From 53ca517bcb4ed1dd2dffad26528a25bf77f9c34b Mon Sep 17 00:00:00 2001 From: muramura Date: Mon, 20 May 2024 06:48:19 +0900 Subject: [PATCH 1/2] examples: Change the reference URL --- docs/examples/guided-set-speed-yaw-demo.rst | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/docs/examples/guided-set-speed-yaw-demo.rst b/docs/examples/guided-set-speed-yaw-demo.rst index 49cefdf23..22554157f 100644 --- a/docs/examples/guided-set-speed-yaw-demo.rst +++ b/docs/examples/guided-set-speed-yaw-demo.rst @@ -189,16 +189,16 @@ The functions for controlling vehicle movement are: DroneKit position controller method. It is called from :ref:`goto ` to fly a triangular path. * :ref:`goto_position_target_global_int() ` is a position controller that uses the - `SET_POSITION_TARGET_GLOBAL_INT `_ command. + `SET_POSITION_TARGET_GLOBAL_INT `_ command. * :ref:`goto_position_target_local_ned() ` - is a position controller that uses `SET_POSITION_TARGET_LOCAL_NED `_ + is a position controller that uses `SET_POSITION_TARGET_LOCAL_NED `_ command (taking values in NED frame, relative to the home position). This is used to fly a square path. The script is put to sleep for a certain time in order to allow the vehicle to reach the specified position. * :ref:`send_ned_velocity() ` is a velocity controller. - It uses `SET_POSITION_TARGET_LOCAL_NED `_ + It uses `SET_POSITION_TARGET_LOCAL_NED `_ to fly a square path using velocity vectors to define the speed in each direction. * :ref:`send_global_velocity() ` is a velocity controller. - It uses `SET_POSITION_TARGET_GLOBAL_INT `_ + It uses `SET_POSITION_TARGET_GLOBAL_INT `_ to fly a diamond-shaped path. The behaviour is essentially the same as for ``send_ned_velocity()`` because the velocity components in both commands are in the NED frame. * :ref:`goto ` is a convenience function for specifying a target location @@ -262,7 +262,7 @@ send_global_velocity() ---------------------- The function ``send_global_velocity()`` generates a -`SET_POSITION_TARGET_GLOBAL_INT `_ +`SET_POSITION_TARGET_GLOBAL_INT `_ MAVLink message which is used to directly specify the speed components of the vehicle in the NED frame. @@ -359,7 +359,7 @@ The ``type_mask`` enables the position parameters (the last three bits of of the .. note:: - The `MAVLink protocol documentation `_ + The `MAVLink protocol documentation `_ lists a number of possible frames of reference. Up until Copter 3.2.1 the actual frame used is always relative to the home location (as indicated by MAV_FRAME_LOCAL_NED). Starting from Copter 3.3 you can specify `other frames `_, From 1dda2a222580b376422ccbc689f5dda1b306b50c Mon Sep 17 00:00:00 2001 From: muramura Date: Mon, 20 May 2024 06:49:27 +0900 Subject: [PATCH 2/2] copter: Change the reference URL --- docs/guide/copter/guided_mode.rst | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/docs/guide/copter/guided_mode.rst b/docs/guide/copter/guided_mode.rst index b96ba3171..e7ec0def5 100644 --- a/docs/guide/copter/guided_mode.rst +++ b/docs/guide/copter/guided_mode.rst @@ -83,8 +83,8 @@ for all positional movement commands until it is set to another value. .. tip:: You can also set the position by sending the MAVLink commands - `SET_POSITION_TARGET_GLOBAL_INT `_ or - `SET_POSITION_TARGET_LOCAL_NED `_, specifying + `SET_POSITION_TARGET_GLOBAL_INT `_ or + `SET_POSITION_TARGET_LOCAL_NED `_, specifying a ``type_mask`` bitmask that enables the position parameters. The main difference between these commands is that the former allows you to specify the location relative to the "global" frames (like ``Vehicle.simple_goto()``), while the later lets you specify the location in NED co-ordinates relative @@ -175,7 +175,7 @@ When moving the vehicle you can send separate commands to control the yaw (and o .. tip:: You can also control the velocity using the - `SET_POSITION_TARGET_GLOBAL_INT `_ + `SET_POSITION_TARGET_GLOBAL_INT `_ MAVLink command, as described in :ref:`example_guided_mode_send_global_velocity`. @@ -189,8 +189,8 @@ ArduPilot does not currently support controlling the vehicle by specifying accel .. note:: - The `SET_POSITION_TARGET_GLOBAL_INT `_ and - `SET_POSITION_TARGET_LOCAL_NED `_ + The `SET_POSITION_TARGET_GLOBAL_INT `_ and + `SET_POSITION_TARGET_LOCAL_NED `_ MAVLink commands allow you to specify the acceleration, force and yaw. However, commands setting these parameters are ignored by the vehicle. @@ -221,7 +221,7 @@ to encode the message and then calling :py:func:`send_mavlink() `_ +`SET_POSITION_TARGET_LOCAL_NED `_ message we call ``message_factory.set_position_target_local_ned_encode()`` with values for all the message fields as arguments: @@ -248,7 +248,7 @@ really intended for a specific component. .. _guided_mode_how_to_send_commands_command_long: -In Copter, the `COMMAND_LONG message `_ can be used send/package +In Copter, the `COMMAND_LONG message `_ can be used send/package *a number* of different `supported MAV_CMD commands `_. The factory function is again the lower case message name with suffix ``_encode`` (``message_factory.command_long_encode``). The message parameters include the actual command to be sent (in the code fragment below ``MAV_CMD_CONDITION_YAW``) and its fields. @@ -474,7 +474,7 @@ Other information ================= * `NED Frame `_ -* `MISSION_ITEM `_ +* `MISSION_ITEM `_ * `GUIDED Mode for Copter `_ (wiki). * `GUIDED mode for Plane `_ (wiki). * `Copter Commands in Guided Mode `_ (wiki).