mavros.launch: blacklisted wind_estimation plugin

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;
-            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()
         }
     }
 

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
-		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
-		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
-		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
-		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
-		c-0.1-0.1-0.2-0.3-0.3-0.4c-0.2-0.3-0.4-0.7-0.5-1c-0.1-0.3-0.2-0.7-0.3-1c-0.1-0.6-0.1-1.1,0-1.7c0.1-0.5,0.3-1,0.5-1.5
-		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
-		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
-		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
-		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
-			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
-			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
-			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
-			c-0.1,0.4-0.2,0.8-0.1,1.1c0,0.1,0,0.1,0,0.2c0,0.1,0.1,0.1,0.1,0.2c0,0.1,0.1,0.2,0.2,0.3c0,0,0.1,0.1,0.1,0.1l0,0
-			c0,0,0,0.1,0.1,0.1l0,0.1l0.1-0.1l0,0l0,0l0,0l0,0l0,0l0.1,0.1c0.2,0.2,0.3,0.4,0.5,0.7c0.3,0.5,0.5,1,0.6,1.5
-			c0.1,0.7,0.1,1.5,0,2.2c-0.2,0.6-0.4,1.2-0.8,1.8c-0.3,0.4-0.7,0.8-1.1,1.1c-0.4,0.3-0.8,0.5-1.3,0.7c-0.5,0.2-1,0.3-1.5,0.3
-			c-0.5,0-0.9,0-1.3-0.1c-0.5-0.1-1-0.3-1.4-0.6c-0.5-0.3-1-0.7-1.3-1.1c-0.4-0.5-0.7-1-0.9-1.6c-0.2-0.6-0.3-1.3-0.2-2
-			c0-0.4,0.1-0.7,0.2-1c0.1-0.4,0.3-0.8,0.5-1.1c0.1-0.2,0.2-0.3,0.3-0.5c0-0.1,0.1-0.1,0.1-0.2l0.1,0c0,0,0,0,0,0l-0.1-0.1l0.1-0.1
-			c0,0,0-0.1,0.1-0.1l0.1-0.1c0,0,0.1-0.1,0.1-0.1c0-0.1,0.1-0.1,0.1-0.2c0-0.1,0.1-0.1,0.1-0.2c0-0.1,0-0.1,0-0.2
-			c0.1-0.3,0.1-0.7-0.1-1.1c0-0.1,0-0.1-0.1-0.2c0-0.1-0.1-0.2-0.1-0.2c0-0.1-0.1-0.2-0.1-0.2h-7.2l0,7.5c0,0,0,0,0,0.1
-			c0,0.1-0.1,0.2-0.1,0.3c0,0,0,0.1-0.1,0.1c0,0-0.1,0.1-0.1,0.1c0,0,0,0-0.1,0c-0.1,0.1-0.3,0.2-0.4,0.3c-0.6,0.4-1.3,0.6-1.9,0.6
-			c-0.1,0-0.2,0-0.3,0c-0.1,0-0.2,0-0.3,0c-0.4-0.1-0.7-0.2-1-0.4c-0.1-0.1-0.2-0.2-0.3-0.2c0,0-0.1-0.1-0.1-0.1h0l0,0l0,0
-			c0,0-0.1-0.1-0.1-0.1L22,34.8c-0.2-0.2-0.4-0.3-0.6-0.4c-0.4-0.2-0.9-0.3-1.3-0.4c-0.3,0-0.7,0-1,0.1c-0.3,0.1-0.5,0.1-0.8,0.2
-			c-0.5,0.2-1,0.5-1.3,0.9c-0.3,0.4-0.6,0.8-0.8,1.3C16,37,15.9,37.5,15.9,38c0,0.5,0.1,0.9,0.3,1.3c0.2,0.4,0.4,0.7,0.7,1
-			c0.3,0.3,0.6,0.5,1,0.7c0.3,0.2,0.7,0.3,1,0.4c0.4,0.1,0.9,0.1,1.4,0c0.2,0,0.5-0.1,0.7-0.2c0.3-0.1,0.5-0.2,0.7-0.4
-			c0.1-0.1,0.2-0.2,0.3-0.3l0.1-0.1l0,0l0,0c0,0,0,0,0,0l0.1-0.1c0.1,0,0.1-0.1,0.2-0.1c0.1-0.1,0.2-0.2,0.3-0.2
-			c0.3-0.2,0.6-0.3,0.9-0.3c0.2,0,0.3,0,0.5,0h0.1c0.2,0,0.3,0,0.5,0c0.5,0.1,1,0.3,1.5,0.6c0.1,0.1,0.2,0.1,0.3,0.2l0.1,0
-			c0,0,0.1,0.1,0.1,0.1c0,0.1,0.1,0.1,0.1,0.2c0,0.1,0,0.1,0.1,0.2c0,0,0,0,0,0.1l0,0v6.5C27.4,48.2,28,48.7,28.6,49.2z"/>
-		<polygon points="22.3,34.9 22.3,34.9 22.3,34.9 22.3,34.9 		"/>
-	</g>
-	<g>
-		<polygon points="40.7,30.2 40.7,30.2 40.7,30.2 		"/>
-		<path fill="white" fill-opacity="0.5" d="M49.2,24c0.7-0.9,1.3-1.8,1.8-2.9c0.4-0.7,0.7-1.5,0.9-2.3c0.2-0.8,0.4-1.7,0.5-2.6c0.2-1.7,0.1-3.4-0.3-5
-			c-0.3-1.3-0.8-2.6-1.5-3.8c-0.4-0.7-0.9-1.4-1.4-2.1c-0.6-0.7-1.3-1.4-2-2c-0.6-0.5-1.3-1-2-1.4c-0.8-0.4-1.5-0.8-2.3-1.1
-			c-1-0.4-2-0.6-3.1-0.7C39.3,0.1,38.9,0,38.5,0c-0.2,0-0.4,0-0.6,0h-0.1c-0.5,0-0.9,0-1.4,0.1c-0.8,0.1-1.7,0.2-2.5,0.4
-			c-0.9,0.2-1.7,0.6-2.5,0.9c-0.8,0.4-1.5,0.8-2.2,1.3c-0.6,0.4-1.1,0.9-1.6,1.4c-0.2,0.2-0.5,0.5-0.7,0.7V11
-			c0.1,0.1,0.2,0.1,0.2,0.1c0.1,0,0.1,0.1,0.2,0.1c0.1,0,0.1,0.1,0.2,0.1c0.4,0.1,0.8,0.2,1.1,0.1c0.1,0,0.1,0,0.2,0
-			c0.1,0,0.1-0.1,0.2-0.1c0.1,0,0.2-0.1,0.3-0.2c0,0,0.1-0.1,0.1-0.1l0,0c0,0,0.1,0,0.1-0.1l0.1-0.1c0.2-0.1,0.3-0.2,0.5-0.3
-			c0.3-0.2,0.7-0.4,1-0.5c0.3-0.1,0.6-0.2,1-0.2c0.6-0.1,1.1-0.1,1.7,0c0.5,0.1,1,0.3,1.5,0.5c0.5,0.3,0.9,0.6,1.3,1
-			c0.4,0.4,0.7,0.9,0.9,1.4c0.2,0.6,0.4,1.2,0.4,1.8c0,0.6-0.1,1.3-0.3,1.9c-0.2,0.7-0.6,1.3-1,1.8c-0.5,0.5-1.1,1-1.8,1.3
-			c-0.4,0.1-0.7,0.3-1.1,0.3c-0.4,0.1-0.8,0.1-1.3,0.1c-0.4,0-0.7-0.1-1.1-0.2c-0.4-0.1-0.7-0.3-1-0.5c-0.2-0.1-0.3-0.2-0.5-0.3
-			c-0.1,0-0.1-0.1-0.2-0.1l-0.1-0.1c0,0-0.1,0-0.1-0.1c0,0-0.1-0.1-0.1-0.1c0,0-0.1-0.1-0.1-0.1c-0.1-0.1-0.1-0.1-0.2-0.1
-			c-0.1,0-0.1-0.1-0.2-0.1c-0.1,0-0.1,0-0.2,0C28.4,18,28,18,27.6,18.1c-0.1,0-0.1,0-0.2,0.1c-0.1,0-0.2,0.1-0.2,0.1
-			c-0.1,0-0.2,0.1-0.2,0.1v7.2l7.5,0c0,0,0,0,0.1,0c0.1,0,0.2,0.1,0.3,0.1c0,0,0.1,0,0.1,0.1c0,0,0.1,0.1,0.1,0.1l0.1,0.1
-			c0.1,0.1,0.2,0.3,0.3,0.4c0.4,0.6,0.6,1.3,0.6,1.9c0,0.1,0,0.2,0,0.3c0,0.1,0,0.2,0,0.3c-0.1,0.4-0.2,0.7-0.4,1
-			c-0.1,0.1-0.2,0.2-0.2,0.3c0,0-0.1,0.1-0.1,0.1l0,0l0,0l-0.2,0.2c-0.1,0.1-0.2,0.2-0.2,0.3c-0.1,0.2-0.3,0.5-0.3,0.7
-			c-0.2,0.7-0.3,1.4-0.1,2c0.1,0.4,0.2,0.7,0.4,1.1c0.2,0.4,0.5,0.7,0.8,0.9c0.3,0.3,0.7,0.5,1.1,0.7c0.4,0.2,0.9,0.3,1.4,0.3
-			c0,0,0,0,0,0c0.5,0,1-0.1,1.4-0.3c0.5-0.2,0.9-0.5,1.3-0.8c0.4-0.4,0.7-0.9,0.9-1.4c0.2-0.6,0.3-1.2,0.2-1.8
-			c-0.1-0.5-0.2-0.9-0.5-1.3c-0.1-0.2-0.3-0.4-0.4-0.6l-0.1-0.1l0,0l0,0l0,0l0,0l0-0.1l0,0l-0.1,0.1l-0.1-0.1
-			c-0.1-0.1-0.1-0.1-0.1-0.2c-0.1-0.1-0.2-0.3-0.2-0.4c-0.1-0.1-0.1-0.3-0.2-0.4c0-0.1-0.1-0.2-0.1-0.4c0-0.1,0-0.2,0-0.3
-			c-0.1-0.6,0.1-1.3,0.4-1.9c0.1-0.2,0.2-0.4,0.4-0.6c0,0,0.1-0.1,0.1-0.1c0,0,0.1-0.1,0.1-0.1c0,0,0.1,0,0.1-0.1
-			c0.1-0.1,0.2-0.1,0.3-0.1c0,0,0,0,0.1,0l0,0h6.5C48.2,25.1,48.7,24.5,49.2,24z"/>
-	</g>
-</g>
-<g id="XMLID_14_">
-</g>
-<g id="XMLID_15_">
-</g>
-<g id="XMLID_16_">
-</g>
-<g id="XMLID_17_">
-</g>
-<g id="XMLID_18_">
-</g>
-<g id="XMLID_19_">
-</g>
-</svg>
+<?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"
+             d="M 0,0 C 0.279,0.322 0.5,0.686 0.657,1.081 0.827,1.513 0.914,1.968 0.917,2.434 0.92,2.924 0.829,3.403 0.647,3.857 0.458,4.329 0.165,4.77 -0.2,5.13 -0.587,5.512 -1.061,5.812 -1.571,5.995 -2.138,6.198 -2.756,6.262 -3.358,6.18 -3.821,6.115 -4.263,5.967 -4.671,5.739 -4.886,5.618 -5.094,5.472 -5.291,5.305 L -5.467,5.151 C -5.527,5.099 -5.587,5.049 -5.649,5.003 -5.775,4.909 -5.906,4.827 -6.04,4.759 -6.173,4.691 -6.314,4.633 -6.458,4.586 -6.575,4.549 -6.696,4.519 -6.819,4.496 -6.917,4.478 -7.017,4.465 -7.115,4.457 c -0.623,-0.052 -1.281,0.082 -1.9,0.385 -0.224,0.111 -0.439,0.241 -0.64,0.387 -0.042,0.03 -0.084,0.063 -0.127,0.095 -0.039,0.031 -0.069,0.054 -0.102,0.09 -0.023,0.025 -0.043,0.05 -0.061,0.077 -0.056,0.082 -0.093,0.176 -0.107,0.271 -0.004,0.022 -0.005,0.044 -0.006,0.066 l -0.002,6.486 c -0.534,0.589 -1.115,1.136 -1.728,1.626 -0.913,0.73 -1.913,1.352 -2.971,1.845 -0.867,0.405 -1.779,0.725 -2.711,0.952 -0.851,0.208 -1.731,0.34 -2.617,0.391 -0.912,0.053 -1.834,0.023 -2.741,-0.092 -0.741,-0.094 -1.479,-0.246 -2.194,-0.453 -1.274,-0.365 -2.494,-0.905 -3.628,-1.604 -0.824,-0.507 -1.603,-1.101 -2.316,-1.764 -0.687,-0.64 -1.317,-1.35 -1.871,-2.109 -0.505,-0.692 -0.951,-1.432 -1.327,-2.2 -0.375,-0.764 -0.684,-1.566 -0.919,-2.383 -0.201,-0.7 -0.351,-1.423 -0.446,-2.147 -0.12,-0.919 -0.153,-1.858 -0.099,-2.79 0.05,-0.838 0.171,-1.673 0.359,-2.482 0.201,-0.856 0.481,-1.7 0.833,-2.507 0.546,-1.253 1.265,-2.423 2.136,-3.479 0.317,-0.384 0.654,-0.753 1.002,-1.098 0.158,-0.157 0.32,-0.31 0.485,-0.459 h 6.121 c 0.051,0.08 0.099,0.161 0.143,0.245 0.037,0.071 0.072,0.144 0.104,0.218 0.026,0.062 0.05,0.128 0.073,0.193 0.132,0.394 0.159,0.784 0.077,1.127 -0.013,0.052 -0.028,0.105 -0.046,0.157 -0.024,0.068 -0.053,0.136 -0.087,0.201 -0.048,0.09 -0.105,0.174 -0.169,0.249 -0.035,0.041 -0.07,0.079 -0.107,0.116 l -0.024,0.026 c -0.025,0.029 -0.046,0.053 -0.066,0.079 -0.014,0.02 -0.02,0.029 -0.027,0.038 l -0.079,0.096 c -0.109,0.134 -0.212,0.277 -0.304,0.42 -0.207,0.318 -0.378,0.659 -0.506,1.013 -0.118,0.32 -0.202,0.651 -0.252,0.985 -0.085,0.571 -0.073,1.146 0.035,1.71 0.098,0.509 0.273,0.999 0.521,1.454 0.258,0.475 0.588,0.903 0.98,1.272 0.419,0.394 0.895,0.711 1.415,0.942 0.557,0.249 1.15,0.393 1.762,0.428 0.659,0.035 1.298,-0.05 1.914,-0.258 0.653,-0.221 1.268,-0.585 1.78,-1.05 0.541,-0.492 0.977,-1.106 1.261,-1.776 0.151,-0.357 0.26,-0.729 0.324,-1.106 0.072,-0.415 0.092,-0.843 0.058,-1.272 -0.031,-0.388 -0.108,-0.773 -0.227,-1.144 -0.11,-0.341 -0.257,-0.673 -0.441,-0.988 -0.103,-0.177 -0.216,-0.347 -0.335,-0.503 -0.037,-0.051 -0.077,-0.1 -0.117,-0.151 l -0.033,-0.04 -0.005,0.002 -0.049,-0.07 c -0.022,-0.028 -0.043,-0.054 -0.066,-0.08 l -0.076,-0.08 c -0.028,-0.03 -0.055,-0.062 -0.081,-0.094 -0.05,-0.063 -0.095,-0.131 -0.134,-0.202 -0.035,-0.064 -0.066,-0.131 -0.09,-0.199 -0.019,-0.053 -0.035,-0.105 -0.049,-0.158 -0.085,-0.34 -0.062,-0.729 0.066,-1.123 0.021,-0.066 0.045,-0.13 0.071,-0.193 0.03,-0.073 0.063,-0.145 0.1,-0.215 0.045,-0.088 0.096,-0.176 0.156,-0.269 h 7.162 l 0.002,7.527 c 10e-4,0.022 0.002,0.043 0.006,0.065 0.008,0.061 0.027,0.124 0.057,0.187 0.03,0.06 0.067,0.114 0.111,0.161 0.034,0.037 0.065,0.062 0.102,0.09 l 0.062,0.048 c 0.087,0.065 0.173,0.126 0.262,0.183 0.487,0.316 1.027,0.526 1.563,0.608 0.154,0.024 0.312,0.037 0.482,0.04 0.037,0.001 0.076,0 0.113,-0.001 0.062,-0.002 0.124,-0.005 0.186,-0.01 0.123,-0.011 0.247,-0.029 0.367,-0.053 0.338,-0.071 0.654,-0.2 0.939,-0.383 0.11,-0.07 0.214,-0.149 0.31,-0.231 0.031,-0.026 0.061,-0.053 0.09,-0.081 l 0.029,-0.028 -0.07,-0.106 c 0.003,-0.003 0.007,-0.007 0.01,-0.01 l 0.071,0.101 0.215,-0.169 c 0.13,-0.101 0.243,-0.179 0.358,-0.25 0.24,-0.146 0.497,-0.266 0.763,-0.355 0.656,-0.219 1.363,-0.253 2.04,-0.097 0.374,0.086 0.731,0.229 1.059,0.424 C -0.581,-0.571 -0.268,-0.309 0,0" /></g><g
+           transform="translate(41.5882,22.8337)"
+           id="g24"><path
+             id="path26"
+             style="fill:white;fill-opacity:0.5;fill-rule:nonzero;stroke:none"
+             d="M 0,0 V 0 L 0.053,0.044 0.013,0.018 Z" /></g><g
+           transform="translate(28.5515,3.2736)"
+           id="g28"><path
+             id="path30"
+             style="fill:white;fill-opacity:0.5;fill-rule:nonzero;stroke:none"
+             d="m 0,0 c 0.934,-0.757 1.959,-1.398 3.045,-1.906 0.84,-0.39 1.72,-0.702 2.615,-0.927 0.883,-0.222 1.796,-0.362 2.714,-0.416 0.944,-0.054 1.897,-0.019 2.832,0.106 0.707,0.094 1.414,0.242 2.102,0.439 1.276,0.368 2.496,0.908 3.628,1.605 0.798,0.492 1.556,1.065 2.251,1.704 0.724,0.666 1.384,1.408 1.962,2.205 0.468,0.646 0.886,1.334 1.242,2.044 0.409,0.815 0.742,1.672 0.99,2.547 0.179,0.628 0.316,1.274 0.409,1.921 0.14,0.979 0.182,1.98 0.123,2.973 -0.048,0.819 -0.165,1.638 -0.348,2.433 -0.2,0.872 -0.484,1.732 -0.843,2.556 -0.538,1.234 -1.247,2.392 -2.106,3.442 -0.313,0.381 -0.648,0.752 -0.998,1.1 l -0.52,0.493 H 12.982 L 12.831,22.068 C 12.797,22.003 12.763,21.931 12.732,21.857 12.705,21.794 12.681,21.73 12.659,21.665 12.527,21.268 12.5,20.878 12.582,20.536 c 0.012,-0.053 0.027,-0.105 0.045,-0.156 0.024,-0.069 0.054,-0.137 0.088,-0.202 0.046,-0.086 0.103,-0.171 0.169,-0.251 0.027,-0.032 0.056,-0.062 0.086,-0.093 l 0.045,-0.048 c 0.023,-0.025 0.044,-0.051 0.065,-0.078 l -0.046,-0.082 0.061,0.057 0.003,-0.002 0.022,-0.028 -10e-4,-10e-4 0.01,-0.015 0.004,0.003 0.05,-0.062 c 0.171,-0.212 0.322,-0.433 0.451,-0.659 0.275,-0.478 0.469,-0.996 0.575,-1.538 0.141,-0.718 0.124,-1.472 -0.05,-2.181 -0.152,-0.623 -0.431,-1.228 -0.807,-1.751 -0.303,-0.42 -0.667,-0.79 -1.082,-1.1 C 11.868,12.048 11.425,11.81 10.954,11.64 10.456,11.461 9.935,11.362 9.406,11.345 8.955,11.331 8.505,11.376 8.07,11.48 c -0.494,0.118 -0.965,0.308 -1.399,0.565 -0.509,0.301 -0.958,0.685 -1.333,1.14 -0.393,0.477 -0.692,1.014 -0.89,1.596 -0.218,0.645 -0.305,1.348 -0.25,2.031 0.029,0.355 0.095,0.704 0.194,1.037 0.114,0.383 0.273,0.751 0.474,1.095 0.095,0.164 0.207,0.334 0.334,0.503 0.038,0.051 0.078,0.102 0.118,0.151 L 5.45,19.56 v 0 l -0.101,0.074 0.055,0.073 c 0.023,0.028 0.045,0.054 0.066,0.078 l 0.076,0.08 c 0.03,0.031 0.057,0.062 0.082,0.095 0.05,0.063 0.095,0.131 0.135,0.203 0.034,0.063 0.065,0.13 0.09,0.199 0.019,0.052 0.034,0.103 0.047,0.156 0.086,0.341 0.063,0.73 -0.065,1.124 -0.021,0.065 -0.044,0.129 -0.071,0.193 -0.033,0.082 -0.071,0.162 -0.113,0.24 -0.044,0.084 -0.092,0.165 -0.143,0.244 h -7.162 l -0.002,-7.532 c -0.001,-0.02 -0.003,-0.041 -0.006,-0.06 -0.015,-0.099 -0.052,-0.192 -0.107,-0.272 -0.018,-0.027 -0.039,-0.052 -0.061,-0.076 -0.035,-0.037 -0.064,-0.061 -0.102,-0.09 -0.02,-0.016 -0.042,-0.033 -0.065,-0.05 -0.122,-0.091 -0.254,-0.181 -0.393,-0.264 -0.619,-0.37 -1.29,-0.565 -1.942,-0.565 -0.093,-0.003 -0.179,0.003 -0.268,0.011 -0.11,0.01 -0.221,0.025 -0.33,0.046 -0.36,0.071 -0.709,0.213 -1.008,0.411 -0.109,0.072 -0.213,0.152 -0.309,0.237 -0.029,0.026 -0.058,0.052 -0.085,0.079 h -0.026 l -0.022,0.042 -0.036,0.027 c -0.035,0.03 -0.061,0.051 -0.087,0.072 l -0.073,0.059 c -0.212,0.162 -0.427,0.296 -0.648,0.404 -0.416,0.204 -0.861,0.328 -1.324,0.367 -0.345,0.028 -0.695,0.012 -1.037,-0.053 -0.259,-0.05 -0.511,-0.126 -0.75,-0.228 -0.498,-0.211 -0.954,-0.534 -1.32,-0.936 -0.345,-0.381 -0.614,-0.838 -0.779,-1.322 -0.154,-0.455 -0.218,-0.933 -0.191,-1.421 0.026,-0.462 0.136,-0.909 0.326,-1.327 0.175,-0.386 0.412,-0.738 0.706,-1.047 0.283,-0.296 0.609,-0.543 0.97,-0.734 0.319,-0.168 0.661,-0.289 1.015,-0.36 0.449,-0.089 0.906,-0.095 1.357,-0.021 0.246,0.041 0.49,0.108 0.725,0.198 0.254,0.098 0.499,0.225 0.727,0.377 0.113,0.075 0.229,0.161 0.343,0.257 l 0.068,0.054 0.016,0.046 0.041,0.002 c 0.012,0.013 0.02,0.02 0.029,0.028 l 0.055,0.052 c 0.051,0.043 0.1,0.084 0.151,0.124 0.104,0.08 0.212,0.151 0.322,0.213 0.28,0.159 0.589,0.268 0.917,0.324 0.152,0.026 0.31,0.04 0.48,0.043 h 0.109 C -4.1,9.429 -3.938,9.414 -3.782,9.389 -3.261,9.303 -2.734,9.095 -2.256,8.787 -2.167,8.73 -2.08,8.668 -1.996,8.604 l 0.053,-0.04 c 0.048,-0.037 0.077,-0.061 0.111,-0.097 0.047,-0.05 0.084,-0.104 0.113,-0.162 0.029,-0.062 0.048,-0.125 0.057,-0.187 0.003,-0.02 0.005,-0.04 0.006,-0.06 L -1.654,8.021 V 1.566 C -1.142,1.001 -0.585,0.474 0,0" /></g><g
+           transform="translate(22.2707,17.571)"
+           id="g32"><path
+             id="path34"
+             style="fill:white;fill-opacity:0.5;fill-rule:nonzero;stroke:none"
+             d="m 0,0 v -0.008 l 0.011,0.019 v 0 z" /></g><g
+           transform="translate(40.657,22.3049)"
+           id="g36"><path
+             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)"
+           id="g40"><path
+             id="path42"
+             style="fill:white;fill-opacity:0.5;fill-rule:nonzero;stroke:none"
+             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>
+          </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

@@ -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');
-		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 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',
-	messageType: 'rosgraph_msgs/Log'
+	name: '/mavros/statustext/recv',
+	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

@@ -15,5 +15,8 @@
         "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="false"/>
+    <arg name="web_server" default="true"/>
     <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

@@ -1,58 +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="true"/>
 
     <node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" respawn="$(arg respawn)" respawn_delay="5" output="screen">
-            <!-- UART connection -->
-            <param name="fcu_url" value="/dev/ttyAMA0:921600" if="$(eval fcu_conn is None or fcu_conn == 'uart')"/>
+        <!-- UART connection -->
+        <param name="fcu_url" value="/dev/ttyAMA0:921600" if="$(eval fcu_conn is None or fcu_conn == 'uart')"/>
 
-            <!-- USB connection -->
-            <param name="fcu_url" value="/dev/ttyACM0" if="$(eval fcu_conn == 'usb')"/>
+        <!-- USB connection -->
+        <param name="fcu_url" value="/dev/ttyACM0" if="$(eval fcu_conn == 'usb')"/>
 
-            <!-- sitl -->
-            <param name="fcu_url" value="udp://@$(arg fcu_ip):14557" if="$(eval fcu_conn == 'udp')"/>
+        <!-- sitl -->
+        <param name="fcu_url" value="udp://@$(arg fcu_ip):14557" if="$(eval fcu_conn == 'udp')"/>
 
-            <!-- gcs bridge -->
-            <param name="gcs_url" value="tcp-l://0.0.0.0:5760" if="$(eval gcs_bridge == 'tcp')"/>
-            <param name="gcs_url" value="udp://0.0.0.0:14550@14550" if="$(eval gcs_bridge == 'udp')"/>
-            <param name="gcs_url" value="udp-b://0.0.0.0:14550@14550" if="$(eval gcs_bridge == 'udp-b')"/>
-            <param name="gcs_url" value="udp-pb://0.0.0.0:14550@14550" if="$(eval gcs_bridge == 'udp-pb')"/>
-            <param name="gcs_url" value="" if="$(eval not gcs_bridge)"/>
-            <param name="gcs_quiet_mode" value="true"/>
-            <param name="conn/timeout" value="10"/>
+        <!-- gcs bridge -->
+        <param name="gcs_url" value="tcp-l://0.0.0.0:5760" if="$(eval gcs_bridge == 'tcp')"/>
+        <param name="gcs_url" value="udp://0.0.0.0:14550@14550" if="$(eval gcs_bridge == 'udp')"/>
+        <param name="gcs_url" value="udp-b://$(env ROS_IP):14550@14550" if="$(eval gcs_bridge == 'udp-b')"/>
+        <param name="gcs_url" value="udp-pb://$(env ROS_IP):14550@14550" if="$(eval gcs_bridge == 'udp-pb')"/>
+        <param name="gcs_url" value="" if="$(eval not gcs_bridge)"/>
+        <param name="gcs_quiet_mode" value="true"/>
+        <param name="conn/timeout" value="8"/>
 
-            <!-- default px4 params -->
-            <rosparam command="load" file="$(find mavros)/launch/px4_config.yaml"/>
+        <!-- default px4 params -->
+        <rosparam command="load" file="$(find mavros)/launch/px4_config.yaml"/>
 
-            <!-- 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
-                - distance_sensor
-                - rangefinder
-                - 3dr_radio
-                - actuator_control
-                - hil_controls
-                - vfr_hud
-                - px4flow
-                - vision_speed_estimate
-                - fake_gps
-                - cam_imu_sync
-                - hil
-                - adsb
-            </rosparam>
+        <!-- rangefinders -->
+        <rosparam>
+            distance_sensor:
+                rangefinder_0:
+                    id: 0
+                    frame_id: "rangefinder"
+                    orientation: PITCH_270
+                    field_of_view: 0.5
+                rangefinder_1:
+                    id: 1
+                    frame_id: "rangefinder"
+                    orientation: PITCH_270
+                    field_of_view: 0.5
+                rangefinder_2_sub:
+                    subscriber: true
+                    id: 2
+                    orientation: PITCH_270
+                rangefinder_3_sub:
+                    subscriber: true
+                    id: 3
+                    orientation: PITCH_270
+        </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,
-                             type_mask=PT.IGNORE_VX + PT.IGNORE_VY + PT.IGNORE_VZ +
-                                       PT.IGNORE_AFX + PT.IGNORE_AFY + PT.IGNORE_AFZ +
-                                       (PT.IGNORE_YAW if yaw_rate_flag else PT.IGNORE_YAW_RATE),
-                             position=setpoint,
-                             yaw=euler_from_orientation(current_nav_finish.pose.orientation, 'szyx')[2] - math.pi / 2,
-                             yaw_rate=req.yaw_rate)
+        msg = pt
+        msg.coordinate_frame = PT.FRAME_LOCAL_NED
+        msg.type_mask = PT.IGNORE_VX + PT.IGNORE_VY + PT.IGNORE_VZ + \
+                        PT.IGNORE_AFX + PT.IGNORE_AFY + PT.IGNORE_AFZ + \
+                        (PT.IGNORE_YAW if yaw_rate_flag else PT.IGNORE_YAW_RATE)
+        msg.position = setpoint
+        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,
-                             type_mask=PT.IGNORE_VX + PT.IGNORE_VY + PT.IGNORE_VZ +
-                                       PT.IGNORE_AFX + PT.IGNORE_AFY + PT.IGNORE_AFZ +
-                                       (PT.IGNORE_YAW if yaw_rate_flag else PT.IGNORE_YAW_RATE),
-                             position=pose_local.pose.position,
-                             yaw=euler_from_orientation(pose_local.pose.orientation, 'szyx')[2] - math.pi / 2,
-                             yaw_rate=req.yaw_rate)
+        msg = pt
+        msg.coordinate_frame = PT.FRAME_LOCAL_NED
+        msg.type_mask = PT.IGNORE_VX + PT.IGNORE_VY + PT.IGNORE_VZ + \
+                        PT.IGNORE_AFX + PT.IGNORE_AFY + PT.IGNORE_AFZ + \
+                        (PT.IGNORE_YAW if yaw_rate_flag else PT.IGNORE_YAW_RATE)
+        msg.position = pose_local.pose.position
+        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,
-                             type_mask=PT.IGNORE_PX + PT.IGNORE_PY + PT.IGNORE_PZ +
-                                       PT.IGNORE_AFX + PT.IGNORE_AFY + PT.IGNORE_AFZ +
-                                       (PT.IGNORE_YAW if yaw_rate_flag else PT.IGNORE_YAW_RATE),
-                             velocity=vector_local.vector,
-                             yaw=euler_from_orientation(pose_local.pose.orientation, 'szyx')[2] - math.pi / 2,
-                             yaw_rate=req.yaw_rate)
+        msg = pt
+        msg.coordinate_frame = PT.FRAME_LOCAL_NED
+        msg.type_mask = PT.IGNORE_PX + PT.IGNORE_PY + PT.IGNORE_PZ + \
+                                       PT.IGNORE_AFX + PT.IGNORE_AFY + PT.IGNORE_AFZ + \
+                                       (PT.IGNORE_YAW if yaw_rate_flag else PT.IGNORE_YAW_RATE)
+        msg.velocity = vector_local.vector
+        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,
-                             thrust=req.thrust,
-                             type_mask=AT.IGNORE_YAW_RATE + AT.IGNORE_PITCH_RATE + AT.IGNORE_ROLL_RATE)
+        msg = at
+        msg.orientation = pose_local.pose.orientation
+        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,
-                             type_mask=AttitudeTarget.IGNORE_ATTITUDE,
-                             body_rate=Vector3(req.roll_rate, req.pitch_rate, req.yaw_rate))
+        msg = at
+        msg.thrust = req.thrust
+        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:
-        rospy.logwarn('Navigate speed must be greater than zero, %s passed')
-        return {'message': 'Navigate speed must be greater than zero, %s passed' % req.speed}
+    if isinstance(req, (srv.NavigateRequest, srv.NavigateGlobalRequest)):
+        if req.speed < 0:
+            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()
-                current_req = req
-                current_pub, current_msg = get_publisher_and_message(req, stamp, False)
-                rospy.loginfo('Topic: %s, message: %s', current_pub.name, current_msg)
+            stamp = rospy.get_rostime()
+            current_req = req
+            current_pub, current_msg = get_publisher_and_message(req, stamp, False)
+            rospy.loginfo('Topic: %s, message: %s', current_pub.name, current_msg)
 
-                current_msg.header.stamp = stamp
-                current_pub.publish(current_msg)
+            current_msg.header.stamp = stamp
+            current_pub.publish(current_msg)
 
         if req.auto_arm:
             offboard_and_arm()

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/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)
@@ -30,6 +34,10 @@
 * [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
   * [Теория и видеоуроки](lessons.md)
   * [Учебно-методическое пособие](metod.md)
@@ -38,4 +46,5 @@
   * [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

@@ -0,0 +1,46 @@
+<svg id="livetype" xmlns="http://www.w3.org/2000/svg" width="119.66407" height="40" viewBox="0 0 119.66407 40">
+  <title>Download_on_the_App_Store_Badge_US-UK_RGB_blk_4SVG_092917</title>
+  <g>
+    <g>
+      <g>
+        <path d="M110.13477,0H9.53468c-.3667,0-.729,0-1.09473.002-.30615.002-.60986.00781-.91895.0127A13.21476,13.21476,0,0,0,5.5171.19141a6.66509,6.66509,0,0,0-1.90088.627A6.43779,6.43779,0,0,0,1.99757,1.99707,6.25844,6.25844,0,0,0,.81935,3.61816a6.60119,6.60119,0,0,0-.625,1.90332,12.993,12.993,0,0,0-.1792,2.002C.00587,7.83008.00489,8.1377,0,8.44434V31.5586c.00489.3105.00587.6113.01515.9219a12.99232,12.99232,0,0,0,.1792,2.0019,6.58756,6.58756,0,0,0,.625,1.9043A6.20778,6.20778,0,0,0,1.99757,38.001a6.27445,6.27445,0,0,0,1.61865,1.1787,6.70082,6.70082,0,0,0,1.90088.6308,13.45514,13.45514,0,0,0,2.0039.1768c.30909.0068.6128.0107.91895.0107C8.80567,40,9.168,40,9.53468,40H110.13477c.3594,0,.7246,0,1.084-.002.3047,0,.6172-.0039.9219-.0107a13.279,13.279,0,0,0,2-.1768,6.80432,6.80432,0,0,0,1.9082-.6308,6.27742,6.27742,0,0,0,1.6172-1.1787,6.39482,6.39482,0,0,0,1.1816-1.6143,6.60413,6.60413,0,0,0,.6191-1.9043,13.50643,13.50643,0,0,0,.1856-2.0019c.0039-.3106.0039-.6114.0039-.9219.0078-.3633.0078-.7246.0078-1.0938V9.53613c0-.36621,0-.72949-.0078-1.09179,0-.30664,0-.61426-.0039-.9209a13.5071,13.5071,0,0,0-.1856-2.002,6.6177,6.6177,0,0,0-.6191-1.90332,6.46619,6.46619,0,0,0-2.7988-2.7998,6.76754,6.76754,0,0,0-1.9082-.627,13.04394,13.04394,0,0,0-2-.17676c-.3047-.00488-.6172-.01074-.9219-.01269-.3594-.002-.7246-.002-1.084-.002Z" style="fill: #a6a6a6"/>
+        <path d="M8.44483,39.125c-.30468,0-.602-.0039-.90429-.0107a12.68714,12.68714,0,0,1-1.86914-.1631,5.88381,5.88381,0,0,1-1.65674-.5479,5.40573,5.40573,0,0,1-1.397-1.0166,5.32082,5.32082,0,0,1-1.02051-1.3965,5.72186,5.72186,0,0,1-.543-1.6572,12.41351,12.41351,0,0,1-.1665-1.875c-.00634-.2109-.01464-.9131-.01464-.9131V8.44434S.88185,7.75293.8877,7.5498a12.37039,12.37039,0,0,1,.16553-1.87207,5.7555,5.7555,0,0,1,.54346-1.6621A5.37349,5.37349,0,0,1,2.61183,2.61768,5.56543,5.56543,0,0,1,4.01417,1.59521a5.82309,5.82309,0,0,1,1.65332-.54394A12.58589,12.58589,0,0,1,7.543.88721L8.44532.875H111.21387l.9131.0127a12.38493,12.38493,0,0,1,1.8584.16259,5.93833,5.93833,0,0,1,1.6709.54785,5.59374,5.59374,0,0,1,2.415,2.41993,5.76267,5.76267,0,0,1,.5352,1.64892,12.995,12.995,0,0,1,.1738,1.88721c.0029.2832.0029.5874.0029.89014.0079.375.0079.73193.0079,1.09179V30.4648c0,.3633,0,.7178-.0079,1.0752,0,.3252,0,.6231-.0039.9297a12.73126,12.73126,0,0,1-.1709,1.8535,5.739,5.739,0,0,1-.54,1.67,5.48029,5.48029,0,0,1-1.0156,1.3857,5.4129,5.4129,0,0,1-1.3994,1.0225,5.86168,5.86168,0,0,1-1.668.5498,12.54218,12.54218,0,0,1-1.8692.1631c-.2929.0068-.5996.0107-.8974.0107l-1.084.002Z"/>
+      </g>
+      <g id="_Group_" data-name="&lt;Group&gt;">
+        <g id="_Group_2" data-name="&lt;Group&gt;">
+          <g id="_Group_3" data-name="&lt;Group&gt;">
+            <path id="_Path_" data-name="&lt;Path&gt;" d="M24.76888,20.30068a4.94881,4.94881,0,0,1,2.35656-4.15206,5.06566,5.06566,0,0,0-3.99116-2.15768c-1.67924-.17626-3.30719,1.00483-4.1629,1.00483-.87227,0-2.18977-.98733-3.6085-.95814a5.31529,5.31529,0,0,0-4.47292,2.72787c-1.934,3.34842-.49141,8.26947,1.3612,10.97608.9269,1.32535,2.01018,2.8058,3.42763,2.7533,1.38706-.05753,1.9051-.88448,3.5794-.88448,1.65876,0,2.14479.88448,3.591.8511,1.48838-.02416,2.42613-1.33124,3.32051-2.66914a10.962,10.962,0,0,0,1.51842-3.09251A4.78205,4.78205,0,0,1,24.76888,20.30068Z" style="fill: #fff"/>
+            <path id="_Path_2" data-name="&lt;Path&gt;" d="M22.03725,12.21089a4.87248,4.87248,0,0,0,1.11452-3.49062,4.95746,4.95746,0,0,0-3.20758,1.65961,4.63634,4.63634,0,0,0-1.14371,3.36139A4.09905,4.09905,0,0,0,22.03725,12.21089Z" style="fill: #fff"/>
+          </g>
+        </g>
+        <g>
+          <path d="M42.30227,27.13965h-4.7334l-1.13672,3.35645H34.42727l4.4834-12.418h2.083l4.4834,12.418H43.438ZM38.0591,25.59082h3.752l-1.84961-5.44727h-.05176Z" style="fill: #fff"/>
+          <path d="M55.15969,25.96973c0,2.81348-1.50586,4.62109-3.77832,4.62109a3.0693,3.0693,0,0,1-2.84863-1.584h-.043v4.48438h-1.8584V21.44238H48.4302v1.50586h.03418a3.21162,3.21162,0,0,1,2.88281-1.60059C53.645,21.34766,55.15969,23.16406,55.15969,25.96973Zm-1.91016,0c0-1.833-.94727-3.03809-2.39258-3.03809-1.41992,0-2.375,1.23047-2.375,3.03809,0,1.82422.95508,3.0459,2.375,3.0459C52.30227,29.01563,53.24953,27.81934,53.24953,25.96973Z" style="fill: #fff"/>
+          <path d="M65.12453,25.96973c0,2.81348-1.50586,4.62109-3.77832,4.62109a3.0693,3.0693,0,0,1-2.84863-1.584h-.043v4.48438h-1.8584V21.44238H58.395v1.50586h.03418A3.21162,3.21162,0,0,1,61.312,21.34766C63.60988,21.34766,65.12453,23.16406,65.12453,25.96973Zm-1.91016,0c0-1.833-.94727-3.03809-2.39258-3.03809-1.41992,0-2.375,1.23047-2.375,3.03809,0,1.82422.95508,3.0459,2.375,3.0459C62.26711,29.01563,63.21438,27.81934,63.21438,25.96973Z" style="fill: #fff"/>
+          <path d="M71.71047,27.03613c.1377,1.23145,1.334,2.04,2.96875,2.04,1.56641,0,2.69336-.80859,2.69336-1.91895,0-.96387-.67969-1.541-2.28906-1.93652l-1.60937-.3877c-2.28027-.55078-3.33887-1.61719-3.33887-3.34766,0-2.14258,1.86719-3.61426,4.51855-3.61426,2.624,0,4.42285,1.47168,4.4834,3.61426h-1.876c-.1123-1.23926-1.13672-1.9873-2.63379-1.9873s-2.52148.75684-2.52148,1.8584c0,.87793.6543,1.39453,2.25488,1.79l1.36816.33594c2.54785.60254,3.60645,1.626,3.60645,3.44238,0,2.32324-1.85059,3.77832-4.79395,3.77832-2.75391,0-4.61328-1.4209-4.7334-3.667Z" style="fill: #fff"/>
+          <path d="M83.34621,19.2998v2.14258h1.72168v1.47168H83.34621v4.99121c0,.77539.34473,1.13672,1.10156,1.13672a5.80752,5.80752,0,0,0,.61133-.043v1.46289a5.10351,5.10351,0,0,1-1.03223.08594c-1.833,0-2.54785-.68848-2.54785-2.44434V22.91406H80.16262V21.44238H81.479V19.2998Z" style="fill: #fff"/>
+          <path d="M86.065,25.96973c0-2.84863,1.67773-4.63867,4.29395-4.63867,2.625,0,4.29492,1.79,4.29492,4.63867,0,2.85645-1.66113,4.63867-4.29492,4.63867C87.72609,30.6084,86.065,28.82617,86.065,25.96973Zm6.69531,0c0-1.9541-.89551-3.10742-2.40137-3.10742s-2.40039,1.16211-2.40039,3.10742c0,1.96191.89453,3.10645,2.40039,3.10645S92.76027,27.93164,92.76027,25.96973Z" style="fill: #fff"/>
+          <path d="M96.18606,21.44238h1.77246v1.541h.043a2.1594,2.1594,0,0,1,2.17773-1.63574,2.86616,2.86616,0,0,1,.63672.06934v1.73828a2.59794,2.59794,0,0,0-.835-.1123,1.87264,1.87264,0,0,0-1.93652,2.083v5.37012h-1.8584Z" style="fill: #fff"/>
+          <path d="M109.3843,27.83691c-.25,1.64355-1.85059,2.77148-3.89844,2.77148-2.63379,0-4.26855-1.76465-4.26855-4.5957,0-2.83984,1.64355-4.68164,4.19043-4.68164,2.50488,0,4.08008,1.7207,4.08008,4.46582v.63672h-6.39453v.1123a2.358,2.358,0,0,0,2.43555,2.56445,2.04834,2.04834,0,0,0,2.09082-1.27344Zm-6.28223-2.70215h4.52637a2.1773,2.1773,0,0,0-2.2207-2.29785A2.292,2.292,0,0,0,103.10207,25.13477Z" style="fill: #fff"/>
+        </g>
+      </g>
+    </g>
+    <g id="_Group_4" data-name="&lt;Group&gt;">
+      <g>
+        <path d="M37.82619,8.731a2.63964,2.63964,0,0,1,2.80762,2.96484c0,1.90625-1.03027,3.002-2.80762,3.002H35.67092V8.731Zm-1.22852,5.123h1.125a1.87588,1.87588,0,0,0,1.96777-2.146,1.881,1.881,0,0,0-1.96777-2.13379h-1.125Z" style="fill: #fff"/>
+        <path d="M41.68068,12.44434a2.13323,2.13323,0,1,1,4.24707,0,2.13358,2.13358,0,1,1-4.24707,0Zm3.333,0c0-.97607-.43848-1.54687-1.208-1.54687-.77246,0-1.207.5708-1.207,1.54688,0,.98389.43457,1.55029,1.207,1.55029C44.57522,13.99463,45.01369,13.42432,45.01369,12.44434Z" style="fill: #fff"/>
+        <path d="M51.57326,14.69775h-.92187l-.93066-3.31641h-.07031l-.92676,3.31641h-.91309l-1.24121-4.50293h.90137l.80664,3.436h.06641l.92578-3.436h.85254l.92578,3.436h.07031l.80273-3.436h.88867Z" style="fill: #fff"/>
+        <path d="M53.85354,10.19482H54.709v.71533h.06641a1.348,1.348,0,0,1,1.34375-.80225,1.46456,1.46456,0,0,1,1.55859,1.6748v2.915h-.88867V12.00586c0-.72363-.31445-1.0835-.97168-1.0835a1.03294,1.03294,0,0,0-1.0752,1.14111v2.63428h-.88867Z" style="fill: #fff"/>
+        <path d="M59.09377,8.437h.88867v6.26074h-.88867Z" style="fill: #fff"/>
+        <path d="M61.21779,12.44434a2.13346,2.13346,0,1,1,4.24756,0,2.1338,2.1338,0,1,1-4.24756,0Zm3.333,0c0-.97607-.43848-1.54687-1.208-1.54687-.77246,0-1.207.5708-1.207,1.54688,0,.98389.43457,1.55029,1.207,1.55029C64.11232,13.99463,64.5508,13.42432,64.5508,12.44434Z" style="fill: #fff"/>
+        <path d="M66.4009,13.42432c0-.81055.60352-1.27783,1.6748-1.34424l1.21973-.07031v-.38867c0-.47559-.31445-.74414-.92187-.74414-.49609,0-.83984.18213-.93848.50049h-.86035c.09082-.77344.81836-1.26953,1.83984-1.26953,1.12891,0,1.76563.562,1.76563,1.51318v3.07666h-.85547v-.63281h-.07031a1.515,1.515,0,0,1-1.35254.707A1.36026,1.36026,0,0,1,66.4009,13.42432Zm2.89453-.38477v-.37646l-1.09961.07031c-.62012.0415-.90137.25244-.90137.64941,0,.40527.35156.64111.835.64111A1.0615,1.0615,0,0,0,69.29543,13.03955Z" style="fill: #fff"/>
+        <path d="M71.34816,12.44434c0-1.42285.73145-2.32422,1.86914-2.32422a1.484,1.484,0,0,1,1.38086.79h.06641V8.437h.88867v6.26074h-.85156v-.71143h-.07031a1.56284,1.56284,0,0,1-1.41406.78564C72.0718,14.772,71.34816,13.87061,71.34816,12.44434Zm.918,0c0,.95508.4502,1.52979,1.20313,1.52979.749,0,1.21191-.583,1.21191-1.52588,0-.93848-.46777-1.52979-1.21191-1.52979C72.72121,10.91846,72.26613,11.49707,72.26613,12.44434Z" style="fill: #fff"/>
+        <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/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;
-* z указывает от плоскости матрицы камеры.
+
+* **<font color=red>x</font>** указывает направо на изображении;
+* **<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:
 

docs/gcs_bridge.md

@@ -18,6 +18,7 @@ TCP-бридж
 ---
 
 Изменить параметр `gcs_bridge` в launch-файле:
+
 ```xml
 <arg name="gcs_bridge" default="tcp"/>
 ```
@@ -32,6 +33,7 @@ UDP бридж (с автоматическим подключением)
 ---
 
 Изменить параметр gcs_bridge в launch-файле:
+
 ```xml
 <arg name="gcs_bridge" default="udp-b"/>
 ```

docs/glossary.md

@@ -0,0 +1,70 @@
+# Глоссарий
+
+## Квадрокоптер
+
+Беспилотный летательный аппарат с 4-мя винтами и электронной системной стабилизации.
+
+## Мультикоптер
+
+Беспилотный летательный аппарат с электронной системой стабилизации и числом винтов, равным 3 (трикоптер), 4 (квадрокоптер), 6 (гексакоптер), 8 (октокоптер) или более.
+
+## Полетный контроллер / автопилот
+
+**1\.** Специализированная плата, спроектированная для управления мультикоптером, самолетом или другим аппаратом. Примеры:
+Pixhawk, Ardupilot, Naze32, CC3D.
+
+**2\.** Программное обеспечение для платы управления мультикоптером. Примеры: PX4, APM, CleanFlight.
+
+## Мотор
+
+Электродвигатель, который вращает винты мультикоптера. Обычно используются бесколлекторные электродвигатели. Такие двигатели подключаются к ESC.
+
+## ESC / регулятор двигателя / "регуль"
+
+Electronic Speed Controller. Специализированная плата, которая управляет скоростью вращения бесколлекторного электродвигателя. Управляется полетным контроллером при помощи широтно-импульсной модуляции (ШИМ).
+
+ESC имеет прошивку, которая определяет особенности его работы.
+
+## Пульт / аппаратура радиоуправления / "аппа"
+
+Пульт для управления квадрокоптером, работающий по радиоканалу. Для работы пульта к полетном контроллеру необходимо подключить ресивер.
+
+Клевером, также, можно [управлять со смартфона](rc.md).
+
+## Телеметрия
+
+**1\.** Передача данных о состоянии квадрокоптера или другого аппарата на расстояние.
+
+**2\.** Совокупность данных о состоянии аппарата, так таковая (высота, ориентация, глобальные координаты и т. д.).
+
+**3\.** Система для передачи данных о состоянии аппарата или команд для него по воздуху. Примеры: радиомодемы (RFD900, 3DR Radio Modem), Wi-Fi модули (ESP-07). Raspberry Pi на Клевере также может быть использован в качестве модуля для телемерии: [использование QGroundControl через Wi-Fi](gcs_bridge.md).
+
+## Арминг
+
+Armed – состояние коптера готовности к полету. При поднятии стика газа либо при посылке внешней команды с целевой точкой – коптер полетит. Обычно коптер начинает вращать винтами при переходе в состояние "armed" даже если стик газа находится внизу.
+
+Противолположным состоянием является Disarmed.
+
+## PX4
+
+Популярный полетный контроллер с открытым исходным кодом, работащий на платах Pixhawk, Pixracer и других. PX4 рекомендуется для использования на Клевере.
+
+## APM / ArduPilot
+
+Полетный контроллер с открытым исходным кодом, изначально созданный для платы Arduino. Впоследствии был портирован на Pixhawk, Pixracer и другие платы.
+
+## MAVLink
+
+Протокол для взаимодействия дронов, наземных станций и других аппаратов по радиоканалам. Обычно именно этот протокол используется для телеметрии.
+
+## ROS
+
+Популярный фреймворк для написания сложных роботехнических приложений.
+
+## MAVROS
+
+Библиотека-связующее звено между аппаратом, работающем по протоколу MAVLink, и ROS.
+
+## UART
+
+Последовательный асинхронный интерфейс передачи данных, применяемый во многих устройствах. Например GPS антенны, Wi-Fi роутеры или Pixhawk.