Merge branch 'master' into nti2019

* px4flow: Start writing documentation

* px4flow: Add more information

* docs/px4flow: Pixracer connection and configuration

* docs/px4flow: Lint fixes

.editorconfig

@@ -0,0 +1,20 @@
+root = true
+
+[*]
+end_of_line = lf
+insert_final_newline = true
+charset = utf-8
+
+[*.{py,swift,launch}]
+indent_style = space
+indent_size = 4
+
+[*.{cpp,h,js,html,txt}]
+indent_style = tab
+
+[*.txt]
+tab_width = 8
+
+[CMakeLists.txt]
+indent_style = space
+indent_size = 2

.gitattributes

@@ -1,2 +1,5 @@
-apps/ios/cleverrc/roslib.js linguist-vendored
 apps/ios/cleverrc/BinUtils.swift linguist-vendored
+roslib.js linguist-vendored
+eventemitter2.js linguist-vendored
+ros3d.js linguist-vendored
+three.min.js linguist-vendored

.gitignore

@@ -1,2 +1,6 @@
-/deploy/ros_lib/
 *.pyc
+*.DS_Store
+/images
+node_modules/
+_book/
+package-lock.json

.markdownlint.json

@@ -0,0 +1,75 @@
+{
+    "MD003": false,
+    "MD010": {
+        "code_blocks": false
+    },
+    "MD013": false,
+    "MD024": false,
+    "MD026" :{
+        "punctuation": ".,;:!"
+    },
+    "MD033": false,
+    "MD034": false,
+    "MD040": false,
+    "MD044": {
+        "names": [
+            "MAVLink",
+            "ROS",
+            "ROS Kinetic",
+            "OpenCV",
+            "GitHub",
+            "FPV",
+            "PPM",
+            "PWM",
+            "Python",
+            "C++",
+            "PX4",
+            "QGroundControl",
+            "QGC",
+            "WireShark",
+            "FlightPlot",
+            "OFFBOARD",
+            "LPE",
+            "EKF2",
+            "SITL",
+            "PID",
+            "Wi-Fi",
+            "Raspberry Pi",
+            "RPi",
+            "Linux",
+            "Windows",
+            "macOS",
+            "iOS",
+            "Android",
+            "Bluetooth",
+            "Raspbian",
+            "Raspbian Jesse",
+            "Raspbian Stretch",
+            "Pixhawk",
+            "Pixracer",
+            "Arduino",
+            "GPS",
+            "ArUco",
+            "LIRC",
+            "GPIO",
+            "HC-SR04",
+            "STM",
+            "LED",
+            "USB",
+            "FAT32",
+            "uORB",
+            "SSH",
+            "API",
+            "UART",
+            "GND",
+            "VCC",
+            "SCL",
+            "SDA",
+            "TCP",
+            "UDP",
+            "QR"
+        ],
+        "code_blocks": false
+    },
+    "MD045": false
+}

.travis.yml

@@ -0,0 +1,86 @@
+sudo: required
+language: generic
+services:
+  - docker
+env:
+  global:
+    - DOCKER="sfalexrog/img-tool:qemu-update"
+    - TARGET_REPO="https://github.com/${TRAVIS_REPO_SLUG}.git"
+    - if [[ -z ${TRAVIS_TAG} ]]; then IMAGE_VERSION="${TRAVIS_COMMIT}}"; else IMAGE_VERSION="${TRAVIS_TAG}"; fi
+    - IMAGE_NAME="$(basename -s '.git' ${TARGET_REPO})_${IMAGE_VERSION}.img"
+git:
+  depth: 50
+jobs:
+  fast_finish: true
+  include:
+    - stage: Build
+      name: "Raspberry Pi Image Build"
+      cache:
+        directories:
+        - imgcache
+      before_script:
+        - docker pull ${DOCKER}
+# Check if there are any cached images, copy them to our "images" directory
+        - if [ -n "$(ls -A imgcache/*.zip)" ]; then mkdir -p images && cp imgcache/*.zip images; fi
+      script:
+        - docker run --privileged --rm -v /dev:/dev -v $(pwd):/builder/repo -e TRAVIS_TAG="${TRAVIS_TAG}" ${DOCKER}
+      before_cache:
+        - cp images/*.zip imgcache
+      before_deploy:
+        # Set up git user name and tag this commit
+        - git config --local user.name "goldarte"
+        - git config --local user.email "goldartt@gmail.com"
+        - sudo chmod -R 777 *
+        - cd images && zip ${IMAGE_NAME}.zip ${IMAGE_NAME}
+      deploy:
+        provider: releases
+        api_key: ${GITHUB_OAUTH_TOKEN}
+        file: ${IMAGE_NAME}.zip
+        skip_cleanup: true
+        on:
+          tags: true
+        draft: true
+        name: ${TRAVIS_TAG}
+    - stage: Build
+      name: "Documentation"
+      language: node_js
+      node_js:
+        - "10"
+      before_script:
+        - npm install gitbook-cli -g
+        - npm install markdownlint-cli -g
+        - gitbook -V
+        - markdownlint -V
+      script:
+        - markdownlint docs
+        - gitbook install
+        - gitbook build
+# ***
+# Disable deployments for now, revisit this later
+#   --sfalexrog, 06.02.2019
+# ***
+#      deploy:
+#        provider: pages
+#        local-dir: _book
+#        skip-cleanup: true
+#        github-token: ${GITHUB_OAUTH_TOKEN}
+#        keep-history: true
+#        target-branch: gh-pages
+#        on:
+#          branch: WIP/gitbook-autobuild
+    - stage: Annotate
+      name: Auto-generate changelog
+      language: python
+      python: 3.6
+      install:
+        - pip install GitPython PyGithub
+      script:
+        - PYTHONUNBUFFERED=1 python ./gen_changelog.py
+stages:
+  - Build
+  - Annotate
+# More info there
+# https://github.com/travis-ci/travis-ci/issues/6893
+# https://docs.travis-ci.com/user/customizing-the-build/
+# https://docs.travis-ci.com/user/deployment/releases
+# https://docs.travis-ci.com/user/environment-variables/

LICENSE

@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2018 Copter Express
+Copyright (c) 2018 Copter Express Technologies
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

README.md

@@ -2,18 +2,19 @@
 
 <img src="docs/assets/clever3.png" align="right" width="300px" alt="CLEVER drone">
 
-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.
+CLEVER (Russian: *"Клевер"*, meaning *"Clover"*) 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).**
+
+[![Build Status](https://travis-ci.org/CopterExpress/clever.svg?branch=master)](https://travis-ci.org/CopterExpress/clever)
 
 Image includes:
 
@@ -22,9 +23,10 @@ Image includes:
 * Configured networking
 * OpenCV
 * mavros
+* Periphery drivers (`pigpiod`, `rpi_ws281x`, etc)
 * 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://clever.copterexpress.com/simple_offboard.html).
 
 ## Manual installation
 

_config.yml

@@ -1,2 +0,0 @@
-theme: jekyll-theme-cayman
-tagline: Конструктор программируемого квадрокоптера

apps/android/.gitignore

@@ -0,0 +1,11 @@
+*.iml
+.gradle
+/local.properties
+/.idea/caches/build_file_checksums.ser
+/.idea/libraries
+/.idea/modules.xml
+/.idea/workspace.xml
+.DS_Store
+/build
+/captures
+.externalNativeBuild

apps/android/.idea/assetWizardSettings.xml

@@ -0,0 +1,57 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="WizardSettings">
+    <option name="children">
+      <map>
+        <entry key="imageWizard">
+          <value>
+            <PersistentState>
+              <option name="children">
+                <map>
+                  <entry key="imageAssetPanel">
+                    <value>
+                      <PersistentState>
+                        <option name="children">
+                          <map>
+                            <entry key="launcher">
+                              <value>
+                                <PersistentState>
+                                  <option name="children">
+                                    <map>
+                                      <entry key="foregroundImage">
+                                        <value>
+                                          <PersistentState>
+                                            <option name="values">
+                                              <map>
+                                                <entry key="scalingPercent" value="54" />
+                                              </map>
+                                            </option>
+                                          </PersistentState>
+                                        </value>
+                                      </entry>
+                                    </map>
+                                  </option>
+                                  <option name="values">
+                                    <map>
+                                      <entry key="backgroundAssetType" value="COLOR" />
+                                      <entry key="backgroundColor" value="ffffff" />
+                                      <entry key="foregroundImage" value="C:\Users\Motoy\Desktop\COEX\logo.png" />
+                                    </map>
+                                  </option>
+                                </PersistentState>
+                              </value>
+                            </entry>
+                          </map>
+                        </option>
+                      </PersistentState>
+                    </value>
+                  </entry>
+                </map>
+              </option>
+            </PersistentState>
+          </value>
+        </entry>
+      </map>
+    </option>
+  </component>
+</project>

apps/android/.idea/codeStyles/Project.xml

@@ -0,0 +1,35 @@
+<component name="ProjectCodeStyleConfiguration">
+  <code_scheme name="Project" version="173">
+    <JetCodeStyleSettings>
+      <option name="CODE_STYLE_DEFAULTS" value="KOTLIN_OFFICIAL" />
+    </JetCodeStyleSettings>
+    <Objective-C-extensions>
+      <file>
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Import" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Macro" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Typedef" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Enum" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Constant" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Global" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Struct" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="FunctionPredecl" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Function" />
+      </file>
+      <class>
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Property" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Synthesize" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="InitMethod" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="StaticMethod" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="InstanceMethod" />
+        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="DeallocMethod" />
+      </class>
+      <extensions>
+        <pair source="cpp" header="h" fileNamingConvention="NONE" />
+        <pair source="c" header="h" fileNamingConvention="NONE" />
+      </extensions>
+    </Objective-C-extensions>
+    <codeStyleSettings language="kotlin">
+      <option name="CODE_STYLE_DEFAULTS" value="KOTLIN_OFFICIAL" />
+    </codeStyleSettings>
+  </code_scheme>
+</component>

apps/android/.idea/codeStyles/codeStyleConfig.xml

@@ -0,0 +1,5 @@
+<component name="ProjectCodeStyleConfiguration">
+  <state>
+    <option name="USE_PER_PROJECT_SETTINGS" value="true" />
+  </state>
+</component>

apps/android/.idea/gradle.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="GradleSettings">
+    <option name="linkedExternalProjectsSettings">
+      <GradleProjectSettings>
+        <option name="distributionType" value="DEFAULT_WRAPPED" />
+        <option name="externalProjectPath" value="$PROJECT_DIR$" />
+        <option name="modules">
+          <set>
+            <option value="$PROJECT_DIR$" />
+            <option value="$PROJECT_DIR$/app" />
+          </set>
+        </option>
+        <option name="resolveModulePerSourceSet" value="false" />
+      </GradleProjectSettings>
+    </option>
+  </component>
+</project>

apps/android/.idea/misc.xml

@@ -0,0 +1,38 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="NullableNotNullManager">
+    <option name="myDefaultNullable" value="android.support.annotation.Nullable" />
+    <option name="myDefaultNotNull" value="android.support.annotation.NonNull" />
+    <option name="myNullables">
+      <value>
+        <list size="7">
+          <item index="0" class="java.lang.String" itemvalue="org.jetbrains.annotations.Nullable" />
+          <item index="1" class="java.lang.String" itemvalue="javax.annotation.Nullable" />
+          <item index="2" class="java.lang.String" itemvalue="javax.annotation.CheckForNull" />
+          <item index="3" class="java.lang.String" itemvalue="edu.umd.cs.findbugs.annotations.Nullable" />
+          <item index="4" class="java.lang.String" itemvalue="android.support.annotation.Nullable" />
+          <item index="5" class="java.lang.String" itemvalue="androidx.annotation.Nullable" />
+          <item index="6" class="java.lang.String" itemvalue="androidx.annotation.RecentlyNullable" />
+        </list>
+      </value>
+    </option>
+    <option name="myNotNulls">
+      <value>
+        <list size="6">
+          <item index="0" class="java.lang.String" itemvalue="org.jetbrains.annotations.NotNull" />
+          <item index="1" class="java.lang.String" itemvalue="javax.annotation.Nonnull" />
+          <item index="2" class="java.lang.String" itemvalue="edu.umd.cs.findbugs.annotations.NonNull" />
+          <item index="3" class="java.lang.String" itemvalue="android.support.annotation.NonNull" />
+          <item index="4" class="java.lang.String" itemvalue="androidx.annotation.NonNull" />
+          <item index="5" class="java.lang.String" itemvalue="androidx.annotation.RecentlyNonNull" />
+        </list>
+      </value>
+    </option>
+  </component>
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_1_7" project-jdk-name="1.8" project-jdk-type="JavaSDK">
+    <output url="file://$PROJECT_DIR$/build/classes" />
+  </component>
+  <component name="ProjectType">
+    <option name="id" value="Android" />
+  </component>
+</project>

apps/android/.idea/runConfigurations.xml

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="RunConfigurationProducerService">
+    <option name="ignoredProducers">
+      <set>
+        <option value="org.jetbrains.plugins.gradle.execution.test.runner.AllInPackageGradleConfigurationProducer" />
+        <option value="org.jetbrains.plugins.gradle.execution.test.runner.TestClassGradleConfigurationProducer" />
+        <option value="org.jetbrains.plugins.gradle.execution.test.runner.TestMethodGradleConfigurationProducer" />
+      </set>
+    </option>
+  </component>
+</project>

apps/android/.idea/vcs.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+  </component>
+</project>

apps/android/app/.gitignore

@@ -0,0 +1 @@
+/build

apps/android/app/build.gradle

@@ -0,0 +1,33 @@
+apply plugin: 'com.android.application'
+
+apply plugin: 'kotlin-android'
+
+apply plugin: 'kotlin-android-extensions'
+
+android {
+    compileSdkVersion 28
+    defaultConfig {
+        applicationId "express.copter.cleverrc"
+        minSdkVersion 19
+        targetSdkVersion 28
+        versionCode 1
+        versionName "1.0"
+        testInstrumentationRunner "android.support.test.runner.AndroidJUnitRunner"
+    }
+    buildTypes {
+        release {
+            minifyEnabled false
+            proguardFiles getDefaultProguardFile('proguard-android.txt'), 'proguard-rules.pro'
+        }
+    }
+}
+
+dependencies {
+    implementation fileTree(dir: 'libs', include: ['*.jar'])
+    implementation"org.jetbrains.kotlin:kotlin-stdlib-jdk7:$kotlin_version"
+    implementation 'com.android.support:appcompat-v7:28.0.0'
+    implementation 'com.android.support.constraint:constraint-layout:1.1.3'
+    testImplementation 'junit:junit:4.12'
+    androidTestImplementation 'com.android.support.test:runner:1.0.2'
+    androidTestImplementation 'com.android.support.test.espresso:espresso-core:3.0.2'
+}

apps/android/app/proguard-rules.pro

@@ -0,0 +1,21 @@
+# Add project specific ProGuard rules here.
+# You can control the set of applied configuration files using the
+# proguardFiles setting in build.gradle.
+#
+# For more details, see
+#   http://developer.android.com/guide/developing/tools/proguard.html
+
+# If your project uses WebView with JS, uncomment the following
+# and specify the fully qualified class name to the JavaScript interface
+# class:
+#-keepclassmembers class fqcn.of.javascript.interface.for.webview {
+#   public *;
+#}
+
+# Uncomment this to preserve the line number information for
+# debugging stack traces.
+#-keepattributes SourceFile,LineNumberTable
+
+# If you keep the line number information, uncomment this to
+# hide the original source file name.
+#-renamesourcefileattribute SourceFile

apps/android/app/src/androidTest/java/express/copter/cleverrc/ExampleInstrumentedTest.kt

@@ -0,0 +1,24 @@
+package express.copter.cleverrc
+
+import android.support.test.InstrumentationRegistry
+import android.support.test.runner.AndroidJUnit4
+
+import org.junit.Test
+import org.junit.runner.RunWith
+
+import org.junit.Assert.*
+
+/**
+ * Instrumented test, which will execute on an Android device.
+ *
+ * See [testing documentation](http://d.android.com/tools/testing).
+ */
+@RunWith(AndroidJUnit4::class)
+class ExampleInstrumentedTest {
+    @Test
+    fun useAppContext() {
+        // Context of the app under test.
+        val appContext = InstrumentationRegistry.getTargetContext()
+        assertEquals("express.copter.cleverrc", appContext.packageName)
+    }
+}

apps/android/app/src/main/AndroidManifest.xml

@@ -0,0 +1,25 @@
+<?xml version="1.0" encoding="utf-8"?>
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+          package="express.copter.cleverrc">
+    <uses-permission android:name="android.permission.INTERNET"/>
+
+
+    <application
+            android:allowBackup="true"
+            android:icon="@mipmap/ic_launcher"
+            android:label="@string/app_name"
+            android:roundIcon="@mipmap/ic_launcher_round"
+            android:supportsRtl="true"
+            android:theme="@style/AppTheme">
+        <activity android:name=".MainActivity"
+                  android:screenOrientation="landscape"
+                  android:theme="@style/NoUiAppTheme">
+            <intent-filter>
+                <action android:name="android.intent.action.MAIN"/>
+
+                <category android:name="android.intent.category.LAUNCHER"/>
+            </intent-filter>
+        </activity>
+    </application>
+
+</manifest>

apps/android/app/src/main/assets/clever.svg

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

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

apps/android/app/src/main/assets/main.css

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

apps/android/app/src/main/assets/main.js

@@ -0,0 +1,139 @@
+function throttle(func, ms) {
+	var isThrottled = false,
+		savedArgs,
+		savedThis;
+
+	function wrapper() {
+		if (isThrottled) {
+			savedArgs = arguments;
+			savedThis = this;
+			return;
+		}
+		func.apply(this, arguments);
+		isThrottled = true;
+		setTimeout(function() {
+			isThrottled = false;
+			if (savedArgs) {
+				wrapper.apply(savedThis, savedArgs);
+				savedArgs = savedThis = null;
+			}
+		}, ms);
+	}
+	return wrapper;
+}
+
+function postAppMessage(msg) {
+    if (window.webkit != undefined) {
+        if (window.webkit.messageHandlers.appInterface != undefined) {
+            window.webkit.messageHandlers.appInterface.postMessage(JSON.stringify(msg));
+        }
+    }
+    else if (window.appInterface != undefined) {
+        window.appInterface.postMessage(JSON.stringify(msg));
+    }
+}
+
+function callNativeApp(name, msg) {
+	try {
+        postAppMessage(msg);
+		return true;
+	} catch(err) {
+		console.warn('The native context does not exist yet');
+		return false;
+	}
+}
+var rcLastPublish = null;
+
+function rcPublish() {
+	callNativeApp('control', controlMessage);
+	rcLastPublish = new Date();
+}
+
+rcPublishThrottled = throttle(rcPublish, 30);
+
+setInterval(function() {
+	if (rcLastPublish !== null && new Date() - rcLastPublish > 800) {
+		rcPublishThrottled();
+	}
+}, 50);
+
+var body = document.querySelector('body');
+var stickLeft = document.querySelector('.stick-left');
+var stickRight = document.querySelector('.stick-right');
+
+var controlMessage = { x: 0, y: 0, z: 0, r: 0 };
+
+function onStickTouchMove(touch) {
+	var target = touch.target;
+	var targetRect = target.getBoundingClientRect();
+	var stickPointer = target.querySelector('.stick-pointer');
+
+	var offsetX = touch.clientX - targetRect.left;
+	var offsetY = touch.clientY - targetRect.top;
+
+	var x = 2 * offsetX / targetRect.width;
+	var y = 2 * offsetY / targetRect.height;
+
+	x = Math.max(0, x);
+	x = Math.min(2, x);
+	y = Math.max(0, y);
+	y = Math.min(2, y);
+
+	stickPointer.style.left = (x * 50) + '%';
+	stickPointer.style.top = (y * 50) + '%';
+
+	x -= 1;
+	y = 1 - y;
+
+	if (target.matches('.stick-left')) {
+		controlMessage.z = Math.round((y + 1) * 500);
+		controlMessage.r = Math.round(x * 1000);
+	} else if (target.matches('.stick-right')) {
+		controlMessage.x = Math.round(y * 1000);
+		controlMessage.y = Math.round(x * 1000);
+	}
+}
+
+body.addEventListener('touchmove', function (e) {
+	e.preventDefault();
+});
+
+function stickTouchStart(e) {
+	setControlMode();
+	callNativeApp('controlStart');
+	onStickTouchMove(e.changedTouches[0]);
+	rcPublishThrottled();
+	e.stopPropagation();
+	e.preventDefault();
+}
+
+function stickTouchMove(e) {
+	for (touch of e.changedTouches) {
+            onStickTouchMove(touch);
+        }
+    	//onStickTouchMove(e.changedTouches[0]);
+    	rcPublishThrottled();
+    	e.stopPropagation();
+    	e.preventDefault();
+}
+
+function stickTouchEnd(e) {
+	var pointer = e.target.querySelector('.stick-pointer');
+	if (e.target.matches('.stick-left')) {
+		controlMessage.r = 0;
+		pointer.style.left = '50%';
+	} else if (e.target.matches('.stick-right')) {
+		controlMessage.x = 0;
+		controlMessage.y = 0;
+		pointer.style.left = '50%';
+		pointer.style.top = '50%';
+	}
+	rcPublishThrottled();
+}
+
+stickLeft.addEventListener('touchmove', stickTouchMove);
+stickRight.addEventListener('touchmove', stickTouchMove);
+stickLeft.addEventListener('touchstart', stickTouchStart);
+stickRight.addEventListener('touchstart', stickTouchStart);
+stickLeft.addEventListener('touchend', stickTouchEnd);
+stickRight.addEventListener('touchend', stickTouchEnd);

apps/android/app/src/main/assets/old.js

@@ -0,0 +1,142 @@
+function throttle(func, ms) {
+	var isThrottled = false,
+		savedArgs,
+		savedThis;
+
+	function wrapper() {
+		if (isThrottled) {
+			savedArgs = arguments;
+			savedThis = this;
+			return;
+		}
+		func.apply(this, arguments);
+		isThrottled = true;
+		setTimeout(function() {
+			isThrottled = false;
+			if (savedArgs) {
+				wrapper.apply(savedThis, savedArgs);
+				savedArgs = savedThis = null;
+			}
+		}, ms);
+	}
+	return wrapper;
+}
+
+function postAppMessage(msg) {
+    if (window.webkit != undefined) {
+        if (window.webkit.messageHandlers.appInterface != undefined) {
+            window.webkit.messageHandlers.appInterface.postMessage(JSON.stringify(msg));
+        }
+    }
+    else if (window.appInterface != undefined) {
+        window.appInterface.postMessage(JSON.stringify(msg));
+    }
+}
+
+function callNativeApp(name, msg) {
+	try {
+        postAppMessage(msg);
+		return true;
+	} catch(err) {
+		console.warn('The native context does not exist yet');
+		return false;
+	}
+}
+
+
+
+var rcLastPublish = null;
+
+function rcPublish() {
+	callNativeApp('control', controlMessage);
+	rcLastPublish = new Date();
+}
+
+rcPublishThrottled = throttle(rcPublish, 30);
+
+setInterval(function() {
+	if (rcLastPublish !== null && new Date() - rcLastPublish > 800) {
+		rcPublishThrottled();
+	}
+}, 50);
+
+var body = document.querySelector('body');
+var stickLeft = document.querySelector('.stick-left');
+var stickRight = document.querySelector('.stick-right');
+
+var controlMessage = { x: 0, y: 0, z: 0, r: 0 };
+
+function onStickTouchMove(touch) {
+	var target = touch.target;
+	var targetRect = target.getBoundingClientRect();
+	var stickPointer = target.querySelector('.stick-pointer');
+
+	var offsetX = touch.clientX - targetRect.left;
+	var offsetY = touch.clientY - targetRect.top;
+
+	var x = 2 * offsetX / targetRect.width;
+	var y = 2 * offsetY / targetRect.height;
+
+	x = Math.max(0, x);
+	x = Math.min(2, x);
+	y = Math.max(0, y);
+	y = Math.min(2, y);
+
+	stickPointer.style.left = (x * 50) + '%';
+	stickPointer.style.top = (y * 50) + '%';
+
+	x -= 1;
+	y = 1 - y;
+
+	if (target.matches('.stick-left')) {
+		controlMessage.z = Math.round((y + 1) * 500);
+		controlMessage.r = Math.round(x * 1000);
+	} else if (target.matches('.stick-right')) {
+		controlMessage.x = Math.round(y * 1000);
+		controlMessage.y = Math.round(x * 1000);
+	}
+}
+
+body.addEventListener('touchmove', function (e) {
+	e.preventDefault();
+});
+
+function stickTouchStart(e) {
+	setControlMode();
+	callNativeApp('controlStart');
+	onStickTouchMove(e.changedTouches[0]);
+	rcPublishThrottled();
+	e.stopPropagation();
+	e.preventDefault();
+}
+
+function stickTouchMove(e) {
+    for (touch of e.changedTouches) {
+        onStickTouchMove(touch);
+    }
+	//onStickTouchMove(e.changedTouches[0]);
+	rcPublishThrottled();
+	e.stopPropagation();
+	e.preventDefault();
+}
+
+function stickTouchEnd(e) {
+	var pointer = e.target.querySelector('.stick-pointer');
+	if (e.target.matches('.stick-left')) {
+		controlMessage.r = 0;
+		pointer.style.left = '50%';
+	} else if (e.target.matches('.stick-right')) {
+		controlMessage.x = 0;
+		controlMessage.y = 0;
+		pointer.style.left = '50%';
+		pointer.style.top = '50%';
+	}
+	rcPublishThrottled();
+}
+
+stickLeft.addEventListener('touchmove', stickTouchMove);
+stickRight.addEventListener('touchmove', stickTouchMove);
+stickLeft.addEventListener('touchstart', stickTouchStart);
+stickRight.addEventListener('touchstart', stickTouchStart);
+stickLeft.addEventListener('touchend', stickTouchEnd);
+stickRight.addEventListener('touchend', stickTouchEnd);

apps/android/app/src/main/assets/telemetry.js

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

apps/android/app/src/main/java/express/copter/cleverrc/MainActivity.kt

@@ -0,0 +1,86 @@
+package express.copter.cleverrc
+
+import android.content.Context
+import android.os.Build
+import android.support.v7.app.AppCompatActivity
+import android.os.Bundle
+import android.view.View
+import android.view.WindowManager
+import android.webkit.JavascriptInterface
+import kotlinx.android.synthetic.main.activity_main.*
+import org.json.JSONObject
+import java.net.DatagramPacket
+import java.net.DatagramSocket
+import java.net.InetAddress
+import java.nio.ByteBuffer
+
+fun pack(x: Short, y: Short, z: Short, r: Short): ByteArray {
+    val pump_on_buf: ByteBuffer = ByteBuffer.allocate(8)
+    pump_on_buf.putShort(r)
+    pump_on_buf.putShort(z)
+    pump_on_buf.putShort(y)
+    pump_on_buf.putShort(x)
+
+    return pump_on_buf.array().reversedArray()
+}
+
+fun send(host: String, port: Int, data: ByteArray, senderPort: Int = 0): Boolean {
+    var ret = false
+    var socket: DatagramSocket? = null
+    try {
+        socket = DatagramSocket(senderPort)
+        val address = InetAddress.getByName(host)
+        val packet = DatagramPacket(data, data.size, address, port)
+        socket.send(packet)
+        ret = true
+    } catch (e: Exception) {
+        e.printStackTrace()
+    } finally {
+        socket?.close()
+    }
+    return ret
+}
+
+class MainActivity : AppCompatActivity() {
+
+    override fun onCreate(savedInstanceState: Bundle?) {
+        super.onCreate(savedInstanceState)
+        setContentView(R.layout.activity_main)
+        fullScreenCall()
+        main_web.loadUrl("file:///android_asset/index.html")
+
+        main_web.settings.apply {
+            domStorageEnabled = true
+            javaScriptEnabled = true
+            loadWithOverviewMode = true
+            useWideViewPort = true
+            setSupportZoom(false)
+        }
+
+        main_web.addJavascriptInterface(WebAppInterface(this), "appInterface")
+    }
+
+    private fun fullScreenCall() {
+        window.setFlags(
+            WindowManager.LayoutParams.FLAG_FULLSCREEN,
+            WindowManager.LayoutParams.FLAG_FULLSCREEN
+        )
+        if (Build.VERSION.SDK_INT < 19) {
+            val v = this.window.decorView
+            v.systemUiVisibility = View.GONE
+        } else {
+            //for higher api versions.
+            val decorView = window.decorView
+            val uiOptions = View.SYSTEM_UI_FLAG_HIDE_NAVIGATION or View.SYSTEM_UI_FLAG_IMMERSIVE_STICKY
+            decorView.systemUiVisibility = uiOptions
+        }
+    }
+}
+
+class WebAppInterface(c: Context) {
+    @JavascriptInterface
+    public fun postMessage(message: String) {
+        val data = JSONObject(message)
+        send("255.255.255.255", 35602, pack(data.getInt("x").toShort(), data.getInt("y").toShort(), data.getInt("z").toShort(), data.getInt("r").toShort()))
+    }
+}

apps/android/app/src/main/res/drawable-v24/ic_launcher_foreground.xml

@@ -0,0 +1,34 @@
+<vector xmlns:android="http://schemas.android.com/apk/res/android"
+        xmlns:aapt="http://schemas.android.com/aapt"
+        android:width="108dp"
+        android:height="108dp"
+        android:viewportHeight="108"
+        android:viewportWidth="108">
+    <path
+            android:fillType="evenOdd"
+            android:pathData="M32,64C32,64 38.39,52.99 44.13,50.95C51.37,48.37 70.14,49.57 70.14,49.57L108.26,87.69L108,109.01L75.97,107.97L32,64Z"
+            android:strokeColor="#00000000"
+            android:strokeWidth="1">
+        <aapt:attr name="android:fillColor">
+            <gradient
+                    android:endX="78.5885"
+                    android:endY="90.9159"
+                    android:startX="48.7653"
+                    android:startY="61.0927"
+                    android:type="linear">
+                <item
+                        android:color="#44000000"
+                        android:offset="0.0"/>
+                <item
+                        android:color="#00000000"
+                        android:offset="1.0"/>
+            </gradient>
+        </aapt:attr>
+    </path>
+    <path
+            android:fillColor="#FFFFFF"
+            android:fillType="nonZero"
+            android:pathData="M66.94,46.02L66.94,46.02C72.44,50.07 76,56.61 76,64L32,64C32,56.61 35.56,50.11 40.98,46.06L36.18,41.19C35.45,40.45 35.45,39.3 36.18,38.56C36.91,37.81 38.05,37.81 38.78,38.56L44.25,44.05C47.18,42.57 50.48,41.71 54,41.71C57.48,41.71 60.78,42.57 63.68,44.05L69.11,38.56C69.84,37.81 70.98,37.81 71.71,38.56C72.44,39.3 72.44,40.45 71.71,41.19L66.94,46.02ZM62.94,56.92C64.08,56.92 65,56.01 65,54.88C65,53.76 64.08,52.85 62.94,52.85C61.8,52.85 60.88,53.76 60.88,54.88C60.88,56.01 61.8,56.92 62.94,56.92ZM45.06,56.92C46.2,56.92 47.13,56.01 47.13,54.88C47.13,53.76 46.2,52.85 45.06,52.85C43.92,52.85 43,53.76 43,54.88C43,56.01 43.92,56.92 45.06,56.92Z"
+            android:strokeColor="#00000000"
+            android:strokeWidth="1"/>
+</vector>

apps/android/app/src/main/res/drawable/ic_launcher_background.xml

@@ -0,0 +1,74 @@
+<?xml version="1.0" encoding="utf-8"?>
+<vector
+        xmlns:android="http://schemas.android.com/apk/res/android"
+        android:height="108dp"
+        android:width="108dp"
+        android:viewportHeight="108"
+        android:viewportWidth="108">
+    <path android:fillColor="#008577"
+          android:pathData="M0,0h108v108h-108z"/>
+    <path android:fillColor="#00000000" android:pathData="M9,0L9,108"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M19,0L19,108"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M29,0L29,108"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M39,0L39,108"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M49,0L49,108"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M59,0L59,108"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M69,0L69,108"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M79,0L79,108"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M89,0L89,108"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M99,0L99,108"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M0,9L108,9"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M0,19L108,19"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M0,29L108,29"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M0,39L108,39"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M0,49L108,49"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M0,59L108,59"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M0,69L108,69"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M0,79L108,79"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M0,89L108,89"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M0,99L108,99"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M19,29L89,29"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M19,39L89,39"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M19,49L89,49"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M19,59L89,59"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M19,69L89,69"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M19,79L89,79"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M29,19L29,89"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M39,19L39,89"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M49,19L49,89"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M59,19L59,89"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M69,19L69,89"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+    <path android:fillColor="#00000000" android:pathData="M79,19L79,89"
+          android:strokeColor="#33FFFFFF" android:strokeWidth="0.8"/>
+</vector>

apps/android/app/src/main/res/layout/activity_main.xml

@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="utf-8"?>
+<FrameLayout
+        xmlns:android="http://schemas.android.com/apk/res/android"
+        xmlns:tools="http://schemas.android.com/tools"
+        xmlns:app="http://schemas.android.com/apk/res-auto"
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        tools:context=".MainActivity">
+
+    <WebView
+            android:layout_width="match_parent"
+            android:layout_height="match_parent"
+            android:id="@+id/main_web"/>
+</FrameLayout>

apps/android/app/src/main/res/mipmap-anydpi-v26/ic_launcher.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<adaptive-icon xmlns:android="http://schemas.android.com/apk/res/android">
+    <background android:drawable="@color/ic_launcher_background"/>
+    <foreground android:drawable="@mipmap/ic_launcher_foreground"/>
+</adaptive-icon>

apps/android/app/src/main/res/mipmap-anydpi-v26/ic_launcher_round.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<adaptive-icon xmlns:android="http://schemas.android.com/apk/res/android">
+    <background android:drawable="@color/ic_launcher_background"/>
+    <foreground android:drawable="@mipmap/ic_launcher_foreground"/>
+</adaptive-icon>

apps/android/app/src/main/res/values/colors.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+    <color name="colorPrimary">#fafafa</color>
+    <color name="colorPrimaryDark">#d1d1d1</color>
+    <color name="colorAccent">#757575</color>
+</resources>

apps/android/app/src/main/res/values/ic_launcher_background.xml

@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+    <color name="ic_launcher_background">#FFFFFF</color>
+</resources>

apps/android/app/src/main/res/values/strings.xml

@@ -0,0 +1,3 @@
+<resources>
+    <string name="app_name">CLEVER RC</string>
+</resources>

apps/android/app/src/main/res/values/styles.xml

@@ -0,0 +1,18 @@
+<resources>
+
+    <!-- Base application theme. -->
+    <style name="AppTheme" parent="Theme.AppCompat.Light.DarkActionBar">
+        <!-- Customize your theme here. -->
+        <item name="colorPrimary">@color/colorPrimary</item>
+        <item name="colorPrimaryDark">@color/colorPrimaryDark</item>
+        <item name="colorAccent">@color/colorAccent</item>
+    </style>
+
+    <style name="NoUiAppTheme"
+           parent="Theme.AppCompat.NoActionBar">
+        <item name="colorPrimary">@color/colorPrimary</item>
+        <item name="colorPrimaryDark">@color/colorPrimaryDark</item>
+        <item name="colorAccent">@color/colorAccent</item>
+    </style>
+
+</resources>

apps/android/app/src/test/java/express/copter/cleverrc/ExampleUnitTest.kt

@@ -0,0 +1,17 @@
+package express.copter.cleverrc
+
+import org.junit.Test
+
+import org.junit.Assert.*
+
+/**
+ * Example local unit test, which will execute on the development machine (host).
+ *
+ * See [testing documentation](http://d.android.com/tools/testing).
+ */
+class ExampleUnitTest {
+    @Test
+    fun addition_isCorrect() {
+        assertEquals(4, 2 + 2)
+    }
+}

apps/android/build.gradle

@@ -0,0 +1,27 @@
+// Top-level build file where you can add configuration options common to all sub-projects/modules.
+
+buildscript {
+    ext.kotlin_version = '1.2.71'
+    repositories {
+        google()
+        jcenter()
+    }
+    dependencies {
+        classpath 'com.android.tools.build:gradle:3.2.1'
+        classpath "org.jetbrains.kotlin:kotlin-gradle-plugin:$kotlin_version"
+
+        // NOTE: Do not place your application dependencies here; they belong
+        // in the individual module build.gradle files
+    }
+}
+
+allprojects {
+    repositories {
+        google()
+        jcenter()
+    }
+}
+
+task clean(type: Delete) {
+    delete rootProject.buildDir
+}

apps/android/gradle.properties

@@ -0,0 +1,15 @@
+# Project-wide Gradle settings.
+# IDE (e.g. Android Studio) users:
+# Gradle settings configured through the IDE *will override*
+# any settings specified in this file.
+# For more details on how to configure your build environment visit
+# http://www.gradle.org/docs/current/userguide/build_environment.html
+# Specifies the JVM arguments used for the daemon process.
+# The setting is particularly useful for tweaking memory settings.
+org.gradle.jvmargs=-Xmx1536m
+# When configured, Gradle will run in incubating parallel mode.
+# This option should only be used with decoupled projects. More details, visit
+# http://www.gradle.org/docs/current/userguide/multi_project_builds.html#sec:decoupled_projects
+# org.gradle.parallel=true
+# Kotlin code style for this project: "official" or "obsolete":
+kotlin.code.style=official

apps/android/gradle/wrapper/gradle-wrapper.properties

@@ -0,0 +1,5 @@
+distributionBase=GRADLE_USER_HOME
+distributionPath=wrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-4.6-all.zip
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=wrapper/dists

apps/android/gradlew

@@ -0,0 +1,172 @@
+#!/usr/bin/env sh
+
+##############################################################################
+##
+##  Gradle start up script for UN*X
+##
+##############################################################################
+
+# Attempt to set APP_HOME
+# Resolve links: $0 may be a link
+PRG="$0"
+# Need this for relative symlinks.
+while [ -h "$PRG" ] ; do
+    ls=`ls -ld "$PRG"`
+    link=`expr "$ls" : '.*-> \(.*\)$'`
+    if expr "$link" : '/.*' > /dev/null; then
+        PRG="$link"
+    else
+        PRG=`dirname "$PRG"`"/$link"
+    fi
+done
+SAVED="`pwd`"
+cd "`dirname \"$PRG\"`/" >/dev/null
+APP_HOME="`pwd -P`"
+cd "$SAVED" >/dev/null
+
+APP_NAME="Gradle"
+APP_BASE_NAME=`basename "$0"`
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS=""
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD="maximum"
+
+warn () {
+    echo "$*"
+}
+
+die () {
+    echo
+    echo "$*"
+    echo
+    exit 1
+}
+
+# OS specific support (must be 'true' or 'false').
+cygwin=false
+msys=false
+darwin=false
+nonstop=false
+case "`uname`" in
+  CYGWIN* )
+    cygwin=true
+    ;;
+  Darwin* )
+    darwin=true
+    ;;
+  MINGW* )
+    msys=true
+    ;;
+  NONSTOP* )
+    nonstop=true
+    ;;
+esac
+
+CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
+
+# Determine the Java command to use to start the JVM.
+if [ -n "$JAVA_HOME" ] ; then
+    if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
+        # IBM's JDK on AIX uses strange locations for the executables
+        JAVACMD="$JAVA_HOME/jre/sh/java"
+    else
+        JAVACMD="$JAVA_HOME/bin/java"
+    fi
+    if [ ! -x "$JAVACMD" ] ; then
+        die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+    fi
+else
+    JAVACMD="java"
+    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+fi
+
+# Increase the maximum file descriptors if we can.
+if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
+    MAX_FD_LIMIT=`ulimit -H -n`
+    if [ $? -eq 0 ] ; then
+        if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
+            MAX_FD="$MAX_FD_LIMIT"
+        fi
+        ulimit -n $MAX_FD
+        if [ $? -ne 0 ] ; then
+            warn "Could not set maximum file descriptor limit: $MAX_FD"
+        fi
+    else
+        warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
+    fi
+fi
+
+# For Darwin, add options to specify how the application appears in the dock
+if $darwin; then
+    GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
+fi
+
+# For Cygwin, switch paths to Windows format before running java
+if $cygwin ; then
+    APP_HOME=`cygpath --path --mixed "$APP_HOME"`
+    CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
+    JAVACMD=`cygpath --unix "$JAVACMD"`
+
+    # We build the pattern for arguments to be converted via cygpath
+    ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
+    SEP=""
+    for dir in $ROOTDIRSRAW ; do
+        ROOTDIRS="$ROOTDIRS$SEP$dir"
+        SEP="|"
+    done
+    OURCYGPATTERN="(^($ROOTDIRS))"
+    # Add a user-defined pattern to the cygpath arguments
+    if [ "$GRADLE_CYGPATTERN" != "" ] ; then
+        OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
+    fi
+    # Now convert the arguments - kludge to limit ourselves to /bin/sh
+    i=0
+    for arg in "$@" ; do
+        CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
+        CHECK2=`echo "$arg"|egrep -c "^-"`                                 ### Determine if an option
+
+        if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then                    ### Added a condition
+            eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
+        else
+            eval `echo args$i`="\"$arg\""
+        fi
+        i=$((i+1))
+    done
+    case $i in
+        (0) set -- ;;
+        (1) set -- "$args0" ;;
+        (2) set -- "$args0" "$args1" ;;
+        (3) set -- "$args0" "$args1" "$args2" ;;
+        (4) set -- "$args0" "$args1" "$args2" "$args3" ;;
+        (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
+        (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
+        (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
+        (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
+        (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
+    esac
+fi
+
+# Escape application args
+save () {
+    for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
+    echo " "
+}
+APP_ARGS=$(save "$@")
+
+# Collect all arguments for the java command, following the shell quoting and substitution rules
+eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+
+# by default we should be in the correct project dir, but when run from Finder on Mac, the cwd is wrong
+if [ "$(uname)" = "Darwin" ] && [ "$HOME" = "$PWD" ]; then
+  cd "$(dirname "$0")"
+fi
+
+exec "$JAVACMD" "$@"

apps/android/gradlew.bat

@@ -0,0 +1,84 @@
+@if "%DEBUG%" == "" @echo off
+@rem ##########################################################################
+@rem
+@rem  Gradle startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+set DIRNAME=%~dp0
+if "%DIRNAME%" == "" set DIRNAME=.
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%
+
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS=
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if "%ERRORLEVEL%" == "0" goto init
+
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto init
+
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:init
+@rem Get command-line arguments, handling Windows variants
+
+if not "%OS%" == "Windows_NT" goto win9xME_args
+
+:win9xME_args
+@rem Slurp the command line arguments.
+set CMD_LINE_ARGS=
+set _SKIP=2
+
+:win9xME_args_slurp
+if "x%~1" == "x" goto execute
+
+set CMD_LINE_ARGS=%*
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
+
+:end
+@rem End local scope for the variables with windows NT shell
+if "%ERRORLEVEL%"=="0" goto mainEnd
+
+:fail
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
+exit /b 1
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega

apps/android/settings.gradle

@@ -0,0 +1 @@
+include ':app'

apps/ios/Podfile

@@ -9,6 +9,5 @@ target 'cleverrc' do
 
   # Pods for cleverrc
   pod 'SwiftSocket', '~> 2.0'
-  pod 'NotificationBannerSwift'
 
 end

apps/ios/Podfile.lock

@@ -1,21 +1,12 @@
 PODS:
-  - MarqueeLabel/Swift (3.1.4)
-  - NotificationBannerSwift (1.5.4):
-    - MarqueeLabel/Swift
-    - SnapKit (~> 4.0)
-  - SnapKit (4.0.0)
   - SwiftSocket (2.0.2)
 
 DEPENDENCIES:
-  - NotificationBannerSwift
   - SwiftSocket (~> 2.0)
 
 SPEC CHECKSUMS:
-  MarqueeLabel: bf768455fe88d427f71476ebb23f9092b660f40b
-  NotificationBannerSwift: 4f6666c8421dcf11be0812dd1093d932c15921af
-  SnapKit: a42d492c16e80209130a3379f73596c3454b7694
   SwiftSocket: 6f4c9c63fbc5c1d61188936bb3c599fd546f40ae
 
-PODFILE CHECKSUM: fd5199f69c3ee8c1fbc0dd582477d890c8b2a24f
+PODFILE CHECKSUM: 2044f57d00f536792fbc38c63ded4fa78dcc135c
 
 COCOAPODS: 1.4.0

apps/ios/README.md

@@ -1,5 +1,4 @@
-iOS-приложение для управления Клевером
---------------------------------------
+# iOS-приложение для управления Клевером
 
 Для установки зависимостей необходим [CocoaPods](https://cocoapods.org):
 
@@ -8,3 +7,11 @@ pod install
 ```
 
 Для разработки и сборки откройте в XCode файл `cleverrc.xcworkspace`.
+
+## Политика конфиденциальности
+
+App Store приложение CLEVER RC не собирает и не хранит каких-либо личных данных пользователя.
+
+## Privacy policy
+
+The App Store app CLEVER RC does not collect and store any personal user data.

apps/ios/cleverrc.xcodeproj/project.pbxproj

@@ -139,7 +139,7 @@
 			isa = PBXProject;
 			attributes = {
 				LastSwiftUpdateCheck = 0920;
-				LastUpgradeCheck = 0920;
+				LastUpgradeCheck = 0930;
 				ORGANIZATIONNAME = "Copter Express";
 				TargetAttributes = {
 					7C51653C20139237004D1F4D = {
@@ -226,16 +226,10 @@
 			);
 			inputPaths = (
 				"${SRCROOT}/Pods/Target Support Files/Pods-cleverrc/Pods-cleverrc-frameworks.sh",
-				"${BUILT_PRODUCTS_DIR}/MarqueeLabel/MarqueeLabel.framework",
-				"${BUILT_PRODUCTS_DIR}/NotificationBannerSwift/NotificationBannerSwift.framework",
-				"${BUILT_PRODUCTS_DIR}/SnapKit/SnapKit.framework",
 				"${BUILT_PRODUCTS_DIR}/SwiftSocket/SwiftSocket.framework",
 			);
 			name = "[CP] Embed Pods Frameworks";
 			outputPaths = (
-				"${TARGET_BUILD_DIR}/${FRAMEWORKS_FOLDER_PATH}/MarqueeLabel.framework",
-				"${TARGET_BUILD_DIR}/${FRAMEWORKS_FOLDER_PATH}/NotificationBannerSwift.framework",
-				"${TARGET_BUILD_DIR}/${FRAMEWORKS_FOLDER_PATH}/SnapKit.framework",
 				"${TARGET_BUILD_DIR}/${FRAMEWORKS_FOLDER_PATH}/SwiftSocket.framework",
 			);
 			runOnlyForDeploymentPostprocessing = 0;
@@ -294,6 +288,7 @@
 				CLANG_WARN_BOOL_CONVERSION = YES;
 				CLANG_WARN_COMMA = YES;
 				CLANG_WARN_CONSTANT_CONVERSION = YES;
+				CLANG_WARN_DEPRECATED_OBJC_IMPLEMENTATIONS = YES;
 				CLANG_WARN_DIRECT_OBJC_ISA_USAGE = YES_ERROR;
 				CLANG_WARN_DOCUMENTATION_COMMENTS = YES;
 				CLANG_WARN_EMPTY_BODY = YES;
@@ -301,6 +296,7 @@
 				CLANG_WARN_INFINITE_RECURSION = YES;
 				CLANG_WARN_INT_CONVERSION = YES;
 				CLANG_WARN_NON_LITERAL_NULL_CONVERSION = YES;
+				CLANG_WARN_OBJC_IMPLICIT_RETAIN_SELF = YES;
 				CLANG_WARN_OBJC_LITERAL_CONVERSION = YES;
 				CLANG_WARN_OBJC_ROOT_CLASS = YES_ERROR;
 				CLANG_WARN_RANGE_LOOP_ANALYSIS = YES;
@@ -351,6 +347,7 @@
 				CLANG_WARN_BOOL_CONVERSION = YES;
 				CLANG_WARN_COMMA = YES;
 				CLANG_WARN_CONSTANT_CONVERSION = YES;
+				CLANG_WARN_DEPRECATED_OBJC_IMPLEMENTATIONS = YES;
 				CLANG_WARN_DIRECT_OBJC_ISA_USAGE = YES_ERROR;
 				CLANG_WARN_DOCUMENTATION_COMMENTS = YES;
 				CLANG_WARN_EMPTY_BODY = YES;
@@ -358,6 +355,7 @@
 				CLANG_WARN_INFINITE_RECURSION = YES;
 				CLANG_WARN_INT_CONVERSION = YES;
 				CLANG_WARN_NON_LITERAL_NULL_CONVERSION = YES;
+				CLANG_WARN_OBJC_IMPLICIT_RETAIN_SELF = YES;
 				CLANG_WARN_OBJC_LITERAL_CONVERSION = YES;
 				CLANG_WARN_OBJC_ROOT_CLASS = YES_ERROR;
 				CLANG_WARN_RANGE_LOOP_ANALYSIS = YES;
@@ -393,7 +391,7 @@
 			buildSettings = {
 				ASSETCATALOG_COMPILER_APPICON_NAME = AppIcon;
 				CODE_SIGN_STYLE = Automatic;
-				DEVELOPMENT_TEAM = 7QY6KJ2672;
+				DEVELOPMENT_TEAM = M8TDN3PAH2;
 				INFOPLIST_FILE = cleverrc/Info.plist;
 				LD_RUNPATH_SEARCH_PATHS = "$(inherited) @executable_path/Frameworks";
 				PRODUCT_BUNDLE_IDENTIFIER = coex.cleverrc;
@@ -409,7 +407,7 @@
 			buildSettings = {
 				ASSETCATALOG_COMPILER_APPICON_NAME = AppIcon;
 				CODE_SIGN_STYLE = Automatic;
-				DEVELOPMENT_TEAM = 7QY6KJ2672;
+				DEVELOPMENT_TEAM = M8TDN3PAH2;
 				INFOPLIST_FILE = cleverrc/Info.plist;
 				LD_RUNPATH_SEARCH_PATHS = "$(inherited) @executable_path/Frameworks";
 				PRODUCT_BUNDLE_IDENTIFIER = coex.cleverrc;

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

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

apps/ios/cleverrc/AppDelegate.swift

@@ -3,7 +3,7 @@
 //  cleverrc
 //
 //  Created by Oleg Kalachev on 20.01.2018.
-//  Copyright © 2018 Copter Express. All rights reserved.
+//  Copyright © 2018 Copter Express Technologies. All rights reserved.
 //
 
 import UIKit

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

@@ -1,100 +1,199 @@
 {
   "images" : [
     {
-      "idiom" : "iphone",
       "size" : "20x20",
+      "idiom" : "iphone",
+      "filename" : "Icon-App-20x20@2x.png",
       "scale" : "2x"
     },
     {
-      "idiom" : "iphone",
       "size" : "20x20",
+      "idiom" : "iphone",
+      "filename" : "Icon-App-20x20@3x.png",
       "scale" : "3x"
     },
     {
-      "idiom" : "iphone",
       "size" : "29x29",
+      "idiom" : "iphone",
+      "filename" : "Icon-App-29x29@2x.png",
       "scale" : "2x"
     },
     {
-      "idiom" : "iphone",
       "size" : "29x29",
+      "idiom" : "iphone",
+      "filename" : "Icon-App-29x29@3x.png",
       "scale" : "3x"
     },
     {
-      "idiom" : "iphone",
       "size" : "40x40",
+      "idiom" : "iphone",
+      "filename" : "Icon-App-40x40@2x.png",
       "scale" : "2x"
     },
     {
-      "idiom" : "iphone",
       "size" : "40x40",
+      "idiom" : "iphone",
+      "filename" : "Icon-App-40x40@3x.png",
       "scale" : "3x"
     },
     {
       "size" : "60x60",
       "idiom" : "iphone",
-      "filename" : "cleverios180.png",
+      "filename" : "Icon-App-60x60@2x.png",
       "scale" : "2x"
     },
     {
       "size" : "60x60",
       "idiom" : "iphone",
-      "filename" : "cleverios180-1.png",
+      "filename" : "Icon-App-60x60@3x.png",
       "scale" : "3x"
     },
     {
-      "idiom" : "ipad",
       "size" : "20x20",
+      "idiom" : "ipad",
+      "filename" : "Icon-App-20x20@1x.png",
       "scale" : "1x"
     },
     {
-      "idiom" : "ipad",
       "size" : "20x20",
+      "idiom" : "ipad",
+      "filename" : "Icon-App-20x20@2x-1.png",
       "scale" : "2x"
     },
     {
-      "idiom" : "ipad",
       "size" : "29x29",
+      "idiom" : "ipad",
+      "filename" : "Icon-App-29x29@1x.png",
       "scale" : "1x"
     },
     {
-      "idiom" : "ipad",
       "size" : "29x29",
+      "idiom" : "ipad",
+      "filename" : "Icon-App-29x29@2x-1.png",
       "scale" : "2x"
     },
     {
-      "idiom" : "ipad",
       "size" : "40x40",
+      "idiom" : "ipad",
+      "filename" : "Icon-App-40x40@1x.png",
       "scale" : "1x"
     },
     {
-      "idiom" : "ipad",
       "size" : "40x40",
+      "idiom" : "ipad",
+      "filename" : "Icon-App-40x40@2x-1.png",
       "scale" : "2x"
     },
     {
-      "idiom" : "ipad",
       "size" : "76x76",
+      "idiom" : "ipad",
+      "filename" : "Icon-App-76x76@1x.png",
       "scale" : "1x"
     },
     {
-      "idiom" : "ipad",
       "size" : "76x76",
+      "idiom" : "ipad",
+      "filename" : "Icon-App-76x76@2x.png",
       "scale" : "2x"
     },
     {
-      "idiom" : "ipad",
       "size" : "83.5x83.5",
+      "idiom" : "ipad",
+      "filename" : "Icon-App-83.5x83.5@2x.png",
       "scale" : "2x"
     },
     {
+      "size" : "1024x1024",
       "idiom" : "ios-marketing",
+      "filename" : "ItunesArtwork@2x.png",
+      "scale" : "1x"
+    },
+    {
+      "size" : "24x24",
+      "idiom" : "watch",
+      "scale" : "2x",
+      "role" : "notificationCenter",
+      "subtype" : "38mm"
+    },
+    {
+      "size" : "27.5x27.5",
+      "idiom" : "watch",
+      "scale" : "2x",
+      "role" : "notificationCenter",
+      "subtype" : "42mm"
+    },
+    {
+      "size" : "29x29",
+      "idiom" : "watch",
+      "role" : "companionSettings",
+      "scale" : "2x"
+    },
+    {
+      "size" : "29x29",
+      "idiom" : "watch",
+      "role" : "companionSettings",
+      "scale" : "3x"
+    },
+    {
+      "size" : "40x40",
+      "idiom" : "watch",
+      "scale" : "2x",
+      "role" : "appLauncher",
+      "subtype" : "38mm"
+    },
+    {
+      "size" : "44x44",
+      "idiom" : "watch",
+      "scale" : "2x",
+      "role" : "appLauncher",
+      "subtype" : "40mm"
+    },
+    {
+      "size" : "50x50",
+      "idiom" : "watch",
+      "scale" : "2x",
+      "role" : "appLauncher",
+      "subtype" : "44mm"
+    },
+    {
+      "size" : "86x86",
+      "idiom" : "watch",
+      "scale" : "2x",
+      "role" : "quickLook",
+      "subtype" : "38mm"
+    },
+    {
+      "size" : "98x98",
+      "idiom" : "watch",
+      "scale" : "2x",
+      "role" : "quickLook",
+      "subtype" : "42mm"
+    },
+    {
+      "size" : "108x108",
+      "idiom" : "watch",
+      "scale" : "2x",
+      "role" : "quickLook",
+      "subtype" : "44mm"
+    },
+    {
+      "idiom" : "watch-marketing",
       "size" : "1024x1024",
       "scale" : "1x"
+    },
+    {
+      "size" : "44x44",
+      "idiom" : "watch",
+      "scale" : "2x",
+      "role" : "longLook",
+      "subtype" : "42mm"
     }
   ],
   "info" : {
     "version" : 1,
     "author" : "xcode"
+  },
+  "properties" : {
+    "pre-rendered" : true
   }
 }

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

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

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>
@@ -17,9 +17,9 @@
 	<key>CFBundlePackageType</key>
 	<string>APPL</string>
 	<key>CFBundleShortVersionString</key>
-	<string>1.0</string>
+	<string>1.2</string>
 	<key>CFBundleVersion</key>
-	<string>1</string>
+	<string>7</string>
 	<key>LSRequiresIPhoneOS</key>
 	<true/>
 	<key>UILaunchStoryboardName</key>

apps/ios/cleverrc/ViewController.swift

@@ -3,19 +3,19 @@
 //  cleverrc
 //
 //  Created by Oleg Kalachev on 20.01.2018.
-//  Copyright © 2018 Copter Express. All rights reserved.
+//  Copyright © 2018 Copter Express Technologies. All rights reserved.
 //
 
 import UIKit
 import WebKit
 import SwiftSocket
-import NotificationBannerSwift
+import AudioToolbox.AudioServices
 
 class ViewController: UIViewController, WKScriptMessageHandler {
     @IBOutlet weak var webView: WKWebView!
     let impactGenerator = UIImpactFeedbackGenerator(style: .medium)
     let notificationGenerator = UINotificationFeedbackGenerator()
-    let udpSocket = UDPClient(address:"255.255.255.255", port: 35602)
+    let udpSocket = UDPClient(address: "255.255.255.255", port: 35602)
 
     override func viewDidLoad() {
         super.viewDidLoad()
@@ -24,6 +24,7 @@ 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")
@@ -56,18 +57,28 @@ 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)
-            let m = message.body as! NSDictionary;
-            let level = m["level"] as! Int
-            if level == 4 {
-                let banner = NotificationBanner(title: m["msg"] as! String, style: .warning)
-                banner.show()
-            } else {
-                let banner = NotificationBanner(title: m["msg"] as! String, style: .danger)
-                banner.show()
+            tapticNotify()
+        }
+    }
+
+    func tapticNotify() {
+        if let feedbackSupportLevel = UIDevice.current.value(forKey: "_feedbackSupportLevel") as? Int {
+            switch feedbackSupportLevel {
+            case 2:
+                // 2nd Generation Taptic Engine w/ Haptic Feedback (iPhone 7/7+)
+                notificationGenerator.notificationOccurred(.warning)
+            case 1:
+                // 1st Generation Taptic Engine (iPhone 6S/6S+)
+                let peek = SystemSoundID(1519)
+                AudioServicesPlaySystemSound(peek)
+            case 0:
+                // No Taptic Engine
+                break
+            default: break
             }
         }
     }

apps/ios/cleverrc/clever.svg

@@ -1,84 +1,57 @@
-<?xml version="1.0" encoding="utf-8"?>
-<svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
-	 viewBox="0 0 52.5 52.5" enable-background="new 0 0 52.5 52.5" xml:space="preserve">
-<g>
-	<path fill="white" fill-opacity="0.5" d="M35.7,17.2c0.3-0.3,0.5-0.7,0.7-1.1c0.2-0.4,0.3-0.9,0.3-1.4c0-0.5-0.1-1-0.3-1.4c-0.2-0.5-0.5-0.9-0.8-1.3
-		c-0.4-0.4-0.9-0.7-1.4-0.9c-0.6-0.2-1.2-0.3-1.8-0.2c-0.5,0.1-0.9,0.2-1.3,0.4c-0.2,0.1-0.4,0.3-0.6,0.4L30.2,12
-		c-0.1,0.1-0.1,0.1-0.2,0.1c-0.1,0.1-0.3,0.2-0.4,0.2c-0.1,0.1-0.3,0.1-0.4,0.2c-0.1,0-0.2,0.1-0.4,0.1c-0.1,0-0.2,0-0.3,0
-		c-0.6,0.1-1.3-0.1-1.9-0.4c-0.2-0.1-0.4-0.2-0.6-0.4c0,0-0.1-0.1-0.1-0.1c0,0-0.1-0.1-0.1-0.1c0,0,0,0-0.1-0.1
-		c-0.1-0.1-0.1-0.2-0.1-0.3c0,0,0,0,0-0.1l0-6.5c-0.5-0.6-1.1-1.1-1.7-1.6c-0.9-0.7-1.9-1.4-3-1.8c-0.9-0.4-1.8-0.7-2.7-1
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-		C4,4.6,3.4,5.3,2.8,6c-0.5,0.7-1,1.4-1.3,2.2C1.1,9,0.8,9.8,0.6,10.6c-0.2,0.7-0.4,1.4-0.4,2.1C0,13.7,0,14.6,0,15.6
-		c0,0.8,0.2,1.7,0.4,2.5c0.2,0.9,0.5,1.7,0.8,2.5C1.8,21.8,2.5,23,3.4,24c0.3,0.4,0.7,0.8,1,1.1c0.2,0.2,0.3,0.3,0.5,0.5H11
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-		c0.3-0.5,0.6-0.9,1-1.3c0.4-0.4,0.9-0.7,1.4-0.9c0.6-0.2,1.2-0.4,1.8-0.4c0.7,0,1.3,0.1,1.9,0.3c0.7,0.2,1.3,0.6,1.8,1.1
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-		c-0.1,0.1-0.1,0.1-0.1,0.2c0,0.1-0.1,0.1-0.1,0.2c0,0.1,0,0.1,0,0.2c-0.1,0.3-0.1,0.7,0.1,1.1c0,0.1,0,0.1,0.1,0.2
-		c0,0.1,0.1,0.1,0.1,0.2c0,0.1,0.1,0.2,0.2,0.3h7.2l0-7.5c0,0,0,0,0-0.1c0-0.1,0-0.1,0.1-0.2c0-0.1,0.1-0.1,0.1-0.2
-		c0,0,0.1-0.1,0.1-0.1l0.1,0c0.1-0.1,0.2-0.1,0.3-0.2c0.5-0.3,1-0.5,1.6-0.6c0.2,0,0.3,0,0.5,0c0,0,0.1,0,0.1,0c0.1,0,0.1,0,0.2,0
-		c0.1,0,0.2,0,0.4,0.1c0.3,0.1,0.7,0.2,0.9,0.4c0.1,0.1,0.2,0.1,0.3,0.2c0,0,0.1,0.1,0.1,0.1l0,0l-0.1,0.1c0,0,0,0,0,0l0.1-0.1
-		l0.2,0.2c0.1,0.1,0.2,0.2,0.4,0.2c0.2,0.1,0.5,0.3,0.8,0.4c0.7,0.2,1.4,0.3,2,0.1c0.4-0.1,0.7-0.2,1.1-0.4
-		C35.1,17.7,35.4,17.5,35.7,17.2z"/>
-	<g>
-		<polygon points="41.6,29.7 41.6,29.7 41.6,29.6 41.6,29.6 		"/>
-		<path fill="white" fill-opacity="0.5" d="M28.6,49.2c0.9,0.8,2,1.4,3,1.9c0.8,0.4,1.7,0.7,2.6,0.9c0.9,0.2,1.8,0.4,2.7,0.4c0.9,0.1,1.9,0,2.8-0.1
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+           transform="translate(40.657,22.3049)"
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+             id="path38"
+             style="fill:white;fill-opacity:0.5;fill-rule:nonzero;stroke:none"
+             d="M 0,0 Z" /></g><g
+           transform="translate(49.1867,28.5134)"
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+             id="path42"
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+          </g></g></g></svg>

apps/ios/cleverrc/index.html

@@ -17,6 +17,7 @@
 				<div class="stick-pointer"></div>
 			</div>
 		</div>
+		<div class="notifications"></div>
 		<script src="main.js" type="text/javascript"></script>
 		<script src="telemetry.js" type="text/javascript"></script>
 	</body>

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;
@@ -72,7 +76,8 @@ body.armed .telemetry .mode {
 
 body.low-battery .battery {
 	color: #ff554b;
-	animation: scale 0.3s 1 ease-in-out}
+	animation: scale 0.3s 1 ease-in-out
+}
 
 .logo {
 	position: absolute;
@@ -89,3 +94,32 @@ body.low-battery .battery {
 	user-select: none;
 	pointer-events: none;
 }
+
+.notifications {
+	pointer-events: none;
+	position: absolute;
+	top: 0;
+	left: 0;
+	right: 0;
+	color: white;
+}
+
+.notifications.hidden {
+	transform: translateY(-100%);
+}
+
+.notifications.anim {
+	transition: transform 0.2s ease;
+}
+
+.notifications .item {
+	font-size: 4mm;
+	-webkit-text-size-adjust: none;
+	background: #fca83a;
+	padding: 3mm;
+	padding-bottom: 1.5mm;
+}
+
+.notifications .item:last-child {
+	padding-bottom: 3mm;
+}

apps/ios/cleverrc/telemetry.js

@@ -1,6 +1,7 @@
 var url = 'ws://192.168.11.1:9090';
 var modeEl = document.querySelector('.telemetry .mode');
 var batteryEl = document.querySelector('.battery');
+var notificationsEl = document.querySelector('.notifications');
 
 var ros = new ROSLIB.Ros({ url: url });
 
@@ -35,10 +36,14 @@ new ROSLIB.Topic({
 });
 
 function notifyLowBattery() {
+	console.log('low battery');
 	callNativeApp('lowBattery');
+	body.classList.remove('low-battery');
+	void body.offsetWidth; // trick for repeating animation
+	body.classList.add('low-battery');
 }
 
-notifyLowBatteryThrottled = throttle(notifyLowBattery, 10000);
+notifyLowBatteryThrottled = throttle(notifyLowBattery, 15000);
 
 new ROSLIB.Topic({
 	ros: ros,
@@ -50,29 +55,60 @@ new ROSLIB.Topic({
 	batteryEl.innerHTML = (message.cell_voltage[0].toFixed(2) + ' V') || '';
 
 	if (message.cell_voltage[0] < LOW_BATTERY) {
-		console.log('low battery');
-		callNativeApp('lowBattery');
-		body.classList.remove('low-battery');
-		void body.offsetWidth; // trick for repeating animation
-		body.classList.add('low-battery');
+		notifyLowBatteryThrottled();
 	} else {
 		body.classList.remove('low-battery');
 	}
 });
 
+var notificationHideTimer;
+
+function notify(text, severity) {
+	var repeated = notificationsEl.querySelector('.item:first-of-type[data-text=' + text + ']');
+	if (repeated) {
+		// don't repeat notifications
+		var count = repeated.getAttribute('data-count') || 1;
+		repeated.setAttribute('data-count', ++count);
+		repeated.innerHTML = text + ' (' + count + ')';
+		return;
+	}
+
+	var item = document.createElement('div');
+	item.innerHTML = text;
+	item.classList.add('item');
+	item.setAttribute('data-text', text);
+	notificationsEl.prepend(item);
+	var itemHeight = item.offsetHeight;
+	notificationsEl.classList.remove('anim');
+	notificationsEl.style.transform = 'translateY(' + -itemHeight + 'px)';
+	setTimeout(function() {
+		notificationsEl.classList.add('anim');
+		notificationsEl.style.transform = 'translateY(0)';
+	}, 0);
+	clearTimeout(notificationHideTimer);
+	notificationHideTimer = setTimeout(function() {
+		notificationsEl.style.transform = '';
+		notificationsEl.classList.add('hidden');
+		setTimeout(function() {
+			notificationsEl.innerHTML = '';
+		}, 210);
+	}, 4000);
+}
+
 new ROSLIB.Topic({
 	ros: ros,
-	name: '/rosout_agg',
-	messageType: 'rosgraph_msgs/Log'
+	name: '/mavros/statustext/recv',
+	messageType: 'mavros_msgs/StatusText'
 }).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.severity <= 4) {
 		if (BLACKLIST.some(function(e) {
-				return message.msg.indexOf(e) != -1;
+				return message.text.indexOf(e) != -1;
 			})) {
-			console.log('Filtered out message ' + message.msg);
+			console.log('Filtered out message ' + message.text);
 			return;
 		}
+		notify(message.text, message.severity);
 		callNativeApp('notification', message);
 	}
 });

aruco_pose/CMakeLists.txt

@@ -16,11 +16,15 @@ find_package(catkin REQUIRED COMPONENTS
   image_transport
   cv_bridge
   tf
-  #tf2
-  #tf2_ros
-  #aruco_msgs
+  tf2
+  tf2_ros
+  tf2_geometry_msgs
+  sensor_msgs
+  message_generation
 )
 
+find_package(OpenCV 3 REQUIRED)
+
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
 
@@ -55,11 +59,12 @@ find_package(catkin REQUIRED COMPONENTS
 ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 
 ## Generate messages in the 'msg' folder
-#add_message_files(
-#  FILES
-#  Marker.msg
-#  MarkerArray.msg
-#)
+add_message_files(
+  FILES
+  Point2D.msg
+  Marker.msg
+  MarkerArray.msg
+)
 
 ## Generate services in the 'srv' folder
 # add_service_files(
@@ -76,10 +81,11 @@ find_package(catkin REQUIRED COMPONENTS
 # )
 
 ## Generate added messages and services with any dependencies listed here
-#generate_messages(
-#  DEPENDENCIES
-#  std_msgs  # Or other packages containing msgs
-#)
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+  geometry_msgs
+)
 
 ################################################
 ## Declare ROS dynamic reconfigure parameters ##
@@ -111,9 +117,9 @@ find_package(catkin REQUIRED COMPONENTS
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
-#  INCLUDE_DIRS include
+  INCLUDE_DIRS DEPENDS OpenCV
   LIBRARIES aruco_pose
-#  CATKIN_DEPENDS other_catkin_pkg
+  CATKIN_DEPENDS message_runtime
 #  DEPENDS system_lib
 )
 
@@ -126,17 +132,17 @@ catkin_package(
 include_directories(
 # include
   ${catkin_INCLUDE_DIRS}
+  ${OpenCV_INCLUDE_DIRS}
 )
 
 ## Declare a C++ library
-add_library(${PROJECT_NAME}
-  src/aruco_pose.cpp
+add_library(aruco_pose
+  src/aruco_detect.cpp
+  src/aruco_map.cpp
+  src/draw.cpp
 )
 
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(${PROJECT_NAME} aruco_pose_generate_messages_cpp)
 
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
@@ -154,11 +160,9 @@ add_library(${PROJECT_NAME}
 # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
-link_directories(/opt/ros/kinetic/lib)
-
-target_link_libraries(${PROJECT_NAME}
+target_link_libraries(aruco_pose
   ${catkin_LIBRARIES}
-  "/opt/ros/kinetic/lib/libopencv_aruco3.so" # TODO: fix launch fails with .so loading
+  ${OpenCV_LIBRARIES}
 )
 
 #############
@@ -208,3 +212,8 @@ target_link_libraries(${PROJECT_NAME}
 
 ## Add folders to be run by python nosetests
 # catkin_add_nosetests(test)
+
+if (CATKIN_ENABLE_TESTING)
+  find_package(rostest REQUIRED)
+  add_rostest(test/basic.test)
+endif()

aruco_pose/README.md

@@ -0,0 +1,119 @@
+# Positioning with ArUco markers
+
+`aruco_pose` package consists of two nodelets: `aruco_detect` detects individual ArUco-markers and estimates their poses, `aruco_map` detects maps of markers using `aruco_detect` output.
+
+## Quick start
+
+To run a camera nodelet, markers and maps detector:
+
+```bash
+roslaunch aruco_pose sample.launch
+```
+
+You're going to need [`cv_camera`](http://wiki.ros.org/cv_camera) package installed.
+
+## aruco_detect nodelet
+
+`aruco_detect` detects ArUco markers on the image, publishes list of them (with poses), TF transformations, visualization markers and processed image for debugging.
+
+It's recommended to run it within the same nodelet manager with the camera nodelet (e. g. [`cv_camera`](http://wiki.ros.org/cv_camera)).
+
+### Parameters
+
+* `~dictionary` (*int*) – ArUco dictionary (default: 2)
+  * 0 = DICT_4X4_50
+  * 1 = DICT_4X4_100,
+  * 2 = DICT_4X4_250,
+  * 3 = DICT_4X4_1000,
+  * 4 = DICT_5X5_50,
+  * 5 = DICT_5X5_100,
+  * 6 = DICT_5X5_250,
+  * 7 = DICT_5X5_1000,
+  * 8 = DICT_6X6_50,
+  * 9 = DICT_6X6_100,
+  * 10 = DICT_6X6_250,
+  * 11 = DICT_6X6_1000,
+  * 12 = DICT_7X7_50,
+  * 13 = DICT_7X7_100,
+  * 14 = DICT_7X7_250,
+  * 15 = DICT_7X7_1000,
+  * 16 = DICT_ARUCO_ORIGINAL
+* `~estimate_poses` (*bool*) – estimate single markers' poses (default: true)
+* `~send_tf` (*bool*) – send TF transforms (default: true)
+* `~frame_id_prefix` (*string*) – prefix for TF transforms names, marker's ID is appended (default: `aruco_`)
+* `~length` (*double*) – markers' sides length
+* `~length_override` (*map*) – lengths of markers with specified ids
+* `~known_tilt` (*string*) – known tilt (pitch and roll) of all the markers as a frame
+
+### Topics
+
+#### Subscribed
+
+* `image_raw` (*sensor_msgs/Image*) – camera image
+* `camera_info` (*sensor_msgs/CameraInfo*) – camera calibration info
+
+#### Published
+
+* `~markers` (*aruco_pose/MarkerArray*) – list of detected markers with their corners and poses
+* `~visualization` (*visualization_msgs/MarkerArray*) – visualization markers for rviz
+* `~debug` (*sensor_msgs/Image*) – debug image with detected markers
+
+### Published transforms
+
+* `<camera_frame>` => `<frame_id_prefix><id>` – markers' poses
+
+## aruco_map nodelet
+
+`aruco_map` nodelet estimates position of markers map.
+
+### Parameters
+
+* `~map` – path to text file with markers list
+* `~frame_id` – published frame id (default: `aruco_map`)
+* `~known_tilt` – debug image width
+* `~image_width` – debug image width (default: 2000)
+* `~image_height` – debug image height (default: 2000)
+* `~image_margin` – debug image margin (default: 200)
+
+Map file has one marker per line with the following line format:
+
+```
+marker_id marker_length x y z yaw pitch roll
+```
+
+Where yaw, pitch and roll are extrinsic rotation around Z, Y, X axis, respectively.
+
+See examples in [`map`](map/) directory.
+
+### Topics
+
+#### Subscribed
+
+* `image_raw` (*sensor_msgs/Image*) – camera image (used for debug image)
+* `camera_info` (*sensor_msgs/CameraInfo*) – camera calibration info (used for debug image)
+* `markers` (*aruco_pose/MarkerArray*) – list of markers detected by `aruco_pose` nodelet
+
+#### Published
+
+* `~pose` (*geometry_msgs/PoseWithCovarianceStamped*) – estimated map pose
+* `~image` (*sensor_msgs/Image*) – planarized map image
+* `~visualization` (*visualization_msgs/MarkerArray*) – markers map visualization for rviz
+* `~debug` (*sensor_msgs/Image*) – debug image with detected markers and map axis
+
+### Published transforms
+
+* `<camera_frame>` => `<map_name>` – markers map pose
+
+## Running tests
+
+Command for running tests:
+
+```bash
+rostest aruco_pose basic.test
+```
+
+## Copyright
+
+Copyright © 2018 Copter Express Technologies. Author: Oleg Kalachev.
+
+Distributed under MIT License (https://opensource.org/licenses/MIT).

aruco_pose/launch/sample.launch

@@ -0,0 +1,26 @@
+<launch>
+    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
+
+    <!-- camera node -->
+    <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager">
+        <param name="frame_id" value="main_camera_optical"/>
+        <param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
+        <param name="image_width" value="640"/>
+        <param name="image_height" value="480"/>
+    </node>
+
+    <!-- detect aruco markers -->
+    <node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect" args="load aruco_pose/aruco_detect nodelet_manager">
+        <remap from="image_raw" to="main_camera/image_raw"/>
+        <remap from="camera_info" to="main_camera/camera_info"/>
+        <param name="length" value="0.33"/>
+    </node>
+
+    <!-- aruco map -->
+    <node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_map" args="load aruco_pose/aruco_map nodelet_manager">
+        <remap from="image_raw" to="main_camera/image_raw"/>
+        <remap from="camera_info" to="main_camera/camera_info"/>
+        <remap from="markers" to="aruco_detect/markers"/>
+        <param name="map" value="$(find aruco_pose)/map/map.txt"/>
+    </node>
+</launch>