Merge pull request #52 from urpylka/master

image_builder fix-pack
Merge branch 'master' into master
2026-06-01 07:29:32 +00:00 · 2018-06-21 23:44:08 +03:00 · 2018-06-21 23:43:35 +03:00 · 2018-06-21 21:54:47 +03:00 · 2018-06-21 18:24:02 +03:00 · 2018-06-21 18:24:02 +03:00
56 changed files with 1547 additions and 309 deletions
--- a/.editorconfig
+++ b/.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
--- a/README.md
+++ b/README.md
@@ -4,16 +4,15 @@

 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.

-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 [Robokross-2016](https://www.youtube.com/watch?v=dGbDaz_VmYU) and [Robokross-2017](https://youtu.be/AQnd2CRczbQ) competitions and many others.
+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.

-**The main documentation in Russian is available on our Gitbook:**
-**https://copterexpress.gitbooks.io/clever/content/**
+**The main documentation in Russian is available [on our Gitbook](https://clever.copterexpress.com/).**

 Use it to learn how to assemble, configure, pilot and program autonomous CLEVER drone.

 ## Preconfigured RPi 3 image

-Preconfigured image for Raspberry Pi 3 with installed and configured software, ready to fly, is available [here](https://copterexpress.gitbooks.io/clever/content/docs/microsd_images.html).
+**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).**

 Image includes:

@@ -24,7 +23,7 @@ Image includes:
 * mavros
 * CLEVER software bundle for autonomous drone control

-API description in Russian for autonomous flights is available [here](https://copterexpress.gitbooks.io/clever/simple_offboard.html).
+API description (in Russian) for autonomous flights is available [on GitBook](https://copterexpress.gitbooks.io/clever/simple_offboard.html).

 ## Manual installation

--- a/apps/ios/cleverrc.xcodeproj/project.pbxproj
+++ b/apps/ios/cleverrc.xcodeproj/project.pbxproj
@@ -139,7 +139,7 @@
 			isa = PBXProject;
 			attributes = {
 				LastSwiftUpdateCheck = 0920;
-				LastUpgradeCheck = 0920;
+				LastUpgradeCheck = 0930;
 				ORGANIZATIONNAME = "Copter Express";
 				TargetAttributes = {
 					7C51653C20139237004D1F4D = {
@@ -294,6 +294,7 @@
 				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;
@@ -301,6 +302,7 @@
 				CLANG_WARN_INFINITE_RECURSION = YES;
 				CLANG_WARN_INT_CONVERSION = YES;
 				CLANG_WARN_NON_LITERAL_NULL_CONVERSION = YES;
+				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;
@@ -351,6 +353,7 @@
 				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;
@@ -358,6 +361,7 @@
 				CLANG_WARN_INFINITE_RECURSION = YES;
 				CLANG_WARN_INT_CONVERSION = YES;
 				CLANG_WARN_NON_LITERAL_NULL_CONVERSION = YES;
+				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;
--- a/apps/ios/cleverrc.xcworkspace/xcshareddata/IDEWorkspaceChecks.plist
+++ b/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>
--- a/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/Contents.json
+++ b/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/Contents.json
@@ -1,95 +1,111 @@
 {
  "images" : [
    {
-      "idiom" : "iphone",
      "size" : "20x20",
+      "idiom" : "iphone",
+      "filename" : "cleverrc40.png",
      "scale" : "2x"
    },
    {
-      "idiom" : "iphone",
      "size" : "20x20",
+      "idiom" : "iphone",
+      "filename" : "clever60.png",
      "scale" : "3x"
    },
    {
-      "idiom" : "iphone",
      "size" : "29x29",
+      "idiom" : "iphone",
+      "filename" : "clever58.png",
      "scale" : "2x"
    },
    {
-      "idiom" : "iphone",
      "size" : "29x29",
+      "idiom" : "iphone",
+      "filename" : "clever87.png",
      "scale" : "3x"
    },
    {
-      "idiom" : "iphone",
      "size" : "40x40",
+      "idiom" : "iphone",
+      "filename" : "clever80.png",
      "scale" : "2x"
    },
    {
-      "idiom" : "iphone",
      "size" : "40x40",
+      "idiom" : "iphone",
+      "filename" : "clever120.png",
      "scale" : "3x"
    },
    {
      "size" : "60x60",
      "idiom" : "iphone",
-      "filename" : "cleverios180.png",
+      "filename" : "clever120-1.png",
      "scale" : "2x"
    },
    {
      "size" : "60x60",
      "idiom" : "iphone",
-      "filename" : "cleverios180-1.png",
+      "filename" : "clever180-1.png",
      "scale" : "3x"
    },
    {
-      "idiom" : "ipad",
      "size" : "20x20",
+      "idiom" : "ipad",
+      "filename" : "clever20.png",
      "scale" : "1x"
    },
    {
-      "idiom" : "ipad",
      "size" : "20x20",
+      "idiom" : "ipad",
+      "filename" : "clever40.png",
      "scale" : "2x"
    },
    {
-      "idiom" : "ipad",
      "size" : "29x29",
+      "idiom" : "ipad",
+      "filename" : "clever29.png",
      "scale" : "1x"
    },
    {
-      "idiom" : "ipad",
      "size" : "29x29",
+      "idiom" : "ipad",
+      "filename" : "clever58-1.png",
      "scale" : "2x"
    },
    {
-      "idiom" : "ipad",
      "size" : "40x40",
+      "idiom" : "ipad",
+      "filename" : "clever40-1.png",
      "scale" : "1x"
    },
    {
-      "idiom" : "ipad",
      "size" : "40x40",
+      "idiom" : "ipad",
+      "filename" : "clever80-1.png",
      "scale" : "2x"
    },
    {
-      "idiom" : "ipad",
      "size" : "76x76",
+      "idiom" : "ipad",
+      "filename" : "clever76.png",
      "scale" : "1x"
    },
    {
-      "idiom" : "ipad",
      "size" : "76x76",
+      "idiom" : "ipad",
+      "filename" : "clever152.png",
      "scale" : "2x"
    },
    {
-      "idiom" : "ipad",
      "size" : "83.5x83.5",
+      "idiom" : "ipad",
+      "filename" : "clever167.png",
      "scale" : "2x"
    },
    {
-      "idiom" : "ios-marketing",
      "size" : "1024x1024",
+      "idiom" : "ios-marketing",
+      "filename" : "clever1024.png",
      "scale" : "1x"
    }
  ],
--- a/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever1024.png
+++ b/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever1024.png
--- a/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever120-1.png
+++ b/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever120-1.png
--- a/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever120.png
+++ b/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever120.png
--- a/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever152.png
+++ b/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever152.png
--- a/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever167.png
+++ b/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever167.png
--- a/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever180-1.png
+++ b/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever180-1.png
--- a/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever20.png
+++ b/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever20.png
--- a/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever29.png
+++ b/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever29.png
--- a/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever40-1.png
+++ b/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever40-1.png
--- a/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever40.png
+++ b/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever40.png
--- a/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever58-1.png
+++ b/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever58-1.png
--- a/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever58.png
+++ b/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever58.png
--- a/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever60.png
+++ b/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever60.png
--- a/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever76.png
+++ b/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever76.png
--- a/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever80-1.png
+++ b/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever80-1.png
--- a/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever80.png
+++ b/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever80.png
--- a/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever87.png
+++ b/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/clever87.png
--- a/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/cleverios180-1.png
+++ b/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/cleverios180-1.png
--- a/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/cleverios180.png
+++ b/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/cleverios180.png
--- a/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/cleverrc40.png
+++ b/apps/ios/cleverrc/Assets.xcassets/AppIcon.appiconset/cleverrc40.png
--- a/apps/ios/cleverrc/Info.plist
+++ b/apps/ios/cleverrc/Info.plist
@@ -5,7 +5,7 @@
 	<key>CFBundleDevelopmentRegion</key>
 	<string>$(DEVELOPMENT_LANGUAGE)</string>
 	<key>CFBundleDisplayName</key>
-	<string>Clever RC</string>
+	<string>CLEVER RC</string>
 	<key>CFBundleExecutable</key>
 	<string>$(EXECUTABLE_NAME)</string>
 	<key>CFBundleIdentifier</key>
@@ -19,7 +19,7 @@
 	<key>CFBundleShortVersionString</key>
 	<string>1.0</string>
 	<key>CFBundleVersion</key>
-	<string>1</string>
+	<string>3</string>
 	<key>LSRequiresIPhoneOS</key>
 	<true/>
 	<key>UILaunchStoryboardName</key>
--- a/apps/ios/cleverrc/ViewController.swift
+++ b/apps/ios/cleverrc/ViewController.swift
@@ -10,12 +10,13 @@ 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)
+    let udpSocket = UDPClient(address: "255.255.255.255", port: 35602)

    override func viewDidLoad() {
        super.viewDidLoad()
@@ -24,6 +25,7 @@ class ViewController: UIViewController, WKScriptMessageHandler {
        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")
@@ -56,7 +58,7 @@ class ViewController: UIViewController, WKScriptMessageHandler {
        } else if (message.name == "lowBattery") {
            // Got low battery notification
            print("Low battery notification")
-            notificationGenerator.notificationOccurred(.warning)
+            tapticNotify()
        } else if (message.name == "notification") {
            // Got notification message
            print(message)
@@ -71,4 +73,22 @@ class ViewController: UIViewController, WKScriptMessageHandler {
            }
        }
    }
+
+    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
+            }
+        }
+    }
 }
--- a/apps/ios/cleverrc/main.css
+++ b/apps/ios/cleverrc/main.css
@@ -7,6 +7,10 @@ html, body {
 	color: rgba(255, 255, 255, 0.9);
 }

+* {
+    user-select: none;
+}
+
 .stick {
 	border-radius: 50%;
 	width: 5cm;
--- a/apps/ios/cleverrc/telemetry.js
+++ b/apps/ios/cleverrc/telemetry.js
@@ -65,8 +65,8 @@ new ROSLIB.Topic({
 	name: '/rosout_agg',
 	messageType: 'rosgraph_msgs/Log'
 }).subscribe(function(message) {
-	var BLACKLIST = ['CMD: ', 'PR: ', 'DROPPED'];
-	if(message.level >= 4) {
+	var BLACKLIST = ['CMD: ', 'PR: ', 'DROPPED', 'Clock skew detected', 'MANUAL CONTROL LOST'];
+	if (message.level >= 4) {
 		if (BLACKLIST.some(function(e) {
 				return message.msg.indexOf(e) != -1;
 			})) {
--- a/book.json
+++ b/book.json
@@ -4,7 +4,7 @@
    "author": "Copter Express",
    "language": "ru",
    "root": "docs/",
-    "plugins": ["youtube", "richquotes", "disqus", "versions"],
+    "plugins": ["youtube", "richquotes", "versions"],
    "pluginsConfig": {
        "disqus": {
            "shortName": "coex-clever"
--- a/clever/launch/mavros.launch
+++ b/clever/launch/mavros.launch
@@ -17,9 +17,11 @@

            <!-- 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-b://192.168.11.1:14550@" if="$(eval gcs_bridge == 'udp-b')"/>
+            <param name="gcs_url" value="udp://0.0.0.0:14550@14550" if="$(eval gcs_bridge == 'udp')"/>
+            <param name="gcs_url" value="udp-pb://192.168.11.1:14550@" if="$(eval gcs_bridge == 'udp-b')"/>
            <param name="gcs_url" value="" if="$(eval not gcs_bridge)"/>
+            <param name="gcs_quiet_mode" value="true"/>
+            <param name="conn/timeout" value="10"/>

            <!-- default px4 params -->
            <rosparam command="load" file="$(find mavros)/launch/px4_config.yaml"/>
--- a/clever/src/simple_offboard.py
+++ b/clever/src/simple_offboard.py
@@ -188,7 +188,7 @@ def get_publisher_and_message(req, stamp, continued=True, update_frame=True):
                                       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,
+                             yaw=euler_from_orientation(current_nav_finish.pose.orientation, 'szyx')[2] - math.pi / 2,
                             yaw_rate=req.yaw_rate)
        return position_pub, msg

@@ -207,7 +207,7 @@ def get_publisher_and_message(req, stamp, continued=True, update_frame=True):
                                       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)[2] - math.pi / 2,
+                             yaw=euler_from_orientation(pose_local.pose.orientation, 'szyx')[2] - math.pi / 2,
                             yaw_rate=req.yaw_rate)
        return position_pub, msg

@@ -225,7 +225,7 @@ def get_publisher_and_message(req, stamp, continued=True, update_frame=True):
                                       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)[2] - math.pi / 2,
+                             yaw=euler_from_orientation(pose_local.pose.orientation, 'szyx')[2] - math.pi / 2,
                             yaw_rate=req.yaw_rate)
        return position_pub, msg

@@ -368,11 +368,9 @@ 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()
@@ -383,7 +381,10 @@ 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
--- a/clever/src/util.py
+++ b/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):
--- a/docs/SUMMARY.md
+++ b/docs/SUMMARY.md
@@ -27,6 +27,8 @@
 * [Работа с SITL](sitl.md)
 * [Подключение GPS](gps.md)
 * [Использование 3G-модема](3g.md)
+* [Устройство сети RPi](network.md)
+* [Работа с логами PX4](flight_logs.md)
 * Учебник
  * [Уроки](lessons.md)
  * [Учебно-методическое пособие](metod.md)
--- a/docs/aruco.md
+++ b/docs/aruco.md
@@ -110,7 +110,7 @@ _Примечание_: указанное выше определение пр

 Для правильной работы Vision Position Estimation необходимо \(через [QGroundControl](gcs_bridge.md)\) убедиться, что:

-* Для PixHawk: Установлена прошивка с LPE \(local position estimator\). Для PixRacer: параметр `SYS_MC_EST_GROUP` установлен в `local_position_estimator, attitude_estimator_q`.
+* Для PixHawk: Установлена прошивка с LPE \(local position estimator\). Для PixHawk необходимо [скачать прошивку `px4fmu-v2_lpe.px4`](https://github.com/PX4/Firmware/releases). Для PixRacer параметр `SYS_MC_EST_GROUP` должен быть установлен в `local_position_estimator, attitude_estimator_q`.
 * В параметре `LPE_FUSION` включены **только** флажки `vision position`, `vision yaw`, `land detector`. Итоговое значение _28_.
 * Выключен компас: `ATT_W_MAG` = 0
 * Вес угла по рысканью по зрению: `ATT_W_EXT_HDG` = 0.5
--- a/docs/assets/bridge_udp.png
+++ b/docs/assets/bridge_udp.png
--- a/docs/assets/download-log.png
+++ b/docs/assets/download-log.png
--- a/docs/assets/flightplot.png
+++ b/docs/assets/flightplot.png
--- a/docs/assets/listener.png
+++ b/docs/assets/listener.png
--- a/docs/flight_logs.md
+++ b/docs/flight_logs.md
@@ -0,0 +1,55 @@
+Логи и топики PX4
+===
+
+Для детального анализа поведения прошивки PX4 можно просмотреть полетные логи. Полетные логи представляют собой сообщения в [uORB-топиках](https://dev.px4.io/en/middleware/uorb.html), записанные в файл с раширением `.ulg`. Лог-файл можно скачать с помощью QGroundControl по Wi-Fi или USB во вкладке *Log Download*:
+
+![](assets/download-log.png)
+
+Также необходимые `.ulg`-файлы можно скопировать непосредственно с MicroSD-карты, находившейся в полетном контроллере.
+
+Анализ
+---
+
+Лог-файл можно анализировать с помомщью программы FlightPlot. Актуальную версию программы можно [скачать](https://github.com/PX4/FlightPlot/releases) на GitHub.
+
+В программе можно просмотреть полный список записанных топиков (*Fields List*). В нем нужно выбрать необходимые топики, после чего они появятся на графике:
+
+![](assets/flightplot.png)
+
+Основные топики в PX4
+---
+
+[uORB](https://dev.px4.io/en/middleware/uorb.html) представляет собой pubsub механизм, аналогичный ROS-топикам, однако сильно упрощенный и подходящий для embedded-среды.
+
+Полный список топиков можно узнать в исходном коде проекта [в каталоге `msg`](https://github.com/PX4/Firmware/tree/master/msg).
+
+Список некоторых топиков:
+
+* **vehicle_status** – состояние коптера (режим и т. д.);
+* **vehicle_local_position** – локальная позиция коптера;
+* **vehicle_attitude** – ориентация коптера;
+* **vehicle_local_position_setpoint** – целевая точка (setpoint) коптера по позиции;
+* **vehicle_global_position** – глобальная позиция коптера;
+* **vehicle_vision_position** – полученная визуальная позиция коптера, аналог MAVLink пакета `VISION_POSITION_ESTIMATE` или MAVROS-топика `/mavros/vision_position_estimate/pose`;
+* **att_pos_mocap** – полученная MOCAP-позиция коптера, аналог MAVLink пакета `ATT_POS_MOCAP` или MAVROS-топика `/mavros/mocap/pose`;
+* **actuator_controls** – сигналы на моторы;
+* **vehicle_land_detected** – статус Land-detector'а;
+
+Мониторинг топиков в режиме реального времени
+---
+
+Для более новых версий платы PixHawk (`px4fmu-v3`), а также для плат PixRacer, в прошивку включен модуль `topic_listener`, который позволяет просматривать значения топиков в режиме реального времени (в том числе в полете).
+
+Для ее использования нужно выбрать вкладку Mavlink Console в QGroundControl:
+
+![](assets/listener.png)
+
+Команда `list_topics` выводит список топиков, доступных для просмотра (включена только в [SITL](sitl.md)).
+
+Команда `listener <название топика>` выводит текущее значение в топике. Существует третий опциональный параметр, который определяет количество сообщений, которые необходимо вывести.
+
+Примеры команд:
+
+`listener vehicle_local_position`
+
+`listener vehicle_attitude 5`
--- a/docs/gcs_bridge.md
+++ b/docs/gcs_bridge.md
@@ -1,30 +1,46 @@
 Использование QGroundControl через Wi-Fi
 ===

-Возможен контроль, управление и настройка полетного контроллера квадрокоптера с помощью программы QGroundControl по Wi-Fi. Для этого необходимо подключиться к Wi-Fi сети `CLEVER-xxxx`.
+Возможен контроль, управление и настройка полетного контроллера квадрокоптера с помощью программы QGroundControl по Wi-Fi.
+Для этого необходимо подключиться к Wi-Fi сети `CLEVER-xxxx`.
+
+После чего в launch-файле Клевера `/home/pi/catkin_ws/src/clever/clever/launch/clever.launch` выбрать один из преднастроенных режимов: TCP, UDP, UDP broadcast.
+
+После изменения launch-файла необходимо перезагрузить сервис clever:
+
+```(bash)
+sudo systemctl restart clever
+```
+
+Подробнее о возможных настройках `gcs_bridge` [на сайте пакета mavros](http://wiki.ros.org/mavros#Connection_URL).

 TCP-бридж
 ---

-Необходимо убедиться с в launch-файле Клевера (`~/catkin_ws/src/clever/clever/launch/clever.launch`) включен TCP GCS Bridge:
-
+Изменить параметр gcs_bridge в launch-файле:
 ```xml
 <arg name="gcs_bridge" default="tcp"/>
 ```

-При изменени launch-файла необходимо перезагрузить сервис `clever`:
-
-```bash
-sudo systemctl restart clever
-```
-
 Затем в программе QGroundControl нужно выбрать Application Settings -> Comm Links -> Add. Создать подключение со следующими настройками:

 ![](assets/bridge_tcp.png)

-Затем необходимо выбрать в списке подключений "Clever" и нажать "Connect". После этого можно будет настраивать, калибровать и просматривать состояние квадкоптера без проводов:
+Затем необходимо выбрать в списке подключений "Clever" и нажать "Connect".

-![](assets/qground.png)
+UDP-бридж
+---
+
+Изменить параметр gcs_bridge в launch-файле:
+```xml
+<arg name="gcs_bridge" default="udp"/>
+```
+
+Затем в программе QGroundControl нужно выбрать Application Settings -> Comm Links -> Add. Создать подключение со следующими настройками:
+
+![](assets/bridge_udp.png)
+
+Затем необходимо выбрать в списке подключений "CLEVER" и нажать "Connect".

 UDP broadcast-бридж
 ---
@@ -35,17 +51,11 @@ UDP broadcast-бридж
 <arg name="gcs_bridge" default="udp-b"/>
 ```

-При изменени launch-файла необходимо перезагрузить сервис `clever`:
+При использовании UDB broadcast-бриджа достаточно подключиться к Wi-Fi сети Клевера. QGroundControl должен подключиться к коптеру автоматически. Также при использовании UDP broadcast возможна работа с коптером одновременно с нескольких устройств (например, одновременно QGroundControl на ноутбуке и смартфоне).

-```bash
-sudo systemctl restart clever
-```
+> **Note** UDP broadcast-бридж является наиболее быстрым соединением, но связь в нем менее стабильная: иногда могут возникать проблемы при загрузке миссии на коптер, а также при калибровке сенсоров.

-При использовании UDB broadcast-бриджа достаточно подключиться к Wi-Fi сети Клевера. QGroundControl должен подключиться к коптеру автоматически.
+___
+После успешного подключения можно настраивать, калибровать и просматривать состояние квадкоптера без проводов.

-> **Note** UDP broadcast-бридж работает быстрее, чем TCP-бридж, но связь в нем менее стабильная: иногда могут возникать проблемы при загрузке миссии на коптер, а также при калибровке сенсоров.
-
-UDP-бридж
---
-
-TODO
+![](assets/qground.png)
--- a/docs/microsd_images.md
+++ b/docs/microsd_images.md
@@ -1,21 +1,15 @@
 # Образ для Raspberry Pi

-## Установка образа операционной системы на MicroSD карту
-
-Для установки образа воспользуйтесь утилитой [Etcher](https://etcher.io):
-
-[![Etcher](https://etcher.io/static/screenshot.gif)
-](https://etcher.io)
-
-## Образы
-
 На образе установлены:

 * Raspbian Stretch
 * ROS Kinetic
-* [Пакет ПО для Клевера](https://github.com/CopterExpress/clever_bundle)
+* [Пакет ПО для Клевера](https://github.com/CopterExpress/clever)

-|Версия|Дата|Ссылка|Примечания|
-|-|-|-|-|
-|0.2|24.01.18|[Скачать](https://yadi.sk/d/n_Krnor03RkntU)|–|
-|0.1|15.12.17|[Скачать](https://drive.google.com/open?id=1Gtj_0iB7dFuorfUKAUUV8ImjmkZCkvc7)|–|
+**Свежую версию образа можно [скачать на GitHub в разделе Releases](https://github.com/CopterExpress/clever/releases).**
+
+## Установка образа ОС на MicroSD карту
+
+Для установки образа воспользуйтесь утилитой [Etcher](https://etcher.io).
+
+[![Etcher](https://etcher.io/static/screenshot.gif)](https://etcher.io)
--- a/docs/modes.md
+++ b/docs/modes.md
@@ -22,9 +22,9 @@ PX4

 ### С использованием дополнительных датчиков (ASSISTED)

-* **ALTCTL** — управление скоростью изменения высоты полета, углами по тангажу и крену и угловой скоростью по рысканью. Используется барометр (или иной датчик высоты).
+* **ALTCTL** (ALTITUDE) — управление скоростью изменения высоты полета, углами по тангажу и крену и угловой скоростью по рысканью. Используется барометр (или иной датчик высоты).

-* **POSCTL** — управление скоростями набора высоты, скоростью движения вперед/назад и вправо/влево, угловой скоростью по рысканью. Наиболее простой для полетов режим. Используется барометр, GPS, компьютерное зрение, другие датчики.
+* **POSCTL** (POSITION) — управление скоростями набора высоты, скоростью движения вперед/назад и вправо/влево, угловой скоростью по рысканью. Наиболее простой для полетов режим. Используется барометр, GPS, компьютерное зрение, другие датчики.


 ### Автоматический полет (AUTO)
--- a/docs/network.md
+++ b/docs/network.md
@@ -0,0 +1,282 @@
+# Настройка Wi-Fi
+
+Wi-Fi адаптер на Raspberry Pi имеет два основных режима работы:
+1. **Режим клиента** – RPi подключается к существующей Wi-Fi сети.
+2. **Режим точки доступа** – RPi создает Wi-Fi сеть, к которой вы можете подключиться.
+
+При использовании [образа для RPi](microsd_images.md) по умолчанию Wi-Fi адаптер работает в режиме точки доступа.
+
+## Инструкция для переключения адаптера в режим клиента
+
+1\. Выключите службу `dnsmasq`.
+
+```bash
+sudo systemctl stop dnsmasq
+sudo systemctl disable dnsmasq
+```
+
+2\. Включите получение IP адреса на беспроводном интерфейсе DHCP клиентом.
+
+Для этого удалите следующие строки
+
+```
+interface wlan0
+static ip_address=192.168.11.1/24
+```
+
+из файла `/etc/dhcpcd.conf` вручную или введите следующие команды.
+
+```bash
+sudo sed -i 's/interface wlan0//' /etc/dhcpcd.conf
+sudo sed -i 's/static ip_address=192.168.11.1\/24//' /etc/dhcpcd.conf
+```
+
+3\. Настройте `wpa_supplicant` для подключения к существующей точке доступа.
+
+```bash
+cat << EOF | sudo tee /etc/wpa_supplicant/wpa_supplicant.conf
+ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
+update_config=1
+country=GB
+
+network={
+    ssid="CLEVER"
+    psk="cleverwifi"
+}
+
+EOF
+```
+
+где `CLEVER` – название сети, а `cleverwifi` – пароль.
+
+4\. Перезапустите службу `dhcpcd`.
+
+```bash
+sudo systemctl restart dhcpcd
+```
+
+## Инструкция для переключения адаптера в режим точки доступа
+
+1\. Включите статический IP адрес на беспроводном интерфейсе.
+
+Для этого добавьте следующие строки
+
+```
+interface wlan0
+static ip_address=192.168.11.1/24
+```
+
+в файл `/etc/dhcpcd.conf` вручную или введите следующую команду
+
+```bash
+cat << EOF | sudo tee -a /etc/dhcpcd.conf
+interface wlan0
+static ip_address=192.168.11.1/24
+
+EOF
+```
+
+2\. Настроите wpa_supplicant на работу в режиме точки доступа.
+
+```bash
+cat << EOF | sudo tee /etc/wpa_supplicant/wpa_supplicant.conf
+ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
+update_config=1
+country=GB
+
+network={
+    ssid="CLEVER-$(head -c 100 /dev/urandom | xxd -ps -c 100 | sed -e 's/[^0-9]//g' | cut -c 1-4)"
+    psk="cleverwifi"
+    mode=2
+    proto=RSN
+    key_mgmt=WPA-PSK
+    pairwise=CCMP
+    group=CCMP
+    auth_alg=OPEN
+}
+
+EOF
+```
+
+3\. Перезагрузите службу `dhcpcd`.
+
+```bash
+sudo systemctl restart dhcpcd
+```
+
+4\. Включите службу `dnsmasq`.
+
+```bash
+sudo systemctl enable dnsmasq
+sudo systemctl start dnsmasq
+```
+
+___
+
+Ниже вы можете узнать больше о том, как устроена работа с сетью на RPi.
+
+# Устройство сети RPi
+Работа сети на образе **2017-11-29-raspbian-stretch-lite** поддерживается двумя предустановленными службами:
+* **networking** — служба включает все сетевые интерфейсы в момент запуска [5].
+* **dhcpcd** — служба обеспечивает настройку адресации и маршрутризации на интерфейсах, полученных динамически или указаных в файле настроек статически.
+
+Для работы в режиме роутера (точки доступа) RPi необходим DHCP сервер. Он служит для автоматической выдачи настроек текущей сети подключившимся клиентам. В роли такого сервера может выступать `isc-dhcp-server` или `dnsmasq`.
+
+## dhcpcd
+
+Начиная с Raspbian Jesse настройки сети больше не задаются в файле `/etc/network/interfaces`. Теперь за выдачу адресации и настройку маршрутизации отвечает `dhcpcd` [4].
+
+По умолчанию на всех интерфейсах включен dhcp-клиент. Настройки интерфейсов меняются в файле `/etc/dhcpcd.conf`. Для того, чтобы поднять точку доступа необходимо прописать статический ip-адрес. Для этого в конец файла необходимо добавить следующие строки:
+
+```
+interface wlan0
+static ip_address=192.168.11.1/24
+```
+
+> **Note** Если интерфейс является беспроводным (wlan), то служба `dhcpcd` триггерит `wpa_supplicant` [13], который в свою очередь работает непосредственно с wifi-адаптером и переводит его в заданное состояние.
+
+## wpa_supplicant
+
+**wpa_supplicant** – служба конфигурирует Wi-Fi адаптер. Служба `wpa_supplicant` работает не как самостоятельная (хотя как таковая существует), а запускается как дочерний процесс от `dhcpcd`.
+
+Конфигурационный файл по умолчанию должен иметь путь `/etc/wpa_supplicant/wpa_supplicant.conf`.
+Пример конфигурационного файла:
+
+```
+ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
+update_config=1
+country=GB
+
+network={
+        ssid=\"CLEVER-SMIRNOV\"
+        psk=\"cleverwifi\"
+        mode=2
+        proto=RSN
+        key_mgmt=WPA-PSK
+        pairwise=CCMP
+        group=CCMP
+        auth_alg=OPEN
+}
+```
+
+Внутри конфига указываются общие настройки `wpa_supplicant` и параметры для настройки адаптера. Также конфигурационный файл содержит секции `network` – основные настройки Wi-Fi сети такие как SSID сети, пароль, режим работы адаптера. Таких блоков может быть несколько, но используется первый рабочий. Например, если вы указали в первом блоке подключение к некоторой недоступной сети, то адаптер будет настроен следующей удачной секцией, если такая есть. Подробнее о синтаксисе `wpa_supplicant.conf` [TODO WIKI].
+
+### wpa_passphrase
+
+`wpa_passphrase` – утилита для создания секции `network`.
+
+ ```bash
+wpa_passphrase SSID PASSWORD
+```
+После выполнения команды скопируйте полученную секцию в ваш конфигурационный файл. Можно удалить закоментированное поле `psk` и оставить только поле с хешем пароля, либо наоборот.
+```bash
+network={
+	ssid="SSID"
+	#psk="PASSWORD"
+	psk=c2161655c6ba444d8df94cbbf4e9c5c4c61fc37702b9c66ed37aee1545a5a333
+}
+```
+
+### Несколько Wi-Fi адаптеров
+В системе может быть несколько Wi-Fi адаптеров. Если для них корректно подключены драйвера, то их можно увидеть вызвав `ifconfig` (например wlan0 и wlan1).
+
+Если у вас несколько адаптеров, для всех будет использоваться одна и таже самая рабочая секция `network`. Это связано с тем, что для каждого интерфейса, `dhcpcd` отдельно создает по дочернему процессу `wpa_supplicant`, в котором выполняется один тот же код (т. к. конфиг один и тот же).
+
+Для работы нескольких адаптеров с отдельными настройками для каждого, в стандартном вызываемом скрипте `dhcpcd` реализован механизм запуска разных конфигурационных скриптов. Для его использования необходимо переименовать стандартный файл конфига по следующему образцу: `wpa_supplicant-<имя интерфейса>.conf`, например `wpa_supplicant-wlan0.conf`.
+
+Для применения настроек необходимо перезапустить родительский процесс - службу `dhcpcd`. Сделать это можно следующей командой:
+```bash
+sudo systemctl restart dhcpcd
+```
+## DHCP сервер
+
+### dnsmasq-base
+`dnsmasq-base` – консольная утилита, не являющаяся службой, для использования dnsmasq как службы надо установить пакет `dnsmasq`.
+
+```bash
+sudo apt install dnsmasq-base
+```
+
+```bash
+# Вызов dnsmasq-base
+sudo dnsmasq --interface=wlan0 --address=/clever/coex/192.168.11.1 --no-daemon --dhcp-range=192.168.11.100,192.168.11.200,12h --no-hosts --filterwin2k --bogus-priv --domain-needed --quiet-dhcp6 --log-queries
+
+# Подробнее о dnsmasq-base
+dnsmasq --help
+
+# или
+man dnsmasq
+```
+
+### dnsmasq
+
+```bash
+sudo apt install dnsmasq
+```
+
+```bash
+cat << EOF | sudo tee -a /etc/dnsmasq.conf
+interface=wlan0
+address=/clever/coex/192.168.11.1
+dhcp-range=192.168.11.100,192.168.11.200,12h
+no-hosts
+filterwin2k
+bogus-priv
+domain-needed
+quiet-dhcp6
+
+EOF
+```
+
+### isc-dhcp-server
+
+```bash
+sudo apt install isc-dhcp-server
+```
+
+```bash
+# https://www.shellhacks.com/ru/sed-find-replace-string-in-file/
+sed -i 's/INTERFACESv4=\"\"/INTERFACESv4=\"wlan0\"/' /etc/default/isc-dhcp-server
+```
+
+```bash
+cat << EOF | sudo tee /etc/dhcp/dhcpd.conf
+subnet 192.168.11.0 netmask 255.255.255.0 {
+  range 192.168.11.11 192.168.11.254;
+  #option domain-name-servers 8.8.8.8;
+  #option domain-name "rpi.local";
+  option routers 192.168.11.1;
+  option broadcast-address 192.168.11.255;
+  default-lease-time 600;
+  max-lease-time 7200;
+}
+
+EOF
+```
+
+```bash
+cat << EOF | sudo tee /etc/network/if-up.d/isc-dhcp-server && sudo chmod +x /etc/network/if-up.d/isc-dhcp-server
+#!/bin/sh
+if [ "\$IFACE" = "--all" ];
+then sleep 10 && systemctl start isc-dhcp-server.service &
+fi
+
+EOF
+```
+
+
+## Ссылки
+
+1. [habr.com: Linux WiFi из командной строки с wpa_supplicant](https://habr.com/post/315960/)
+2. [wiki.archlinux.org: WPA supplicant (Русский)](https://wiki.archlinux.org/index.php/WPA_supplicant_(Русский))
+3. [blog.hoxnox.com: WiFi access point with wpa_supplicant](http://blog.hoxnox.com/gentoo/wifi-hotspot.html)
+4. [dmitrysnotes.ru: Raspberry Pi 3. Присвоение статического IP-адреса](http://dmitrysnotes.ru/raspberry-pi-3-prisvoenie-staticheskogo-ip-adresa)
+5. [thegeekdiary.com: Linux OS Service ‘network’](https://www.thegeekdiary.com/linux-os-service-network/)
+6. [frillip.com: USING YOUR NEW RASPBERRY PI 3 AS A WIFI ACCESS POINT WITH HOSTAPD](https://frillip.com/using-your-raspberry-pi-3-as-a-wifi-access-point-with-hostapd/) (также здесь есть инструкция по настройке форвардинга для использования RPi в качестве шлюза для выхода в интернет)
+7. [habr.com: Настраиваем ddns-сервер на GNU/Linux Debian 6](https://habr.com/sandbox/30433/) (Хорошая статья по настройке ddns-сервера на основе `bind` и `isc-dhcp-server`)
+8. [pro-gram.ru: Установка и настройка DHCP сервера на Ubuntu 16.04.](https://pro-gram.ru/dhcp-server-ubuntu.html) (Настройка isc-dhcp-server)
+9. [expert-orda.ru: Настройка DHCP-сервера на Ubuntu](http://expert-orda.ru/posts/liuxnewbie/125--dhcp-ubuntu) (Настройка isc-dhcp-server)
+10. [academicfox.com: Raspberry Pi беспроводная точка доступа (WiFi access point)](http://academicfox.com/raspberry-pi-besprovodnaya-tochka-dostupa-wifi-access-point/) (Настройка маршрутов, hostapd, isc-dhcp-server)
+11. [weworkweplay.com: Automatically connect a Raspberry Pi to a Wifi network](http://weworkweplay.com/play/automatically-connect-a-raspberry-pi-to-a-wifi-network/) (Есть настройки для создания открытой точки доступа)
+12. [wiki.archlinux.org: WPA supplicant](https://wiki.archlinux.org/index.php/WPA%20supplicant)
+13. [wiki.archlinux.org: dhcpcd](https://wiki.archlinux.org/index.php/Dhcpcd#10-wpa_supplicant) (dhcpcd hook wpa_supplicant)
--- a/docs/rc.md
+++ b/docs/rc.md
@@ -1,16 +1,27 @@
-Мобильный пульт
+Управление Клевером со смартфона
 ===

-Возможно управлять квадрокоптером в мобильного пульта через Wi-Fi. Он разработан в виде приложения для iOS и Android (TODO). Также существует упрощенная версия в виде [веб-страницы](#веб-версия).
+Для управления Клевером со смартфона через Wi-Fi необходимо установить приложение – [iOS](), Android (в разработке).

 ![](assets/IMG_4397.PNG)

 > **Warning** Мобильный пульт предназначен в первую очередь для полетов в помещении на дальность не более 10-15 м. Большое количество Wi-Fi сетей также может ухудшить отзывчивость и дальность пульта.

-Для включения бэкенда пульта, установите [образ Clever на RPi](microsd_images.md), а также убедитесь, что он включен в launch-файле Клевера (`~/catkin_ws/src/clever/clever/launch/clever.launch`):
+> **Info** Также управление со смартфона [доступно в мобильной версия приложения](https://docs.qgroundcontrol.com/en/SettingsView/VirtualJoystick.html) QGroundControl.
+
+Настройка
+---
+
+> **Note** Мобильный пульт конфликтует с реальной аппаратурой радиоуправления. Во время использования мобильного пульта она должна быть выключена.
+
+Установите [образ Clever на RPi](microsd_images.md), а также включите `rosbridge` и `rc` в launch-файле (`~/catkin_ws/src/clever/clever/launch/clever.launch`):

 ```xml
-<arg name="rc" value="true"/>
+<arg name="rosbridge" default="true"/>
+```
+
+```xml
+<arg name="rc" default="true"/>
 ```

 При изменении launch-файла необходимо перезапустить пакет `clever`:
@@ -21,19 +32,23 @@ sudo systemctl restart clever

 Также необходимо убедиться, что PX4-параметр `COM_RC_IN_MODE` установлен в значение `0` (RC Transmitter).

-> **Note** Мобильный пульт конфликтует с реальной аппаратурой радиоуправления. Во время использования мобильного пульта она должны быть выключена.
+Дополнительные параметры:

-Для управления коптером установите приложение на смартфон, подключитесь с Wi-Fi сети Клевера (`CLEVER-xxxx`), затем запустите приложение.
+* `COM_RC_LOSS_T` – таймаут для определения потери сигнала пульта (мобильного или физического). Рекомендуется увеличение таймаута до нескольких секунд.
+* `NAV_RCL_ACT` – действие при потере сигнала пульта.

-Стики на экране приложения работают также, как и реальные стики. Для арминга коптера подержите левый стик в правом нижнем углу на протяжении нескольких секунд. Для дизарминга – в левом нижнем углу.
+> **Note** Мобильный пульт конфликтует с реальной аппаратурой радиоуправления. Во время использования мобильного пульта она должна быть выключена.

-Пульт отображает текущий [режим PX4](modes.md) а также уровень заряда батареи. При низком значении заряда батареи телефон будет вибрировать.
-
-> **Note** Если интерфейс пульта отображает явно неправильное напряжение (напр. > 5 V), проверьте, что значение PX4-параметра `BAT_N_CELLS` соответствует реальному количество элементов батареи. Если отображаемое напряжение все равно неверно, откалибруйте батарею (TODO: ссылка).
-
-> **Note** Если вместо режима PX4 отображается текст "DISCONNECTED FROM FCU", проверьте [подключение Raspberry Pi к PixHawk](connection.md).
-
-Веб-версия
+Подключение
 ---

-TODO
+Подключите смартфон к [Wi-Fi](wifi.md) сети Клевера (`CLEVER-xxxx`). Приложение должно подключиться с коптеру автоматически. При успешном подключении должны отобразиться текущий [режим](modes.ms) и заряд батареи.
+
+Стики на экране приложения работают так же, как и реальные стики. Для арма коптера подержите левый стик в правом нижнем углу на протяжении нескольких секунд. Для дизарма – в левом нижнем углу.
+
+Неисправности
+---
+
+* Если интерфейс пульта отображает явно неправильное напряжение (напр. > 5 V), проверьте, что значение PX4-параметра `BAT_N_CELLS` соответствует реальному количество элементов батареи. Если отображаемое напряжение все равно неверно, откалибруйте батарею (TODO: ссылка).
+
+* Если вместо режима PX4 отображается текст "DISCONNECTED FROM FCU", проверьте [подключение Raspberry Pi к PixHawk](connection.md).
--- a/docs/simple_offboard.md
+++ b/docs/simple_offboard.md
@@ -11,12 +11,12 @@ Simple offboard

 Общие для сервисов параметры:

-* `auto_arm` = `true`/`false` – перевести коптер в `OFFBOARD` и заармить автоматически (**коптер взлетит, если находится на полу!**)
+* `auto_arm` = `true`/`false` – перевести коптер в `OFFBOARD` и заармить автоматически (**коптер взлетит**);
 * `frame_id` — система координат в TF2, в которой заданы координаты и рысканье (yaw), [описание систем координат](frames.md);
 * `update_frame` — считать ли систему координат изменяющейся (например, `false` для `local_origin`, `fcu`, `fcu_horiz`, `true` для `marker_map`);
-* `x`, `y` – горизонтальные координаты в системе координат `frame_id`;
-* `z` — высота в системе координат `frame_id`;
-* `lat`, `lon` – широта и долгота (в градусах);
+* `x`, `y` – горизонтальные координаты в системе координат `frame_id` *(м)*;
+* `z` — высота в системе координат `frame_id` *(м)*;
+* `lat`, `lon` – широта и долгота *(градусы)*;
 * `yaw` — рысканье в радианах в системе координат `frame_id` (0 – коптер смотрит по оси X);
 * `yaw_rate` — угловая скорость по рысканью в радианах в секунду (против часовой), `yaw` должен быть установлен в NaN;
 * `thrust` — уровень газа от 0 (нет газа) до 1 (полный газ).
@@ -69,17 +69,17 @@ release = rospy.ServiceProxy('release', Trigger)
 * `connected` – есть ли подключение к <abbr title="Flight Control Unit, полетный контроллер">FCU</abbr>;
 * `armed` – состояние `armed` винтов (винты включены, если true);
 * `mode` - текущий [полетный режим](modes.md);
-* `x, y, z` – локальная позиция коптера;
-* `lat, lon` – широта, долгота (при наличии [gps](gps.md));
-* `vx, vy, vz` – скорость коптера;
-* `pitch` – угол по тангажу (радианы);
-* `roll` – угол по крену (радианы);
+* `x, y, z` – локальная позиция коптера *(м)*;
+* `lat, lon` – широта, долгота *(градусы)*, необходимо наличие [gps](gps.md));
+* `vx, vy, vz` – скорость коптера *(м/с)*;
+* `pitch` – угол по тангажу *(радианы)*;
+* `roll` – угол по крену *(радианы)*;
 * `yaw` – угол по рысканью в фрейме `frame_id`;
-* `pitch_rate` – угловая скорость по тангажу (*work in progress*);
-* `roll_rate` – угловая скорость по крену (*work in progress*);
-* `yaw_rate` – угловая скорость по рысканью (*work in progress*);
-* `voltage` – общее напряжение аккумулятора;
-* `cell_voltage` – напряжение аккумулятора на ячейку.
+* `pitch_rate` – угловая скорость по тангажу *(рад/с)*;
+* `roll_rate` – угловая скорость по крену *(рад/с)*;
+* `yaw_rate` – угловая скорость по рысканью *(рад/с)*;
+* `voltage` – общее напряжение аккумулятора *(В)*;
+* `cell_voltage` – напряжение аккумулятора на ячейку *(В)*.

 > **Note** Недоступные по каким-то причинам поля будут содержать в себе значения `NaN`.

@@ -119,13 +119,15 @@ rosservice call /get_telemetry "{frame_id: ''}"

 Параметры:

-* `x`, `y`, `z` – координаты в системе `frame_id`;
-* `yaw` – угол по рысканью;
-* `yaw_rate` – угловая скорость по рысканью (при установке yaw в `NaN`);
-* `speed` – скорость полета (скорость движения setpoint);
-* `auto_arm` – перевести коптер в `OFFBOARD` и заармить автоматически (**коптер взлетит, если находится на полу!**);
+* `x`, `y`, `z` – координаты в системе `frame_id` *(м)*;
+* `yaw` – угол по рысканью *(радианы)*;
+* `yaw_rate` – угловая скорость по рысканью (применяется при установке yaw в `NaN`) *(рад/с)*;
+* `speed` – скорость полета (скорость движения setpoint) *(м/с)*;
+* `auto_arm` – перевести коптер в `OFFBOARD` и заармить автоматически (**коптер взлетит**);
 * `frame_id`, `update_frame`.

+> **Note** Для полета без изменения угла по рыскаью достаточно установить `yaw` в `NaN` (значение угловой скорости по-умолчанию – 0).
+
 Взлет на высоту 1.5 м со скоростью взлета 0.5 м/с:

 ```python
@@ -180,14 +182,16 @@ rosservice call /navigate "{x: 0.0, y: 0.0, z: 2, yaw: 0.0, yaw_rate: 0.0, speed

 Параметры:

-* `lat`, `lon` – широта и долгота;
-* `z` – высота в системе координат `frame_id`;
-* `yaw` – угол по рысканью;
-* `yaw_rate` – угловая скорость по рысканью (при установке yaw в `NaN`);
-* `speed` – скорость полета (скорость движения setpoint);
-* `auto_arm` – перевести коптер в `OFFBOARD` и заармить автоматически (**коптер взлетит, если находится на полу!**);
+* `lat`, `lon` – широта и долгота *(градусы)*;
+* `z` – высота в системе координат `frame_id` *(м)*;
+* `yaw` – угол по рысканью *(радианы)*;
+* `yaw_rate` – угловая скорость по рысканью (при установке yaw в `NaN`) *(рад/с)*;
+* `speed` – скорость полета (скорость движения setpoint) *(м/с)*;
+* `auto_arm` – перевести коптер в `OFFBOARD` и заармить автоматически (**коптер взлетит**);
 * `frame_id`, `update_frame`.

+> **Note** Для полета без изменения угла по рыскаью достаточно установить `yaw` в `NaN` (значение угловой скорости по-умолчанию – 0).
+
 Полет в глобальную точку со скоростью 5 м/с, оставаясь на текущей высоте (`yaw` установится в 0, коптер сориентируется передом на восток):

 ```python
@@ -210,15 +214,14 @@ rosservice call /navigate_global "{lat: 55.707033, lon: 37.725010, z: 0.0, yaw:

 Установить цель по позиции и рысканью. Данный сервис следует использовать при необходимости задания продолжающегося потока целевых точек, например, для полета по сложным траекториям (круговой, дугообразной и т. д.).

-> **Hint** Для полета на точку по прямой или взлета используйте более высокоуровневый сервис `navigate`.
+> **Hint** Для полета на точку по прямой или взлета используйте более высокоуровневый сервис [`navigate`](#navigate).

 Параметры:

-* `x`, `y`, `z` – координаты точки в системе координат `frame_id`;
-* `yaw` – угол по рысканью;
-* `yaw_rate` – угловая скорость по рысканью (при установке yaw в NaN);
-* `speed` – скорость полета (скорость движения setpoint);
-* `auto_arm` – перевести коптер в `OFFBOARD` и заармить автоматически (**коптер взлетит, если находится на полу!**);
+* `x`, `y`, `z` – координаты точки в системе координат `frame_id` *(м)*;
+* `yaw` – угол по рысканью *(радианы)*;
+* `yaw_rate` – угловая скорость по рысканью (при установке yaw в NaN) *(рад/с)*;
+* `auto_arm` – перевести коптер в `OFFBOARD` и заармить автоматически (**коптер взлетит**);
 * `frame_id`, `update_frame`.

 Зависнуть на месте:
@@ -249,10 +252,10 @@ set_position(x=0, y=0, z=0, frame_id='fcu_horiz', yaw=float('nan'), yaw_rate=0.5

 Установить скорости и рысканье.

-* `vx`, `vy`, `vz` – требуемая скорость полета;
-* `yaw` – угол по рысканью;
-* `yaw_rate` – угловая скорость по рысканью (при установке yaw в NaN);
-* `auto_arm` – перевести коптер в `OFFBOARD` и заармить автоматически (**коптер взлетит, если находится на полу!**);
+* `vx`, `vy`, `vz` – требуемая скорость полета *(м/с)*;
+* `yaw` – угол по рысканью *(радианы)*;
+* `yaw_rate` – угловая скорость по рысканью (при установке yaw в NaN) *(рад/с)*;
+* `auto_arm` – перевести коптер в `OFFBOARD` и заармить автоматически (**коптер взлетит**);
 * `frame_id`, `update_frame`.

 > **Note** Параметр `frame_id` определяет только ориентацию результирующего вектора скорости, но не его длину.
@@ -277,9 +280,9 @@ set_velocity(vx=0.4, vy=0.0, vz=0, yaw=float('nan'), yaw_rate=0.4, frame_id='fcu

 Параметры:

-* `pitch`, `roll`, `yaw` – необходимый угол по тангажу, крену и рысканью (рад.);
+* `pitch`, `roll`, `yaw` – необходимый угол по тангажу, крену и рысканью *(радианы)*;
 * `thrust` – уровень газа от 0 (нет газа) до 1 (полный газ);
-* `auto_arm` – перевести коптер в `OFFBOARD` и заармить автоматически (**коптер взлетит, если находится на полу!**);
+* `auto_arm` – перевести коптер в `OFFBOARD` и заармить автоматически (**коптер взлетит**);
 * `frame_id`, `update_frame`.

 ### set_rates
@@ -288,9 +291,9 @@ set_velocity(vx=0.4, vy=0.0, vz=0, yaw=float('nan'), yaw_rate=0.4, frame_id='fcu

 Параметры:

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

 ### land

--- a/docs/snippets.md
+++ b/docs/snippets.md
@@ -20,6 +20,15 @@ def get_distance(x1, y1, z1, x2, y2, z2):

 ---

+Функция для приблизительного определения расстояния (в метрах) между двумя глобальными координатами (широта/долгота):
+
+```python
+def get_distance_global(lat1, lon1, lat2, lon2):
+    return math.hypot(lat1 - lat2, lon1 - lon2) * 1.113195e5
+```
+
+---
+
 Взлет и ожидание окончания взлета:

 ```python
--- a/docs/wifi.md
+++ b/docs/wifi.md
@@ -5,4 +5,4 @@

 Пароль: `cleverwifi`.

-TODO: иллюстрация.
+Для изменения настроек Wi-Fi или получения более детальной информации о устройстве сети на Raspberri Pi прочитайте эту [статью](network.md).
--- a/image_builder/autosizer.sh
+++ b/image_builder/autosizer.sh
@@ -0,0 +1,98 @@
+#!/bin/bash
+
+set -e
+
+if [ $(whoami) != "root" ]; then
+  echo \
+  && echo "********************************************************************" \
+  && echo "******************** This should be run as root ********************" \
+  && echo "********************************************************************" \
+  && echo \
+  && exit 1
+fi
+
+if [[ -z $1 ]]; then
+  echo "================================================================================"
+  echo -e "\033[0;31m\033[1mAutomatic Image file resizer\033[0m\033[0m"
+  echo -e "\033[0;31m\033[1mDescription:\033[0m\033[0m This script shrink your image to 10MiB free space"
+  echo -e "if you didn't set FREE_SPACE in MiB (see usage below)."
+  echo -e "\033[0;31m\033[1mAuthors:\033[0m\033[0m Artem Smirnov @urpylka, SirLagz"
+  echo
+  echo -e "\033[0;31m\033[1mUsage:\033[0m\033[0m ./autosizer.sh PATH_TO_IMAGE FREE_SPACE"
+  echo
+  echo -e "\033[0;31m\033[1mRequirements:\033[0m\033[0m parted, losetup, e2fsck, resize2fs, bc, truncate"
+  echo "================================================================================"
+  exit 0
+fi
+
+echo "================================================================================"
+strImgFile=$1
+echo -e "\033[0;31m\033[1mPath to image: $strImgFile\033[0m\033[0m"
+echo "================================================================================"
+
+if [[ ! -e $strImgFile ]]; then
+  echo -e "\033[0;31m\033[1mError: File doesn't exist\033[0m\033[0m"
+  echo
+  exit 1
+fi
+
+echo "================================================================================"
+partinfo=`parted -m $strImgFile unit B print`
+echo -e "\033[0;31m\033[1mPartition information:\033[0m\033[0m\n$partinfo"
+echo "================================================================================"
+
+partnumber=`echo "$partinfo" | grep ext4 | awk -F: '{ print $1 }'`
+echo -e "\033[0;31m\033[1mPartition number: $partnumber\033[0m\033[0m"
+echo "================================================================================"
+
+partstart=`echo "$partinfo" | grep ext4 | awk -F: '{ print substr($2,0,length($2)-1) }'`
+echo -e "\033[0;31m\033[1mPartition start: $partstart (bytes)\033[0m\033[0m"
+echo "================================================================================"
+
+loopback=`losetup -f --show -o $partstart $strImgFile`
+echo -e "\033[0;31m\033[1mLoopback device: $loopback\033[0m\033[0m"
+echo "================================================================================"
+
+set +e
+e2fsck -fvy $loopback
+set -e
+
+echo "================================================================================"
+minsize=`resize2fs -P $loopback | awk -F': ' '{ print $2 }'`
+#minsize=`resize2fs -P $loopback 2> /dev/null | awk -F': ' '{ print $2 }'`
+echo -e "\033[0;31m\033[1mMinsize: $minsize (4KiB)\033[0m\033[0m"
+echo "================================================================================"
+
+# Default add 10MiB free space to image, if $2 doesn't set
+FREE_SPACE=${2:-10}
+
+FREE_SPACE=$(($FREE_SPACE*1024*1024/4096))
+
+minsize=`echo "$minsize+$FREE_SPACE" | bc`
+echo -e "\033[0;31m\033[1mMinsize + $FREE_SPACE (4KiB): $minsize (4KiB)\033[0m\033[0m"
+echo "================================================================================"
+
+resize2fs -p $loopback $minsize
+sleep 1
+losetup -d $loopback
+
+echo "================================================================================"
+partnewsize=`echo "$minsize * 4096" | bc`
+echo -e "\033[0;31m\033[1mNew size of part: $minsize (4KiB) = $partnewsize (bytes)\033[0m\033[0m"
+echo "================================================================================"
+
+newpartend=`echo "$partstart + $partnewsize" | bc`
+echo -e "\033[0;31m\033[1mNew end of part (Part start + part new size):\033[0m\033[0m"
+echo -e "\033[0;31m\033[1m$partstart (bytes) + $partnewsize (bytes) = $newpartend (bytes)\033[0m\033[0m"
+echo "================================================================================"
+
+part1=`parted $strImgFile rm 2`
+echo "================================================================================"
+part2=`parted $strImgFile unit B mkpart primary $partstart $newpartend`
+
+echo "================================================================================"
+endresult=`parted -m $strImgFile unit B print free | tail -1 | awk -F: '{ print substr($2,0,length($2)-1) }'`
+echo -e "\033[0;31m\033[1mSize of result image: $endresult (bytes)\033[0m\033[0m"
+echo "================================================================================"
+
+truncate -s $endresult $strImgFile
--- a/image_builder/build.Jenkinsfile
+++ b/image_builder/build.Jenkinsfile
@@ -10,6 +10,12 @@ pipeline {

    string(name: 'RPI_DONWLOAD_URL', defaultValue: 'https://downloads.raspberrypi.org/raspbian_lite/images/raspbian_lite-2017-12-01/2017-11-29-raspbian-stretch-lite.zip')
    // TODO: Add mirrorparameters
+
+    string(name: 'GWBT_URL', defaultValue: 'https://github.com/CopterExpress/clever.git')
+
+    // Experimental function
+    booleanParam(name: 'SHRINK', defaultValue: false, description: 'SHRINK IMAGE')
+    booleanParam(name: 'DISCOVER_ROS_PACKAGES', defaultValue: false, description: 'DISCOVER ROS PACKAGES')
  }
  environment {
    DEBIAN_FRONTEND = 'noninteractive'
@@ -24,10 +30,10 @@ pipeline {
    }
    stage('Resize FS') {
      environment {
-        SIZE = '8G'
+        SIZE = '7G'
      }
      steps {
-        sh "$WORKSPACE/image_builder/image_config.sh resize_fs $SIZE ${params.BUILD_DIR} ${params.IMAGE_NAME}"
+        sh "$WORKSPACE/image_builder/image_config.sh resize_fs ${params.BUILD_DIR}/${params.IMAGE_NAME} $SIZE"
      }
    }
    stage('Initialize image') {
@@ -66,11 +72,19 @@ pipeline {
    stage('Install ROS') {
      environment {
        EXECUTE_FILE = 'image_builder/scripts/ros_install.sh'
+        MOVE_FILE = 'image_builder/kinetic-ros-coex.rosinstall'
      }
      steps {
-        sh "$WORKSPACE/image_builder/image_config.sh execute ${params.BUILD_DIR}/${params.IMAGE_NAME} ${params.MOUNT_POINT} $WORKSPACE/$EXECUTE_FILE"
+        sh "if ! ${params.DISCOVER_ROS_PACKAGES}; then $WORKSPACE/image_builder/image_config.sh copy_to_chroot ${params.BUILD_DIR}/${params.IMAGE_NAME} ${params.MOUNT_POINT} $WORKSPACE/$MOVE_FILE; fi"
+        sh "$WORKSPACE/image_builder/image_config.sh execute ${params.BUILD_DIR}/${params.IMAGE_NAME} ${params.MOUNT_POINT} $WORKSPACE/$EXECUTE_FILE ${params.GWBT_URL} ${params.DISCOVER_ROS_PACKAGES}"
      }
    }
    // TODO: Add finalising step, transfer mirror removal from ros.sh
+    stage('Shrink image') {
+      when { expression { return params.SHRINK } }
+      steps {
+        sh "$WORKSPACE/image_builder/autosizer.sh ${params.BUILD_DIR}/${params.IMAGE_NAME}"
+      }
+    }
  }
 }
--- a/image_builder/image_config.sh
+++ b/image_builder/image_config.sh
@@ -32,7 +32,7 @@ get_image() {
 resize_fs() {

  # STATIC FUNCTION
-  # TEMPLATE: resize_fs $SIZE $BUILD_DIR $IMAGE_NAME
+  # TEMPLATE: resize_fs $IMAGE_PATH $SIZE

  # Partitions numbers
  local BOOT_PARTITION=1
@@ -58,16 +58,16 @@ resize_fs() {
  # TODO: Check sfdisk exit code

  echo -e "\033[0;31m\033[1mTruncate image\033[0m\033[0m" \
-    && truncate -s$1 $2/$3 \
-    && echo "Mount loop-image: $2/$3" \
-    && local DEV_IMAGE=$(losetup -Pf $2/$3 --show) \
+    && truncate -s$2 $1 \
+    && echo "Mount loop-image: $1" \
+    && local DEV_IMAGE=$(losetup -Pf $1 --show) \
    && sleep 0.5 \
    && echo -e "\033[0;31m\033[1mMount loop-image: $1\033[0m\033[0m" \
-    && echo ", +" | sfdisk -N 2 $DEV_IMAGE \
+    && echo ", +" | sfdisk -N ${ROOT_PARTITION} $DEV_IMAGE \
    && sleep 0.5 \
    && losetup -d $DEV_IMAGE \
    && sleep 0.5 \
-    && local DEV_IMAGE=$(losetup -Pf $2/$3 --show) \
+    && local DEV_IMAGE=$(losetup -Pf $1 --show) \
    && sleep 0.5 \
    && echo -e "\033[0;31m\033[1mCheck & repair filesystem after expand partition\033[0m\033[0m" \
    && e2fsck -fvy "${DEV_IMAGE}p${ROOT_PARTITION}" \
@@ -79,25 +79,6 @@ resize_fs() {
  set -e
 }

-burn_image() {
-
-# STATIC FUNCTION
-# TEMPLATE: burn_image $IMAGE_PATH $MICROSD_DEV
-
-  echo -e "\033[0;31m\033[1mBurn image\033[0m\033[0m" \
-    && dd if=$1 of=$2 \
-    && echo -e "\033[0;31m\033[1mBurn image finished!\033[0m\033[0m"
-}
-
-burn_and_reboot() {
-
-# STATIC FUNCTION
-# TEMPLATE: burn_and_reboot $IMAGE_PATH $MICROSD_DEV
-
-  burn_image $1 $2 \
-    && reboot
-}
-
 mount_system() {

  # STATIC FUNCTION
@@ -231,6 +212,59 @@ execute() {
  umount_system $2 $DEV_IMAGE
 }

+copy_to_chroot() {
+
+  # STATIC FUNCTION
+  # TEMPLATE: copy_to_chroot $IMAGE $MOUNT_POINT $MOVE_FILE
+
+  # Partitions numbers
+  local BOOT_PARTITION=1
+  local ROOT_PARTITION=2
+
+  echo -e "\033[0;31m\033[1mMount loop-image: $1\033[0m\033[0m"
+  local DEV_IMAGE=$(losetup -Pf $1 --show)
+  sleep 0.5
+
+  echo -e "\033[0;31m\033[1mMount dirs $2 & $2/boot\033[0m\033[0m"
+  mount "${DEV_IMAGE}p${ROOT_PARTITION}" $2
+  mount "${DEV_IMAGE}p${BOOT_PARTITION}" $2/boot
+
+  echo -e "\033[0;31m\033[1mBind system dirs\033[0m\033[0m"
+  echo "Mounting /proc in chroot... "
+  if [ ! -d $2/proc ] ; then
+    mkdir -p $2/proc
+    echo "Created $2/proc"
+  fi
+  mount -t proc -o nosuid,noexec,nodev proc $2/proc \
+    && echo "OK"
+
+  echo "Mounting /sys in chroot... "
+  if [ ! -d $2/sys ] ; then
+    mkdir -p $2/sys
+    echo "Created $2/sys"
+  fi
+  mount -t sysfs -o nosuid,noexec,nodev sysfs $2/sys \
+    && echo "OK"
+
+  echo "Mounting /dev/ and /dev/pts in chroot... " \
+    && mkdir -p -m 755 $2/dev/pts \
+    && mount -t devtmpfs -o mode=0755,nosuid devtmpfs $2/dev \
+    && mount -t devpts -o gid=5,mode=620 devpts $2/dev/pts \
+    && echo "OK"
+
+  echo -e "\033[0;31m\033[1mCopy DNS records\033[0m\033[0m" \
+    && cp -L /etc/resolv.conf $2/etc/resolv.conf
+
+  echo -e "\033[0;31m\033[1m$(date) | Enter chroot\033[0m\033[0m"
+  script_name=$(basename $3)
+  script_path_root="$2/root/$script_name"
+  # Copy script into chroot fs
+  # TODO: Find more suitable location for temporary script storage
+  cp "$3" "$script_path_root"
+
+  umount_system $2 $DEV_IMAGE
+}
+
 umount_system() {

  # STATIC FUNCTION
@@ -268,51 +302,6 @@ umount_system() {
  losetup -d $2
 }

-install_docker() {
-
-  # STATIC FUNCTION
-  # TEMPLATE: install_docker $IMAGE $MOUNT_POINT
-
-  # https://askubuntu.com/questions/485567/unexpected-end-of-file
-  mount_system $1 $2 << EOF
-#!/bin/bash
-# https://www.raspberrypi.org/blog/docker-comes-to-raspberry-pi/
-curl -sSL https://get.docker.com | sh
-usermod -aG docker pi
-systemctl enable docker
-service docker start
-docker pull smirart/rpi-ros:sshd
-docker run -di --restart unless-stopped -p 192.168.0.121:2202:22 -t smirart/rpi-ros:sshd
-EOF
-}
-
-test_docker() {
-
-  # STATIC FUNCTION
-  # TEMPLATE: test_docker $IMAGE $MOUNT_POINT
-
-  mount_system $1 $2 << EOF
-#!/bin/bash
-# https://www.raspberrypi.org/blog/docker-comes-to-raspberry-pi/
-service docker start
-sleep 1
-docker images
-docker ps -a
-EOF
-}
-
-# очистить history
-# https://askubuntu.com/questions/191999/how-to-clear-bash-history-completely
-# cat /dev/null > ~/.bash_history && history -c && exit
-#
-# screen in chroot
-# getty tty
-# https://stackoverflow.com/questions/19104894/screen-must-be-connected-to-a-terminal/25646444
-#
-# docker in chroot
-# service docker start
-# https://forums.docker.com/t/cannot-connect-to-the-docker-daemon-is-the-docker-daemon-running-on-this-host/8925/17
-
 publish_image() {

 # STATIC FUNCTION
@@ -334,19 +323,26 @@ publish_image() {
  local IMAGE_LINK=$($3 $4 $1/$2.zip)
  echo -e "\033[0;31m\033[1m$(date) | Upload copmlete!\033[0m\033[0m"

-
  echo -e "\033[0;31m\033[1m$(date) | Meashure size of zip-image\033[0m\033[0m"
  local IMAGE_SIZE=$(du -sh $1/$2.zip | awk '{ print $1 }')
  echo -e "\033[0;31m\033[1m$(date) | Meashuring copmlete!\033[0m\033[0m"
+
+  echo -e "\033[0;31m\033[1m$(date) | Meashure hash-sum of zip-image\033[0m\033[0m"
+  local IMAGE_HASH=$(sha256sum $1/$2.zip | awk '{ print $1 }')
+  echo -e "\033[0;31m\033[1m$(date) | Meashuring copmlete!\033[0m\033[0m"
+
  echo ""
  echo "\$6: $6"
  echo ""
+
  echo -e "\033[0;31m\033[1m$(date) | Post message to GH\033[0m\033[0m"
-  local NEW_RELEASE_BODY="### Download\n* [$2.zip]($IMAGE_LINK) ($IMAGE_SIZE)\n\n$6"
+  local NEW_RELEASE_BODY="### Download\n* [$2.zip]($IMAGE_LINK) ($IMAGE_SIZE)\nsha256: $IMAGE_HASH\n\n$6"
  local DATA="{ \"body\":\"$NEW_RELEASE_BODY\" }"
+
  echo ""
  echo "\$DATA: $DATA"
  echo ""
+
  local GH_LOGIN=$(cat $4 | jq '.github.login' -r)
  local GH_PASS=$(cat $4 | jq '.github.password' -r)
  local GH_URL=$(cat $4 | jq '.github.url' -r)
@@ -372,10 +368,6 @@ echo "\$5: $5"
 echo "\$6: $6"
 echo "\$7: $7"

-# test_docker
-# install_docker
-# burn_image
-
 case "$1" in
  mount_system)
  # mount_system $IMAGE $MOUNT_POINT
@@ -386,8 +378,8 @@ case "$1" in
    get_image $2 $3 $4;;

  resize_fs)
-  # resize_fs $SIZE $BUILD_DIR $IMAGE_NAME
-    resize_fs $2 $3 $4 $5;;
+  # resize_fs $IMAGE_PATH $SIZE
+    resize_fs $2 $3;;

  publish_image)
  # publish_image $BUILD_DIR $IMAGE_NAME $YA_SCRIPT $CONFIG_FILE $RELEASE_ID $RELEASE_BODY
@@ -397,6 +389,10 @@ case "$1" in
  # execute $IMAGE $MOUNT_POINT $EXECUTE_FILE ...
    execute $2 $3 $4 ${@:5};;

+  copy_to_chroot)
+  # copy_to_chroot $IMAGE $MOUNT_POINT $MOVE_FILE
+    copy_to_chroot $2 $3 $4;;
+
  *)
    echo "Enter one of: mount_system, get_image, resize_fs, publish_image, execute";;
 esac
--- a/image_builder/kinetic-ros-coex.rosinstall
+++ b/image_builder/kinetic-ros-coex.rosinstall
@@ -0,0 +1,680 @@
+- tar:
+    local-name: catkin
+    uri: https://github.com/ros-gbp/catkin-release/archive/release/kinetic/catkin/0.7.11-0.tar.gz
+    version: catkin-release-release-kinetic-catkin-0.7.11-0
+- tar:
+    local-name: cmake_modules
+    uri: https://github.com/ros-gbp/cmake_modules-release/archive/release/kinetic/cmake_modules/0.4.1-0.tar.gz
+    version: cmake_modules-release-release-kinetic-cmake_modules-0.4.1-0
+- tar:
+    local-name: gencpp
+    uri: https://github.com/ros-gbp/gencpp-release/archive/release/kinetic/gencpp/0.6.0-0.tar.gz
+    version: gencpp-release-release-kinetic-gencpp-0.6.0-0
+- tar:
+    local-name: geneus
+    uri: https://github.com/tork-a/geneus-release/archive/release/kinetic/geneus/2.2.6-0.tar.gz
+    version: geneus-release-release-kinetic-geneus-2.2.6-0
+- tar:
+    local-name: genlisp
+    uri: https://github.com/ros-gbp/genlisp-release/archive/release/kinetic/genlisp/0.4.16-0.tar.gz
+    version: genlisp-release-release-kinetic-genlisp-0.4.16-0
+- tar:
+    local-name: genmsg
+    uri: https://github.com/ros-gbp/genmsg-release/archive/release/kinetic/genmsg/0.5.10-0.tar.gz
+    version: genmsg-release-release-kinetic-genmsg-0.5.10-0
+- tar:
+    local-name: gennodejs
+    uri: https://github.com/RethinkRobotics-release/gennodejs-release/archive/release/kinetic/gennodejs/2.0.1-0.tar.gz
+    version: gennodejs-release-release-kinetic-gennodejs-2.0.1-0
+- tar:
+    local-name: genpy
+    uri: https://github.com/ros-gbp/genpy-release/archive/release/kinetic/genpy/0.6.7-0.tar.gz
+    version: genpy-release-release-kinetic-genpy-0.6.7-0
+- tar:
+    local-name: message_generation
+    uri: https://github.com/ros-gbp/message_generation-release/archive/release/kinetic/message_generation/0.4.0-0.tar.gz
+    version: message_generation-release-release-kinetic-message_generation-0.4.0-0
+- tar:
+    local-name: message_runtime
+    uri: https://github.com/ros-gbp/message_runtime-release/archive/release/kinetic/message_runtime/0.4.12-0.tar.gz
+    version: message_runtime-release-release-kinetic-message_runtime-0.4.12-0
+- tar:
+    local-name: ros/mk
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/mk/1.14.3-0.tar.gz
+    version: ros-release-release-kinetic-mk-1.14.3-0
+- tar:
+    local-name: ros/ros
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/ros/1.14.3-0.tar.gz
+    version: ros-release-release-kinetic-ros-1.14.3-0
+- tar:
+    local-name: ros/rosbash
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/rosbash/1.14.3-0.tar.gz
+    version: ros-release-release-kinetic-rosbash-1.14.3-0
+- tar:
+    local-name: ros/rosboost_cfg
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/rosboost_cfg/1.14.3-0.tar.gz
+    version: ros-release-release-kinetic-rosboost_cfg-1.14.3-0
+- tar:
+    local-name: ros/rosbuild
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/rosbuild/1.14.3-0.tar.gz
+    version: ros-release-release-kinetic-rosbuild-1.14.3-0
+- tar:
+    local-name: ros/rosclean
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/rosclean/1.14.3-0.tar.gz
+    version: ros-release-release-kinetic-rosclean-1.14.3-0
+- tar:
+    local-name: ros/roscreate
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/roscreate/1.14.3-0.tar.gz
+    version: ros-release-release-kinetic-roscreate-1.14.3-0
+- tar:
+    local-name: ros/roslang
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/roslang/1.14.3-0.tar.gz
+    version: ros-release-release-kinetic-roslang-1.14.3-0
+- tar:
+    local-name: ros/roslib
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/roslib/1.14.3-0.tar.gz
+    version: ros-release-release-kinetic-roslib-1.14.3-0
+- tar:
+    local-name: ros/rosmake
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/rosmake/1.14.3-0.tar.gz
+    version: ros-release-release-kinetic-rosmake-1.14.3-0
+- tar:
+    local-name: ros/rosunit
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/rosunit/1.14.3-0.tar.gz
+    version: ros-release-release-kinetic-rosunit-1.14.3-0
+- tar:
+    local-name: ros_comm/message_filters
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/message_filters/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-message_filters-1.12.13-0
+- tar:
+    local-name: ros_comm/ros_comm
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/ros_comm/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-ros_comm-1.12.13-0
+- tar:
+    local-name: ros_comm/rosbag
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosbag/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosbag-1.12.13-0
+- tar:
+    local-name: ros_comm/rosbag_storage
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosbag_storage/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosbag_storage-1.12.13-0
+- tar:
+    local-name: ros_comm/rosconsole
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosconsole/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosconsole-1.12.13-0
+- tar:
+    local-name: ros_comm/roscpp
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/roscpp/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-roscpp-1.12.13-0
+- tar:
+    local-name: ros_comm/rosgraph
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosgraph/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosgraph-1.12.13-0
+- tar:
+    local-name: ros_comm/roslaunch
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/roslaunch/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-roslaunch-1.12.13-0
+- tar:
+    local-name: ros_comm/roslz4
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/roslz4/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-roslz4-1.12.13-0
+- tar:
+    local-name: ros_comm/rosmaster
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+- tar:
+    local-name: ros/roslib
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/roslib/1.14.3-0.tar.gz
+    version: ros-release-release-kinetic-roslib-1.14.3-0
+- tar:
+    local-name: ros/rosmake
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/rosmake/1.14.3-0.tar.gz
+    version: ros-release-release-kinetic-rosmake-1.14.3-0
+- tar:
+    local-name: ros/rosunit
+    uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/rosunit/1.14.3-0.tar.gz
+    version: ros-release-release-kinetic-rosunit-1.14.3-0
+- tar:
+    local-name: ros_comm/message_filters
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/message_filters/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-message_filters-1.12.13-0
+- tar:
+    local-name: ros_comm/ros_comm
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/ros_comm/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-ros_comm-1.12.13-0
+- tar:
+    local-name: ros_comm/rosbag
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosbag/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosbag-1.12.13-0
+- tar:
+    local-name: ros_comm/rosbag_storage
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosbag_storage/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosbag_storage-1.12.13-0
+- tar:
+    local-name: ros_comm/rosconsole
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosconsole/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosconsole-1.12.13-0
+- tar:
+    local-name: ros_comm/roscpp
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/roscpp/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-roscpp-1.12.13-0
+- tar:
+    local-name: ros_comm/rosgraph
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosgraph/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosgraph-1.12.13-0
+- tar:
+    local-name: ros_comm/roslaunch
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/roslaunch/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-roslaunch-1.12.13-0
+- tar:
+    local-name: ros_comm/roslz4
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/roslz4/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-roslz4-1.12.13-0
+- tar:
+    local-name: ros_comm/rosmaster
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosmaster/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosmaster-1.12.13-0
+- tar:
+    local-name: ros_comm/rosmsg
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosmsg/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosmsg-1.12.13-0
+- tar:
+    local-name: ros_comm/rosnode
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosnode/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosnode-1.12.13-0
+- tar:
+    local-name: ros_comm/rosout
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosout/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosout-1.12.13-0
+- tar:
+    local-name: ros_comm/rosparam
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosparam/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosparam-1.12.13-0
+- tar:
+    local-name: ros_comm/rospy
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rospy/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rospy-1.12.13-0
+- tar:
+    local-name: ros_comm/rosservice
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rosservice/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rosservice-1.12.13-0
+- tar:
+    local-name: ros_comm/rostest
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rostest/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rostest-1.12.13-0
+- tar:
+    local-name: ros_comm/rostopic
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/rostopic/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-rostopic-1.12.13-0
+- tar:
+    local-name: ros_comm/roswtf
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/roswtf/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-roswtf-1.12.13-0
+- tar:
+    local-name: ros_comm/topic_tools
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/topic_tools/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-topic_tools-1.12.13-0
+- tar:
+    local-name: ros_comm/xmlrpcpp
+    uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/xmlrpcpp/1.12.13-0.tar.gz
+    version: ros_comm-release-release-kinetic-xmlrpcpp-1.12.13-0
+- tar:
+    local-name: ros_comm_msgs/rosgraph_msgs
+    uri: https://github.com/ros-gbp/ros_comm_msgs-release/archive/release/kinetic/rosgraph_msgs/1.11.2-0.tar.gz
+    version: ros_comm_msgs-release-release-kinetic-rosgraph_msgs-1.11.2-0
+- tar:
+    local-name: ros_comm_msgs/std_srvs
+    uri: https://github.com/ros-gbp/ros_comm_msgs-release/archive/release/kinetic/std_srvs/1.11.2-0.tar.gz
+    version: ros_comm_msgs-release-release-kinetic-std_srvs-1.11.2-0
+- tar:
+    local-name: ros_environment
+    uri: https://github.com/ros-gbp/ros_environment-release/archive/release/kinetic/ros_environment/1.0.0-0.tar.gz
+    version: ros_environment-release-release-kinetic-ros_environment-1.0.0-0
+- tar:
+    local-name: ros_tutorials/rospy_tutorials
+    uri: https://github.com/ros-gbp/ros_tutorials-release/archive/release/kinetic/rospy_tutorials/0.7.1-0.tar.gz
+    version: ros_tutorials-release-release-kinetic-rospy_tutorials-0.7.1-0
+- tar:
+    local-name: rosauth
+    uri: https://github.com/gt-rail-release/rosauth-release/archive/release/kinetic/rosauth/0.1.7-0.tar.gz
+    version: rosauth-release-release-kinetic-rosauth-0.1.7-0
+- tar:
+    local-name: rosbag_migration_rule
+    uri: https://github.com/ros-gbp/rosbag_migration_rule-release/archive/release/kinetic/rosbag_migration_rule/1.0.0-0.tar.gz
+    version: rosbag_migration_rule-release-release-kinetic-rosbag_migration_rule-1.0.0-0
+- tar:
+    local-name: rosbridge_suite/rosapi
+    uri: https://github.com/RobotWebTools-release/rosbridge_suite-release/archive/release/kinetic/rosapi/0.9.0-0.tar.gz
+    version: rosbridge_suite-release-release-kinetic-rosapi-0.9.0-0
+- tar:
+    local-name: rosbridge_suite/rosbridge_library
+    uri: https://github.com/RobotWebTools-release/rosbridge_suite-release/archive/release/kinetic/rosbridge_library/0.9.0-0.tar.gz
+    version: rosbridge_suite-release-release-kinetic-rosbridge_library-0.9.0-0
+- tar:
+    local-name: rosbridge_suite/rosbridge_server
+    uri: https://github.com/RobotWebTools-release/rosbridge_suite-release/archive/release/kinetic/rosbridge_server/0.9.0-0.tar.gz
+    version: rosbridge_suite-release-release-kinetic-rosbridge_server-0.9.0-0
+- tar:
+    local-name: rosbridge_suite/rosbridge_suite
+    uri: https://github.com/RobotWebTools-release/rosbridge_suite-release/archive/release/kinetic/rosbridge_suite/0.9.0-0.tar.gz
+    version: rosbridge_suite-release-release-kinetic-rosbridge_suite-0.9.0-0
+- tar:
+    local-name: rosconsole_bridge
+    uri: https://github.com/ros-gbp/rosconsole_bridge-release/archive/release/kinetic/rosconsole_bridge/0.5.1-0.tar.gz
+    version: rosconsole_bridge-release-release-kinetic-rosconsole_bridge-0.5.1-0
+- tar:
+    local-name: roscpp_core/cpp_common
+    uri: https://github.com/ros-gbp/roscpp_core-release/archive/release/kinetic/cpp_common/0.6.9-0.tar.gz
+    version: roscpp_core-release-release-kinetic-cpp_common-0.6.9-0
+- tar:
+    local-name: roscpp_core/roscpp_serialization
+    uri: https://github.com/ros-gbp/roscpp_core-release/archive/release/kinetic/roscpp_serialization/0.6.9-0.tar.gz
+    version: roscpp_core-release-release-kinetic-roscpp_serialization-0.6.9-0
+- tar:
+    local-name: roscpp_core/roscpp_traits
+    uri: https://github.com/ros-gbp/roscpp_core-release/archive/release/kinetic/roscpp_traits/0.6.9-0.tar.gz
+    version: roscpp_core-release-release-kinetic-roscpp_traits-0.6.9-0
+- tar:
+    local-name: roscpp_core/rostime
+    uri: https://github.com/ros-gbp/roscpp_core-release/archive/release/kinetic/rostime/0.6.9-0.tar.gz
+    version: roscpp_core-release-release-kinetic-rostime-0.6.9-0
+- tar:
+    local-name: roslint
+    uri: https://github.com/ros-gbp/roslint-release/archive/release/kinetic/roslint/0.11.0-0.tar.gz
+    version: roslint-release-release-kinetic-roslint-0.11.0-0
+- tar:
+    local-name: roslisp
+    uri: https://github.com/ros-gbp/roslisp-release/archive/release/kinetic/roslisp/1.9.21-0.tar.gz
+    version: roslisp-release-release-kinetic-roslisp-1.9.21-0
+- tar:
+    local-name: rospack
+    uri: https://github.com/ros-gbp/rospack-release/archive/release/kinetic/rospack/2.4.4-0.tar.gz
+    version: rospack-release-release-kinetic-rospack-2.4.4-0
+- tar:
+    local-name: rosserial/rosserial
+    uri: https://github.com/ros-gbp/rosserial-release/archive/release/kinetic/rosserial/0.7.7-0.tar.gz
+    version: rosserial-release-release-kinetic-rosserial-0.7.7-0
+- tar:
+    local-name: rosserial/rosserial_client
+    uri: https://github.com/ros-gbp/rosserial-release/archive/release/kinetic/rosserial_client/0.7.7-0.tar.gz
+    version: rosserial-release-release-kinetic-rosserial_client-0.7.7-0
+- tar:
+    local-name: rosserial/rosserial_msgs
+    uri: https://github.com/ros-gbp/rosserial-release/archive/release/kinetic/rosserial_msgs/0.7.7-0.tar.gz
+    version: rosserial-release-release-kinetic-rosserial_msgs-0.7.7-0
+- tar:
+    local-name: rosserial/rosserial_python
+    uri: https://github.com/ros-gbp/rosserial-release/archive/release/kinetic/rosserial_python/0.7.7-0.tar.gz
+    version: rosserial-release-release-kinetic-rosserial_python-0.7.7-0
+- tar:
+    local-name: std_msgs
+    uri: https://github.com/ros-gbp/std_msgs-release/archive/release/kinetic/std_msgs/0.5.11-0.tar.gz
+    version: std_msgs-release-release-kinetic-std_msgs-0.5.11-0
+- tar:
+    local-name: unique_identifier/uuid_msgs
+    uri: https://github.com/ros-geographic-info/unique_identifier-release/archive/release/kinetic/uuid_msgs/1.0.5-0.tar.gz
+    version: unique_identifier-release-release-kinetic-uuid_msgs-1.0.5-0
+- tar:
+    local-name: urdf/urdf
+    uri: https://github.com/ros-gbp/urdf-release/archive/release/kinetic/urdf/1.12.12-0.tar.gz
+    version: urdf-release-release-kinetic-urdf-1.12.12-0
+- tar:
+    local-name: urdf/urdf_parser_plugin
+    uri: https://github.com/ros-gbp/urdf-release/archive/release/kinetic/urdf_parser_plugin/1.12.12-0.tar.gz
+    version: urdf-release-release-kinetic-urdf_parser_plugin-1.12.12-0
+- tar:
+    local-name: usb_cam
+    uri: https://github.com/ros-gbp/usb_cam-release/archive/release/kinetic/usb_cam/0.3.5-0.tar.gz
+    version: usb_cam-release-release-kinetic-usb_cam-0.3.5-0
+- tar:
+    local-name: vision_opencv/cv_bridge
+    uri: https://github.com/ros-gbp/vision_opencv-release/archive/release/kinetic/cv_bridge/1.12.8-0.tar.gz
+    version: vision_opencv-release-release-kinetic-cv_bridge-1.12.8-0
+- tar:
+    local-name: web_video_server
+    uri: https://github.com/RobotWebTools-release/web_video_server-release/archive/release/kinetic/web_video_server/0.0.7-0.tar.gz
+    version: web_video_server-release-release-kinetic-web_video_server-0.0.7-0
--- a/image_builder/scripts/hardware_setup.sh
+++ b/image_builder/scripts/hardware_setup.sh
@@ -18,7 +18,7 @@ touch /boot/ssh
 # /usr/bin/raspi-config nonint do_ssh 0

 # 2. Enable GPIO
-echo -e "\033[0;31m\033[1m$(date) | #2 SSHd enabled by default\033[0m\033[0m"
+echo -e "\033[0;31m\033[1m$(date) | #2 GPIO enabled by default\033[0m\033[0m"

 # 3. Enable I2C
 echo -e "\033[0;31m\033[1m$(date) | #3 Turn on I2C\033[0m\033[0m"
@@ -32,11 +32,22 @@ echo -e "\033[0;31m\033[1m$(date) | #4 Turn on SPI\033[0m\033[0m"
 echo -e "\033[0;31m\033[1m$(date) | #5 Turn on raspicam\033[0m\033[0m"
 /usr/bin/raspi-config nonint do_camera 0

-# 6. Enable V4L driver http://robocraft.ru/blog/electronics/3158.html
+# 6. Enable hardware UART
+echo -e "\033[0;31m\033[1m$(date) | #6 Turn on UART\033[0m\033[0m"
+# Temporary solution
+# https://github.com/RPi-Distro/raspi-config/pull/75
+/usr/bin/raspi-config nonint do_serial 1
+/usr/bin/raspi-config nonint set_config_var enable_uart 1 /boot/config.txt
+
+# After adding to Raspbian OS
+# https://github.com/RPi-Distro/raspi-config/commit/d6d9ecc0d9cbe4aaa9744ae733b9cb239e79c116
+#/usr/bin/raspi-config nonint do_serial 2
+
+# 7. Enable V4L driver http://robocraft.ru/blog/electronics/3158.html
 #echo "bcm2835-v4l2" >> /etc/modules
-echo -e "\033[0;31m\033[1m$(date) | #6 Turn on v4l2 driver\033[0m\033[0m"
-if ! grep -q "^bcm2835-v4l2" /etc/modules; then
-  printf "bcm2835-v4l2\n" >> /etc/modules
+echo -e "\033[0;31m\033[1m$(date) | #7 Turn on v4l2 driver\033[0m\033[0m"
+if ! grep -q "^bcm2835-v4l2" /etc/modules;
+then printf "bcm2835-v4l2\n" >> /etc/modules
 fi

 echo -e "\033[0;31m\033[1m$(date) | End of configure hardware interfaces\033[0m\033[0m"
--- a/image_builder/scripts/network_setup.sh
+++ b/image_builder/scripts/network_setup.sh
@@ -8,10 +8,13 @@ echo -e "\033[0;31m\033[1m$(date) | #1 Write to /etc/wpa_supplicant/wpa_supplica
 echo "
 network={
    ssid=\"CLEVER\"
-    mode=2
-    key_mgmt=WPA-PSK
    psk=\"cleverwifi\"
-    frequency=2437
+    mode=2
+    proto=RSN
+    key_mgmt=WPA-PSK
+    pairwise=CCMP
+    group=CCMP
+    auth_alg=OPEN
 }" >> /etc/wpa_supplicant/wpa_supplicant.conf

 echo -e "\033[0;31m\033[1m$(date) | #2 Write STATIC to /etc/dhcpcd.conf\033[0m\033[0m"
@@ -20,36 +23,23 @@ echo "
 interface wlan0
 static ip_address=192.168.11.1/24" >> /etc/dhcpcd.conf

-echo -e "\033[0;31m\033[1m$(date) | #3 Write iface to /etc/default/isc-dhcp-server\033[0m\033[0m"
+echo -e "\033[0;31m\033[1m$(date) | #3 Write dhcp-config to /etc/dnsmasq.conf\033[0m\033[0m"

-# https://www.shellhacks.com/ru/sed-find-replace-string-in-file/
-sed -i 's/INTERFACESv4=\"\"/INTERFACESv4=\"wlan0\"/' /etc/default/isc-dhcp-server
+echo "
+interface=wlan0
+address=/clever/coex/192.168.11.1
+dhcp-range=192.168.11.100,192.168.11.200,12h
+no-hosts
+filterwin2k
+bogus-priv
+domain-needed
+quiet-dhcp6
+" >> /etc/dnsmasq.conf

-echo -e "\033[0;31m\033[1m$(date) | #4 Write dhcp declaration subnet to /etc/dhcp/dhcpd.conf\033[0m\033[0m"
-
-echo "subnet 192.168.11.0 netmask 255.255.255.0 {
-  range 192.168.11.11 192.168.11.254;
-  #option domain-name-servers 8.8.8.8;
-  #option domain-name "rpi.local";
-  option routers 192.168.11.1;
-  option broadcast-address 192.168.11.255;
-  default-lease-time 600;
-  max-lease-time 7200;
-}" >> /etc/dhcp/dhcpd.conf
-
-echo -e "\033[0;31m\033[1m$(date) | #5 Write start script for dhcpd to /etc/network/if-up.d/isc-dhcp-server\033[0m\033[0m"
-
-echo "#!/bin/sh
-if [ \"\$IFACE\" = \"--all\" ];
-then sleep 10 && systemctl start isc-dhcp-server.service &
-fi
-" > /etc/network/if-up.d/isc-dhcp-server \
-  && chmod +x /etc/network/if-up.d/isc-dhcp-server
-
-echo -e "\033[0;31m\033[1m$(date) | #6 Write magic script for rename SSID to /etc/rc.local\033[0m\033[0m"
+echo -e "\033[0;31m\033[1m$(date) | #4 Write magic script for rename SSID to /etc/rc.local\033[0m\033[0m"

 RENAME_SSID="sudo sed -i.OLD \"s/CLEVER/CLEVER-\$(head -c 100 /dev/urandom | xxd -ps -c 100 | sed -e 's/[^0-9]//g' | cut -c 1-4)/g\" /etc/wpa_supplicant/wpa_supplicant.conf && sudo sed -i '/sudo sed/d' /etc/rc.local && sudo reboot"

 sed -i "19a$RENAME_SSID" /etc/rc.local

-echo -e "\033[0;31m\033[1m$(date) | #7 End of network installation\033[0m\033[0m"
+echo -e "\033[0;31m\033[1m$(date) | #5 End of network installation\033[0m\033[0m"
--- a/image_builder/scripts/ros_install.sh
+++ b/image_builder/scripts/ros_install.sh
@@ -9,13 +9,13 @@ set -e
 # ros http://wiki.ros.org/action/fullsearch/ROSberryPi/Installing%20ROS%20Kinetic%20on%20the%20Raspberry%20Pi
 # maintainer @urpylka

-echo -e "\033[0;31m\033[1m$(date) | #0 Installing ROS\033[0m\033[0m"
+echo -e "\033[0;31m\033[1m$(date) | Installing ROS\033[0m\033[0m"

 echo -e "\033[0;31m\033[1m$(date) | #1 Installing dirmngr & add key to apt-key\033[0m\033[0m"

 # Install a tool that apt-key uses to add ROS repository key
 # http://wpblogger.su/tags/apt/
-apt-get install dirmngr
+apt-get install --no-install-recommends -y dirmngr
 # setup keys
 apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

@@ -31,36 +31,42 @@ apt-get update
 echo -e "\033[0;31m\033[1m$(date) | #3 Installing wget, unzip, python-rosdep, python-rosinstall-generator, python-wstool, python-rosinstall, build-essential, cmake\033[0m\033[0m"

 apt-get install --no-install-recommends -y \
-  wget \
-  unzip \
  python-rosdep \
  python-rosinstall-generator \
  python-wstool \
  python-rosinstall \
-  build-essential \
-  cmake \
-  libjpeg8-dev
+  build-essential

 echo -e "\033[0;31m\033[1m$(date) | #4 rosdep init && rosdep update\033[0m\033[0m"

 # bootstrap rosdep
 rosdep init && rosdep update

-echo -e "\033[0;31m\033[1m$(date) | #5 Preparing ros_comm packages to kinetic-ros_comm-wet.rosinstall\033[0m\033[0m"
+# If $2 = false, then discover packages
+if [ "$2" = "false" ];
+then
+  echo -e "\033[0;31m\033[1m$(date) | #5 Preparing ros_comm packages to kinetic-ros_comm-wet.rosinstall\033[0m\033[0m"

-# create catkin workspace
-mkdir -p /home/pi/ros_catkin_ws && cd /home/pi/ros_catkin_ws \
-    && rosinstall_generator ros_comm --rosdistro kinetic --deps --wet-only --tar > kinetic-ros_comm-wet.rosinstall \
-    && wstool init src kinetic-ros_comm-wet.rosinstall
+  # create ros catkin workspace
+  mkdir -p /home/pi/ros_catkin_ws && cd /home/pi/ros_catkin_ws \
+      && rosinstall_generator ros_comm --rosdistro kinetic --deps --wet-only --tar > kinetic-ros_comm-wet.rosinstall \
+      && wstool init src kinetic-ros_comm-wet.rosinstall

-echo -e "\033[0;31m\033[1m$(date) | #6 Preparing other ROS-packages to kinetic-custom_ros.rosinstall\033[0m\033[0m"
+  echo -e "\033[0;31m\033[1m$(date) | #6 Preparing other ROS-packages to kinetic-custom_ros.rosinstall\033[0m\033[0m"

-cd /home/pi/ros_catkin_ws \
-  && rosinstall_generator \
-  actionlib actionlib_msgs angles async_web_server_cpp bond bond_core bondcpp bondpy camera_calibration_parsers camera_info_manager catkin class_loader cmake_modules cpp_common cv_bridge cv_camera diagnostic_msgs diagnostic_updater dynamic_reconfigure eigen_conversions gencpp geneus genlisp genmsg gennodejs genpy geographic_msgs geometry_msgs geometry2 image_transport libmavconn mavlink mavros_msgs message_filters message_generation message_runtime mk nav_msgs nodelet orocos_kdl pluginlib python_orocos_kdl ros ros_comm rosapi rosauth rosbag rosbag_migration_rule rosbag_storage rosbash rosboost_cfg rosbridge_library rosbridge_server rosbridge_suite rosbuild rosclean rosconsole rosconsole_bridge roscpp roscpp_serialization roscpp_traits roscreate rosgraph rosgraph_msgs roslang roslaunch roslib roslint roslisp roslz4 rosmake rosmaster rosmsg rosnode rosout rospack rosparam rospy rospy_tutorials rosserial rosserial_client rosserial_msgs rosserial_python rosservice rostest rostime rostopic rosunit roswtf sensor_msgs smclib std_msgs std_srvs stereo_msgs tf tf2 tf2_bullet tf2_eigen tf2_geometry_msgs tf2_kdl tf2_msgs tf2_py tf2_ros tf2_sensor_msgs tf2_tools topic_tools trajectory_msgs urdf urdf_parser_plugin usb_cam uuid_msgs visualization_msgs web_video_server xmlrpcpp mavros opencv3 mavros_extras \
-  --rosdistro kinetic --deps --wet-only --tar > kinetic-custom_ros.rosinstall \
-  && wstool merge -t src kinetic-custom_ros.rosinstall \
-  && wstool update -t src
+  cd /home/pi/ros_catkin_ws \
+    && rosinstall_generator \
+    actionlib actionlib_msgs angles async_web_server_cpp bond bond_core bondcpp bondpy camera_calibration_parsers camera_info_manager catkin class_loader cmake_modules cpp_common cv_bridge cv_camera diagnostic_msgs diagnostic_updater dynamic_reconfigure eigen_conversions gencpp geneus genlisp genmsg gennodejs genpy geographic_msgs geometry_msgs geometry2 image_transport libmavconn mavlink mavros_msgs message_filters message_generation message_runtime mk nav_msgs nodelet orocos_kdl pluginlib python_orocos_kdl ros ros_comm rosapi rosauth rosbag rosbag_migration_rule rosbag_storage rosbash rosboost_cfg rosbridge_library rosbridge_server rosbridge_suite rosbuild rosclean rosconsole rosconsole_bridge roscpp roscpp_serialization roscpp_traits roscreate rosgraph rosgraph_msgs roslang roslaunch roslib roslint roslisp roslz4 rosmake rosmaster rosmsg rosnode rosout rospack rosparam rospy rospy_tutorials rosserial rosserial_client rosserial_msgs rosserial_python rosservice rostest rostime rostopic rosunit roswtf sensor_msgs smclib std_msgs std_srvs stereo_msgs tf tf2 tf2_bullet tf2_eigen tf2_geometry_msgs tf2_kdl tf2_msgs tf2_py tf2_ros tf2_sensor_msgs tf2_tools topic_tools trajectory_msgs urdf urdf_parser_plugin usb_cam uuid_msgs visualization_msgs web_video_server xmlrpcpp mavros opencv3 mavros_extras \
+    --rosdistro kinetic --deps --wet-only --tar > kinetic-custom_ros.rosinstall \
+    && wstool merge -t src kinetic-custom_ros.rosinstall \
+    && wstool update -t src
+else
+  echo -e "\033[0;31m\033[1m$(date) | #5 Creating manual ros_catkin_ws\033[0m\033[0m"
+
+  mkdir -p /home/pi/ros_catkin_ws && cd /home/pi/ros_catkin_ws \
+    && mv /root/kinetic-ros-coex.rosinstall kinetic-ros-coex.rosinstall \
+    && wstool init src kinetic-ros-coex.rosinstall
+fi

 echo -e "\033[0;31m\033[1m$(date) | #7 Installing dependencies apps with rosdep\033[0m\033[0m"
 cd /home/pi/ros_catkin_ws
@@ -92,7 +98,6 @@ set -e
 [[ "$install_ok" == true ]]
 echo -e "\033[0;31m\033[1m$(date) | End of rosdep install\033[0m\033[0m"

-
 echo -e "\033[0;31m\033[1m$(date) | #8 Refactoring usb_cam in SRC\033[0m\033[0m"

 sed -i '/#define __STDC_CONSTANT_MACROS/a\#define PIX_FMT_RGB24 AV_PIX_FMT_RGB24\n#define PIX_FMT_YUV422P AV_PIX_FMT_YUV422P' /home/pi/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp
@@ -119,18 +124,14 @@ echo -e "\033[0;31m\033[1m$(date) | #10 Building packages on 1 thread\033[0m\033
 # TODO: Can we increase threads number with HDD swap?
 cd /home/pi/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated --install -j1 -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic

-echo -e "\033[0;31m\033[1m$(date) | #12 Creating catkin_ws\033[0m\033[0m"
+echo -e "\033[0;31m\033[1m$(date) | #11 Remove build_isolated & devel_isolated from ros_catkin_ws\033[0m\033[0m"

-mkdir -p /home/pi/catkin_ws/src \
-  && cd /home/pi/catkin_ws \
-  && . /opt/ros/kinetic/setup.sh \
-  && catkin init \
-  && wstool init /home/pi/catkin_ws/src
+rm -rf /home/pi/ros_catkin_ws/build_isolated /home/pi/ros_catkin_ws/devel_isolated
+chown -Rf pi:pi /home/pi/ros_catkin_ws

-echo -e "\033[0;31m\033[1m$(date) | #13 Installing CLEVER-BUNDLE\033[0m\033[0m"
+echo -e "\033[0;31m\033[1m$(date) | #12 Creating catkin_ws & Installing CLEVER-BUNDLE\033[0m\033[0m"

-cd /home/pi/catkin_ws/src \
-  && git clone https://github.com/CopterExpress/clever.git clever \
+git clone $1 /home/pi/catkin_ws/src/clever \
  && pip install wheel \
  && pip install -r /home/pi/catkin_ws/src/clever/clever/requirements.txt \
  && cd /home/pi/catkin_ws \
@@ -139,30 +140,23 @@ cd /home/pi/catkin_ws/src \
  && systemctl enable /home/pi/catkin_ws/src/clever/deploy/roscore.service \
  && systemctl enable /home/pi/catkin_ws/src/clever/deploy/clever.service

-echo -e "\033[0;31m\033[1m$(date) | #14 Adding mjpg-streamer at /home/pi\033[0m\033[0m"
+echo -e "\033[0;31m\033[1m$(date) | #13 Remove build dir from catkin_ws\033[0m\033[0m"

-# https://github.com/jacksonliam/mjpg-streamer
+rm -rf /home/pi/catkin_ws/build
+chown -Rf pi:pi /home/pi/catkin_ws

-cd /home/pi \
-  && git clone https://github.com/jacksonliam/mjpg-streamer.git \
-  && cd /home/pi/mjpg-streamer/mjpg-streamer-experimental \
-  && make \
-  && make install
+echo -e "\033[0;31m\033[1m$(date) | #14 Setup ROS environment\033[0m\033[0m"

-echo -e "\033[0;31m\033[1m$(date) | #15 Adding ENV vars\033[0m\033[0m"
+cat <<EOF | tee -a /home/pi/.bashrc > /dev/null
+LANG=C.UTF-8
+LC_ALL=C.UTF-8
+ROS_DISTRO=kinetic
+export ROS_IP=192.168.11.1
+source /opt/ros/kinetic/setup.bash
+source /home/pi/catkin_ws/devel/setup.bash
+EOF

-# setup environment
-echo "LANG=C.UTF-8" >> /home/pi/.bashrc
-echo "LC_ALL=C.UTF-8" >> /home/pi/.bashrc
-echo "ROS_DISTRO=kinetic" >> /home/pi/.bashrc
-echo "export ROS_IP=192.168.11.1" >> /home/pi/.bashrc
-
-echo "source /opt/ros/kinetic/setup.bash" >> /home/pi/.bashrc \
-  && echo "source /home/pi/catkin_ws/devel/setup.bash" >> /home/pi/.bashrc
-
-chown -Rf pi:pi /home/pi
-
-#echo -e "\033[0;31m\033[1m$(date) | #16 Removing local apt mirror\033[0m\033[0m"
+#echo -e "\033[0;31m\033[1m$(date) | #14 Removing local apt mirror\033[0m\033[0m"
 # Restore original sources.list
 #mv /var/sources.list.bak /etc/apt/sources.list
 # Clean apt cache
@@ -170,4 +164,4 @@ apt-get clean
 # Remove local mirror repository key
 #apt-key del COEX-MIRROR

-echo -e "\033[0;31m\033[1m$(date) | #16 END of ROS INSTALLATION\033[0m\033[0m"
+echo -e "\033[0;31m\033[1m$(date) | END of ROS INSTALLATION\033[0m\033[0m"
--- a/image_builder/scripts/software_install.sh
+++ b/image_builder/scripts/software_install.sh
@@ -6,7 +6,7 @@ set -e
 # Image software installation
 ##################################################################################################################################

-echo -e "\033[0;31m\033[1m$(date) | #1 Network installing\033[0m\033[0m"
+echo -e "\033[0;31m\033[1m$(date) | #1 Software installing\033[0m\033[0m"

 # TODO: Use dnsmasq instead of isc-dhcp-server
 apt-get install --no-install-recommends -y \
@@ -17,12 +17,30 @@ apt-get install --no-install-recommends -y \
  byobu \
  nmap \
  lsof \
-  python-pip \
  git \
-  isc-dhcp-server \
+  dnsmasq \
  tmux \
  vim \
  ipython3 \
-  python3-pip
+  cmake \
+  python-pip \
+  python3-pip \
+  libjpeg8-dev
+  
+echo -e "\033[0;31m\033[1m$(date) | #2 Adding mjpg-streamer at /home/pi\033[0m\033[0m"
+# https://github.com/jacksonliam/mjpg-streamer
+
+git clone https://github.com/jacksonliam/mjpg-streamer.git /home/pi/mjpg-streamer \
+  && cd /home/pi/mjpg-streamer/mjpg-streamer-experimental \
+  && make \
+  && make install \
+  && chown -Rf pi:pi /home/pi/mjpg-streamer
+
+echo -e "\033[0;31m\033[1m$(date) | Add .vimrc\033[0m\033[0m"
+
+# vim settings
+echo "set mouse-=a
+syntax on
+" > /home/pi/.vimrc

 echo -e "\033[0;31m\033[1m$(date) | End of network installation\033[0m\033[0m"
Author	SHA1	Message	Date
Smirnov Artem	c5916fea7c	Merge pull request #52 from urpylka/master image_builder fix-pack	2018-06-21 23:44:08 +03:00
Smirnov Artem	7a4958f8e9	Merge branch 'master' into master	2018-06-21 23:43:35 +03:00
Artem Smirnov	b71a96faee	image_builder: add param for discover packages	2018-06-21 21:54:47 +03:00
Artem Smirnov	24e79f0169	image_builder: add autosizer.sh to build.Jenkinsfile	2018-06-21 18:24:02 +03:00
Artem Smirnov	76e887407a	image_builder: add argument for set FREE SPACE	2018-06-21 18:24:02 +03:00
Artem Smirnov	0d0c8e54f4	image_builder: add image-shrinker	2018-06-21 18:24:02 +03:00
Artem Smirnov	06a01f7e32	image_builder: return devel dir to catkin_ws needed for roscd	2018-06-21 18:24:02 +03:00
Artem Smirnov	f564d20c5b	image_builder: add fixed rosinstall file	2018-06-21 18:24:02 +03:00
Artem Smirnov	85afded6b4	image_builder: move install mjpg-streamer to soft-install	2018-06-19 15:51:26 +03:00
Artem Smirnov	7e84853c37	image_builder: small echo fix	2018-06-19 13:39:37 +03:00
Artem Smirnov	c3c324158f	image_builder: fix for add environment	2018-06-18 20:51:29 +03:00
Artem Smirnov	1e2fd40c05	image_builder: remove build & devel dirs	2018-06-18 20:42:47 +03:00
Artem Smirnov	6a7f78a218	image_builder: add "yes" flag	2018-06-18 20:42:47 +03:00
Smirnov Artem	0b637e56d7	image_builder: change param to const	2018-06-18 20:42:47 +03:00
Artem Smirnov	63f44a5a3f	image_builder: remove unused code from image_config.sh	2018-06-18 20:42:47 +03:00
Artem Smirnov	83ce14e31b	image_builder: merge arguments in resize_fs	2018-06-18 20:42:47 +03:00
Artem Smirnov	8162357ce6	image_builder: catkin_init_workspace not needed	2018-06-18 20:42:47 +03:00
Oleg Kalachev	ba0e9cf9c5	Change udp connection timeout to 10	2018-06-18 19:40:34 +03:00
Oleg Kalachev	8d1072d97d	docs: add info about virtual joustick in qgroundcontrol	2018-06-14 02:04:22 +03:00
Oleg Kalachev	ffd4fdf2dc	docs: add illustration to listener command usage	2018-06-14 01:01:17 +03:00
Oleg Kalachev	d279f04a1f	docs: more	2018-06-13 16:39:48 +03:00
Oleg Kalachev	77e8c858a0	docs: another fixes	2018-06-13 16:34:57 +03:00
Oleg Kalachev	f6edf15011	docs: little fixes	2018-06-13 16:33:52 +03:00
Oleg Kalachev	b50c34b19c	docs: add flight logs article	2018-06-13 16:29:55 +03:00
Oleg Kalachev	874f206e2a	Somes fixes to iOS app	2018-06-09 20:33:40 +03:00
Oleg Kalachev	fd262fdb6a	Add .editorconfig	2018-06-09 20:26:18 +03:00
Oleg Kalachev	2cb17985d4	Merge branch 'master' of github.com:CopterExpress/clever	2018-06-09 19:21:11 +03:00
Oleg Kalachev	2daa6f108a	Update to iOS app	2018-06-09 16:12:57 +03:00
Oleg Kalachev	2e0d92c0d5	image: restore .vimrc	2018-06-09 03:41:41 +03:00
Oleg Kalachev	1a0d61af7c	docs: small fixes	2018-06-09 02:28:45 +03:00
Oleg Kalachev	eb9fc6140b	Merge branch 'master' of github.com:CopterExpress/clever	2018-06-08 20:14:43 +03:00
Oleg Kalachev	b0d72030fa	docs: working on rc docs	2018-06-08 20:13:42 +03:00
Oleg Kalachev	db27d422ae	docs: working on rc docs	2018-06-08 20:06:44 +03:00
Oleg Kalachev	d6ec597fe2	docs: working on rc docs	2018-06-08 00:52:12 +03:00
Oleg Kalachev	0fe319f430	Set udp bridge connection timeout to 20	2018-06-06 18:17:24 +03:00
Oleg Kalachev	2616b49e82	Merge branch 'master' of github.com:CopterExpress/clever	2018-06-06 18:09:47 +03:00
Oleg Kalachev	c2fd26db56	Support mavros udp-pb bridge	2018-06-06 18:09:38 +03:00
Artem Smirnov	71bd59fe3d	image_builder: change "catkin init" to "catkin_init_workspace"	2018-06-05 17:41:38 +03:00
Oleg Kalachev	5b84fe63dd	docs: remove disquss	2018-06-03 15:11:24 +03:00
Smirnov Artem	40782063c4	image_builder: Added GWBT_URL parameter Added GWBT_URL parameter for automatic insert that to field on manual run of build	2018-06-02 14:55:53 +03:00
Smirnov Artem	580eb2400c	docs: update wifi.md	2018-05-31 17:12:15 +03:00
Smirnov Artem	4666e443cb	Update microsd_images.md	2018-05-31 16:54:41 +03:00
Smirnov Artem	d52c1701e4	Merge pull request #49 from urpylka/wifi_doc docs: add network & wifi conf	2018-05-31 16:24:50 +03:00
Smirnov Artem	4a543c75f7	image_builder: use dnsmasq as default dhcp-server (#48 )	2018-05-31 16:22:45 +03:00
Smirnov Artem	0b15f4ffd5	Update network.md	2018-05-31 16:16:06 +03:00
Oleg Kalachev	0f6e24d07f	Changes to network.md	2018-05-31 16:15:51 +03:00
Artem Smirnov	7110ef1420	docs: add network & wifi conf	2018-05-31 16:04:35 +03:00
Oleg Kalachev	a56cef65d5	docs: modes changes	2018-05-30 16:35:09 +03:00
Oleg Kalachev	f58be1ff6f	docs: small change	2018-05-30 16:11:07 +03:00
Oleg Kalachev	b1a788864c	docs: some styling	2018-05-30 16:09:06 +03:00
Oleg Kalachev	fe468d911b	docs: small change	2018-05-30 16:05:45 +03:00
Oleg Kalachev	ef8e1c0478	docs: some styling	2018-05-30 16:04:14 +03:00
Oleg Kalachev	710c4fb33e	docs: add some units	2018-05-30 15:56:18 +03:00
Oleg Kalachev	3ef8656bcd	docs: add link to px4 releases page	2018-05-30 15:50:53 +03:00
Oleg Kalachev	251e15f503	docs: add some units	2018-05-30 15:44:03 +03:00
Smirnov Artem	eb2f9d9c2b	docs: add UDP support to GCS-bridge (#47 )	2018-05-18 18:12:54 +03:00
Oleg Kalachev	dfcd3ea693	Merge branch 'master' of github.com:CopterExpress/clever	2018-05-13 23:01:14 +03:00
Oleg Kalachev	7260128dfd	docs: note about yaw=NaN	2018-05-13 23:01:06 +03:00
Oleg Kalachev	d4e783c96f	snippets: get_distance_global	2018-05-13 20:10:41 +03:00
Oleg Kalachev	c57a342053	Fix to readme	2018-05-12 17:03:25 +03:00
Oleg Kalachev	9ed9af2d04	Some fixes to readme	2018-05-12 17:02:48 +03:00
Oleg Kalachev	295b9c98d1	docs: rework images article	2018-05-12 16:58:54 +03:00
Oleg Kalachev	8f4de0e08f	Merge branch 'master' of github.com:CopterExpress/clever	2018-05-10 22:33:16 +03:00
Oleg Kalachev	8f53301b79	simple_offboard: correct axes for calculating yaw for setpoints	2018-05-10 22:32:45 +03:00
Oleg Kalachev	6372ef8c22	simple_offboard: Tait-Bryan z-y-x angles for pitch, roll and yaw	2018-05-10 22:31:56 +03:00
Oleg Kalachev	a91f9e5a6b	Change image size to from 8G to 7G	2018-05-10 16:40:05 +03:00
Oleg Kalachev	6b74f75616	Merge branch 'master' of github.com:CopterExpress/clever	2018-05-09 19:50:46 +03:00
Oleg Kalachev	9cd9babb83	simple_offboard: yaw_rate, pitch_rate, roll_rate in get_telemetry	2018-05-09 19:50:18 +03:00
Smirnov Artem	380c14da56	image_buider: enable hardware uart with raspi-config (#43 ) Signed-off-by: Artem Smirnov <urpylka@gmail.com>	2018-05-05 20:36:22 +03:00
urpylka	32c1c18af2	image_builder: fix syntax Signed-off-by: Artem Smirnov <urpylka@gmail.com>	2018-05-05 16:50:36 +03:00
urpylka	b7077339a1	image_builder: add sha256sum to release message Signed-off-by: Artem Smirnov <urpylka@gmail.com>	2018-05-03 22:33:57 +03:00
urpylka	52fd505ffc	image_builder: change spaces Signed-off-by: Artem Smirnov <urpylka@gmail.com>	2018-05-03 22:33:57 +03:00
urpylka	b911b7a3dd	image_builder: fix syntax Signed-off-by: Artem Smirnov <urpylka@gmail.com>	2018-05-03 22:01:29 +03:00