From a09e6fe157e9af214b1295a72108eb1b01b5cb6a Mon Sep 17 00:00:00 2001 From: Valeriy Van Date: Wed, 1 Feb 2023 13:04:44 +0200 Subject: [PATCH 1/7] Fix typos in python_api.md --- docs/user-guides/python_api.md | 22 +++++++++++----------- 1 file changed, 11 insertions(+), 11 deletions(-) diff --git a/docs/user-guides/python_api.md b/docs/user-guides/python_api.md index bf5869877..6118d2a1a 100644 --- a/docs/user-guides/python_api.md +++ b/docs/user-guides/python_api.md @@ -66,7 +66,7 @@ following way: There\'s a few limitations that needs to be taken into account: -- The maximum byte lenght for a log packet is of 26 bytes. This for +- The maximum byte length for a log packet is of 26 bytes. This for for example allows to log 6 floats and one uint16_t (6*4 + 2 bytes) in a single packet. - The minimum period of a for a log configuration is multiples of 10ms @@ -237,14 +237,14 @@ To send a new control set-point use the following: Thrust is an integer value ranging from 10001 (next to no power) to 60000 (full power). It corresponds to the mean thrust that will be -appied to the motors. There is a battery compensation algorythm +applied to the motors. There is a battery compensation algorithm applied to make the thrust mostly independent of battery voltage. -Roll/pitch are in degree and yarate in degree/seconds. +Roll/pitch are in degree and yawrate in degree/seconds. This command will set the attitude controller setpoint for the next 500ms. After 500ms without net setpoint, the Crazyflie will apply a setpoint with the same thrust but with roll/pitch/yawrate = 0, this -will make the Crazyflie stop accelerate. After 2secons without new +will make the Crazyflie stop accelerate. After 2 seconds without new setpoint the Crazyflie will cut power to the motors. Note that this command implements a motor lock mechanism that is @@ -428,12 +428,12 @@ The logging cannot be started until your are connected to a Crazyflie: print "Error when logging %s" % logconf.name ``` -The values of log varibles are transferred from the Crazyflie using CRTP -packets, where all varibles belonging to one logging configuration are -transfered in the same packet. A CRTP packet has a maximum data size of +The values of log variables are transferred from the Crazyflie using CRTP +packets, where all variables belonging to one logging configuration are +transferred in the same packet. A CRTP packet has a maximum data size of 30 bytes, which sets an upper limit to the number of variables that can be used in one logging configuration. If the desired log variables -do not fit in one logging configuration, a second cofiguration may +do not fit in one logging configuration, a second configuration may be added. ``` python @@ -442,7 +442,7 @@ be added. ## Synchronous API -The synchronous classes are wrappers around the asynchronouse API, where the asynchronous +The synchronous classes are wrappers around the asynchronous API, where the asynchronous calls/callbacks are replaced with blocking calls. The synchronous API does not provide the full flexibility of the asynchronous API, but is useful when writing small scripts for logging for instance. @@ -453,12 +453,12 @@ exiting it, for instance a connection or take off/landing of a Crazyflie. ### SyncCrazyflie -The SyncCrazyflie class wrapps a Crazyflie instance and mainly simplifies connect/disconnect. +The SyncCrazyflie class wraps a Crazyflie instance and mainly simplifies connect/disconnect. Basic usage ``` python with SyncCrazyflie(uri) as scf: - # A Crazyflie instance is created and is now connected. If the connection failes, + # A Crazyflie instance is created and is now connected. If the connection fails, # an exception is raised. # The underlying crazyflie object can be accessed through the cf member From 876391d5eeee48dfbbd6c880f142802a627105ae Mon Sep 17 00:00:00 2001 From: Valeriy Van Date: Thu, 2 Feb 2023 09:16:29 +0200 Subject: [PATCH 2/7] Fix typos crazyradio_lib.md --- docs/functional-areas/crazyradio_lib.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/functional-areas/crazyradio_lib.md b/docs/functional-areas/crazyradio_lib.md index 5de3cf450..2c0be82bc 100644 --- a/docs/functional-areas/crazyradio_lib.md +++ b/docs/functional-areas/crazyradio_lib.md @@ -128,7 +128,7 @@ None | -------------| --------------------------------------------------------| | Parameters | (bool) active| | Returns | None| -| Description | Enable or disable the continious carrier mode. In continious carrier the Crazyradio transmit a constant sinus at the currently set frequency (channel) and power. This is a test mode that can affect other 2.4GHz devices (ex. wifi) it should only be used in a lab for test purposes.| +| Description | Enable or disable the continuous carrier mode. In continuous carrier the Crazyradio transmit a constant sinus at the currently set frequency (channel) and power. This is a test mode that can affect other 2.4GHz devices (ex. wifi) it should only be used in a lab for test purposes.| ##### scan\_channels(self, start, stop, packet) From 690360da07c9f1a85895cc44f049d751e11bbb78 Mon Sep 17 00:00:00 2001 From: Valeriy Van Date: Thu, 2 Feb 2023 09:18:47 +0200 Subject: [PATCH 3/7] Fix typos in sbs_connect_log_param.md --- docs/user-guides/sbs_connect_log_param.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/user-guides/sbs_connect_log_param.md b/docs/user-guides/sbs_connect_log_param.md index 08b380179..c3a27d6f4 100644 --- a/docs/user-guides/sbs_connect_log_param.md +++ b/docs/user-guides/sbs_connect_log_param.md @@ -411,7 +411,7 @@ Then add the following to the `def simple_param_async(...)` function: time.sleep(1) ``` -The sleep function is to give the script a bit more time to wait for the Crazyflies response and not lose the connection immediatly. +The sleep function is to give the script a bit more time to wait for the Crazyflies response and not lose the connection immediately. If you would like to test out the script now already, replace `simple_log_async(...)` with `simple_param_async(scf, group, name)` and run the script. You can see that it will print out the variable name and value: `The crazyflie has parameter stabilizer.estimator set at number: 1` @@ -436,7 +436,7 @@ What it can't do is to set a Read Only (RO) parameter, only Read Write (RW) para ## Finishing and running the script -It is usually good practice to put the parameter setting back to where it came from, since after disconnecting the Crazyflie, the parameter will still be set. Only after physcially restarting the Crazyflie the parameter will reset to its default setting as defined in the firmware. +It is usually good practice to put the parameter setting back to where it came from, since after disconnecting the Crazyflie, the parameter will still be set. Only after physically restarting the Crazyflie the parameter will reset to its default setting as defined in the firmware. So finish the `simple_param_async(...)` function by adding the next few lines: ```python From 9b05b3f879226e2d02a4788e6aa3a8492fd04362 Mon Sep 17 00:00:00 2001 From: Valeriy Van Date: Thu, 2 Feb 2023 09:19:47 +0200 Subject: [PATCH 4/7] Fix typos sbs_motion_commander.md --- docs/user-guides/sbs_motion_commander.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/user-guides/sbs_motion_commander.md b/docs/user-guides/sbs_motion_commander.md index 7d44985e1..f1a49ce85 100644 --- a/docs/user-guides/sbs_motion_commander.md +++ b/docs/user-guides/sbs_motion_commander.md @@ -155,7 +155,7 @@ The reason for the crazyflie to immediately take off, is that the motion command ## Changing the height -Currently the motion commander had 0.3 meters height as default but this can ofcourse be changed. +Currently the motion commander had 0.3 meters height as default but this can of course be changed. Change the following line in `take_off_simple(...)`: ```python @@ -257,7 +257,7 @@ Now we are going to add a turn into it. Replace the content under motion command time.sleep(1) ``` -Try to run the script again. Now you can see the crazyflie take off, go forward, turn 180 degrees and go forward again to its initial position. The `mc.back()` needed to be replaced with the forward since the motion commander sends the velocity setpoints in the __body fixed coordinated__ system. This means that the commands forward will go forward to whereever the current heading (the front) of the crazyflie points to. +Try to run the script again. Now you can see the crazyflie take off, go forward, turn 180 degrees and go forward again to its initial position. The `mc.back()` needed to be replaced with the forward since the motion commander sends the velocity setpoints in the __body fixed coordinated__ system. This means that the commands forward will go forward to wherever the current heading (the front) of the crazyflie points to. Double check if your code code is still correct: From 3ef6c8fb52f0819aaeeaf8aa47a4b6ff28e1d6fa Mon Sep 17 00:00:00 2001 From: Valeriy Van Date: Thu, 2 Feb 2023 09:20:18 +0200 Subject: [PATCH 5/7] Fix typos in sbs_swarm_interface.md --- docs/user-guides/sbs_swarm_interface.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/user-guides/sbs_swarm_interface.md b/docs/user-guides/sbs_swarm_interface.md index 2afed5239..4a04f6943 100644 --- a/docs/user-guides/sbs_swarm_interface.md +++ b/docs/user-guides/sbs_swarm_interface.md @@ -109,7 +109,7 @@ if __name__ == '__main__': If everything is working properly, you can move to the next step . # Step 2: Security Before Flying -Before executing any take off and flight maneuvers, the copters need to make sure that they have a precise enough position estimation. Otherwise it will take off anyway and it is very likely to crash. This is done through `reset_estimators()` by resetting the internal position estimator of each copter and waiting until the variance of the position estimation drops below a certain threshold. +Before executing any take off and flight manoeuvres, the copters need to make sure that they have a precise enough position estimation. Otherwise it will take off anyway and it is very likely to crash. This is done through `reset_estimators()` by resetting the internal position estimator of each copter and waiting until the variance of the position estimation drops below a certain threshold. ```python with Swarm(uris, factory=factory) as swarm: swarm.parallel_safe(lightCheck) From 9db3de1e78904d026ddea85f6923edd9f566720d Mon Sep 17 00:00:00 2001 From: Valeriy Van Date: Thu, 2 Feb 2023 09:21:04 +0200 Subject: [PATCH 6/7] Fix typo in comment --- examples/autonomy/position_commander_demo.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/autonomy/position_commander_demo.py b/examples/autonomy/position_commander_demo.py index 49af08705..6908138fc 100644 --- a/examples/autonomy/position_commander_demo.py +++ b/examples/autonomy/position_commander_demo.py @@ -75,7 +75,7 @@ def land_on_elevated_surface(): # fly onto a landing platform at non-zero height (ex: from floor to desk, etc) pc.forward(1.0) pc.left(1.0) - # land() will be called on context exit, gradually lowering to default_lanidng_height, then stoppig motors + # land() will be called on context exit, gradually lowering to default_landing_height, then stopping motors def simple_sequence(): From 94689de0e210bfd211e81b40a968214ef0d94ad2 Mon Sep 17 00:00:00 2001 From: Valeriy Van Date: Thu, 2 Feb 2023 09:22:16 +0200 Subject: [PATCH 7/7] Use human readible URL in comment --- examples/positioning/bezier_trajectory.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/positioning/bezier_trajectory.py b/examples/positioning/bezier_trajectory.py index e2b8ca0cf..486cb5ab9 100644 --- a/examples/positioning/bezier_trajectory.py +++ b/examples/positioning/bezier_trajectory.py @@ -25,7 +25,7 @@ autonomous_sequence_high_level.py example. This code uses Bezier curves of degree 7, that is with 8 control points. -See https://en.wikipedia.org/wiki/B%C3%A9zier_curve +See https://en.wikipedia.org/wiki/Bézier_curve All coordinates are (x, y, z, yaw) """