Little fix in byobu installation

Add UART article & new UART configure of image

.editorconfig

@@ -5,7 +5,7 @@ end_of_line = lf
 insert_final_newline = true
 charset = utf-8
 
-[*.{py,cpp,h,swift,launch}]
+[*.{py,swift,launch}]
 indent_style = space
 indent_size = 4
 

.markdownlint.json

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

LICENSE.md

@@ -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

@@ -14,6 +14,8 @@ Use it to learn how to assemble, configure, pilot and program autonomous CLEVER
 
 **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](http://builder.coex.space/job/CopterExpress---clever/badge/icon)](http://builder.coex.space/job/CopterExpress---clever/)
+
 Image includes:
 
 * Raspbian Stretch

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/cleverrc.xcodeproj/project.pbxproj

@@ -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}/${FRAMEWORKS_FOLDER_PATH}/SwiftSocket.framework",
 			);
 			runOnlyForDeploymentPostprocessing = 0;
@@ -397,7 +391,7 @@
 			buildSettings = {
 				ASSETCATALOG_COMPILER_APPICON_NAME = AppIcon;
 				CODE_SIGN_STYLE = Automatic;
-				DEVELOPMENT_TEAM = 7QY6KJ2672;
+				DEVELOPMENT_TEAM = M8TDN3PAH2;
 				INFOPLIST_FILE = cleverrc/Info.plist;
 				LD_RUNPATH_SEARCH_PATHS = "$(inherited) @executable_path/Frameworks";
 				PRODUCT_BUNDLE_IDENTIFIER = coex.cleverrc;
@@ -413,7 +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/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

@@ -3,114 +3,176 @@
     {
       "size" : "20x20",
       "idiom" : "iphone",
-      "filename" : "cleverrc40.png",
+      "filename" : "Icon-App-20x20@2x.png",
       "scale" : "2x"
     },
     {
       "size" : "20x20",
       "idiom" : "iphone",
-      "filename" : "clever60.png",
+      "filename" : "Icon-App-20x20@3x.png",
       "scale" : "3x"
     },
     {
       "size" : "29x29",
       "idiom" : "iphone",
-      "filename" : "clever58.png",
+      "filename" : "Icon-App-29x29@2x.png",
       "scale" : "2x"
     },
     {
       "size" : "29x29",
       "idiom" : "iphone",
-      "filename" : "clever87.png",
+      "filename" : "Icon-App-29x29@3x.png",
       "scale" : "3x"
     },
     {
       "size" : "40x40",
       "idiom" : "iphone",
-      "filename" : "clever80.png",
+      "filename" : "Icon-App-40x40@2x.png",
       "scale" : "2x"
     },
     {
       "size" : "40x40",
       "idiom" : "iphone",
-      "filename" : "clever120.png",
+      "filename" : "Icon-App-40x40@3x.png",
       "scale" : "3x"
     },
     {
       "size" : "60x60",
       "idiom" : "iphone",
-      "filename" : "clever120-1.png",
+      "filename" : "Icon-App-60x60@2x.png",
       "scale" : "2x"
     },
     {
       "size" : "60x60",
       "idiom" : "iphone",
-      "filename" : "clever180-1.png",
+      "filename" : "Icon-App-60x60@3x.png",
       "scale" : "3x"
     },
     {
       "size" : "20x20",
       "idiom" : "ipad",
-      "filename" : "clever20.png",
+      "filename" : "Icon-App-20x20@1x.png",
       "scale" : "1x"
     },
     {
       "size" : "20x20",
       "idiom" : "ipad",
-      "filename" : "clever40.png",
+      "filename" : "Icon-App-20x20@2x-1.png",
       "scale" : "2x"
     },
     {
       "size" : "29x29",
       "idiom" : "ipad",
-      "filename" : "clever29.png",
+      "filename" : "Icon-App-29x29@1x.png",
       "scale" : "1x"
     },
     {
       "size" : "29x29",
       "idiom" : "ipad",
-      "filename" : "clever58-1.png",
+      "filename" : "Icon-App-29x29@2x-1.png",
       "scale" : "2x"
     },
     {
       "size" : "40x40",
       "idiom" : "ipad",
-      "filename" : "clever40-1.png",
+      "filename" : "Icon-App-40x40@1x.png",
       "scale" : "1x"
     },
     {
       "size" : "40x40",
       "idiom" : "ipad",
-      "filename" : "clever80-1.png",
+      "filename" : "Icon-App-40x40@2x-1.png",
       "scale" : "2x"
     },
     {
       "size" : "76x76",
       "idiom" : "ipad",
-      "filename" : "clever76.png",
+      "filename" : "Icon-App-76x76@1x.png",
       "scale" : "1x"
     },
     {
       "size" : "76x76",
       "idiom" : "ipad",
-      "filename" : "clever152.png",
+      "filename" : "Icon-App-76x76@2x.png",
       "scale" : "2x"
     },
     {
       "size" : "83.5x83.5",
       "idiom" : "ipad",
-      "filename" : "clever167.png",
+      "filename" : "Icon-App-83.5x83.5@2x.png",
       "scale" : "2x"
     },
     {
       "size" : "1024x1024",
       "idiom" : "ios-marketing",
-      "filename" : "clever1024.png",
+      "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" : "longLook",
+      "subtype" : "42mm"
+    },
+    {
+      "size" : "86x86",
+      "idiom" : "watch",
+      "scale" : "2x",
+      "role" : "quickLook",
+      "subtype" : "38mm"
+    },
+    {
+      "size" : "98x98",
+      "idiom" : "watch",
+      "scale" : "2x",
+      "role" : "quickLook",
+      "subtype" : "42mm"
+    },
+    {
+      "idiom" : "watch-marketing",
+      "size" : "1024x1024",
       "scale" : "1x"
     }
   ],
   "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

@@ -17,9 +17,9 @@
 	<key>CFBundlePackageType</key>
 	<string>APPL</string>
 	<key>CFBundleShortVersionString</key>
-	<string>1.0</string>
+	<string>1.1</string>
 	<key>CFBundleVersion</key>
-	<string>3</string>
+	<string>6</string>
 	<key>LSRequiresIPhoneOS</key>
 	<true/>
 	<key>UILaunchStoryboardName</key>

apps/ios/cleverrc/ViewController.swift

@@ -3,13 +3,12 @@
 //  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 {
@@ -62,15 +61,7 @@ class ViewController: UIViewController, WKScriptMessageHandler {
         } else if (message.name == "notification") {
             // Got notification message
             print(message)
-            let m = message.body as! NSDictionary;
+            tapticNotify()
-            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()
-            }
         }
     }
 

apps/ios/cleverrc/clever.svg

@@ -1,84 +1,57 @@
-<?xml version="1.0" encoding="utf-8"?>
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<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"
+<svg
-	 viewBox="0 0 52.5 52.5" enable-background="new 0 0 52.5 52.5" xml:space="preserve">
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
-<g>
+   xmlns:cc="http://creativecommons.org/ns#"
-	<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
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
-		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
+   xmlns:svg="http://www.w3.org/2000/svg"
-		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
+   xmlns="http://www.w3.org/2000/svg"
-		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
+   viewBox="0 0 69.988266 69.987198"
-		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
+   height="69.987198"
-		c-0.9-0.2-1.7-0.3-2.6-0.4c-0.9-0.1-1.8,0-2.7,0.1c-0.7,0.1-1.5,0.2-2.2,0.5C9.4,0.9,8.1,1.5,7,2.2C6.2,2.7,5.4,3.3,4.7,3.9
+   width="69.988266"
-		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
+   xml:space="preserve"
-		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
+   id="svg2"
-		c0.1-0.1,0.1-0.2,0.1-0.2c0-0.1,0.1-0.1,0.1-0.2c0-0.1,0.1-0.1,0.1-0.2c0.1-0.4,0.2-0.8,0.1-1.1c0-0.1,0-0.1,0-0.2
+   version="1.1"><metadata
-		c0-0.1-0.1-0.1-0.1-0.2c0-0.1-0.1-0.2-0.2-0.2c0,0-0.1-0.1-0.1-0.1l0,0c0,0,0-0.1-0.1-0.1c0,0,0,0,0,0l-0.1-0.1
+     id="metadata8"><rdf:RDF><cc:Work
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+         rdf:about=""><dc:format>image/svg+xml</dc:format><dc:type
-		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
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" /></cc:Work></rdf:RDF></metadata><defs
-		c0.5,0.5,1,1.1,1.3,1.8c0.2,0.4,0.3,0.7,0.3,1.1c0.1,0.4,0.1,0.8,0.1,1.3c0,0.4-0.1,0.8-0.2,1.1c-0.1,0.3-0.3,0.7-0.4,1
+     id="defs6"><clipPath
-		c-0.1,0.2-0.2,0.3-0.3,0.5c0,0.1-0.1,0.1-0.1,0.2l0,0l0,0l0,0.1c0,0,0,0.1-0.1,0.1l-0.1,0.1c0,0-0.1,0.1-0.1,0.1
+       id="clipPath18"
-		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
+       clipPathUnits="userSpaceOnUse"><path
-		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
+         id="path16"
-		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
+         d="M 0,52.49 H 52.491 V 0 H 0 Z" /></clipPath></defs><g
-		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
+     transform="matrix(1.3333333,0,0,-1.3333333,0,69.9872)"
-		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
+     id="g10"><g
-		C35.1,17.7,35.4,17.5,35.7,17.2z"/>
+       id="g12"><g
-	<g>
+         clip-path="url(#clipPath18)"
-		<polygon points="41.6,29.7 41.6,29.7 41.6,29.6 41.6,29.6 		"/>
+         id="g14"><g
-		<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
+           transform="translate(35.6531,35.3361)"
-			c0.7-0.1,1.4-0.2,2.1-0.4c1.3-0.4,2.5-0.9,3.6-1.6c0.8-0.5,1.6-1.1,2.3-1.7c0.7-0.7,1.4-1.4,2-2.2c0.5-0.6,0.9-1.3,1.2-2
+           id="g20"><path
-			c0.4-0.8,0.7-1.7,1-2.5c0.2-0.6,0.3-1.3,0.4-1.9c0.1-1,0.2-2,0.1-3c0-0.8-0.2-1.6-0.3-2.4c-0.2-0.9-0.5-1.7-0.8-2.6
+             id="path22"
-			c-0.5-1.2-1.2-2.4-2.1-3.4c-0.3-0.4-0.6-0.8-1-1.1l-0.5-0.5h-6.1l-0.2,0.3c0,0.1-0.1,0.1-0.1,0.2c0,0.1-0.1,0.1-0.1,0.2
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+             d="m 0,0 c 0.721,0.884 1.337,1.848 1.832,2.865 0.359,0.739 0.659,1.516 0.89,2.311 0.244,0.839 0.413,1.706 0.503,2.579 0.173,1.678 0.063,3.352 -0.329,4.976 -0.323,1.339 -0.834,2.625 -1.518,3.823 -0.416,0.728 -0.898,1.425 -1.432,2.072 -0.597,0.724 -1.268,1.394 -1.993,1.994 -0.636,0.525 -1.32,0.999 -2.034,1.409 -0.75,0.431 -1.539,0.796 -2.345,1.086 -1,0.359 -2.041,0.609 -3.095,0.743 -0.401,0.051 -0.808,0.086 -1.209,0.104 -0.205,0.009 -0.41,0.014 -0.615,0.015 h -0.098 c -0.479,-0.003 -0.943,-0.026 -1.379,-0.069 -0.825,-0.08 -1.65,-0.231 -2.451,-0.45 -0.861,-0.235 -1.705,-0.551 -2.509,-0.941 -0.765,-0.371 -1.502,-0.811 -2.191,-1.308 -0.571,-0.411 -1.115,-0.866 -1.618,-1.352 -0.236,-0.227 -0.471,-0.469 -0.698,-0.72 v -6.121 c 0.079,-0.052 0.161,-0.1 0.245,-0.144 0.07,-0.037 0.143,-0.071 0.216,-0.102 0.064,-0.027 0.13,-0.051 0.195,-0.074 0.394,-0.132 0.784,-0.158 1.127,-0.077 0.053,0.012 0.105,0.027 0.156,0.045 0.069,0.024 0.136,0.054 0.201,0.088 0.088,0.047 0.173,0.104 0.251,0.169 0.04,0.034 0.078,0.071 0.116,0.107 l 0.029,0.028 c 0.035,0.029 0.055,0.046 0.077,0.063 l 0.107,0.085 c 0.164,0.132 0.314,0.24 0.466,0.338 0.319,0.205 0.662,0.373 1.018,0.502 0.317,0.115 0.649,0.198 0.987,0.245 0.56,0.082 1.126,0.068 1.681,-0.038 0.51,-0.098 1,-0.273 1.455,-0.521 0.473,-0.257 0.901,-0.587 1.272,-0.981 0.394,-0.418 0.711,-0.894 0.942,-1.414 0.248,-0.558 0.392,-1.151 0.427,-1.762 0.037,-0.645 -0.052,-1.307 -0.258,-1.914 -0.22,-0.652 -0.583,-1.267 -1.049,-1.781 -0.491,-0.54 -1.105,-0.976 -1.776,-1.26 -0.352,-0.149 -0.724,-0.259 -1.106,-0.325 -0.421,-0.072 -0.849,-0.091 -1.272,-0.057 -0.371,0.03 -0.739,0.1 -1.09,0.21 -0.365,0.113 -0.716,0.267 -1.042,0.458 -0.167,0.096 -0.336,0.209 -0.503,0.334 -0.051,0.039 -0.102,0.078 -0.151,0.118 l -0.108,0.086 c -0.028,0.022 -0.053,0.043 -0.079,0.065 -0.03,0.028 -0.056,0.054 -0.082,0.079 -0.029,0.026 -0.061,0.054 -0.094,0.081 -0.064,0.05 -0.132,0.095 -0.201,0.133 -0.064,0.035 -0.132,0.065 -0.201,0.091 -0.051,0.018 -0.101,0.034 -0.154,0.046 C -20.829,6.024 -21.219,6 -21.613,5.873 -21.677,5.852 -21.742,5.828 -21.806,5.802 -21.887,5.768 -21.967,5.73 -22.045,5.689 -22.129,5.645 -22.21,5.598 -22.289,5.546 v -7.162 l 7.532,-0.003 c 0.02,-0.001 0.04,-0.002 0.06,-0.005 0.098,-0.015 0.192,-0.052 0.272,-0.107 0.026,-0.018 0.053,-0.039 0.076,-0.062 0.035,-0.033 0.058,-0.061 0.085,-0.096 l 0.053,-0.068 c 0.094,-0.125 0.184,-0.257 0.267,-0.395 0.362,-0.608 0.557,-1.269 0.563,-1.912 0.002,-0.099 -0.002,-0.198 -0.01,-0.298 -0.009,-0.11 -0.025,-0.221 -0.046,-0.33 -0.072,-0.362 -0.213,-0.711 -0.41,-1.008 -0.074,-0.11 -0.153,-0.214 -0.238,-0.309 -0.026,-0.029 -0.053,-0.057 -0.08,-0.086 l -0.025,-0.026 v 10e-4 l -0.18,-0.227 c -0.083,-0.106 -0.161,-0.219 -0.23,-0.334 -0.143,-0.233 -0.26,-0.483 -0.349,-0.744 -0.223,-0.654 -0.261,-1.359 -0.109,-2.037 0.084,-0.378 0.229,-0.742 0.429,-1.083 0.208,-0.351 0.47,-0.665 0.779,-0.932 0.323,-0.28 0.687,-0.5 1.081,-0.656 0.429,-0.17 0.884,-0.257 1.352,-0.26 h 0.026 c 0.482,0 0.951,0.09 1.397,0.269 0.473,0.19 0.913,0.483 1.274,0.848 0.383,0.388 0.682,0.862 0.865,1.371 0.203,0.566 0.267,1.184 0.184,1.786 -0.066,0.477 -0.221,0.931 -0.461,1.349 -0.117,0.204 -0.256,0.4 -0.413,0.584 l -0.073,0.089 0.005,0.01 -0.002,0.006 0.007,0.002 0.017,0.033 0.035,0.065 -0.091,-0.085 -0.053,0.057 c -0.051,0.06 -0.101,0.12 -0.148,0.182 -0.091,0.121 -0.173,0.253 -0.243,0.391 -0.067,0.13 -0.125,0.27 -0.172,0.417 -0.038,0.116 -0.068,0.239 -0.091,0.363 -0.018,0.097 -0.031,0.196 -0.039,0.294 -0.052,0.624 0.082,1.281 0.385,1.901 0.109,0.221 0.239,0.436 0.386,0.639 0.031,0.043 0.064,0.085 0.096,0.127 0.032,0.041 0.055,0.069 0.09,0.102 0.025,0.023 0.051,0.045 0.078,0.063 0.079,0.054 0.172,0.091 0.27,0.106 0.02,0.003 0.04,0.004 0.06,0.005 l 0.038,0.003 h 6.454 C -0.981,-1.113 -0.465,-0.57 0,0" /></g>
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+          </g></g></g></svg>
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-<g id="XMLID_14_">
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-</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

@@ -8,7 +8,7 @@ html, body {
 }
 
 * {
-    user-select: none;
+	user-select: none;
 }
 
 .stick {
@@ -76,7 +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;
@@ -93,3 +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 +55,50 @@ new ROSLIB.Topic({
 	batteryEl.innerHTML = (message.cell_voltage[0].toFixed(2) + ' V') || '';
 
 	if (message.cell_voltage[0] < LOW_BATTERY) {
-		console.log('low battery');
+		notifyLowBatteryThrottled();
-		callNativeApp('lowBattery');
-		body.classList.remove('low-battery');
-		void body.offsetWidth; // trick for repeating animation
-		body.classList.add('low-battery');
 	} 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: '/rosout_agg',
+	name: '/mavros/statustext/recv',
-	messageType: 'rosgraph_msgs/Log'
+	messageType: 'mavros_msgs/StatusText'
 }).subscribe(function(message) {
 	var BLACKLIST = ['CMD: ', 'PR: ', 'DROPPED', 'Clock skew detected', 'MANUAL CONTROL LOST'];
-	if (message.level >= 4) {
+	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);
 	}
 });

book.json

@@ -4,13 +4,19 @@
     "author": "Copter Express",
     "language": "ru",
     "root": "docs/",
-    "plugins": ["youtube", "richquotes", "versions"],
+    "plugins": ["youtube", "richquotes", "versions", "yametrika"],
     "pluginsConfig": {
         "disqus": {
             "shortName": "coex-clever"
         },
         "versions": {
             "type": "tags"
+        },
+        "yametrika": {
+            "id": 49359238
         }
+    },
+    "structure": {
+        "glossary": "_GLOSSARY.md"
     }
 }

clever/CMakeLists.txt

@@ -21,6 +21,9 @@ find_package(catkin REQUIRED COMPONENTS
   tf
   tf2
   tf2_geometry_msgs
+  tf2_ros
+  image_transport
+  cv_bridge
 )
 
 
@@ -121,7 +124,7 @@ generate_messages(
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 #  INCLUDE_DIRS include
-#  LIBRARIES clever
+  LIBRARIES clever
 #  CATKIN_DEPENDS other_catkin_pkg
 #  DEPENDS system_lib
 )
@@ -137,7 +140,11 @@ include_directories(
   ${catkin_INCLUDE_DIRS}
 )
 
-## Declare a C++ library
+# Declare a C++ library
+add_library(clever
+  src/optical_flow.cpp
+)
+
 add_library(fcu_horiz
   src/fcu_horiz.cpp
 )
@@ -156,8 +163,12 @@ add_library(aruco_vpe
 ## The recommended prefix ensures that target names across packages don't collide
 add_executable(rc src/rc.cpp)
 
+add_executable(camera_markers src/camera_markers.cpp)
+
 target_link_libraries(rc ${catkin_LIBRARIES})
 
+target_link_libraries(camera_markers ${catkin_LIBRARIES})
+
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
 ## target back to the shorter version for ease of user use
@@ -169,6 +180,10 @@ target_link_libraries(rc ${catkin_LIBRARIES})
 # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
+target_link_libraries(clever
+  ${catkin_LIBRARIES}
+)
+
 target_link_libraries(fcu_horiz
   ${catkin_LIBRARIES}
   "/opt/ros/kinetic/lib/libtf2_ros.so"

clever/launch/clever.launch

@@ -2,15 +2,13 @@
     <arg name="fcu_conn" default="usb"/>
     <arg name="fcu_ip" default="127.0.0.1"/>
     <arg name="gcs_bridge" default="tcp"/>
-    <arg name="viz" default="true"/>
+    <arg name="web_server" default="true"/>
-    <arg name="web_server" default="false"/>
     <arg name="web_video_server" default="true"/>
     <arg name="rosbridge" default="true"/>
     <arg name="main_camera" default="true"/>
+    <arg name="optical_flow" default="false"/>
     <arg name="aruco" default="false"/>
     <arg name="rc" value="true"/>
-    <arg name="fpv_camera" default="false"/>
-    <arg name="fpv_camera_device" default="/dev/v4l/by-id/usb-HD_Camera_Manufacturer_USB_2.0_Camera-video-index0"/>
     <arg name="arduino" default="false"/>
 
     <!-- mavros -->
@@ -18,11 +16,12 @@
         <arg name="fcu_conn" value="$(arg fcu_conn)"/>
         <arg name="fcu_ip" value="$(arg fcu_ip)"/>
         <arg name="gcs_bridge" value="$(arg gcs_bridge)"/>
-        <arg name="viz" value="$(arg viz)"/>
+        <arg name="viz" value="true"/>
     </include>
 
-    <!-- web server -->
+
-    <include file="$(find clever)/launch/web_server.launch" if="$(arg web_server)"/>
+    <!-- web server, serving /home/pi/catkin_ws/src/clever/clever/static -->
+    <node name="web_server" pkg="clever" type="monkey" output="screen" if="$(arg web_server)" respawn="true" respawn_delay="5"/>
 
     <!-- web video server -->
     <node name="web_video_server" pkg="web_video_server" type="web_video_server" if="$(arg web_video_server)" required="false" respawn="true" respawn_delay="5"/>
@@ -30,6 +29,12 @@
     <!-- aruco vpe -->
     <include file="$(find clever)/launch/aruco.launch" if="$(arg aruco)"/>
 
+    <!-- optical flow -->
+    <node pkg="nodelet" type="nodelet" name="optical_flow" args="load clever/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true">
+        <remap from="image" to="main_camera/image_raw"/>
+        <remap from="camera_info" to="main_camera/camera_info"/>
+    </node>
+
     <!-- main nodelet manager -->
     <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true">
         <param name="num_worker_threads" value="2"/>
@@ -52,11 +57,6 @@
     <!-- rc backend -->
     <node name="rc" pkg="clever" type="rc" output="screen" if="$(arg rc)"/>
 
-    <!-- FPV video streaming -->
-    <include file="$(find clever)/launch/fpv_camera.launch" if="$(arg fpv_camera)">
-        <arg name="device" value="$(arg fpv_camera_device)"/>
-    </include>
-
     <!-- Arduino bridge -->
     <include file="$(find clever)/launch/arduino.launch" if="$(arg arduino)"/>
 </launch>

clever/launch/copter_visualization.launch

@@ -1,12 +0,0 @@
-<launch>
-    <remap to="mavros/local_position/pose" from="local_position"/>
-    <remap to="mavros/setpoint_position/local" from="local_setpoint"/>
-
-    <node name="copter_visualization" pkg="mavros_extras" type="copter_visualization"/>
-
-    <param name="copter_visualization/fixed_frame_id" value="local_origin"/>
-    <param name="copter_visualization/child_frame_id" value="fcu"/>
-    <param name="copter_visualization/marker_scale" value="1"/>
-    <param name="copter_visualization/max_track_size" value="500"/>
-    <param name="copter_visualization/num_rotors" value="4"/>
-</launch>

clever/launch/main_camera.launch

@@ -1,4 +1,7 @@
 <launch>
+    <!-- Camera position and orientation are represented by fcu -> main_camera_optical transform -->
+    <!-- static_transform_publisher arguments: x y z yaw pitch roll frame_id child_frame_id -->
+
     <!-- clever 2 -->
     <!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0 0 -0.07 -1.5707963 0 3.1415926 fcu main_camera_optical"/>-->
 
@@ -20,4 +23,9 @@
         <param name="image_width" value="320"/>
         <param name="image_height" value="240"/>
     </node>
+
+    <!-- camera visualization markers -->
+    <node pkg="clever" type="camera_markers" ns="main_camera" name="main_camera_markers">
+        <param name="scale" value="3.0"/>
+    </node>
 </launch>

clever/launch/mavros.launch

@@ -1,57 +1,95 @@
 <launch>
-    <arg name="fcu_conn" default="uart"/>
+    <arg name="fcu_conn" default="usb"/>
     <arg name="fcu_ip" default="127.0.0.1"/>
     <arg name="gcs_bridge" default="tcp"/>
     <arg name="viz" default="true"/>
-    <arg name="respawn" default="false"/>
+    <arg name="respawn" default="true"/>
 
-    <node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" respawn="$(arg respawn)" respawn_delay="3" output="screen">
+    <node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" respawn="$(arg respawn)" respawn_delay="5" output="screen">
-            <!-- UART connection -->
+        <!-- UART connection -->
-            <param name="fcu_url" value="/dev/ttyAMA0:921600" if="$(eval fcu_conn is None or fcu_conn == 'uart')"/>
+        <param name="fcu_url" value="/dev/ttyAMA0:921600" if="$(eval fcu_conn is None or fcu_conn == 'uart')"/>
 
-            <!-- USB connection -->
+        <!-- USB connection -->
-            <param name="fcu_url" value="/dev/ttyACM0" if="$(eval fcu_conn == 'usb')"/>
+        <param name="fcu_url" value="/dev/ttyACM0" if="$(eval fcu_conn == 'usb')"/>
 
-            <!-- sitl -->
+        <!-- sitl -->
-            <param name="fcu_url" value="udp://@$(arg fcu_ip):14557" if="$(eval fcu_conn == 'udp')"/>
+        <param name="fcu_url" value="udp://@$(arg fcu_ip):14557" if="$(eval fcu_conn == 'udp')"/>
 
-            <!-- gcs bridge -->
+        <!-- gcs bridge -->
-            <param name="gcs_url" value="tcp-l://0.0.0.0:5760" if="$(eval gcs_bridge == 'tcp')"/>
+        <param name="gcs_url" value="tcp-l://0.0.0.0:5760" if="$(eval gcs_bridge == 'tcp')"/>
-            <param name="gcs_url" value="udp://0.0.0.0:14550@14550" if="$(eval gcs_bridge == 'udp')"/>
+        <param name="gcs_url" value="udp://0.0.0.0:14550@14550" if="$(eval gcs_bridge == 'udp')"/>
-            <param name="gcs_url" value="udp-pb://192.168.11.1:14550@" if="$(eval gcs_bridge == 'udp-b')"/>
+        <param name="gcs_url" value="udp-b://$(env ROS_IP):14550@14550" if="$(eval gcs_bridge == 'udp-b')"/>
-            <param name="gcs_url" value="" if="$(eval not gcs_bridge)"/>
+        <param name="gcs_url" value="udp-pb://$(env ROS_IP):14550@14550" if="$(eval gcs_bridge == 'udp-pb')"/>
-            <param name="gcs_quiet_mode" value="true"/>
+        <param name="gcs_url" value="" if="$(eval not gcs_bridge)"/>
-            <param name="conn/timeout" value="10"/>
+        <param name="gcs_quiet_mode" value="true"/>
+        <param name="conn/timeout" value="8"/>
 
-            <!-- default px4 params -->
+        <!-- default px4 params -->
-            <rosparam command="load" file="$(find mavros)/launch/px4_config.yaml"/>
+        <rosparam command="load" file="$(find mavros)/launch/px4_config.yaml"/>
 
-            <!-- additional params -->
+        <!-- rangefinders -->
-            <param name="local_position/frame_id" value="local_origin"/>
+        <rosparam>
-            <param name="local_position/tf/send" value="true"/>
+            distance_sensor:
-            <param name="local_position/tf/frame_id" value="local_origin"/>
+                rangefinder_0:
-            <param name="local_position/tf/child_frame_id" value="fcu"/>
+                    id: 0
-            <param name="global_position/tf/send" value="false"/>
+                    frame_id: "rangefinder"
-            <param name="imu/frame_id" value="fcu"/>
+                    orientation: PITCH_270
-            <rosparam param="plugin_blacklist">
+                    field_of_view: 0.5
-                - safety_area
+                rangefinder_1:
-                - image_pub
+                    id: 1
-                - vibration
+                    frame_id: "rangefinder"
-                - distance_sensor
+                    orientation: PITCH_270
-                - rangefinder
+                    field_of_view: 0.5
-                - 3dr_radio
+                rangefinder_2_sub:
-                - actuator_control
+                    subscriber: true
-                - hil_controls
+                    id: 2
-                - vfr_hud
+                    orientation: PITCH_270
-                - px4flow
+                rangefinder_3_sub:
-                - vision_speed_estimate
+                    subscriber: true
-                - fake_gps
+                    id: 3
-                - cam_imu_sync
+                    orientation: PITCH_270
-                - hil
+        </rosparam>
-                - adsb
+
-            </rosparam>
+        <!-- additional params -->
+        <param name="local_position/frame_id" value="local_origin"/>
+        <param name="local_position/tf/send" value="true"/>
+        <param name="local_position/tf/frame_id" value="local_origin"/>
+        <param name="local_position/tf/child_frame_id" value="fcu"/>
+        <param name="global_position/tf/send" value="false"/>
+        <param name="imu/frame_id" value="fcu"/>
+        <rosparam param="plugin_blacklist">
+            - safety_area
+            - image_pub
+            - vibration
+            - rangefinder
+            - 3dr_radio
+            - actuator_control
+            - hil_controls
+            - vfr_hud
+            - vision_speed_estimate
+            - fake_gps
+            - cam_imu_sync
+            - hil
+            - adsb
+            - waypoint
+            - obstacle_distance
+            - setpoint_accel
+            - trajectory
+            - wind_estimation
+        </rosparam>
     </node>
 
+    <!-- Rangefinders frame -->
+    <node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 fcu rangefinder"/>
+
     <!-- Copter visualization -->
-    <include file="$(find clever)/launch/copter_visualization.launch" if="$(arg viz)"/>
+    <node name="copter_visualization" pkg="mavros_extras" type="copter_visualization" if="$(arg viz)">
+        <remap to="mavros/local_position/pose" from="local_position"/>
+        <remap to="mavros/setpoint_position/local" from="local_setpoint"/>
+        <param name="fixed_frame_id" value="local_origin"/>
+        <param name="child_frame_id" value="fcu"/>
+        <param name="marker_scale" value="1"/>
+        <param name="max_track_size" value="20"/>
+        <param name="num_rotors" value="4"/>
+    </node>
 </launch>

clever/launch/sitl.launch

@@ -7,11 +7,11 @@
         <arg name="fcu_conn" value="udp"/>
         <arg name="fcu_ip" value="$(arg ip)"/>
         <arg name="gcs_bridge" value="false"/>
+        <arg name="optical_flow" value="false"/>
+        <arg name="web_server" default="false"/>
         <arg name="web_video_server" default="false"/>
         <arg name="main_camera" default="false"/>
-        <arg name="fpv_camera" default="false"/>
         <arg name="rosbridge" value="$(arg rosbridge)"/>
-        <arg name="web_server" default="false"/>
         <arg name="aruco" default="false"/>
     </include>
 </launch>

clever/launch/web_server.launch

@@ -1,5 +0,0 @@
-<launch>
-    <node name="web_server" pkg="clever" type="web_server.py" output="screen">
-        <param name="path" value="$(find clever)/static"/>
-    </node>
-</launch>

clever/nodelet_plugins.xml

@@ -1,3 +1,8 @@
+<library path="lib/libclever">
+   <class name="clever/optical_flow" type="OpticalFlow" base_class_type="nodelet::Nodelet">
+      <description/>
+   </class>
+</library>
 <library path="lib/libfcu_horiz">
    <class name="clever/fcu_horiz" type="FcuHoriz" base_class_type="nodelet::Nodelet">
       <description/>

clever/requirements.txt

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

clever/src/camera_markers.cpp

@@ -0,0 +1,101 @@
+/*
+ * Visualization marker for camera alignment
+ * Copyright (C) 2018 Copter Express Technologies
+ *
+ * Author: Oleg Kalachev <okalachev@gmail.com>
+ *
+ * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ */
+
+#include <string>
+#include <ros/ros.h>
+#include <sensor_msgs/CameraInfo.h>
+#include <visualization_msgs/Marker.h>
+#include <visualization_msgs/MarkerArray.h>
+
+using namespace visualization_msgs;
+
+double markers_scale;
+std::string camera_frame;
+
+MarkerArray createMarkers() {
+	MarkerArray markers;
+
+	Marker lens;
+	lens.header.frame_id = camera_frame;
+	lens.ns = "camera_markers";
+	lens.id = 0;
+	lens.action = Marker::ADD;
+	lens.type = visualization_msgs::Marker::CYLINDER;
+	lens.frame_locked = true;
+	lens.scale.x = 0.013 * markers_scale;
+	lens.scale.y = 0.013 * markers_scale;
+	lens.scale.z = 0.015 * markers_scale;
+	lens.color.r = 0.3;
+	lens.color.g = 0.3;
+	lens.color.b = 0.3;
+	lens.color.a = 0.9;
+	lens.pose.position.z = 0.0075 * markers_scale;
+	lens.pose.orientation.w = 1;
+
+	Marker board;
+	board.header.frame_id = camera_frame;
+	board.ns = "camera_markers";
+	board.id = 1;
+	board.action = Marker::ADD;
+	board.type = Marker::CUBE;
+	board.frame_locked = true;
+	board.scale.x = 0.024 * markers_scale;
+	board.scale.y = 0.024 * markers_scale;
+	board.scale.z = 0.001 * markers_scale;
+	board.color.r = 0.0;
+	board.color.g = 0.8;
+	board.color.b = 0.0;
+	board.color.a = 0.9;
+	board.pose.orientation.w = 1;
+
+	Marker wire;
+	wire.header.frame_id = camera_frame;
+	wire.ns = "camera_markers";
+	wire.id = 2;
+	wire.action = Marker::ADD;
+	wire.type = Marker::CUBE;
+	wire.frame_locked = true;
+	wire.scale.x = 0.014 * markers_scale;
+	wire.scale.y = 0.04 * markers_scale;
+	wire.scale.z = 0.001 * markers_scale;
+	wire.color.r = 0.9;
+	wire.color.g = 0.9;
+	wire.color.b = 1.0;
+	wire.color.a = 0.8;
+	wire.pose.position.x = 0;
+	wire.pose.position.y = (0.01 + 0.02) * markers_scale;
+	wire.pose.position.z = 0.002 * markers_scale;
+	wire.pose.orientation.w = 1;
+
+	markers.markers.push_back(lens);
+	markers.markers.push_back(board);
+	markers.markers.push_back(wire);
+
+	return markers;
+}
+
+int main(int argc, char **argv)
+{
+	ros::init(argc, argv, "camera_markers", ros::init_options::AnonymousName);
+	ros::NodeHandle nh, nh_priv("~");
+
+	nh_priv.param("scale", markers_scale, 1.0);
+
+	// wait for camera info
+	auto camera_info = ros::topic::waitForMessage<sensor_msgs::CameraInfo>("camera_info", nh);
+	camera_frame = camera_info->header.frame_id;
+
+	ros::Publisher markers_pub = nh.advertise<visualization_msgs::MarkerArray>("camera_markers", 1, true);
+	markers_pub.publish(createMarkers());
+
+	ROS_INFO("Camera markers initialized");
+	ros::spin();
+}

clever/src/interactive.py

@@ -0,0 +1,85 @@
+#!/usr/bin/env python
+import copy
+
+import rospy
+import tf.transformations as t
+from interactive_markers.interactive_marker_server import InteractiveMarkerServer
+from visualization_msgs.msg import Marker, InteractiveMarker, InteractiveMarkerControl, InteractiveMarkerFeedback
+from clever import srv
+
+
+def make_box(msg):
+    marker = Marker()
+
+    marker.type = Marker.CUBE
+    marker.scale.x = msg.scale * 0.3
+    marker.scale.y = msg.scale * 0.3
+    marker.scale.z = msg.scale * 0.3
+    marker.color.r = 0.5
+    marker.color.g = 0.5
+    marker.color.b = 0.5
+    marker.color.a = 1.0
+    marker.pose.orientation.w = 1
+
+    return marker
+
+
+def make_box_control(msg):
+    control = InteractiveMarkerControl()
+    control.always_visible = True
+    control.orientation.w = 1
+    control.markers.append(make_box(msg))
+    msg.controls.append(control)
+    return control
+
+
+def make_quadcopter_marker():
+    marker = InteractiveMarker()
+    marker.header.frame_id = 'fcu'
+    marker.header.stamp = rospy.get_rostime()
+    marker.scale = 1
+    marker.pose.orientation.w = 1
+
+    marker.name = 'quadcopter'
+    marker.description = 'Quadcopter'
+
+    make_box_control(marker)
+
+    control = InteractiveMarkerControl()
+    control.orientation.w = 1
+    control.orientation.x = 0
+    control.orientation.y = 1
+    control.orientation.z = 0
+    control.interaction_mode = InteractiveMarkerControl.MOVE_ROTATE
+    marker.controls.append(copy.deepcopy(control))
+    control.interaction_mode = InteractiveMarkerControl.MOVE_AXIS
+    marker.controls.append(control)
+
+    return marker
+
+
+navigate = rospy.ServiceProxy('navigate', srv.Navigate)
+
+
+def process_feedback(feedback):
+    if feedback.event_type != InteractiveMarkerFeedback.MOUSE_UP:
+        return
+
+    p = feedback.pose.position
+    o = feedback.pose.orientation
+    yaw = t.euler_from_quaternion((o.x, o.y, o.z, o.w), axes='rzyx')[0]
+    rospy.loginfo('Navigate to %s', p)
+    rospy.loginfo(navigate(x=p.x, y=p.y, z=p.z, yaw=yaw, speed=2,
+                           frame_id=feedback.header.frame_id, auto_arm=True))
+
+
+rospy.init_node('quadcopter_im')
+
+server = InteractiveMarkerServer('quadcopter_im')
+
+int_marker = make_quadcopter_marker()
+server.insert(int_marker, process_feedback)
+server.applyChanges()
+
+rospy.loginfo('Interactive quadcopter marker initialized')
+rospy.spin()

clever/src/monkey

@@ -0,0 +1,3 @@
+#!/usr/bin/env bash
+
+exec /home/pi/monkey/build/monkey --port 80 --workers 1

clever/src/optical_flow.cpp

@@ -0,0 +1,200 @@
+/*
+ * Optical Flow node for PX4
+ * Copyright (C) 2018 Copter Express Technologies
+ *
+ * Author: Oleg Kalachev <okalachev@gmail.com>
+ *
+ * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ */
+
+#include <vector>
+#include <cmath>
+#include <nodelet/nodelet.h>
+#include <pluginlib/class_list_macros.h>
+#include <image_transport/image_transport.h>
+#include <cv_bridge/cv_bridge.h>
+#include <opencv2/opencv.hpp>
+#include <tf/transform_datatypes.h>
+#include <tf2/exceptions.h>
+#include <tf2/convert.h>
+#include <tf2_ros/transform_listener.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <mavros_msgs/OpticalFlowRad.h>
+#include <sensor_msgs/Imu.h>
+#include <geometry_msgs/Vector3Stamped.h>
+#include <geometry_msgs/PointStamped.h>
+#include <geometry_msgs/TwistStamped.h>
+
+using cv::Mat;
+
+class OpticalFlow : public nodelet::Nodelet
+{
+public:
+	OpticalFlow():
+		camera_matrix_(3, 3, CV_64F),
+		dist_coeffs_(8, 1, CV_64F),
+		tf_listener_(tf_buffer_)
+	{}
+
+private:
+	ros::Publisher flow_pub_, velo_pub_, shift_pub_;
+	ros::Time prev_stamp_;
+	std::string fcu_frame_id_;
+	image_transport::CameraSubscriber img_sub_;
+	image_transport::Publisher img_pub_;
+	mavros_msgs::OpticalFlowRad flow_;
+	int roi_, roi_2_;
+	Mat hann_;
+	Mat prev_, curr_;
+	Mat camera_matrix_, dist_coeffs_;
+	tf2_ros::Buffer tf_buffer_;
+	tf2_ros::TransformListener tf_listener_;
+
+	void onInit()
+	{
+		ros::NodeHandle& nh = getNodeHandle();
+		ros::NodeHandle& nh_priv = getPrivateNodeHandle();
+		image_transport::ImageTransport it(nh);
+		image_transport::ImageTransport it_priv(nh_priv);
+
+		nh_priv.param<std::string>("mavros/local_position/tf/child_frame_id", fcu_frame_id_, "fcu");
+		nh_priv.param("roi", roi_, 128);
+		roi_2_ = roi_ / 2;
+
+		img_sub_ = it.subscribeCamera("image", 1, &OpticalFlow::flow, this);
+		img_pub_ = it_priv.advertise("debug", 1);
+		flow_pub_ = nh.advertise<mavros_msgs::OpticalFlowRad>("mavros/px4flow/raw/send", 1);
+		velo_pub_ = nh_priv.advertise<geometry_msgs::TwistStamped>("angular_velocity", 1);
+		shift_pub_ = nh_priv.advertise<geometry_msgs::Vector3Stamped>("shift", 1);
+
+		flow_.integrated_xgyro = NAN; // no IMU available
+		flow_.integrated_ygyro = NAN;
+		flow_.integrated_zgyro = NAN;
+		flow_.time_delta_distance_us = 0;
+		flow_.distance = -1; // no distance sensor available
+		flow_.temperature = 0;
+
+		ROS_INFO("Optical Flow initialized");
+	}
+
+	void parseCameraInfo(const sensor_msgs::CameraInfoConstPtr &cinfo) {
+		for (int i = 0; i < 3; ++i) {
+			for (int j = 0; j < 3; ++j) {
+				camera_matrix_.at<double>(i, j) = cinfo->K[3 * i + j];
+			}
+		}
+		for (int k = 0; k < cinfo->D.size(); k++) {
+			dist_coeffs_.at<double>(k) = cinfo->D[k];
+		}
+	}
+
+	void drawFlow(Mat& frame, double x, double y, double quality) const
+	{
+		double brightness = (1 - quality) * 25;;
+		cv::Scalar color(brightness, brightness, brightness);
+		double radius = std::sqrt(x * x + y * y);
+
+		// draw a circle and line indicating the shift direction...
+		cv::Point center(frame.cols >> 1, frame.rows >> 1);
+		cv::circle(frame, center, (int)(radius*5), color, 3, cv::LINE_AA);
+		cv::line(frame, center, cv::Point(center.x + (int)(x*5), center.y + (int)(y*5)), color, 3, cv::LINE_AA);
+	}
+
+	void flow(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr& cinfo)
+	{
+		parseCameraInfo(cinfo);
+
+		auto img = cv_bridge::toCvShare(msg, "mono8")->image;
+
+		// Apply ROI
+		if (roi_ != 0) {
+			img = img(cv::Rect((msg->width / 2 - roi_2_), (msg->height / 2 - roi_2_), roi_, roi_));
+		}
+
+		img.convertTo(curr_, CV_64F);
+
+		if (prev_.empty()) {
+			prev_ = curr_.clone();
+			prev_stamp_ = msg->header.stamp;
+			cv::createHanningWindow(hann_, curr_.size(), CV_64F);
+
+		} else {
+			double response;
+			cv::Point2d shift = cv::phaseCorrelate(prev_, curr_, hann_, &response);
+
+			// Publish raw shift in pixels
+			static geometry_msgs::Vector3Stamped shift_vec;
+			shift_vec.header.stamp = msg->header.stamp;
+			shift_vec.header.frame_id = msg->header.frame_id;
+			shift_vec.vector.x = shift.x;
+			shift_vec.vector.y = shift.y;
+			shift_pub_.publish(shift_vec);
+
+			// Undistort flow in pixels
+			uint32_t flow_center_x = msg->width / 2;
+			uint32_t flow_center_y = msg->height / 2;
+			shift.x += flow_center_x;
+			shift.y += flow_center_y;
+
+			std::vector<cv::Point2d> points_dist = { shift };
+			std::vector<cv::Point2d> points_undist(1);
+
+			cv::undistortPoints(points_dist, points_undist, camera_matrix_, dist_coeffs_, cv::noArray(), camera_matrix_);
+			points_undist[0].x -= flow_center_x;
+			points_undist[0].y -= flow_center_y;
+
+			// Calculate flow in radians
+			double focal_length_x = camera_matrix_.at<double>(0, 0);
+			double focal_length_y = camera_matrix_.at<double>(1, 1);
+			double flow_x = atan2(points_undist[0].x, focal_length_x);
+			double flow_y = atan2(points_undist[0].y, focal_length_y);
+
+			// // Convert to FCU frame
+			static geometry_msgs::Vector3Stamped flow_camera, flow_fcu;
+			flow_camera.header.frame_id = msg->header.frame_id;
+			flow_camera.header.stamp = msg->header.stamp;
+			flow_camera.vector.x = flow_y; // +y means counter-clockwise rotation around Y axis
+			flow_camera.vector.y = -flow_x; // +x means clockwise rotation around X axis
+			tf_buffer_.transform(flow_camera, flow_fcu, fcu_frame_id_);
+
+			// Calculate integration time
+			ros::Duration integration_time = msg->header.stamp - prev_stamp_;
+			uint32_t integration_time_us = integration_time.toSec() * 1.0e6;
+
+			// Publish flow in fcu frame
+			flow_.header.stamp = /*prev_stamp_*/ msg->header.stamp;
+			flow_.integration_time_us = integration_time_us;
+			flow_.integrated_x = flow_fcu.vector.x;
+			flow_.integrated_y = flow_fcu.vector.y;
+			flow_.quality = (uint8_t)(response * 255);
+			flow_pub_.publish(flow_);
+
+			// Publish debug image
+			if (img_pub_.getNumSubscribers() > 0) {
+				// publish debug image
+				drawFlow(img, shift_vec.vector.x, shift_vec.vector.y, response);
+				cv_bridge::CvImage out_msg;
+				out_msg.header.frame_id = msg->header.frame_id;
+				out_msg.header.stamp = msg->header.stamp;
+				out_msg.encoding = sensor_msgs::image_encodings::MONO8;
+				out_msg.image = img;
+				img_pub_.publish(out_msg.toImageMsg());
+			}
+
+			// Publish estimated angular velocity
+			static geometry_msgs::TwistStamped velo;
+			velo.header.stamp = msg->header.stamp;
+			velo.header.frame_id = fcu_frame_id_;
+			velo.twist.angular.x = flow_.integrated_x / integration_time.toSec();
+			velo.twist.angular.y = flow_.integrated_y / integration_time.toSec();
+			velo_pub_.publish(velo);
+
+			prev_ = curr_.clone();
+			prev_stamp_ = msg->header.stamp;
+		}
+	}
+};
+
+PLUGINLIB_EXPORT_CLASS(OpticalFlow, nodelet::Nodelet)

clever/src/rc.cpp

@@ -10,6 +10,7 @@
 #include "std_msgs/String.h"
 #include "mavros_msgs/State.h"
 #include "mavros_msgs/ManualControl.h"
+#include "mavros_msgs/Mavlink.h"
 
 struct ControlMessage
 {
@@ -27,6 +28,9 @@ public:
         std::thread t(&RC::socketThread, this);
         t.detach();
 
+        std::thread gcst(&RC::fakeGCSThread, this);
+        gcst.detach();
+
         initLatchedState();
     }
 
@@ -35,6 +39,7 @@ private:
     ros::Subscriber state_sub;
     ros::Publisher state_pub;
     ros::Timer state_timeout_timer;
+    ros::Time last_manual_control{0};
     mavros_msgs::StateConstPtr state_msg;
 
     void handleState(const mavros_msgs::StateConstPtr& state)
@@ -70,6 +75,37 @@ private:
         state_pub.publish(unknown_state);
     }
 
+    void fakeGCSThread()
+    {
+        // Awful workaround for fixing PX4 not sending STATUSTEXTs
+        // if there is no GCS hearbeats.
+        // TODO: use timer
+        // TODO: remove, when PX4 get this fixed.
+        ros::Publisher mavlink_pub = nh.advertise<mavros_msgs::Mavlink>("mavlink/to", 1);
+
+        // HEARTBEAT from GCS message
+        mavros_msgs::Mavlink hb;
+        hb.framing_status = mavros_msgs::Mavlink::FRAMING_OK;
+        hb.magic = mavros_msgs::Mavlink::MAVLINK_V20;
+        hb.len = 9;
+        hb.incompat_flags = 0;
+        hb.compat_flags = 0;
+        hb.seq = 0;
+        hb.sysid = 255;
+        hb.compid = 0;
+        hb.checksum = 26460;
+        hb.payload64.push_back(342282393542983680);
+        hb.payload64.push_back(3);
+
+        ros::Rate rate(1);
+        while (ros::ok()) {
+            if (ros::Time::now() - last_manual_control < ros::Duration(8)) {
+                mavlink_pub.publish(hb);
+            }
+            rate.sleep();
+        }
+    }
+
     int createSocket(int port)
     {
         int sockfd = socket(AF_INET, SOCK_DGRAM, 0);
@@ -123,6 +159,8 @@ private:
             manual_control_msg.z = msg->z;
             manual_control_msg.r = msg->r;
             manual_control_pub.publish(manual_control_msg);
+
+            last_manual_control = ros::Time::now();
         }
     }
 };

clever/src/selfcheck.py

@@ -0,0 +1,173 @@
+#!/usr/bin/env python
+
+import math
+from subprocess import Popen, PIPE
+import re
+import traceback
+import rospy
+from std_srvs.srv import Trigger
+from sensor_msgs.msg import Image, CameraInfo, NavSatFix, Imu
+from mavros_msgs.msg import State
+from geometry_msgs.msg import PoseStamped, TwistStamped
+
+
+# TODO: roscore is running
+# TODO: disk free space
+# TODO: local_origin, fcu, fcu_horiz
+# TODO: rc service
+# TODO: perform commander check in PX4
+# TODO: check if FCU params setter succeed
+# TODO: selfcheck ROS service (with blacklists for checks)
+
+
+rospy.init_node('selfcheck')
+
+
+failures = []
+
+
+def failure(text, *args):
+    failures.append(text % args)
+
+
+def check(name):
+    def inner(fn):
+        def wrapper(*args, **kwargs):
+            failures[:] = []
+            try:
+                fn(*args, **kwargs)
+                for f in failures:
+                    rospy.logwarn('%s: %s', name, f)
+            except Exception as e:
+                traceback.print_exc()
+                rospy.logwarn('%s: exception occured', name)
+                return
+            if not failures:
+                rospy.loginfo('%s: OK', name)
+        return wrapper
+    return inner
+
+
+@check('FCU')
+def check_fcu():
+    try:
+        state = rospy.wait_for_message('mavros/state', State, timeout=3)
+        if not state.connected:
+            failure('No connection to the FCU')
+    except rospy.ROSException:
+        failure('No MAVROS state')
+
+
+@check('Camera')
+def check_camera(name):
+    try:
+        rospy.wait_for_message(name + '/image_raw', Image, timeout=1)
+    except rospy.ROSException:
+        failure('No %s camera images' % name)
+    try:
+        rospy.wait_for_message(name + '/camera_info', CameraInfo, timeout=3)
+    except rospy.ROSException:
+        failure('No %s camera camera info' % name)
+
+
+@check('Aruco detector')
+def check_aruco():
+    try:
+        rospy.wait_for_message('aruco_pose/debug', Image, timeout=1)
+    except rospy.ROSException:
+        failure('No aruco_pose/debug messages')
+
+
+@check('Simple offboard node')
+def check_simpleoffboard():
+    try:
+        rospy.wait_for_service('navigate', timeout=3)
+        rospy.wait_for_service('get_telemetry', timeout=3)
+        rospy.wait_for_service('land', timeout=3)
+    except rospy.ROSException:
+        failure('No simple_offboard services')
+
+
+@check('IMU')
+def check_imu():
+    try:
+        rospy.wait_for_message('mavros/imu/data', Imu, timeout=1)
+    except rospy.ROSException:
+        failure('No IMU data')
+
+
+@check('Local position')
+def check_local_position():
+    try:
+        rospy.wait_for_message('mavros/local_position/pose', PoseStamped, timeout=1)
+    except rospy.ROSException:
+        failure('No local position')
+
+
+@check('Velocity estimation')
+def check_velocity():
+    try:
+        velocity = rospy.wait_for_message('mavros/local_position/velocity', TwistStamped, timeout=1)
+        horiz = math.hypot(velocity.twist.linear.x, velocity.twist.linear.y)
+        vert = velocity.twist.linear.z
+        if abs(horiz) > 0.1:
+            failure('Horizontal velocity estimation is %s m/s; is the copter staying still?' % horiz)
+        if abs(vert) > 0.1:
+            failure('Vertical velocity estimation is %s m/s; is the copter staying still?' % vert)
+    except rospy.ROSException:
+        failure('No velocity estimation')
+
+
+@check('Global position (GPS)')
+def check_global_position():
+    try:
+        rospy.wait_for_message('mavros/global_position/global', NavSatFix, timeout=2)
+    except rospy.ROSException:
+        failure('No global position')
+
+
+@check('Boot duration')
+def check_boot_duration():
+    proc = Popen('systemd-analyze', stdout=PIPE)
+    proc.wait()
+    output = proc.communicate()[0]
+    r = re.compile(r'([\d\.]+)s$')
+    duration = float(r.search(output).groups()[0])
+    if duration > 15:
+        failure('long Raspbian boot duration: %ss', duration)
+
+
+@check('CPU usage')
+def check_cpu_usage():
+    WHITELIST = 'nodelet',
+    CMD = "top -n 1 -b -i | tail -n +8 | awk '{ printf(\"%-8s\\t%-8s\\t%-8s\\n\", $1, $9, $12); }'"
+    proc = Popen(CMD, stdout=PIPE, shell=True)
+    proc.wait()
+    output = proc.communicate()[0]
+    processes = output.split('\n')
+    for process in processes:
+        if not process:
+            continue
+        pid, cpu, cmd = process.split('\t')
+
+        if cmd.strip() not in WHITELIST and float(cpu) > 30:
+            failure('High CPU usage (%s%%) detected: %s (PID %s)',
+                    cpu.strip(), cmd.strip(), pid.strip())
+
+
+def selfcheck():
+    check_fcu()
+    check_imu()
+    check_local_position()
+    check_velocity()
+    check_global_position()
+    check_camera('main_camera')
+    check_aruco()
+    check_simpleoffboard()
+    check_cpu_usage()
+    check_boot_duration()
+
+
+if __name__ == '__main__':
+    rospy.loginfo('Performing selfcheck...')
+    selfcheck()

clever/src/simple_offboard.py

@@ -83,12 +83,13 @@ AUTO_ARM = AUTO_OFFBOARD and rospy.get_param('~auto_arm', True)
 OFFBOARD_TIMEOUT = rospy.Duration(rospy.get_param('~offboard_timeout', 3))
 ARM_TIMEOUT = rospy.Duration(rospy.get_param('~arm_timeout', 5))
 LOCAL_POSITION_TIMEOUT = rospy.Duration(rospy.get_param('~local_position_timeout', 0.5))
-NAVIGATE_AFTER_ARMED = rospy.Duration(rospy.get_param('~navigate_after_armed', False))
+NAVIGATE_AFTER_ARMED = rospy.Duration(rospy.get_param('~navigate_after_armed', True))
 TRANSFORM_TIMEOUT = rospy.Duration(rospy.get_param('~transform_timeout', 3))
 SETPOINT_RATE = rospy.get_param('~setpoint_rate', 30)
 LOCAL_FRAME = rospy.get_param('~local_frame', 'local_origin')
 LAND_MODE = rospy.get_param('~land_mode', 'AUTO.LAND')
 LAND_TIMEOUT = rospy.Duration(rospy.get_param('~land_timeout', 2))
+DEFAULT_SPEED = rospy.get_param('~default_speed', 0.5)
 
 
 def offboard_and_arm():
@@ -120,6 +121,8 @@ def offboard_and_arm():
 
 ps = PoseStamped()
 vs = Vector3Stamped()
+pt = PositionTarget()
+at = AttitudeTarget()
 
 
 BRAKE_TIME = rospy.Duration(0)
@@ -164,7 +167,7 @@ def get_publisher_and_message(req, stamp, continued=True, update_frame=True):
         if update_frame:
             ps.header.frame_id = req.frame_id or LOCAL_FRAME
             ps.pose.position = Point(getattr(req, 'x', 0), getattr(req, 'y', 0), req.z)
-            ps.pose.orientation = orientation_from_euler(0, 0, req.yaw)
+            ps.pose.orientation = orientation_from_euler(0, 0, req.yaw, axes='sxyz')
             current_nav_finish = tf_buffer.transform(ps, LOCAL_FRAME, TRANSFORM_TIMEOUT)
 
             if isinstance(req, srv.NavigateGlobalRequest):
@@ -183,13 +186,14 @@ def get_publisher_and_message(req, stamp, continued=True, update_frame=True):
                                          current_nav_start_stamp, req.speed)
 
         yaw_rate_flag = math.isnan(req.yaw)
-        msg = PositionTarget(coordinate_frame=PT.FRAME_LOCAL_NED,
+        msg = pt
-                             type_mask=PT.IGNORE_VX + PT.IGNORE_VY + PT.IGNORE_VZ +
+        msg.coordinate_frame = PT.FRAME_LOCAL_NED
-                                       PT.IGNORE_AFX + PT.IGNORE_AFY + PT.IGNORE_AFZ +
+        msg.type_mask = PT.IGNORE_VX + PT.IGNORE_VY + PT.IGNORE_VZ + \
-                                       (PT.IGNORE_YAW if yaw_rate_flag else PT.IGNORE_YAW_RATE),
+                        PT.IGNORE_AFX + PT.IGNORE_AFY + PT.IGNORE_AFZ + \
-                             position=setpoint,
+                        (PT.IGNORE_YAW if yaw_rate_flag else PT.IGNORE_YAW_RATE)
-                             yaw=euler_from_orientation(current_nav_finish.pose.orientation, 'szyx')[2] - math.pi / 2,
+        msg.position = setpoint
-                             yaw_rate=req.yaw_rate)
+        msg.yaw = euler_from_orientation(current_nav_finish.pose.orientation, 'sxyz')[2]
+        msg.yaw_rate = req.yaw_rate
         return position_pub, msg
 
     elif isinstance(req, (srv.SetPositionRequest, srv.SetPositionGlobalRequest)):
@@ -202,13 +206,14 @@ def get_publisher_and_message(req, stamp, continued=True, update_frame=True):
             pose_local.pose.position.x, pose_local.pose.position.y = global_to_local(req.lat, req.lon)
 
         yaw_rate_flag = math.isnan(req.yaw)
-        msg = PositionTarget(coordinate_frame=PT.FRAME_LOCAL_NED,
+        msg = pt
-                             type_mask=PT.IGNORE_VX + PT.IGNORE_VY + PT.IGNORE_VZ +
+        msg.coordinate_frame = PT.FRAME_LOCAL_NED
-                                       PT.IGNORE_AFX + PT.IGNORE_AFY + PT.IGNORE_AFZ +
+        msg.type_mask = PT.IGNORE_VX + PT.IGNORE_VY + PT.IGNORE_VZ + \
-                                       (PT.IGNORE_YAW if yaw_rate_flag else PT.IGNORE_YAW_RATE),
+                        PT.IGNORE_AFX + PT.IGNORE_AFY + PT.IGNORE_AFZ + \
-                             position=pose_local.pose.position,
+                        (PT.IGNORE_YAW if yaw_rate_flag else PT.IGNORE_YAW_RATE)
-                             yaw=euler_from_orientation(pose_local.pose.orientation, 'szyx')[2] - math.pi / 2,
+        msg.position = pose_local.pose.position
-                             yaw_rate=req.yaw_rate)
+        msg.yaw = euler_from_orientation(pose_local.pose.orientation, 'sxyz')[2]
+        msg.yaw_rate = req.yaw_rate
         return position_pub, msg
 
     elif isinstance(req, srv.SetVelocityRequest):
@@ -220,28 +225,33 @@ def get_publisher_and_message(req, stamp, continued=True, update_frame=True):
         vector_local = tf_buffer.transform(vs, LOCAL_FRAME, TRANSFORM_TIMEOUT)
 
         yaw_rate_flag = math.isnan(req.yaw)
-        msg = PositionTarget(coordinate_frame=PT.FRAME_LOCAL_NED,
+        msg = pt
-                             type_mask=PT.IGNORE_PX + PT.IGNORE_PY + PT.IGNORE_PZ +
+        msg.coordinate_frame = PT.FRAME_LOCAL_NED
-                                       PT.IGNORE_AFX + PT.IGNORE_AFY + PT.IGNORE_AFZ +
+        msg.type_mask = PT.IGNORE_PX + PT.IGNORE_PY + PT.IGNORE_PZ + \
-                                       (PT.IGNORE_YAW if yaw_rate_flag else PT.IGNORE_YAW_RATE),
+                                       PT.IGNORE_AFX + PT.IGNORE_AFY + PT.IGNORE_AFZ + \
-                             velocity=vector_local.vector,
+                                       (PT.IGNORE_YAW if yaw_rate_flag else PT.IGNORE_YAW_RATE)
-                             yaw=euler_from_orientation(pose_local.pose.orientation, 'szyx')[2] - math.pi / 2,
+        msg.velocity = vector_local.vector
-                             yaw_rate=req.yaw_rate)
+        msg.yaw = euler_from_orientation(pose_local.pose.orientation, 'sxyz')[2]
+        msg.yaw_rate = req.yaw_rate
         return position_pub, msg
 
     elif isinstance(req, srv.SetAttitudeRequest):
         ps.header.frame_id = req.frame_id or LOCAL_FRAME
         ps.pose.orientation = orientation_from_euler(req.roll, req.pitch, req.yaw)
         pose_local = tf_buffer.transform(ps, LOCAL_FRAME, TRANSFORM_TIMEOUT)
-        msg = AttitudeTarget(orientation=pose_local.pose.orientation,
+        msg = at
-                             thrust=req.thrust,
+        msg.orientation = pose_local.pose.orientation
-                             type_mask=AT.IGNORE_YAW_RATE + AT.IGNORE_PITCH_RATE + AT.IGNORE_ROLL_RATE)
+        msg.thrust = req.thrust
+        msg.type_mask = AT.IGNORE_YAW_RATE + AT.IGNORE_PITCH_RATE + AT.IGNORE_ROLL_RATE
         return attitude_pub, msg
 
     elif isinstance(req, srv.SetRatesRequest):
-        msg = AttitudeTarget(thrust=req.thrust,
+        msg = at
-                             type_mask=AttitudeTarget.IGNORE_ATTITUDE,
+        msg.thrust = req.thrust
-                             body_rate=Vector3(req.roll_rate, req.pitch_rate, req.yaw_rate))
+        msg.type_mask = AT.IGNORE_ATTITUDE
+        msg.body_rate.x = req.roll_rate
+        msg.body_rate.y = req.pitch_rate
+        msg.body_rate.z = req.yaw_rate
         return attitude_pub, msg
 
 
@@ -261,9 +271,12 @@ def handle(req):
         rospy.logwarn('No connection to the FCU')
         return {'message': 'No connection to the FCU'}
 
-    if isinstance(req, (srv.NavigateRequest, srv.NavigateGlobalRequest)) and req.speed <= 0:
+    if isinstance(req, (srv.NavigateRequest, srv.NavigateGlobalRequest)):
-        rospy.logwarn('Navigate speed must be greater than zero, %s passed')
+        if req.speed < 0:
-        return {'message': 'Navigate speed must be greater than zero, %s passed' % req.speed}
+            rospy.logwarn('Navigate speed must be positive, %s passed')
+            return {'message': 'Navigate speed must be positive, %s passed' % req.speed}
+        elif req.speed == 0:
+            req.speed = DEFAULT_SPEED
 
     if isinstance(req, (srv.NavigateRequest, srv.NavigateGlobalRequest)) and \
             (pose is None or rospy.get_rostime() - pose.header.stamp > LOCAL_POSITION_TIMEOUT):
@@ -280,13 +293,13 @@ def handle(req):
 
     try:
         with handle_lock:
-                stamp = rospy.get_rostime()
+            stamp = rospy.get_rostime()
-                current_req = req
+            current_req = req
-                current_pub, current_msg = get_publisher_and_message(req, stamp, False)
+            current_pub, current_msg = get_publisher_and_message(req, stamp, False)
-                rospy.loginfo('Topic: %s, message: %s', current_pub.name, current_msg)
+            rospy.loginfo('Topic: %s, message: %s', current_pub.name, current_msg)
 
-                current_msg.header.stamp = stamp
+            current_msg.header.stamp = stamp
-                current_pub.publish(current_msg)
+            current_pub.publish(current_msg)
 
         if req.auto_arm:
             offboard_and_arm()
@@ -348,6 +361,7 @@ def get_telemetry(req):
         'z': float('nan'),
         'lat': float('nan'),
         'lon': float('nan'),
+        'alt': float('nan'),
         'vx': float('nan'),
         'vy': float('nan'),
         'vz': float('nan'),
@@ -389,6 +403,7 @@ def get_telemetry(req):
     if global_position and stamp - global_position.header.stamp < rospy.Duration(5):
         res['lat'] = global_position.latitude
         res['lon'] = global_position.longitude
+        res['alt'] = global_position.altitude
 
     if state:
         res['connected'] = state.connected

clever/src/web_server.py

@@ -1,60 +0,0 @@
-#!/usr/bin/env python
-
-import rospy
-import subprocess
-import re
-from flask import Flask, send_from_directory, send_file, request, jsonify
-
-rospy.init_node('web_server', disable_signals=True)
-
-port = rospy.get_param('~port', 7070)
-host = rospy.get_param('~host', '0.0.0.0')
-serve_path = rospy.get_param('~path')
-app = Flask(__name__)
-
-
-@app.route('/')
-def serve_index():
-    return send_from_directory(serve_path, 'index.html')
-
-
-@app.route('/<path:path>')
-def serve_static(path):
-    print serve_path, path
-    return send_from_directory(serve_path, path)
-
-
-@app.route('/wifi_data/')
-def get_wifi_data():
-    cur_ip = request.remote_addr
-    ip_signal = get_ip_signal()
-    return jsonify({'ip': cur_ip, 'signal': ip_signal[cur_ip]}), 200
-
-
-def get_ip_signal():
-    wlan_interface = 'wlan0'
-    # Getting info about wifi client connected to access point. From here we know MAC and signal level
-    iwl = subprocess.check_output(['sudo', 'iw', 'dev', 'wlan0', 'station', 'dump']).splitlines()
-    mac_signal = {}
-    cur_client = ''
-    for line in iwl:
-        if line.find('Station') != -1:
-            cur_client = re.search(r'([0-9A-F]{2}[:-]){5}([0-9A-F]{2})', line, re.I).group()
-        if line.find('signal') != -1:
-            sg = re.search(r'(\[-?\d*\])', line, re.I).group()
-            mac_signal[cur_client] = re.sub(r'[\[\]]', '', sg)
-    ip_signal = {}
-    # Getting ip-mac mapping
-    ip_mac = subprocess.check_output(['arp', '-i', wlan_interface]).splitlines()
-    for line in ip_mac:
-        mac = re.search(r'([0-9A-F]{2}[:-]){5}([0-9A-F]{2})', line, re.I)
-        if mac is not None:
-            mac = mac.group()
-            if mac in mac_signal:
-                ips = re.search(r'((2[0-5]|1[0-9]|[0-9])?[0-9]\.){3}((2[0-5]|1[0-9]|[0-9])?[0-9])', line, re.I).group()
-                ip_signal[ips] = mac_signal[mac]
-    return ip_signal
-
-
-rospy.loginfo('Serving on %s:%s', host, port)
-app.run(host=host, port=port, threaded=True)

clever/srv/GetTelemetry.srv

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

clever/static/index.html

@@ -0,0 +1,13 @@
+<h1>CLEVER Drone Kit Tools</h1>
+
+<ul>
+	<!-- <li><a href="">View user reference</a> (<a href="http://clever.copterexpress.com">http://clever.copterexpress.com</a> snapshot)</li> -->
+	<li><a href="" id="wvs">View image topics</a> (<code>web_video_server</code>)</li>
+	<li><a href="" id="butterfly">Open web terminal</a> (<code>Butterfly</code>)</li>
+	<!-- <li><a href="viz.html">View 3D visualization</a> (<code>ros3djs</code>)</li> -->
+</ul>
+
+<script type="text/javascript">
+	document.querySelector("#wvs").href = location.origin + ':8080';
+	document.querySelector("#butterfly").href = location.origin + ':57575';
+</script>

deploy/butterfly.service

@@ -0,0 +1,6 @@
+[Unit]
+Description=Butterfly Terminal Server
+
+[Service]
+ExecStart=/usr/local/bin/butterfly.server.py --host="0.0.0.0" --unsecure
+User=pi

deploy/butterfly.socket

@@ -0,0 +1,5 @@
+[Socket]
+ListenStream=57575
+
+[Install]
+WantedBy=sockets.target

deploy/monkey

@@ -0,0 +1,57 @@
+# Default Host - Configuration
+# ============================
+# Here the variable principals of the program are defined in respect
+# to the configuration of the different types of directives.
+
+[HOST]
+    # ServerName:
+    # -----------
+    # Allow you to set a host and domain name (e.g monkey.linuxchile.cl). If
+    # you are working in a local network just set your IP address or if you
+    # are working like localhost set your loopback address (127.0.0.1).
+
+    ServerName 0.0.0.0
+
+    # DocumentRoot:
+    # -------------
+    # This variable corresponds to the location of the main server directory
+    # of the web pages, where the files of your site are located.
+    #
+    # Example:
+    #      DocumentRoot /home/krypton/htdocs
+
+    DocumentRoot /home/pi/catkin_ws/src/clever/clever/static
+
+    # Redirect:
+    # ---------
+    # Under specific conditions, you may want the server performs a HTTP
+    # redirect when this Virtual Host is reach. If that is the case, append
+    # to the Redirect key the value of the address where to redirect the
+    # HTTP client.
+    #
+    # Redirect http://monkey-project.com
+
+[LOGGER]
+    # AccessLog:
+    # ----------
+    # Registration file of correct request.
+
+    AccessLog /home/pi/monkey/build/log/access.log
+
+    # ErrorLog:
+    # ---------
+    # Registration file of incorrect request.
+
+    ErrorLog /home/pi/monkey/build/log/error.log
+
+[ERROR_PAGES]
+    404  404.html
+
+[HANDLERS]
+    # FastCGI
+    # =======
+    # Match /.*\.php fastcgi
+
+    # CGI
+    # ===
+    # Match /cgi-bin/.*\.cgi cgi

docs/3g.md

@@ -1,4 +1,6 @@
 Использование внешнего 3G-модема
 ===
 
+Использование внешнего 3G-модема на Raspberry возможно с помощью пакета `sakis3g`.
+
 TODO

docs/README.md

@@ -5,12 +5,16 @@
 
 «Клевер» — это учебный конструктор программируемого квадрокоптера, состоящего из популярных открытых компонентов, а также набор необходимой документации и библиотек для работы с ним.
 
-Набор включает в себя полетный контроллер PixHawk/PixRacer с полетным стеком PX4, Raspberry Pi 3 в качестве управлящего бортового компьютера, модуль камеры для реализации полетов с использованием компьютерного зрения, а также набор различных датчиков и другой периферии.
+Набор включает в себя полетный контроллер Pixhawk/Pixracer с полетным стеком PX4, Raspberry Pi 3 в качестве управлящего бортового компьютера, модуль камеры для реализации полетов с использованием компьютерного зрения, а также набор различных датчиков и другой периферии.
 
 На базе точно такой же платформы были созданы многие «большие» проекты компании Copter Express, например, дроны для [пиар-акций по автономной доставке пиццы](https://www.youtube.com/watch?v=hmkAoZOtF58) (Самара, Казань); дрон-доставщик кофе в Сколково, мониторинговый дрон с зарядной станцией, дроны-победители на полевых испытаниях «[Робокросс-2016](https://www.youtube.com/watch?v=dGbDaz_VmYU)», «[Робокросс-2017](https://youtu.be/AQnd2CRczbQ)» и многие другие.
 
 Для того, чтобы научиться собирать, настраивать, пилотировать и программировать автономный дрон «Клевер», воспользуйтесь этим учебником.
 
+Если вы детально изучили наш gitbook, но так и не нашли ответа на свой вопрос, напишите в чат техподдержки и наши специалисты вам с радостью ответят: https://t.me/COEXHelpdesk.
+
+Также у нас есть чат для программистов, которые разрабатывают под PX4, автономную навигацию в помещениях и рои дронов https://t.me/DroneCode.
+
 Образ для Raspberry Pi
 ----------------------
 
@@ -20,7 +24,7 @@
 
 * Raspbian Stretch
 * ROS Kinetic
-* Настроенную работу с сетью
+* Настроенную [работу с сетью](network.md)
 * OpenCV
 * mavros
 * Набор ПО для работы с Клевером

docs/SUMMARY.md

@@ -1,15 +1,19 @@
 # Summary
 
 * [Введение](README.md)
+* [Глоссарий](glossary.md)
 * [Сборка](assemble.md)
 * [Первоначальная настройка](setup.md)
 * [Полетные режимы](modes.md)
 * [Raspberry Pi](raspberry.md)
 * [Образ операционной системы на RPi](microsd_images.md)
-* [Подключение Raspberry Pi к PixHawk](connection.md)
+* [Подключение Raspberry Pi к Pixhawk](connection.md)
 * [Подключение по Wi-Fi](wifi.md)
 * [Работа с QGroundControl через Wi-Fi](gcs_bridge.md)
+* [Прошивка Pixhawk/Pixracer](firmware.md)
+* [Пилотирование со смартфона](rc.md)
 * [SSH-доступ](ssh.md)
+* [Устройство UART](uart.md)
 * [Неисправности радиоаппаратуры](radioerrors.md)
 * [Безопасность](safety.md)
 * [Техника безопасности по пайке](tb.md)
@@ -26,15 +30,21 @@
 * [Визуализация с помощью rviz](rviz.md)
 * [Работа с SITL](sitl.md)
 * [Подключение GPS](gps.md)
+* [Автозапуск ПО](autolaunch.md)
 * [Использование 3G-модема](3g.md)
 * [Устройство сети RPi](network.md)
 * [Работа с логами PX4](flight_logs.md)
+* [Протокол MAVLink](mavlink.md)
+* [Типы силовых разъемов](connectortypes.md)
+* [Ошибки радиоаппаратуры](radioerrors1.md)
+* [Настройка PID](calibratePID.md)
 * Учебник
-  * [Уроки](lessons.md)
+  * [Теория и видеоуроки](lessons.md)
   * [Учебно-методическое пособие](metod.md)
   * [Контрольные и проверочные материалы](tests.md)
 * [Другое](drugoe.md)
   * [CopterHack-2017](copterhack2017.md)
   * [Прошивка ESC контроллеров с помощью Arduino](esc_firmware.md)
   * [Работа со светодиодной лентой](leds.md)
+  * [Проекты на базе коптера "Клевер"](projects.md)
 * [Полезные ссылки](links.md)

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 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`.
+* 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
@@ -122,7 +122,7 @@ _Примечание_: указанное выше определение пр
   * `LNDMC_THR_RANGE` = 0.5
   * `LNDMC_Z_VEL_MAX` = 1 m/s
 
-Для простоты настройки можно воспользоваться готовым файлом настроек для [Clever 2](https://github.com/CopterExpress/clever/blob/masterassets/Clever2LPE_160118.params) или для [Clever 3](https://github.com/CopterExpress/clever/blob/masterassets/Clever3_LPE_020218.params) и вгрузить его в контроллер с помощью меню Tools - Load from file из раздела Parameters в QGroundControl.
+Для простоты настройки можно воспользоваться готовым файлом настроек для [Clever 2](https://github.com/CopterExpress/clever/blob/master/docs/assets/Clever2LPE_160118.params) или для [Clever 3](https://github.com/CopterExpress/clever/blob/master/docs/assets/Clever3_LPE_020218.params) и вгрузить его в контроллер с помощью меню Tools - Load from file из раздела Parameters в QGroundControl.
 
 ![](assets/Screenshot from 2018-02-27 22-30-50.png)
 

docs/assets/appstore.svg

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+        <path d="M79.23,12.44434a2.13323,2.13323,0,1,1,4.24707,0,2.13358,2.13358,0,1,1-4.24707,0Zm3.333,0c0-.97607-.43848-1.54687-1.208-1.54687-.77246,0-1.207.5708-1.207,1.54688,0,.98389.43457,1.55029,1.207,1.55029C82.12453,13.99463,82.563,13.42432,82.563,12.44434Z" style="fill: #fff"/>
+        <path d="M84.66945,10.19482h.85547v.71533h.06641a1.348,1.348,0,0,1,1.34375-.80225,1.46456,1.46456,0,0,1,1.55859,1.6748v2.915H87.605V12.00586c0-.72363-.31445-1.0835-.97168-1.0835a1.03294,1.03294,0,0,0-1.0752,1.14111v2.63428h-.88867Z" style="fill: #fff"/>
+        <path d="M93.51516,9.07373v1.1416h.97559v.74854h-.97559V13.2793c0,.47168.19434.67822.63672.67822a2.96657,2.96657,0,0,0,.33887-.02051v.74023a2.9155,2.9155,0,0,1-.4834.04541c-.98828,0-1.38184-.34766-1.38184-1.21582v-2.543h-.71484v-.74854h.71484V9.07373Z" style="fill: #fff"/>
+        <path d="M95.70461,8.437h.88086v2.48145h.07031a1.3856,1.3856,0,0,1,1.373-.80664,1.48339,1.48339,0,0,1,1.55078,1.67871v2.90723H98.69v-2.688c0-.71924-.335-1.0835-.96289-1.0835a1.05194,1.05194,0,0,0-1.13379,1.1416v2.62988h-.88867Z" style="fill: #fff"/>
+        <path d="M104.76125,13.48193a1.828,1.828,0,0,1-1.95117,1.30273A2.04531,2.04531,0,0,1,100.73,12.46045a2.07685,2.07685,0,0,1,2.07617-2.35254c1.25293,0,2.00879.856,2.00879,2.27V12.688h-3.17969v.0498a1.1902,1.1902,0,0,0,1.19922,1.29,1.07934,1.07934,0,0,0,1.07129-.5459Zm-3.126-1.45117h2.27441a1.08647,1.08647,0,0,0-1.1084-1.1665A1.15162,1.15162,0,0,0,101.63527,12.03076Z" style="fill: #fff"/>
+      </g>
+    </g>
+  </g>
+</svg>

docs/autolaunch.md

@@ -0,0 +1,59 @@
+Автозапускаемое ПО
+===
+
+systemd
+---
+
+Основная документация: [https://wiki.archlinux.org/index.php/Systemd_(Русский)](https://wiki.archlinux.org/index.php/Systemd_(Русский)).
+
+Все автоматически стартуемое ПО Клевера запускается в виде systemd-сервиса `clever.service`.
+
+Сервис может быть перезапущен командой `systemctl`:
+
+```bash
+sudo systemctl restart clever
+```
+
+Текстовый вывод ПО можно просмотреть с помощью команды `journalctl`:
+
+```bash
+journalctl -u clever
+```
+
+Для того, запустить ПО Клевера непосредственно в текущей консольной сессии, вы можете использовать `roslaunch`:
+
+```bash
+sudo systemctl stop clever
+roslaunch clever clever.launch
+```
+
+Вы можете выключить автозапуск ПО Клевера с помощью команды `disable`:
+
+```bash
+sudo systemctl disable clever
+```
+
+roslaunch
+---
+
+Основная документация: http://wiki.ros.org/roslaunch.
+
+Список объявленных для запуска нод / программ указывается в файле `/home/pi/catkin_ws/src/clever/clever/launch/clever.launch`.
+
+Вы можете добавить собственную ноду в список автозапускаемых. Для этого разместите ваш запускаемый файл (например, `my_program.py`) в каталог `/home/pi/catkin_ws/src/clever/clever/src`. Затем добавьте запуск вашей ноды в `clever.launch`, например:
+
+```xml
+<node name="my_program" pkg="clever" type="my_program.py" output="screen"/>
+```
+
+Запускаемый файл должен иметь *permission* на запуск:
+
+```bash
+chmod +x my_program.py
+```
+
+При использовании скриптовых языков вначале файла должен стоять [shebang](https://ru.wikipedia.org/wiki/Шебанг_(Unix)), например:
+
+```bash
+#!/usr/bin/env python
+```

docs/bundle.md

@@ -26,6 +26,6 @@
 
 * ОС [Raspbian Jessie](https://www.raspberrypi.org/downloads/raspbian/)
 * Фреймворк [ROS](ros.md)
-* Пакет [MAVROS](mavros.md) для связи с PixHawk по MAVLINK
+* Пакет [MAVROS](mavros.md) для связи с Pixhawk по [MAVLink](mavlink.md)
 * Дополнительные пакеты ROS: web_video_server, usb_cam, rosbridge_suite и другие
 * Пакет программ clever_bundle

docs/camera_frame.md

@@ -13,9 +13,10 @@
 ```
 
 Фрейм камеры задается таким образом, что:
-* x указывает направо на изображении;
+
-* y указывает вниз на изображении;
+* **<font color=red>x</font>** указывает направо на изображении;
-* z указывает от плоскости матрицы камеры.
+* **<font color=green>y</font>** указывает вниз на изображении;
+* **<font color=blue>z</font>** указывает от плоскости матрицы камеры.
 
 Сдвиги задаются в метрах, углы задаются в радианах. Корректность установленной трансформации может быть проверена с использованием [rviz](rviz.md).
 

docs/connection.md

@@ -1,21 +1,20 @@
-Подключение PixHawk/PixRacer к Raspberry Pi
+Подключение Pixhawk/Pixracer к Raspberry Pi
 ===
 
-Для программирования [автономных полетов](simple_offboard.md), [работы с PixHawk по Wi-Fi](gcs_bridge.md), использования [веб-пульта](web_rc.md) и других функций необходимо подсоединить Raspberry Pi к PixHawk.
+Для программирования [автономных полетов](simple_offboard.md), [работы с Pixhawk по Wi-Fi](gcs_bridge.md), использования [веб-пульта](web_rc.md) и других функций необходимо подсоединить Raspberry Pi к Pixhawk.
 
 Убедиться в работоспособности подключения, выполнив на Raspberry Pi:
 
-```
+```bash
 rostopic echo /mavros/state
 ```
 
 Поле `connected` должно содержать значение `True`.
 
-
 Подключение по USB
 ---
 
-Соедините PixHawk/PixRacer и Raspberry Pi micro-USB to USB кабелем.
+Соедините Pixhawk/Pixracer и Raspberry Pi micro-USB to USB кабелем.
 
 Необходимо убедиться, что в launch-файле Клевера (`~/catkin_ws/src/clever/clever/launch/clever.launch`) тип подключения установлен на USB:
 
@@ -29,7 +28,7 @@ rostopic echo /mavros/state
 sudo systemctl restart clever
 ```
 
-> **Hint** Для корректной работы подключения Raspberry Pi и PixHawk по USB необходимо установить значение параметра `CBRK_USB_CHK` на 197848.
+> **Hint** Для корректной работы подключения Raspberry Pi и Pixhawk по USB необходимо установить значение параметра `CBRK_USB_CHK` на 197848.
 
 Подключение по UART
 ---
@@ -48,7 +47,7 @@ TODO схема подключения
 sudo systemctl restart clever
 ```
 
-> **Hint** Для корректной работы подключения Raspberry Pi и PixHawk по UART необходимо установить значение параметра `SYS_COMPANION` на 921600.
+> **Hint** Для корректной работы подключения Raspberry Pi и Pixhawk по UART необходимо установить значение параметра `SYS_COMPANION` на 921600.
 
 Подключение к SITL
 ---

docs/esc_firmware.md

@@ -2,40 +2,40 @@
 
 Хорошая статья, которая объясняет принцип работы ESC \(Electric speed controller\) регуляторов: [http://www.avmodels.ru/engines/electric/esc.html](http://www.avmodels.ru/engines/electric/esc.html)
 
-#### Зачем перепрошивать?
+## Зачем перепрошивать?
 
 Иногда требуется поменять один из параметров регулятора, например направление вращения мотора, минимальная и максимальная скважности PPM сигнала на входе контроллера, уровень громкости звуковых сигналов, издаваемых мотором или время, через которое регулятор начинает напоминать, что он включён.
 
-#### Программа для прошивки регуляторов
+## Программа для прошивки регуляторов
 
 Для прошивки самых разнообразных ESC регуляторов существует программа [BLHeliSuite](https://github.com/4712/BLHeliSuite) \(для Windows\).
 
 Для запуска программы \(BLHeliSuite.exe\) необходимо распаковать архивы BLHeliAtmelHEX.zip и BLHeliSilabsHEX.zip в папку с программой.
 
-#### Программатор для прошивки регуляторов.
+## Программатор для прошивки регуляторов
 
 Чтобы прошить регулятор, необходим программатор, который умеет общаться с контроллером регулятора по 1-wire протоколу. Один из способов добыть программатор - взять подвернувшуюся под руку ардуинку и прошить её специальной прошивкой. В BLHeliSuite есть инструмент для создания интерфейсов программаторов.
 
 Создание программатора на примере Arduino Mega.
 
-1. Запустите программу BLHeliSuite и выберите вкладку Make interfaces.  
+1. Запустите программу BLHeliSuite и выберите вкладку Make interfaces.
 
    ![](assets/BLHeliSuite_SiLabs_ESC_Setup_2.png)
 
 2. Подключите Arduino к компьютеру, при необходимости посмотрите в диспетчере устройств номер COM порта, к которому подключена плата.
 
-3. Нажмите Arduino 4way-interface в разделе Make Arduino Interface Boards и выберите файл прошивки. После выбора файла начнётся прошивка контроллера.  
+3. Нажмите Arduino 4way-interface в разделе Make Arduino Interface Boards и выберите файл прошивки. После выбора файла начнётся прошивка контроллера.
 
    ![](assets/BLHeliSuite_Make_Interfaces.png)
    ![](assets/BLHeliSuite_Interface_Options.png)
    ![](assets/BLHeliSuite_Arduino_Select_Firmware.png)
 
 4. После прошивки Arduino вернитесь на вкладку Silabs ESC Setup и подключитесь к Arduino, предварительно выбрав интерфейс программатора 4way-if и COM порт Arduino.
-  
+
    ![](assets/BLHeliSuite_4way-if_Select.png)
    ![](assets/BLHeliSuite_ESC_Setup_Connect.png)
 
-#### Подключение ESC регуляторов к Arduino.
+## Подключение ESC регуляторов к Arduino
 
 Для прошивки или изменения настроек регуляторов необходимо подключить сигнальные порты (обычно белого цвета) ESC регуляторов к портам Arduino, предварительно посмотрев в мануале (см. рисунок ниже), какие порты используются для соединения с регуляторами. Так же нужно соединить GND Arduino с землёй одного из регуляторов (обычно черного цвета). Регуляторы должны быть подключены к питанию, а если к регуляторам подключены моторы, **на них не должно быть винтов**.
 
@@ -43,7 +43,7 @@
 
 В случае с Arduino Mega, сигнальные порты регуляторов подключаются к портам D43-D49 и D51.
 
-#### Изменение настроек ESC регуляторов.
+## Изменение настроек ESC регуляторов
 
 Для загрузки информации о версии прошивки и настроек регуляторов нужно нажать на кнопку Check.
 
@@ -64,15 +64,15 @@
 
 Для отображения настроек со всех регуляторов одновременно можно воспользоваться вкладкой ESC Overview.
 
-#### Прошивка ESC регуляторов.
+## Прошивка ESC регуляторов
 
 Файлы с прошивками регуляторов находятся [здесь](https://github.com/cleanflight/blheli-multishot/tree/master/BLHeli_S%20SiLabs/Hex%20Files).
 
-Для перепрошивки регуляторов нужно нажать на кнопку Flash BLHeli и выбрать файл прошивки с типом контроллера, название которого указано в рамке названия прошивки и находится сверху во вкладке Silabs ESC Setup (в случае контроллера, который используется в конструкторе Клевер 2, это A-H-70).  
+Для перепрошивки регуляторов нужно нажать на кнопку Flash BLHeli и выбрать файл прошивки с типом контроллера, название которого указано в рамке названия прошивки и находится сверху во вкладке Silabs ESC Setup (в случае контроллера, который используется в конструкторе Клевер 2, это A-H-70).
 
 Для перепрошивки отдельного регулятора нужно сделать все остальные неактивными.
 
-#### Видеоинструкция по перепрошивке ESC регуляторов
+## Видеоинструкция по перепрошивке ESC регуляторов
 
-Для лучшего понимания того, что описано в статье, рекомендуем посмотреть наглядное руководство по подключению электроники и прошивке регуляторов на английском языке на [youtube](https://www.youtube.com/watch?v=i6lhMcQLRSU&feature=youtu.be). 
+Для лучшего понимания того, что описано в статье, рекомендуем посмотреть наглядное руководство по подключению электроники и прошивке регуляторов на английском языке на [youtube](https://www.youtube.com/watch?v=i6lhMcQLRSU&feature=youtu.be).
 

docs/firmware.md

@@ -0,0 +1,53 @@
+Прошивка Pixhawk / Pixracer
+===
+
+Pixhawk или Pixracer можно прошить, используя QGroundControl или утилиты командной строки.
+
+Различные варианты сборок стабильных прошивок PX4 можно скачать в разделе [Releases на GitHub](https://github.com/PX4/Firmware/releases).
+
+В названии файла прошивки кодируется информации о целевой плате и варианте сборки. Примеры:
+
+* `px4fmu-v2_default.px4` — прошивка для Pixhawk с EKF2.
+* `px4fmu-v2_lpe.px4` — прошивка для Pixhawk с LPE.
+* `px4fmu-v4_default.px4` — прошивка для Pixracer с EKF2 и LPE (*Клевер 3*).
+* `px4fmu-v3_default.px4` — прошивка для более новых версий Pixhawk (чип ревизии 3, см. илл. + Bootloader v5) с EKF2 и LPE.
+
+![](assets/stmrev.jpg)
+
+> **Note** Для загрузки `px4fmu-v3_default.px4` может понадобиться использование команды `force_upload` из командной строки.
+
+QGroundControl
+---
+
+В QGroundControl откройте раздел Firmware. **После** этого подключите Pixhawk / Pixracer по USB.
+
+Выберите PX4 Flight Stack. Для скачивания и загрузки стандартной прошивки (вариант с EKF2 для Pixhawk) выберите пункт меню "Standard Version", для загрузки собственного файла прошивки выберите пункт "Custom firmware file...", затем нажмите OK.
+
+> **Warning** Не отключайте USB-кабель до окончания процесса прошивки.
+
+TODO: Иллюстрация.
+
+Командная строка
+---
+
+PX4 может быть собран из исходников и загружен в плату автоматически из командной строки.
+
+Для это склонируйте репозиторий PX4:
+
+```bash
+git clone https://github.com/PX4/Firmware.git
+```
+
+Выберите необходимую версию (тэг) с помощью `git checkout`. Затем соберите и загрузите прошивку:
+
+```
+make px4fmu-v4_default upload
+```
+
+Где `px4fmu-v4_default` – требуемый вариант прошивки.
+
+Для загрузки прошивки `v3` в Pixhawk может понадобиться команда `force_upload`:
+
+```
+make px4fmu-v3_default force-upload
+```

docs/flight_logs.md

@@ -38,7 +38,7 @@
 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 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: