From f714573221047c23321955d4ebf6e64ca3e28929 Mon Sep 17 00:00:00 2001 From: Artem30801 Date: Mon, 28 Sep 2020 01:57:30 +0300 Subject: [PATCH] docs: fixed gross errors --- docs/en/animation.md | 6 +++--- docs/en/blender-addon.md | 4 ++-- docs/en/client.md | 12 +++++------ docs/en/image-building.md | 2 +- docs/en/positioning.md | 8 ++++---- docs/en/server.md | 42 +++++++++++++++++++-------------------- docs/en/start-tutorial.md | 6 +++--- 7 files changed, 40 insertions(+), 40 deletions(-) diff --git a/docs/en/animation.md b/docs/en/animation.md index d5fa0f6..281e90b 100644 --- a/docs/en/animation.md +++ b/docs/en/animation.md @@ -26,7 +26,7 @@ The key parameter that defines the logic of animation playback is the `start_act * `fly` - executing *the logic of immediate flight* * `takeoff` - execution of *the logic of flight to the first point* -f the copter takes off from the ground in the animation file, at the start of the animation, the instantaneous playback logic (fly)** will be applied: the copter with the motors turned off plays the color from the animation as long as it is stationary, turns the motors on before the moment of takeoff, then after `arming_time` starts to follow the points specified in the animation. +If the copter takes off from the ground in the animation file, at the start of the animation, the instantaneous playback logic (fly)** will be applied: the copter with the motors turned off plays the color from the animation as long as it is stationary, turns the motors on before the moment of takeoff, then after `arming_time` starts to follow the points specified in the animation. If in the animation file the copter starts to fly in the air, at the start of the animation will be applied **flight logic to the first point (takeoff)**: The copter with the motors turned off plays the color from the animation as long as it is stationary, turns the motors on before takeoff, then takes off in `takeoff_height` time, then moves to the first point in `reach_first_point_time` and then starts to follow the points specified in the animation. @@ -42,7 +42,7 @@ Create object animations in [Blender](https://www.blender.org) or use [examples] The copter can be represented by any three-dimensional object (e.g., a cube or a ball), and the LED strip color will be extracted from the object color property. Consider the following facts and recommendations when creating an animation: * For easy conversion and uploading of animation to copters, objects corresponding to copters should have names corresponding to the names of these copters. -* Blender distance units are converted into meters +* Blender distance units are converted into meters. * The default delay between frames in [Copter settings](.../../drone/config/spec/configspec_client.ini) is 0.1 seconds (parameter `frame_delay` in ANIMATION section), pay attention when setting the frame rate in Blender animation. * Make sure that the speed of the copters is not too high ( maximum of 3 m/s for the room, maximum of 5 m/s for the street): the addon will give a warning but will still convert the animation. @@ -70,4 +70,4 @@ optional arguments: --config Set this option to print config info. ``` -This utility displays full information about the client's animation and configuration settings (optional), as well as both possible playback options for the animation, which allows to analyze the actions of the copters before a real flight. \ No newline at end of file +This utility displays full information about the client's animation and configuration settings (optional), as well as both possible playback options for the animation, which allows to analyze the actions of the copters before a real flight. diff --git a/docs/en/blender-addon.md b/docs/en/blender-addon.md index b94f316..e63a116 100644 --- a/docs/en/blender-addon.md +++ b/docs/en/blender-addon.md @@ -2,7 +2,7 @@ The Addon for Blender is designed to convert Blender's copters flight animations into flight paths for each copter of the animation, including the color of objects at any given time. -## Installation and configuration +## Installation and configuration * Download and install the latest version of Blender 2.83 from [the official website](https://www.blender.org/download/). * Open Blender, select `Edit > Preferences` from the top menu. In the opened settings window, select `Add-ons` in the side panel. Click the button `Install...` in the upper right corner of the window. In the dialog box, open the path to the addon folder [clever-show/blender-addon](.../../blender-addon/) and select the file `addon.py`. Click `Install Add-on from file...`. Addon is now installed. @@ -28,4 +28,4 @@ For more information, click the arrow icon to the left of the activation field. * `Documentation` - leads to the addon's documentation page * `Report a bug` - leads to the issues page of the clever-show repository -* `Remove` - removes the addon (before installing a new version it is recommended to remove the old one) \ No newline at end of file +* `Remove` - removes the addon (before installing a new version it is recommended to remove the old one) diff --git a/docs/en/client.md b/docs/en/client.md index 30dcf0e..9c36355 100644 --- a/docs/en/client.md +++ b/docs/en/client.md @@ -110,7 +110,7 @@ This section configures the animation processing. A separate module [animation]( An animation frame is a set of data necessary to position the copter and determine its led strip color. In the current version of the software the animation frame is represented by a sequence of numbers `x y zaw r g b` in the line `.csv` of the animation file, where: -* `x', `y', `z' - copter coordinates in the current frame, in meters +* `x',`y', `z' - copter coordinates in the current frame, in meters * `yaw` - the copter's yaw in radians * `r`, `g`, `b` - components of the color of the copter led strip, integers from 0 to 255 @@ -137,7 +137,7 @@ If the copter takes off from the ground in the animation file, at the start of t * `frame_delay` - playback time of one frame in seconds -* `yaw` - copter rotation during flight to points, in degrees. If `nan', the copter preserves its original orientation in flight. If `animation` - the copter rotates by yaw from the animation file. +* `yaw` - copter rotation during flight to points, in degrees. If `nan`, the copter preserves its original orientation in flight. If `animation` - the copter rotates by yaw from the animation file. * `ratio` - scale of animation (ratio_x, ratio_y, ratio_z) along the axis (x, y, z) @@ -161,7 +161,7 @@ This section configures the program of emergency protection of the copter from a * `enabled` - boolean value, determines whether to use emergency protection in case of loss of visual position or collision with an object. * `log_state` - boolean value, determines whether the copter state will be logged in the service log: `armed: {} | mode: {} | vis_dt: {:.2f} | pos_delta: {:.2f} | pos_dt: {:.2f} | range: {:.2f} | watchdog_action: {}`. -* `action` - action upon emergency protection triggering. Available options: `land` - landing of the copter in the flight controllers mode AUTO.LAND, `emergency_land` - landing of the copter with the gradual reduction of the motor power, `disarm` - switching off the motors. ** Attention!** It is not recommended to use the AUTO.LAND mode with the barometer turned off - when the altitude source in flight is lost, e.g. laser reading or visual position, the AUTO.LAND mode does not guarantee the landing of the copter, because it is oriented to the altitude reading. It is recommended to use the `emergency_land` mode to land the copter when positioning it using a visual position or laser and the possibility of losing data from these systems. +* `action` - action upon emergency protection triggering. Available options: `land` - landing of the copter in the flight controllers mode AUTO.LAND, `emergency_land` - landing of the copter with the gradual reduction of the motor power, `disarm` - switching off the motors. **Warning!** It is not recommended to use the AUTO.LAND mode with the barometer turned off - when the altitude source in flight is lost, e.g. laser reading or visual position, the AUTO.LAND mode does not guarantee the landing of the copter, because it is oriented to the altitude reading. It is recommended to use the `emergency_land` mode to land the copter when positioning it using a visual position or laser and the possibility of losing data from these systems. * `vision_pose_delay_after_arm` - time after takeoff of the copter in seconds, required to get the visual position. During this time after takeoff, the visual position loss protection will not work. This parameter is useful when using the emergency protection module in conjunction with the positioning system with aruco markers located on the floor: at takeoff copter has no visual position for some time. * `vision_pose_timeout` - time in seconds after losing the visual position, after which the emergency protection is triggered. * `position_delta_max` - the maximum distance between the current position and the point where the copter should now be in meters. Required to check for collision of the copter with objects. If the distance between the current position of the copter and the point where the copter should be now is greater than this number (in meters), an emergency protection is triggered. @@ -183,8 +183,8 @@ System settings for client's service commands #### NTP section -In addition to time synchronization (with millisecond precision) using the chrony package, there is an alternative - the ability to use external (in case the local network has a connection to the Internet) or intranet NTP-servers. ** Attention!** For correct system operation, both the server and the clients** must use a single method of time synchronization (a set of parameters in this section). This section is fully unified for both server and clients. +In addition to time synchronization (with millisecond precision) using the chrony package, there is an alternative - the ability to use external (in the presence of a local network connection to the Internet) or intranet NTP-servers. **Warning!** For proper system operation, both **the server and the clients** must use a single method of time synchronization (set of parameters in this section). This section is fully unified for both server and clients. -* `use_ntp` - determines whether time synchronization using NTP will be used. (if `False', the local OS time will be used (synchronized automatically when using chrony). * It is recommended to use chrony instead of NTP*. +* `use` - determines whether time synchronization using NTP will be used. (if `False', the local OS time will be used (synchronized automatically when using chrony). *It is recommended to use chrony instead of NTP*. * `host` - host name or IP address of the NTP server (local or remote) -* `port` - port used by the NTP server +* `port` - port used by the NTP server diff --git a/docs/en/image-building.md b/docs/en/image-building.md index 8b88058..18a7463 100644 --- a/docs/en/image-building.md +++ b/docs/en/image-building.md @@ -12,7 +12,7 @@ sudo apt install docker.io ## Local build with modified Clover settings -* Place the Clover configuration folders (`launch`, `map` and `camera_info`) in the`builder/clever-config` [folder](../../builder/clever-config) in the clever-show source directory. +* Place the Clover configuration folders (`launch`, `map` and `camera_info`) in the`builder/clever-config` [folder](../../builder/clever-config) in the clever-show source directory. * All files from the `launch` folder will be copied to the `/home/pi/catkin_ws/src/clever/clever/launch' directory in the built image. * All files from the `map` folder will be copied to the `/home/pi/catkin_ws/src/clever/aruco_pose/map` directory in the built image. * All files from the `camera_info` folder will be copied to the `/home/pi/catkin_ws/src/clever/clever/camera_info` directory in the built image. diff --git a/docs/en/positioning.md b/docs/en/positioning.md index 3952a15..ac62223 100644 --- a/docs/en/positioning.md +++ b/docs/en/positioning.md @@ -4,7 +4,7 @@ The `clover` software officially supports the following [positioning systems](ht * [optical flow](https://clover.coex.tech/en/optical_flow.html) * [aruco](https://clover.coex.tech/en/aruco.html) -* [gps](https://clover.coex.tech/en/gps.html) +* [gps](https://clover.coex.tech/en/gps.html) The `clever-show` software supports all positioning systems supporte by`clover`. @@ -28,13 +28,13 @@ If the takeoff was successful, reproduce the client configuration, positioning s * The copter configuration file (`.ini`) can be saved by right-clicking on the row with the configured copter, selecting `Edit config` from the drop-down menu and then clicking the button `Save as`. You can also drag a cell from the `configuration` column to the file manager of your system - the server will automatically copy the configuration file to the open directory of the file manager. * The server configuration file (`.ini`) can be saved by selecting `Server -> Edit server config` from the top menu and then clicking the button `Save as`. * The flight controller configuration file can be saved by connecting to the flight controller through [QGroundControl](http://qgroundcontrol.com) application. It is possible to connect directly to the flight controller [via USB port](https://clover.coex.tech/en/connection.html) or [via TCP or UDP bridge](https://clover.coex.tech/en/gcs_bridge.html) (the TCP bridge is configured in the `clever-show` image by default, in the `Host Address` field you can enter the name of the copter instead of the ip address with the addition of .local at the end, e.g. clover-1.local). After connection you should go to [section](https://docs.px4.io/master/en/advanced_config/parameters.html#tools) `Parameters -> Tools -> Save to file...` and choose the path to save the parameter file. -* * The camera calibration file is useful for refinement of visual positioning. The name of the calibration file should consist of the id of the copter, for which the calibration was made, with the addition of the extension `.yaml', e.g. `clover-1.yaml'. To get the calibration files, use the [manual](https://clover.coex.tech/ru/camera_calibration.html). +* The camera calibration file is useful for refinement of visual positioning. The name of the calibration file should consist of the id of the copter, for which the calibration was made, with the addition of the extension `.yaml', e.g.`clover-1.yaml'. To get the calibration files, use the [manual](https://clover.coex.tech/ru/camera_calibration.html). After loading the necessary files from the configured copter, copy these files to the other copters: select the necessary copters in the table and use the commands `Send -> Configuration`, `Send -> Launch files folder`, `Send -> FCU parameters file`, `Send -> Camera calibrations` from the `Selected drones` section of the [server](server.md#Selected-drones) application . ## Settings of clever-show server and client -The `clever-show' software suite includes many status checks of the copters to minimize the number of failed launches as well as a set of parameters to configure the positioning systems. All settings are stored in client and server application configuration files. Each positioning system has its own features that need to be taken into account when configuring the server-client interaction. Below are the settings that you need to pay attention to when configuring the client and server: +The `clever-show` software suite includes many status checks of the copters to minimize the number of failed launches as well as a set of parameters to configure the positioning systems. All settings are stored in client and server application configuration files. Each positioning system has its own features that need to be taken into account when configuring the server-client interaction. Below are the settings that you need to pay attention to when configuring the client and server: * Server: * [CHECKS](server.md#checks) section - server side copter telemetry checks @@ -99,7 +99,7 @@ Server configuration with values applicable to work with `optical flow`: [server To set the parameters manually, use the command `Server -> Edit config` from the top menu of the server. -#### Option 2. Reset all server configuration settings +#### Option 2. Reset all server configuration options In order to configure the server configuration for positioning by optical flow, you can reset the configuration data to default values. To do this, delete the generated configuration file on the server: diff --git a/docs/en/server.md b/docs/en/server.md index f2374a0..ac10c76 100644 --- a/docs/en/server.md +++ b/docs/en/server.md @@ -11,7 +11,7 @@ Application for creating and running shows, configuring drones, animation and mu The server has a visual graphical interface for user-friendly interaction. -![Интерфейс сервера](../assets/server-gui.png) +![Server interface](../assets/server-gui.png) ### Copter status table @@ -33,19 +33,19 @@ The copter is considered **ready to fly** if all cells in the row except `animat #### Table columns -* `copter ID` - the client name. Can be configured on the client side. Displayed immediately when the client is connected. Next to each Copter ID there is a checkbox - Copters whose ID is marked with a positive checkbox (tick) are considered * selected*. Cells in this column are always pass the check. +* `copter ID` - the client name. Can be configured on the client side. Displayed immediately when the client is connected. Next to each Copter ID there is a checkbox - Copters whose ID is marked with a positive checkbox (tick) are considered *selected*. Cells in this column are always pass the check. * By double-clicking on this field you can enter a new `copter ID` of the client and rename it. As a name, combinations of Latin letters, digits and dashes (A-Z, a-z, 0-9, '-') not longer than 63 characters are permitted. The dash cannot be the first character. * `version` - a hash code of the current git version of the client. Cells in this column are checked when [check_git_version](#checks section) is enabled (value `true`) in the server settings. A cell in this column passes the check if the hash code of the git version of the given client and the server match (if the server is not located in the git repository, the check is passed out automatically). * `configuration` - a user-defined version of the client configuration. Cells in this column are always pass the check. * Cells of this column supports *drag-and-drop*. When you drag and drop a cell to any third-party application that supports files (e.g. "Explorer"), the client configuration file will be copied to the specified location. When a cell is dragged to another cell, the configuration file will be copied from one cell to another. When a file is dragged to a cell, it will be written to the client as a configuration (subject to validation). When the configuration is transferred to the client, the `PRIVATE` section will not be sent. -* `animation ID` - an internal name of the animation file loaded by the client. A cell in this column does not pass the check if there is no animation (value `No animation`). In other cases, if a cell is not empty, it will be checked. ** Attention!** Check if the names of the animation files correspond to the copters before starting. +* `animation ID` - an internal name of the animation file loaded by the client. A cell in this column does not pass the check if there is no animation (value `No animation`). In other cases, if a cell is not empty, it will be checked. **Warning!** Check if the names of the animation files correspond to the copters before starting. * `battery` - a value of voltage on the copter battery in volts and charge in percent according to the flight controller. A cell in this column passes the check if the battery charge value is higher than [battery_percentage_min](#section-checks) specified in the server settings. In other cases, if a cell is not empty, it does not pass the check. * `system` - a flight controller status. A cell in this column passes the check if its value is `STANDBY`. In other cases, if a cell is not empty, it does not pass the check. * `sensors` - calibration status of the flight controller compass, accelerometer and gyroscope. A cell in this column passes the check if its value is `OK`. In other cases, if a cell is not empty, it does not pass the check. -* `mode` - flight controller mode. A cell in this column does not pass the check if its value `NO_FCU` or contains `CMODE`. In other cases, if a cell is not empty, it passes the check. +* `mode` - flight controller mode. A cell in this column does not pass the check if its value `NO_FCU` or contains `CMODE`. In other cases, if a cell is not empty, it passes the chseck. * `checks` - copter self-test state. A cell in this column passes the check if its value is `OK`. In other cases, if a cell is not empty, it does not pass the check. * Double-clicking on a cell if there are errors will show a dialog box with full detailed information about all errors. -* `current x y z yaw frame_id` - current copter position with the coordinate system name. The cell is automatically passes the check if [check_current_position](#section-checks) is set to `false'. Otherwise, a cell in this column does not pass the check if its value is `NO_POS' or contains `nan'. Otherwise, if a cell is not empty, it passes the check. +* `current x y z yaw frame_id` - current copter position with the coordinate system name. The cell is automatically passes the check if [check_current_position](#section-checks) is set to `false`. Otherwise, a cell in this column does not pass the check if its value is `NO_POS` or contains `nan`. Otherwise, if a cell is not empty, it passes the check. * `start x y z action delay` - start position of the copter for playback of the animation, the first action during playback of the animation and the time after which the first action will be performed after the start of the animation. A cell in this column does not pass the check if its value `NO_POS`, the distance between the current and the starting position of the copter is greater than [start_pos_delta_max](#section-checks) or the client's animation module generates an error when processing the animation and checking that all points of the animation are above ground level. Otherwise, if a cell is not empty, it passes the check. * `dt` - the delay between the time on the server and the client in seconds, including network latency. A cell in this column passes the check if its value is less than [time_delta_max](#checks-section) specified in the server configuration. In other cases, if a cell is not empty, it does not pass the check. If the values are too high, it signals that there is no time synchronization between the copter and the client. @@ -53,11 +53,11 @@ The copter is considered **ready to fly** if all cells in the row except `animat #### Selected drones section -![Скриншот раздела Selected drones - Send](../assets/server-drone-send.png) +![Screenshot of the section - Selected drones - Send](../assets/server-drone-send.png) This section contains several utilities to send various data and commands to *selected* clients. **Warning!** Do not use these commands during the flight of copters! -* `Send` subsection +* `Send` subsection `` - location of the `clever-show` software on the client. @@ -75,7 +75,7 @@ This section contains several utilities to send various data and commands to *se * `Configuration` - sends *a single* client configuration file to all selected clients. In the dialog box you need to select *one* configuration file in the set format. The configuration file may be incomplete, in this case only the parameters specified in the file will be overwritten. **Warning!** It is not recommended to use this action for mass overwriting of `copter ID`, except for the `/hostname` value. **Warning!** DO NOT send the server configuration file to clients. - * `Launch files folder` - sends `.launch` files of `clover` service configuration. In the dialog box, select *folder*, which contains configuration files with extension `.launch` and `.yaml`. All files with this extension will be sent * to each* of the clients in the directory `/launch`. ** Warning!** Existing configuration files on copters will be overwritten, but files not sent by the server will not be deleted or modified. + * `Launch files folder` - sends `.launch` files of `clover` service configuration. In the dialog box, select *folder*, which contains configuration files with extension `.launch` and `.yaml`. All files with this extension will be sent *to each* of the clients in the directory `/launch`. **Warning!** Existing configuration files on copters will be overwritten, but files not sent by the server will not be deleted or modified. * `FCU parameters file` - sends and records *single* flight controller (FCU) configuration file to all selected clients. In the dialog box you need to select the *one* parameter file in the set format. The parameters on the flight controller will be overwritten. @@ -93,7 +93,7 @@ This section contains several utilities to send various data and commands to *se * `Restart Service` subsection - ![Скриншот раздела Selected drones - Restart](../assets/server-drone-restart.png) + ![Screenshot of the section - Selected drones - Restart](../assets/server-drone-restart.png) * `chrony` - restarts the `chrony` time synchronization service on selected clients. Use it for manual synchronization if time between server and clients is not synchronized. * `clever` - restarts the `clover` service on selected clients. In order to resume flight functions and to get some telemetry values *it is necessary to wait* some time until the service is fully started. @@ -111,7 +111,7 @@ This section contains several utilities to send various data and commands to *se --- * `Developer mode` subsection: **Warning!** Use these actions with great caution. -* `Update clever-show git` - updates the `clever-show` repository folder on selected clients. The client configuration files * will not be overwritten*. ** Warning!** For the changes to take effect, the `clever-show` service needs to be restarted*. +* `Update clever-show git` - updates the `clever-show` repository folder on selected clients. The client configuration files *will not be overwritten*. **Warning!** For the changes to take effect, the `clever-show` service needs to be restarted*. --- @@ -121,7 +121,7 @@ This section contains several utilities to send various data and commands to *se * `Music` subsection - ![Скриншот раздела Server - music](../assets/server-music.png) + ![Screenshot of the section - Server - music](../assets/server-music.png) * `Select music file` - loads the selected music file for further manual playback or after a certain time after the start of the animation. Supported extensions: `.mp3` and`.wav`. * `Play music` - plays the loaded music. @@ -139,7 +139,7 @@ This section contains several utilities to send various data and commands to *se #### Раздел Table -![Скриншот раздела Table](../assets/server-table.png) +![Screenshot of the section - Table](../assets/server-table.png) * `Toggle select` (`Ctrl+A`) - selects all copters or deselects all copters. If not all copters are selected in the table, then *selects all* copters. Otherwise (if all the copters have been selected) *deselects* all the copters. * `Select all` - selects all copters in the table. @@ -153,9 +153,9 @@ This section contains several utilities to send various data and commands to *se * `Configure columns` - opens the [built-in configurator](#column-preset-editor) of table column presets. -### Боковая панель команд +### Commands sidepanel -![Скриншот боковой панели](../assets/server-sidemenu.png) +![Screenshot of the side panel](../assets/server-sidemenu.png) #### Control @@ -187,11 +187,11 @@ This section contains commands to directly control the copters in order to check * `Takeoff` button - all the selected copters take off vertically, and then hover over the takeoff point. The button is active only * if all selected copters are ready to fly. ** Warning!** Use it carefully, follow the safety procedures. Do not use it while performing other flight functions! * `Z`checkbox - if the checkbox is active, the copter will take off to the specified `z` value. Otherwise, the copters will use their default values specified in their configurations, and the takeoff will be performed relative to the current height. * `Z` spinbox - sets the `z` coordinate value of takeoff of the copters, in meters. Active only when the `Z` checkbox is enabled. -* `Flip` button - all the selected copters **make a flip ** - a 360 degree flip around one of the *horizontal* axes. **Warning!** Use with care, follow the safety procedure. **Warning!** To execute a flip, the copter must have a minimum height of more than 2m. **Warning!** Do not use during other flight functions! +* `Flip` button - all the selected copters **make a flip** - a 360 degree flip around one of the *horizontal* axes. **Warning!** Use with care, follow the safety procedure. **Warning!** To execute a flip, the copter must have a minimum height of more than 2m. **Warning!** Do not use during other flight functions! This section contains commands that are executed directly on the copter flight controller. -* `Reboot FCU` button - restarts flight controllers of all selected copters. You can use it to update the rotation of the copter when it is determined only by the inertial copter system, e.g. when flying through the Pozyx positioning system or using Optical Flow. To resume flight functions and get some telemetry values * you need to wait* some time before rebooting the flight controller. +* `Reboot FCU` button - restarts flight controllers of all selected copters. You can use it to update the rotation of the copter when it is determined only by the inertial copter system, e.g. when flying through the Pozyx positioning system or using Optical Flow. To resume flight functions and get some telemetry values *you need to wait* some time before rebooting the flight controller. * `Calibrate gyro` button - switches flight controllers of all selected copters to the gyroscope calibration mode. **Warning!** The copters must be stationary during the calibration. * `Calibrate gyro` button - switches flight controllers of all selected copters to the gyroscope calibration mode. **Warning!** The copters must be stationary during the calibration. @@ -226,8 +226,8 @@ In this section, you specify the parameters of copter checks which are being per * `check_git_version` - Whether there will be a check of conformity of git versions of the client and a server for indication in cells of the `version` column. * `check_current_position` - Whether the current copter coordinates will be checked for errors in cells of the `current x y zaw frame_id` column. * `battery_percentage_min` - Minimal battery charge of the copter, allowed for takeoff. Specified *in percent* (fractional value from 0 to 100). A value in the `battery` column less than the specified one will not pass the check in the `battery` column. -* `start_pos_delta_max` - Maximum distance between the current position of the copter and its point of takeoff in the animation file, allowable for takeoff. It is specified *in meters* (fractional value from 0 to `inf`). A distance greater than the specified one will not pass the check in ` start x y z` column. T It is allowed to use the string `inf` for any valid distance. -* `time_delta_max` - Maximal time (including network delay) difference (absolute value) between server and client, allowable for takeoff. Specified *in seconds* (fractional value from 0 to `inf`). A difference greater than the specified one will not pass the check in the `dt` column. +* `start_pos_delta_max` - Maximum distance between the current position of the copter and its point of takeoff in the animation file, allowable for takeoff. It is specified *in meters* (fractional value from 0 to `inf`). A distance greater than the specified one will not pass the check in `start x y z` column. T It is allowed to use the string `inf` for any valid distance. +* `time_delta_max` - Maximal time (including network delay) difference (absolute value) between server and client, allowable for takeoff. Specified *in seconds* (fractional value from 0 to `inf`). A difference greater than the specified one will not pass the check in the `dt` column. #### BROADCAST section @@ -303,14 +303,14 @@ The configuration file is displayed as a tree in the editor. Each "line" in the #### Context menu and configuration editor commands -![Cconfig editor context menu](../assets/server-config-editor-menu.png) +![Config editor context menu](../assets/server-config-editor-menu.png) * `Duplicate` (`Shift+D`) - makes a copy of an option or a section (with all the options it contains). Numbering will be added to the option or section name to avoid repeating names. * `Toggle exclude` (`Alt+Del`) - excludes an option or a section from the configuration. The option or section *not* will be deleted, but *not* will be written when you save it. Repeatedly applying this command to already excluded options or sections will return them to normal state. * `Remove from config` (`Del`) - *removes* an option or a section from the configuration. **Warning!** This action is irreversible! * `Clear item value` (`Shift+R`) - *clears* the *value* of an option or of all the section options (if used on a section). It also resets the option value type, and it will be restored from the next text input when editing the value. **Warning!** This action is irreversible! * `Reset value to default` (`Ctrl+R`) - brings to the default value (from the configuration specification) the value of the option or all the options of the section (if used on the section). It also resets the option value type, and it will be restored from the next text input when editing the value. **Warning!** This action is irreversible! - * `Reset all changes` (`Alt+R`) - restores an option or all the options of the section (if used on the section) to its original state. **Warning!** This action is irreversible! + * `Reset all changes` (`Alt+R`) - restores an option or all the options of the section (if used on the section) to its original state. **Warning!** This action is irreversible! * `Add option` (`Shift+A`) - adds an option with an empty value, the first editing of the value will determine its type. * `Add section`(`Ctrl+A`) - adds section. @@ -328,7 +328,7 @@ Can be opened by right-clicking on a table header. * `Column list` By drag-and-drop, you can change the order of columns. The changes will be applied instantly and automatically saved to the server configuration. * `Drop-down preset list` - Allows to load and automatically apply any of the preset recorded in the server configuration file. -* `Manage presets button` - opens a preset editing dialog box (see below). +* `Manage presets button` - opens a preset editing dialog box (see below). #### Dialog box diff --git a/docs/en/start-tutorial.md b/docs/en/start-tutorial.md index 54da95e..9891a30 100644 --- a/docs/en/start-tutorial.md +++ b/docs/en/start-tutorial.md @@ -84,7 +84,7 @@ Further instructions are written for copters assembled according to [assembly in * RC setup * Flight modes -Before proceeding with the software setup, make sure that the copter is controlled from the remote control with the `Stabilized` mode. +Before proceeding with the software setup, make sure that the copter is controlled from the remote control with the `Stabilized` mode. Turn on your copter and run the server application on your computer. Wait until the copter is connected to the server and its telemetry is displayed in a table. @@ -106,7 +106,7 @@ You can configure the copter to utilize a different positioning system. The foll ### LED Strip Operation Check -The LED strip should be connected to the GPIO 21 Raspberry Pi pin and have no more than 60 LEDs in order to work with the default `clever-show' image. Check the functioning of the LED strip by selecting the desired copter in the table and pressing the button `Test leads` - the strip on the copter should blink white twice. +The LED strip should be connected to the GPIO 21 Raspberry Pi pin and have no more than 60 LEDs in order to work with the default `clever-show` image. Check the functioning of the LED strip by selecting the desired copter in the table and pressing the button `Test leads` - the strip on the copter should blink white twice. You can find a description of setup and operation of the LED strip in `clover` [documentation](https://clover.coex.tech/en/leds.html) . @@ -132,4 +132,4 @@ The result of the animation should look like this (up to the accuracy of PID tun basic animation -**The detailed information on the animation module is located [here](animation.md).** \ No newline at end of file +**The detailed information on the animation module is located [here](animation.md).**