_from_orientation(pose_local.pose.orientation, 'szyx')[2] - math.pi / 2,
                              yaw_rate=req.yaw_rate)
         return position_pub, msg
 
     elif isinstance(req, srv.SetVelocityRequest):
         vs.vector = Vector3(req.vx, req.vy, req.vz)
-        vs.header.frame_id = req.frame_id or 'local_origin'
-        ps.header.frame_id = req.frame_id or 'local_origin'
+        vs.header.frame_id = req.frame_id or LOCAL_FRAME
+        ps.header.frame_id = req.frame_id or LOCAL_FRAME
         ps.pose.orientation = orientation_from_euler(0, 0, req.yaw)
-        pose_local = tf_buffer.transform(ps, 'local_origin', TRANSFORM_TIMEOUT)
-        vector_local = tf_buffer.transform(vs, 'local_origin', TRANSFORM_TIMEOUT)
-        msg = PositionTarget(coordinate_frame=PositionTarget.FRAME_LOCAL_NED,
-                             type_mask=PositionTarget.IGNORE_PX + PositionTarget.IGNORE_PY + PositionTarget.IGNORE_PZ +
-                                       PositionTarget.IGNORE_AFX + PositionTarget.IGNORE_AFY + PositionTarget.IGNORE_AFZ +
-                                       PositionTarget.IGNORE_YAW_RATE,
-                             velocity=vector_local.vector,
-                             yaw=euler_from_orientation(pose_local.pose.orientation)[2] - math.pi / 2)
-        return position_pub, msg
+        pose_local = tf_buffer.transform(ps, LOCAL_FRAME, TRANSFORM_TIMEOUT)
+        vector_local = tf_buffer.transform(vs, LOCAL_FRAME, TRANSFORM_TIMEOUT)
 
-    elif isinstance(req, srv.SetVelocityYawRateRequest):
-        vs.vector = Vector3(req.vx, req.vy, req.vz)
-        vs.header.frame_id = req.frame_id or 'local_origin'
-        vector_local = tf_buffer.transform(vs, 'local_origin', TRANSFORM_TIMEOUT)
-        msg = PositionTarget(coordinate_frame=PositionTarget.FRAME_LOCAL_NED,
-                             type_mask=PositionTarget.IGNORE_PX + PositionTarget.IGNORE_PY + PositionTarget.IGNORE_PZ +
-                                       PositionTarget.IGNORE_AFX + PositionTarget.IGNORE_AFY + PositionTarget.IGNORE_AFZ +
-                                       PositionTarget.IGNORE_YAW,
+        yaw_rate_flag = math.isnan(req.yaw)
+        msg = PositionTarget(coordinate_frame=PT.FRAME_LOCAL_NED,
+                             type_mask=PT.IGNORE_PX + PT.IGNORE_PY + PT.IGNORE_PZ +
+                                       PT.IGNORE_AFX + PT.IGNORE_AFY + PT.IGNORE_AFZ +
+                                       (PT.IGNORE_YAW if yaw_rate_flag else PT.IGNORE_YAW_RATE),
                              velocity=vector_local.vector,
+                             yaw=euler_from_orientation(pose_local.pose.orientation, 'szyx')[2] - math.pi / 2,
                              yaw_rate=req.yaw_rate)
         return position_pub, msg
 
     elif isinstance(req, srv.SetAttitudeRequest):
-        ps.header.frame_id = req.frame_id or 'local_origin'
+        ps.header.frame_id = req.frame_id or LOCAL_FRAME
         ps.pose.orientation = orientation_from_euler(req.roll, req.pitch, req.yaw)
-        pose_local = tf_buffer.transform(ps, 'local_origin', TRANSFORM_TIMEOUT)
+        pose_local = tf_buffer.transform(ps, LOCAL_FRAME, TRANSFORM_TIMEOUT)
         msg = AttitudeTarget(orientation=pose_local.pose.orientation,
                              thrust=req.thrust,
-                             type_mask=AttitudeTarget.IGNORE_YAW_RATE + AttitudeTarget.IGNORE_PITCH_RATE +
-                                       AttitudeTarget.IGNORE_ROLL_RATE)
-        return attitude_pub, msg
-
-    elif isinstance(req, srv.SetAttitudeYawRateRequest):
-        msg = AttitudeTarget(orientation=orientation_from_euler(req.roll, req.pitch, 0),
-                             thrust=req.thrust,
-                             type_mask=AttitudeTarget.IGNORE_PITCH_RATE + AttitudeTarget.IGNORE_ROLL_RATE)
-        msg.body_rate.z = req.yaw_rate
-        return attitude_pub, msg
-
-    elif isinstance(req, srv.SetRatesYawRequest):
-        ps.header.frame_id = req.frame_id or 'local_origin'
-        ps.pose.orientation = orientation_from_euler(0, 0, req.yaw)
-        pose_local = tf_buffer.transform(ps, 'local_origin', TRANSFORM_TIMEOUT)
-        msg = AttitudeTarget(orientation=pose_local.pose.orientation,
-                             thrust=req.thrust,
-                             type_mask=AttitudeTarget.IGNORE_YAW_RATE,
-                             body_rate=Vector3(req.roll_rate, req.pitch_rate, 0))
+                             type_mask=AT.IGNORE_YAW_RATE + AT.IGNORE_PITCH_RATE + AT.IGNORE_ROLL_RATE)
         return attitude_pub, msg
 
     elif isinstance(req, srv.SetRatesRequest):
@@ -311,10 +261,23 @@ def handle(req):
         rospy.logwarn('No connection to the FCU')
         return {'message': 'No connection to the FCU'}
 
-    if isinstance(req, srv.NavigateRequest) and req.speed <= 0:
+    if isinstance(req, (srv.NavigateRequest, srv.NavigateGlobalRequest)) and req.speed <= 0:
         rospy.logwarn('Navigate speed must be greater than zero, %s passed')
         return {'message': 'Navigate speed must be greater than zero, %s passed' % req.speed}
 
+    if isinstance(req, (srv.NavigateRequest, srv.NavigateGlobalRequest)) and \
+            (pose is None or rospy.get_rostime() - pose.header.stamp > LOCAL_POSITION_TIMEOUT):
+        rospy.logwarn('No local position')
+        return {'message': 'No local position'}
+
+    if getattr(req, 'yaw_rate', 0) != 0 and not math.isnan(getattr(req, 'yaw')):
+        rospy.logwarn('Yaw value should be NaN for setting yaw rate')
+        return {'message': 'Yaw value should be NaN for setting yaw rate'}
+
+    if math.isnan(getattr(req, 'yaw', 0)) and math.isnan(getattr(req, 'yaw_rate', 0)):
+        rospy.logwarn('Both yaw and yaw_rate cannot be NaN')
+        return {'message': 'Both yaw and yaw_rate cannot be NaN'}
+
     try:
         with handle_lock:
                 stamp = rospy.get_rostime()
@@ -340,6 +303,25 @@ def handle(req):
         return {'success': False, 'message': str(e)}
 
 
+def land(req):
+    if not state or not state.connected:
+        rospy.logwarn('No connection to the FCU')
+        return {'message': 'No connection to the FCU'}
+
+    rospy.loginfo('Set %s mode', LAND_MODE)
+    res = set_mode(custom_mode=LAND_MODE)
+    if not res.mode_sent:
+        return {'message': 'Cannot send %s mode request' % LAND_MODE}
+
+    start = rospy.get_rostime()
+    while True:
+        if state.mode == LAND_MODE:
+            return {'success': True}
+        if rospy.get_rostime() - start > LAND_TIMEOUT:
+            return {'message': '%s mode request timed out' % LAND_MODE}
+        rospy.sleep(0.1)
+
+
 def release(req):
     global current_pub
     current_pub = None
@@ -348,27 +330,25 @@ def release(req):
 
 
 rospy.Service('navigate', srv.Navigate, handle)
+rospy.Service('navigate_global', srv.NavigateGlobal, handle)
 rospy.Service('set_position', srv.SetPosition, handle)
-rospy.Service('set_position/yaw_rate', srv.SetPositionYawRate, handle)
 rospy.Service('set_position_global', srv.SetPositionGlobal, handle)
-rospy.Service('set_position_global/yaw_rate', srv.SetPositionGlobalYawRate, handle)
 rospy.Service('set_velocity', srv.SetVelocity, handle)
-rospy.Service('set_velocity/yaw_rate', srv.SetVelocityYawRate, handle)
 rospy.Service('set_attitude', srv.SetAttitude, handle)
-rospy.Service('set_attitude/yaw_rate', srv.SetAttitudeYawRate, handle)
 rospy.Service('set_rates', srv.SetRates, handle)
-rospy.Service('set_rates/yaw', srv.SetRatesYaw, handle)
+rospy.Service('land', Trigger, land)
 rospy.Service('release', Trigger, release)
 
 
 def get_telemetry(req):
     res = {
-        'frame_id': req.frame_id or 'local_origin',
+        'frame_id': req.frame_id or LOCAL_FRAME,
         'x': float('nan'),
         'y': float('nan'),
         'z': float('nan'),
         'lat': float('nan'),
         'lon': float('nan'),
+        'alt': float('nan'),
         'vx': float('nan'),
         'vy': float('nan'),
         'vz': float('nan'),
@@ -381,7 +361,7 @@ def get_telemetry(req):
         'voltage': float('nan'),
         'cell_voltage': float('nan')
     }
-    frame_id = req.frame_id or 'local_origin'
+    frame_id = req.frame_id or LOCAL_FRAME
     stamp = rospy.get_rostime()
 
     if pose:
@@ -389,11 +369,9 @@ def get_telemetry(req):
         res['x'] = p.pose.position.x
         res['y'] = p.pose.position.y
         res['z'] = p.pose.position.z
-        # Get yaw in the request's frame_in
-        _, _, res['yaw'] = euler_from_orientation(p.pose.orientation)
-        # Calculate pitch and roll as angles between the pose and fcu_horiz
-        attitude_pose = tf_buffer.transform(pose, 'fcu_horiz', TRANSFORM_TIMEOUT)
-        res['roll'], res['pitch'], _ = euler_from_orientation(attitude_pose.pose.orientation)
+
+        # Calculate roll pitch and yaw as Tait-Bryan angles, order z-y-x
+        res['yaw'], res['pitch'], res['roll'] = euler_from_orientation(p.pose.orientation, axes='rzyx')
 
     if velocity:
         v = Vector3Stamped()
@@ -404,11 +382,15 @@ def get_telemetry(req):
         res['vx'] = linear.vector.x
         res['vy'] = linear.vector.y
         res['vz'] = linear.vector.z
-        # TODO pitch_rate, roll_rate, yaw_rate
+
+        res['yaw_rate'] = velocity.twist.angular.z
+        res['pitch_rate'] = velocity.twist.angular.y
+        res['roll_rate'] = velocity.twist.angular.x
 
     if global_position and stamp - global_position.header.stamp < rospy.Duration(5):
         res['lat'] = global_position.latitude
         res['lon'] = global_position.longitude
+        res['alt'] = global_position.altitude
 
     if state:
         res['connected'] = state.connected
@@ -441,7 +423,8 @@ def start_loop():
                 try:
                     stamp = rospy.get_rostime()
 
-                    if getattr(current_req, 'update_frame', False) or isinstance(current_req, srv.NavigateRequest):
+                    if getattr(current_req, 'update_frame', False) or \
+                            isinstance(current_req, (srv.NavigateRequest, srv.NavigateGlobalRequest)):
                         current_pub, current_msg = get_publisher_and_message(current_req, stamp, True,
                                                                              getattr(current_req, 'update_frame', False))
 
@@ -451,7 +434,7 @@ def start_loop():
                     # For monitoring
                     if isinstance(current_msg, PositionTarget):
                         p = PoseStamped()
-                        p.header.frame_id = 'local_origin'
+                        p.header.frame_id = LOCAL_FRAME
                         p.header.stamp = stamp
                         p.pose.position = current_msg.position
                         p.pose.orientation = orientation_from_euler(0, 0, current_msg.yaw + math.pi / 2)

clever/src/util.py

@@ -6,8 +6,8 @@ def orientation_from_quaternion(q):
     return Quaternion(*q)
 
 
-def orientation_from_euler(roll, pitch, yaw):
-    q = t.quaternion_from_euler(roll, pitch, yaw)
+def orientation_from_euler(roll, pitch, yaw, axes='rzyx'):
+    q = t.quaternion_from_euler(roll, pitch, yaw, axes)
     return orientation_from_quaternion(q)
 
 
@@ -15,9 +15,9 @@ def quaternion_from_orientation(o):
     return o.x, o.y, o.z, o.w
 
 
-def euler_from_orientation(o):
+def euler_from_orientation(o, axes='rzyx'):
     q = quaternion_from_orientation(o)
-    return t.euler_from_quaternion(q)
+    return t.euler_from_quaternion(q, axes)
 
 
 def vector3_from_point(p):

clever/srv/GetTelemetry.srv

@@ -7,8 +7,9 @@ string mode
 float32 x
 float32 y
 float32 z
-float32 lat
-float32 lon
+float64 lat
+float64 lon
+float32 alt
 float32 vx
 float32 vy
 float32 vz